ABB IRB 6400R Product On-Line Manual page 228

Connecting Signals
With CANBUS
Signal name
Power supply
CPF
CPJ
PE
Signals
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
CanBus
DRAIN
+24VCAN
0VCAN
CAN_H
CAN_L
58
Customer terminal
controller,
see Figure 36
XT6.1
XT6.2
XT6.3
XT5.1
XT5.2
XT5.3
XT5.3
XT5.5
XT5.6
XT5.7
XT5.8
XT5.9
XT5.10
Installation and Commissioning
Customer connector on
manipulator base, R1
(cable not supplied)
R1.CP/CS.1 (3p D-Sub)
R1.CP/CS.2 (3p D-Sub)
R1.CP/CS.3 (3p D-Sub)
R1.CP/CS.1 (25p D-Sub)
R1.CP/CS.2 (25p D-Sub)
R1.CP/CS.3 (25p D-Sub)
R1.CP/CS.4 (25p D-Sub)
R1.CP/CS.5 (25p D-Sub)
R1.CP/CS.6 (25p D-Sub)
R1.CP/CS.7 (25p D-Sub)
R1.CP/CS.8 (25p D-Sub)
R1.CP/CS.9 (25p D-Sub)
R1.CP/CS.10 (25p D-Sub)
R1.CP/CS.1 (9pD-Sub)
R1.CP/CS.2 (9pD-Sub)
R1.CP/CS.5 (9pD-Sub)
R1.CP/CS.9 (9pD-Sub)
Customer connec-
tor on upper arm/
arm housing, R3
R2.CP.A
R2.CP.B
R2.CP.C
R3.CS.A
R3.CS.B
R3.CS.C
R3.CS.D
R3.CS.E
R3.CS.F
R3.CS.G
R3.CS.H
R3.CS.J
R3.CS.K
R3.CANBUS.1
R3.CANBUS.2
R3.CANBUS.3
R3.CANBUS.4
R3.CANBUS.5
Product Manual IRB 6400R