Can; Safety - ABB IRB 6400R Product On-Line Manual

3.4.7 CAN

X9
Pin
25
26
CANRLY2 N and CANRLY3 N respectively:
0V when CAN 2 or CAN 3 is active (see Installation and Commissioning, section
3.17.3).
24V when CAN 2 and CAN 3 are disconnected (see Installation and Commissioning,
section 3.17.3). In this case the backplane fixed termination resistor is connected in.

3.4.8 Safety

X9
Pin
27
ENABLE 9:
5V when supply voltage is OK and the computers are OK (output from the robot com-
puter to the panel unit; LED EN).
SPEED:
5V when one of the modes AUTO or MANUAL FULL SPEED is active (input to the
robot computer from the panel unit).
Product Manual
A
CANRLY2 N CANRLY3 N
CAN_H
A
ENABLE9
C
CAN_L
C
SPEED
Troubleshooting Tools
39