Product manual

Installation and Commissioning Connecting Signals
Product Manual IRB 6400R 59
With INTERBUS-S
Signal name Customer terminal
controller,
see Figure 36
Customer connector on
manipulator base, R1
(cable not supplied)
Customer connec-
tor on upper arm/
arm housing, R3
Power supply
CPF XT6.1 R1.CP/CS.1 (3p D-Sub) R2.CP.A
CPJ XT6.2 R1.CP/CS.2 (3p D-Sub) R2.CP.B
PE XT6.3 R1.CP/CS.3 (3p D-Sub) R2.CP.C
Signals
CSA XT5.1 R1.CP/CS.1 (25p D-Sub) R3.CS.A
CSB XT5.2 R1.CP/CS.2 (25p D-Sub) R3.CS.B
CSC XT5.3 R1.CP/CS.3 (25p D-Sub) R3.CS.C
CSD XT5.3 R1.CP/CS.4 (25p D-Sub) R3.CS.D
CSE XT5.5 R1.CP/CS.5 (25p D-Sub) R3.CS.E
CSF XT5.6 R1.CP/CS.6 (25p D-Sub) R3.CS.F
CSG XT5.7 R1.CP/CS.7 (25p D-Sub) R3.CS.G
CSH XT5.8 R1.CP/CS.8 (25p D-Sub) R3.CS.H
CSJ XT5.9 R1.CP/CS.9 (25p D-Sub) R3.CS.J
CSK XT5.10 R1.CP/CS.10 (25p D-Sub) R3.CS.K
InterBus-S
DRAIN R3.IBUS/PBUS.1
+24VCAN R1.CP/CS.1 (9pD-Sub) R3.IBUS/PBUS.2
0VCAN R1.CP/CS.2 (9pD-Sub) R3.IBUS/PBUS.3
CAN_H R1.CP/CS.5 (9pD-Sub) R3.IBUS/PBUS.4
COM R1.CP/CS.9 (9pD-Sub) R3.IBUS/PBUS.5
SHIELD R1.CP/CS.9 (9pD-Sub) R3.IBUS/PBUS.8