ABB IRB 6600 - 175/2.55 User Manual page 309

Communication
The Interbus-S system is able to communicate with a number of external devices, depending
concept
on the number of process words occupied by each unit. The robot may be equipped with one
or two DSQC 351. The Interbus-S inputs and outputs are accessible in the robot as general
inputs and outputs.
For application data, refer to Interbus-S, International Standard, DIN 19258.
Below is shown an outline diagram of the communication concept:
xx0100000224
A
B
C
D
E
F
*1
Termination link
A link is connected between pins 5 and 9 in the plug on the interconnection cable connected
to the OUT connector of each unit. The link informs the Interbus-S unit that more units are
connected further out in the chain. (The last unit in the chain does not have a cable connected
and therefore no link).
Connections, X5
See DeviceNet Connectors.
DeviceNet con-
nectors
Connections,
The figure below shows the pin configuration of the connector:
connector X20,
Interbus-S IN
5
1
xx0100000220
The table below show the connections to connector X20, Interbus-S IN:
Signal name
TPDO1
TPDI1
GND
NC
3HAC 16245-1
A
In
Master PLC
Robot 1, word 1:3
Robot 1, word 4:7
Robot 2, word 8:11
128 inputs/128 outputs
64 inputs/64 outputs
6
9
X20 pin
1
2
3
4
A
5 Electrical connections
5.6.2 Interbus-S, slave DSQC 351
E
B C
Out In Out
*1 *1
Function
Communication line TPDO1
Communication line TPDI1
Ground connection
Not connected
F
D
In Out
107