ABB IRB 6400R Product On-Line Manual page 157

System Description
transformer, DC-link, drive module(s), and supply unit, but no computer unit.
I/O units (x4)
AC connection
Motors On and brake contactors
Figure 11 The location of units under the top cover.
• Lithium batteries for memory back-up.
• Panel unit –
gathers and coordinates all signals that affect operational and personal safety.
• I/O units –
enables communication with external equipment by means of digital inputs and
outputs, analog signals or field buses.
I/O units can alternatively be located outside the cabinet. Communication with
robot data is implemented via a stranded wire CAN bus, which allows the units
to be positioned close to the process.
• Serial measurement board (in the manipulator) –
gathers resolver data and transfers it serially to the robot computer board. The
serial measurement board is battery-backed so that the revolution information
cannot be lost during a power failure.
Product Manual
Structure
Lithium batteries
Panel unit
Floppy disk
11