ABB IRB 6400R Product On-Line Manual page 72

Specification of Variants and Options
204 Digital 120 VAC I/O 16 inputs/16 outputs.
205 Digital I/O with relay outputs: 16 inputs/16 outputs.
Relay outputs to be used when more current or voltage is required from the digital
outputs. The inputs are not separated by relays.
Connection of I/O
251 Internal connection (options 201-204, 221-224, 231-234, 251-254, 261-264)
The signals are connected directly to screw terminals on the I/O units in the upper part
of the cabinet (see Figure 41).
252 External connection
The signals are connected via 64-pole standard industrial connector in accordance
with DIN 43652. The connector is located on the left-hand side of the controller.
Corresponding customer part is included.
SAFETY SIGNALS
206 Internal connection
The signals are connected directly to screw terminals in the upper part of the cabinet
(see Figure 41).
207 External connection
The signals are connected via 64-pole standard industrial connector in accordance
with DIN 43652. The connector is located on the left-hand side of the controller.
Corresponding customer part is included.
FIELD BUSES, SLAVE
For more details, see Technical Specification 3.10.
241 Allen-Bradley Remote I/O
Up to 128 digital inputs and outputs, in groups of 32, can be transferred serially to a
PLC equipped with an Allen Bradley 1771 RIO node adapter. The unit reduces the
number of I/O units that can be mounted in cabinet by one. The field bus cables are
connected directly to the A-B RIO unit in the upper part of the cabinet (see Figure 41).
Connectors Phoenix MSTB 2.5/xx-ST-5.08 or equivalent are included.
242 Interbus-S Slave
Up to 64 digital inputs and 64 digital outputs can be transferred serially to a PLC
equipped with an InterBus-S interface. The unit reduces the number of I/O units that
can be mounted in the cabinet by one. The signals are connected directly to the
InterBus-S slave unit (two 9-pole D-sub) in the upper part of the cabinet.
243 Profibus DP Slave
Up to 128 digital inputs and 128 digital outputs can be transferred serially to a PLC
equipped with a Profibus DP interface. The unit reduces the number of I/O units that
can be mounted in the cabinet by one. The signals are connected directly to the
Profibus DP slave unit (one 9-pole D-sub) in the upper part of the cabinet.
244 Encoder interface unit for conveyor tracking
Conveyor Tracking, or Line Tracking, is the function whereby the robot follows a
work object which is mounted on a moving conveyor. The encoder and
62 Product Specification IRB 6400R M99/BaseWare OS 3.2