ABB IRB 6400R Product On-Line Manual page 60

Specification of Variants and Options
APPLICATION INTERFACE
A hose for compressed air is integrated into the manipulator. There is an inlet at the base,
see Figure 31, and an outlet on the upper arm housing or on the upper arm axis 4, see
Figure 30.
Connection: G 1/2"-14 in the upper arm housing/upper arm and G 1/2"-14 at the base.
For connection of extra equipment on the manipulator, there are cables running parallel
to the manipulator's cable harness with connectors on the upper arm axis 4 or on the
upper arm housing. The connectors are:
- one Burndy 12-pin UT071412 SHT
- one Burndy 4-pin UT07104 SHT
- one fieldbus (options 053-055)
041 At upper arm housing
042 At upper arm axis 4
Option 041
R2.CP
Figure 30 Location of customer connections on upper arm / armhouse.
50
R2.CAIR
R3.CANBUS
R2.CS
Product Specification IRB 6400R M99/BaseWare OS 3.2
R2.CP
R2.CS
R3.CANBUS
Option 042
R2.CAIR