Product manual

Connecting Signals Installation and Commissioning
62 Product Manual IRB 6400R
3.16.2 Sensors
Sensors are connected to one optional digital unit.
Technical data
See Product Specification IRB 6400, chapter 3.10.
The following sensors can be connected:
Sensor type Signal level
Digital one bit sensors High “1”
Low “0”
Digital two bit sensors High “01”
No signal “00”
Low “10”
Error status “11” (stop program running)
3.16.3 Connection and address keying of the CAN-bus
Figure 46 Example of connection of the CAN-bus
1. When the I/O unit is fitted inside the control cabinet (this is standard when choosing the
options on the Specification form), its CAN bus is connected to CAN1, X9 on the panel
unit (see 3.7). No termination is required when only CAN1 is used.
2. When the I/O unit is fitted outside the control cabinet, its CAN bus must be connected
to CAN3, X10 on the backplane of the control cabinet.
3. When the I/O unit is fitted on the manipulator, its CAN bus must be connected to CAN2,
X16 on the backplane of the control cabinet.
Panel unit:
X9 CAN1
Back plane:
X10 CAN3
X16 CAN2
Controller
X9/X10/X16. 1 0V_CAN
2 CAN_L
3 drain
4 CAN_H
5 24V_CAN
I/O unit I/O unit I/O unit
X5. 1 0V_CAN
2 CAN_L
3 drain
4 CAN_H
5 24V_CAN
X5. 1
2
3
4
5
120 Ω
Termination of
last unit
See Figure 47.