3 System Description
Product Manual, Control Cabinet IRC5P 3HNA009834-001 en Rev.06 19
3.2 Basic Design
Motor Drivers The drive units and associated rectifiers are used for controlling the manipulator
axis motors (axis motor drivers) and non I-Drive paint pumps (pump motor drivers).
The bleeder resistors are used for the drivers to bleed off excessive power.
Fan Unit The fan unit provides for air circulation through the rear side of the control cabinet.
Air is sucked into the cabinet via a filter at the top and routed passed the motor
drivers, bleeder resistors and transformer. The components that produce the most
heat emission are located on the back panel.
Mains Power Units Mains power is entered into the controller via terminals on the mains fuse and noise
filter. The mains transformer located on the rear side provides the voltages needed
by the control systems.
Computer Systems The computer system for the robot consists of the main computer, mounted on the
front door, and the axis computer installed on the cabinet back wall.
1 Main drive unit, MDU 26 Main computer unit
2 Mains power switch 27 Brake resistor bleeders
3 Control panel board, CPB 28 Power distribution board, PDB
4 Additional rectifier unit, ARU 29 Rail for mounting optional units
5 Additional drive unit, ADU, axis 7 30 Door fan unit
6 Mode selector 31 Transformer
7 Additional drive unit, ADU, axis 8 32 CAN1.2 for external distributed I/O
8 CBS drive units 33 CAN1.1 for internal distributed I/O
9 Manipulator connections 34 Ground rail
10 Motor relays robot / pump 35 Choke filter (IRB 5500)
11 CBS Purge relay (IRB 5500) 36 Servo fan unit
12 Transformer terminal board 37 Servo drive interface board, SDI
13 PDB fuse 38 Paint interface board, PIB
14 Optional I/O units (field bus nodes) 39 Safety interface board, SIB
15 Optional servo disconnect terminal 40 Measuring system battery
16 Mains fuse and connection 41 Manipulator interface board, MIB
17 Cable inlet 42 Safety connection board, SCB
18 Pendant connector and TIB board 43 Mains fuse
19 Optional internal light 44 Mains filter
20 Axis computer board, DSQC 668 45 CBS drive units / Non I-Drive pump motors
21 Door switch 46 Capacitor unit
22 System LED board, ALED 47 Axis 7/8 drive units
23 Service connections 48 Rectifier unit
24 Hour counter 49 Axis motor drive units
25 Cabinet rear housing 50 Axis computer board, DSQC 601
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