Product manual

Connecting Signals Installation and Commissioning
46 Product Manual IRB 6400R
3.7 Connection to screw terminal
Sockets with screwed connections for customer I/O, external safety circuits, customer
sockets on the robot, external supply to electronics.
Signal identification Location Terminals
Safeguarded stop Panel unit X1 - X4
Digital I/O I/O unit X1 - X4
Combi I/O I/O unit X1 - X4, X6
Relay I/O I/O unit X1 - X4
RIO I/O I/O unit X1, X2
SIO 1, SIO 2 Backplane X1, X2
CAN1 (internal unit) Panel unit X9
CAN 2 (manipulator, I/O units) Backplane X16
CAN 3 (external I/O units) Backplane X10
24 V supply (2 A fuse) XT31
115/230 V AC supply XT21
Location of socket terminals are shown below. See also circuit diagram, “View of con-
trol cabinet”, for more details.
Figure 36 Screw terminal locations.
I/O units (x4)
XT5, customer signals
XT6, customer power
XT8, XT58 position switch
XT31 (24V supply)
Backplane
X10 (CAN3)
X16 (CAN2)
X1 (SIO1)
X2 (SIO2)
X5
X8
X6 CONTROL PANEL
WARNING
REMOVE JUMPERS BEFORE CONNECTING
ANY EXTERNAL EQUIPMENT
EN
MS NS
ES1 ES2 GS1 AS2AS1GS2
Panel unit
X1 - 4
XT21 (115/230 VAC supply)
X9 (CAN1))
safety signals