ABB IRB 6400R Product On-Line Manual page 259

Installation and Commissioning
Figure 57 Profibus-DP communication concept
The Profibus-DP 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 DSQC352. The Profibus-DP inputs and outputs
are accessible in the robot as general inputs and outputs.
For application data, refer to Profibus-DP, International Standard, DIN 19245 Part 3.
*1 - Note that the Profibus cable must be terminated in both ends.
Profibus-DP
5
1
Profibus-DP supply
5
1
Device Net connector X5, see section 3.16.3 on page 62.
Product Manual IRB 6400R
Signal name
Shield
NC
9
RxD/TxD-P
6
Control-P
GND
+ 5V DC
NC
Rxd/TxD-N
NC
Signal name
0 V DC
NC
GND
NC
+ 24 V DC
Connecting Signals
X20
Pin Description
1 Cable screen
2 Not connected
3 Receive/Transmit data P
4
5 Ground connection
6
7 Not connected
8 Receive/Transmit data N
9 Not connected
X3
Pin Description
1 External supply of Profibus-DP
2 Not connected
3 Ground connection
4 Not connected
5 External supply of Profibus-DP
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