ABB IRB 6400R Product On-Line Manual page 245

Installation and Commissioning
24 V I/O
or external supply
0 V
Encoder
Synch switch
Figure 51 Encoder connections.
The wiring diagram in Figure 51 shows how to connect the encoder and start signal
switch to the encoder unit. As can be seen from the illustration, the encoder is supplied
with 24 VDC and 0V. The encoder output 2 channels, and the on-board computer uses
quadrature decoding (QDEC) to compute position and direction.
Product Manual IRB 6400R
24 V DC
0 V
A
B
24 V DC
0 V
10-16 not to be used
Connecting Signals
Encoder unit
1
2
3
4
5
Opto
Opto
6
7
8
9
Opto
10
11
Opto
12
Opto
13
14
15
16
Opto
Galvanic
insulation
75