ABB IRB 6600 - 175/2.55 User Manual page 305

Section 5.6: Buses
5.6.1 Connection of the CAN bus
Illustration The illustration below shows an example of how to connect the CAN bus:
xx0100000241
A
B
C
D
CAN 1.1 Used for internal I/O unit mounted inside the cabinet. No terminating resistor is to be
mounted on CAN 1.1 regardless of whether any I/O units are used or not. CAN 1.1 is con-
nected to socket X15 on the Base connector unit (see Connection of the CAN bus).
CAN 1.2
If CAN 1.2 is not used, a terminating resistor must be connected to the X6 socket (exceptional
case see below!).
3HAC 16245-1
C
A
D
X15 CAN1.1 (Internal I/O)
B
X6 CAN1.2
X7 CAN1.3
G
X15, X6, X7 1. 0V_CAN
2. CAN_L
3. drain
4. CAN_H
5. 24V_I/O
Base connector unit
CAN bus
Control cabinet
I/O
A
5.6.1 Connection of the CAN bus
D
D D
D D
D D
E
1.
2.
3.
F
4.
5.
E Termination of last unit
F 120 ohm, 1%, 0.25 W metal film resistor
G See figure in section "CAN 2" below!
5 Electrical connections
D
103