Sensors; Connection And Address Keying Of The Can-Bus - ABB IRB 6400R Product On-Line Manual

Connecting Signals

3.16.2 Sensors

Sensors are connected to one optional digital unit.
Technical data
See Product Specification IRB 6400, chapter 3.10.
The following sensors can be connected:
Sensor type
Digital one bit sensors
Digital two bit sensors

3.16.3 Connection and address keying of the CAN-bus

Controller
Panel unit:
X9 CAN1
Back plane:
X10 CAN3
X16 CAN2
X9/X10/X16. 1 0V_CAN
2 CAN_L
3 drain
4 CAN_H
5 24V_CAN
Figure 46 Example of connection of the CAN-bus
1. When the I/O unit is fitted inside the control cabinet (this is standard when choosing the
options on the Specification form), its CAN bus is connected to CAN1, X9 on the panel
unit (see 3.7). No termination is required when only CAN1 is used.
2. When the I/O unit is fitted outside the control cabinet, its CAN bus must be connected
to CAN3, X10 on the backplane of the control cabinet.
3. When the I/O unit is fitted on the manipulator, its CAN bus must be connected to CAN2,
X16 on the backplane of the control cabinet.
62
I/O unit
See Figure 47.
X5. 1
2
3
4
5
Installation and Commissioning
Signal level
High
Low
High
No signal
Low
Error status
I/O unit
0V_CAN
CAN_L
drain
CAN_H
24V_CAN
"1"
"0"
"01"
"00"
"10"
"11" (stop program running)
I/O unit
Termination of
X5. 1
last unit
2
120 Ω
3
4
5
Product Manual IRB 6400R