ABB IRB 6400R Product On-Line Manual page 256

Connecting Signals
Communication concept
Master PLC
Figure 55 Outline diagram.
The Interbus-S system can communicate with a number of external devices, the actual
number depends on the number of process words occupied of each unit. The robot can
be equipped with one or two DSQC 351. The Interbus-S inputs and outputs are acces-
sible in the robot as general inputs and outputs.
For application data, refer to Interbus-S, International Standard, DIN 19258.
*1
Note that there is a link between pin 5 and 9 in the plug on interconnection cable which
is connected to the OUT connector for each unit. The link is used to inform the Inter-
bus-S unit that more units are located further out in the chain. (The last unit in the chain
does not have cable connected and thereby no link).
Interbus-S IN
1
5
86
Robot 1
Word 1.3
IN
Signal name
TPDO1
TPDI1
6
GND
9
NC
NC
TPDO1-N
TPDI1-N
NC
NC
Installation and Commissioning
128 in/128 out
Robot 2 1
.3 .7
Word 4.7
OUT IN OUT
*1
X20
Pin Description
1 Communication line TPDO1
2 Communication line TPDI1
3 Ground connection
4 Not connected
5 Not connected
6 Communication line TPDO1-N
7 Communication line TPDI1-N
8 Not connected
9 Not connected
64 in/64 out
2
Robot 3
.11
Word 8.11
IN OUT
*1
Product Manual IRB 6400R