ABB IRB 6400R Product On-Line Manual page 222

Connecting Signals
Signal name
ES2 out:B
ES2 out:A
Ext. LIM2:B
Ext. LIM2:A
24V panel
CONT2
Int. 24V ES2
Ext. 24V ES2
Ext. ES2 IN
Ext. ES2 OUT
Signal name
Ext. MON 1:B
Ext. MON 1:A
Ext. com 1
Ext. auto 1
Ext. man 1
Ext. man FS 1
0V
GS1-
AS1-
GS1+
AS1+
24V panel
52
Installation and Commissioning
X2
Pin
1 Emergency stop out chain 2
2 Emergency stop out chain 2
3 External limit switch chain 2
4 External limit switch chain 2
5 24V external contactor 2
6 External contactor 2
7 Internal supply 24V of emergency stop chain 2
8 External supply 24V of emergency stop chain 2
9 External emergency stop in chain 2
10 External emergency stop out chain 2
11
12
X3
Pin
1
2
3
4
5
6 Manual full speed 1
7 0V to auto stop and general stop
8 General stop minus chain 1
9 Auto stop minus chain 1
10 General stop plus chain 1
11 Auto stop plus chain 1
12 24V to auto stop and general stop
Comment
Not used
Not used
Comment
Motor contactor 1
Motor contactor 1
Common 1
Auto 1
Manual 1
Product Manual IRB 6400R