ABB IRB 6400R Product On-Line Manual page 54

Technical specification
Signal data
Permitted customer 24 V DC load
Digital inputs
24 V DC
Digital outputs (options 201/203)
24 V DC
Relay outputs (option 205)
Digital inputs
120 V AC
44
(options 201/203/205)
Optically-isolated
Rated voltage:
Logical voltage levels: "1"
Input current at rated input voltage:
Potential difference:
Time delays: hardware
software
Time variations:
Optically-isolated, short-circuit protected, supply polarity protection
Voltage supply
Rated voltage
Logical voltage levels: "1"
Output current:
Potential difference:
Time delays: hardware
software
Time variations:
Single pole relays with one make contact (normally open)
Rated voltage:
Voltage range:
Output current:
Potential difference:
Time intervals: hardware (set signal)
hardware (reset signal) typical 8 ms
software
(option 204)
Optically isolated
Rated voltage
Input voltage range: "1"
Input voltage range: "0"
Input current (typical):
Time intervals: hardware
software
Product Specification IRB 6400R M99/BaseWare OS 3.2
max. 6 A
24 V DC
15 to 35 V
"0" -35 to 5 V
6 mA
max. 500 V
5−15 ms
≤ 3 ms
± 2 ms
19 to 35 V
24 V DC
18 to 34 V
"0" < 7 V
max. 0.5 A
max. 500 V
≤ 1 ms
≤ 2 ms
± 2 ms
24 V DC, 120 VAC
19 to 35 V DC
24 to 140 V AC
max. 2 A
max. 500V
typical 13 ms
≤ 4 ms
120 V AC
90 to 140 V AC
0 to 45 V AC
7.5 mA
≤ 20 ms
≤ 4 ms