Product manual

Connecting Signals Installation and Commissioning

86 Product Manual IRB 6400R

Communication concept

Figure 55 Outline diagram.

The Interbus-S system can communicate with a number of external devices, the actual

number depends on the number of process words occupied of each unit. The robot can

be equipped with one or two DSQC 351. The Interbus-S inputs and outputs are acces-

sible in the robot as general inputs and outputs.

For application data, refer to Interbus-S, International Standard, DIN 19258.

Note that there is a link between pin 5 and 9 in the plug on interconnection cable which

is connected to the OUT connector for each unit. The link is used to inform the Inter-

bus-S unit that more units are located further out in the chain. (The last unit in the chain

does not have cable connected and thereby no link).

X20

Interbus-S IN Signal name Pin Description

TPDO1 1 Communication line TPDO1

TPDI1 2 Communication line TPDI1

GND 3 Ground connection

NC 4 Not connected

NC 5 Not connected

TPDO1-N 6 Communication line TPDO1-N

TPDI1-N 7 Communication line TPDI1-N

NC 8 Not connected

NC 9 Not connected

IN OUT IN OUT IN OUT

*1 *1

Robot 1

Word 1.3

Robot 2

Word 4.7

Robot 3

Word 8.11

Master PLC

.11

64 in/64 out

128 in/128 out