ABB IRB 6400R Product On-Line Manual page 73

synchronization switch cables are connected directly to the encoder unit in the upper
part of the cabinet (see Figure 41). Screw connector is included. For more information
see Product Specification RobotWare.
245 DeviceNet
Connection on the left side to a 5-pole connector in accordance with ANSI.
NETWORK
As standard, the robot is equipped with one RS232 (SIO 1) and one RS422 (SIO 2)
connector inside the cabinet. The signals are connected to 9-pole D-sub connectors on
the backplane. See Figure 28 and Figure 41.
292 Ethernet (see Figure 29). Connectors: RJ45 and AUI on the board front.
EXTERNAL I/O UNITS
I/O units can be delivered separately. The units can then be mounted outside the cabinet
or in the cabinet extension. These are connected in a chain to a connector
(CAN 3 or CAN 2, see Figure 41) in the upper part of the cabinet. Connectors to the
I/O units and a connector to the cabinet (Phoenix MSTB 2.5/xx-ST-5.08), but no
cabling, is included. Measures according to Figure 42 and Figure 43.
For more details, see Technical Specification 3.10.
221 Digital I/O 24 V DC: 16 inputs/16 outputs.
222 Analog I/O.
223 AD Combi I/O: 16 digital inputs/16 digital outputs and 2 analog outputs (0-10V).
224 Digital I/O 120 V AC: 16 inputs/16 outputs.
225 Digital I/O with relay outputs: 16 inputs/16 outputs.
EXTERNAL FIELD BUSES
231 Allen Bradley Remote I/O
232 Interbus-S Slave
233 Profibus DP Slave
234 Encoder interface unit for conveyor tracking
Product Specification IRB 6400R M99/BaseWare OS 3.2
Specification of Variants and Options
63