ABB IRB 6400R Product On-Line Manual page 223

Installation and Commissioning
Signal name
Ext. MON 2:B
Ext. MON 2:A
Ext. com 2
Ext. auto 2
Ext. man 2
Ext. man FS 2
0V
GS2-
AS2-
GS2+
AS2+
24V panel
Product Manual IRB 6400R
X4
Pin
1
2
3
4
5
6 Manual full speed 2
7 0V to auto stop and general stop
8 General stop minus chain 2
9 Auto stop minus chain 2
10 General stop plus chain 2
11 Auto stop plus chain 2
12 24V to auto stop and general stop
Connecting Signals
Comment
Motor contactor 2
Motor contactor 2
Common 2
Auto 2
Manual 2
53