Product manual

Connecting Signals Installation and Commissioning
60 Product Manual IRB 6400R
With PROFIBUS
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
Profibus
RxD / TxD-P R3.IBUS/PBUS.1
RxD / TxD-P R1.CP/CS.1 (9pD-Sub) R3.IBUS/PBUS.2
VP R1.CP/CS.2 (9pD-Sub) R3.IBUS/PBUS.6
DGND R1.CP/CS.5 (9pD-Sub) R3.IBUS/PBUS.7
SHIELD R1.CP/CS.9 (9pD-Sub) R3.IBUS/PBUS.8