ABB IRB 6400R Product On-Line Manual page 229

Installation and Commissioning
With INTERBUS-S
Signal name
Power supply
CPF
CPJ
PE
Signals
CSA
CSB
CSC
CSD
CSE
CSF
CSG
CSH
CSJ
CSK
InterBus-S
DRAIN
+24VCAN
0VCAN
CAN_H
COM
SHIELD
Product Manual IRB 6400R
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
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)
R1.CP/CS.9 (9pD-Sub)
Connecting Signals
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.IBUS/PBUS.1
R3.IBUS/PBUS.2
R3.IBUS/PBUS.3
R3.IBUS/PBUS.4
R3.IBUS/PBUS.5
R3.IBUS/PBUS.8
59