ABB IRB 6400R Product On-Line Manual page 233

Installation and Commissioning
NOTE!
When only one of the X10/X16 is connected, the other must be terminated with 120 Ω.
24V_CAN must not be used to supply digital inputs and outputs. Instead, they
must be supplied either by the 24 V I/O from the cabinet or externally by a power
supply unit.
CAN3 (ext. I/O)
CAN2 (manip. I/O)
Figure 47 CAN connections on back plane.
DeviceNet Connector
Input and ID
12
1
Product Manual IRB 6400R
6
6
1
1
X5
Signal name Pin Description
V- 0V 1
CAN_L 2
DRAIN 3
CAN_H 4
V+ 5
GND 6
MAC ID 0 7
MAC ID 1 8
MAC ID 2 9
MAC ID 3 10
MAC ID 4 11
MAC ID 5 12
Connecting Signals
Supply voltage GND
CAN signal low
Shield
CAN signal high
Supply voltage 24VDC
Logic GND
Board ID bit 0 (LSB)
Board ID bit 1
Board ID bit 2
Board ID bit 3
Board ID bit 4
Board ID bit 5 (MSB)
63