ABB IRB 6400R Product On-Line Manual page 252

Connecting Signals
Unit function
Opto
isol.
82
X3
Signal name Pin
In ch 1a 1
In ch 1b 2
In ch 2a 3
In ch 2b 4
In ch 3a 5
In ch 3b 6
In ch 4a 7
In ch 4b 8
In ch 5a 9
In ch 5b 10
In ch 6a 11
In ch 6b 12
In ch 7a 13
In ch 7b 14
In ch 8a 15
In ch 8b 16
Installation and Commissioning
Customer conn.
AC
N
Product Manual IRB 6400R
X4
Signal name Pin
In ch 9a 1
In ch 9b 2
In ch 10a 3
In ch 10b 4
In ch 11a 5
In ch 11b 6
In ch 12a 7
In ch 12b 8
In ch 13a 9
In ch 13b 10
In ch 14a 11
In ch 14b 12
In ch 15a 13
In ch 15b 14
In ch 16a 15
In ch 16b 16