ABB IRB 6400R Product On-Line Manual page 213

Installation and Commissioning
To connect to the power and signal cables from the connection unit to the manipulator
base and on the upper arm, the following parts are recommended:
Connector R1.CP/CS. Signals on manipulator base. (Regarding Item No. see
Figure 34). Included in delivery.
Item Name
1 Adapter Plate
2 Hood
3 Compression gland
4 Socket housing
D-Sub 3-pole.
5 Socket housing
D-Sub 9-pole.
6 Socket housing
D-Sub 25-pole.
Connector R2.CS Signal and on the upper arm. (Regarding Item No. see Figure
35)
Item Name
1 Socket con. 12p
3 Socket
4 Pin con. 12p
5 Pin
6 Adaptor
7 Cable clamp
Product Manual IRB 6400R
ABB art. no. Type
3HAC 5118-2 DIN 43 652
3HAC 5834-1 DIN 43 652
3HAC 5680-1
3HAC 5119-3 DIN 43 652
3HAC 5119-7 DIN 43 652
3HAC 5119-9 DIN 43 652
ABB art. no. Type
UT 0714 12 SHT
3HAB 7290-12
See Pin and
Socket table
below
3HAA 2602-2 UT 061412 P04T
5217 649-7 UTG 61412 PN
See Pin and
Socket table
below
3HAA 2601-2 UTG 14 ADT
5217 1038-3 UTG 14 AD
5217 649-8 UTG 14 PG
Connecting Signals
Comments
AMP
AMP/Harting
(PG 29)
Hellerman
(PG 29 )
Comments
Burndy
Burndy EMC
Burndy
Burndy EMC
Burndy
Burndy
43