Product manual

Installation and Commissioning Connecting Signals
Product Manual IRB 6400R 75
Figure 51 Encoder connections.
The wiring diagram in Figure 51 shows how to connect the encoder and start signal
switch to the encoder unit. As can be seen from the illustration, the encoder is supplied
with 24 VDC and 0V. The encoder output 2 channels, and the on-board computer uses
quadrature decoding (QDEC) to compute position and direction.
Encoder unit
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Opto
Opto
Opto
Opto
Opto
Opto
Galvanic
insulation
24 V I/O
0 V
Encoder
B
A
24 V DC
0 V
24 V DC
0 V
Synch switch
10-16 not to be used
or external supply