ABB IRB 6400R Product On-Line Manual page 61

R1.SW1
Figure 31 Location of customer connections on base.
Connection of signals
056 Manipulator
The signals are connected directly to the robot base to one heavy duty industrial housing
with three D-sub connector inserts, R1.CP/CS (see Figure 31).
The cables from the manipulator base are not supplied.
057 Cabinet
The signals CP/CS are connected to 12-pole screw terminals, Phoenix MSTB 2.5/12-
ST-5.08, in the controller (see Figure 41).
The cable between R1.CP/CS and the controller is supplied.
Connectors type
Type of fieldbus connector on the upper arm
053 Canbus R3.CANBUS
5-pin "Mini" style female contact with 7/8-16 UN-2A THD female connection thread.
Rotation Required. Meets ANSI/B93.55M-1981 design and intermateability
requirements.
Connection to cabinet (Cable lengths)
Canbus
660 7m
661 15m
662 22m
663 30m
047 Spotweld Harness
Integrated spotweld harness with primary current (R1.WELD) and water supplies
(R1.PROC1-3). Connected to the upper arm housing, see Figure 32 and to the
manipulator base, see Figure 31.
Product Specification IRB 6400R M99/BaseWare OS 3.2
Specification of Variants and Options
R1.MP
R1.SMB
R1.SW2/3
R1.CP/CS
R1.PROC2
R1.PROC1
R1.CAIR
R1.WELD
R1.PROC3
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