ABB IRB 640 - Connection of Extra Equipment to the Manipulator; Connections on Upper Arm

Installation and CommissioningCustomer connections on manipulator
Product Manual IRB 640 23
3.1 Connection of extra equipment to the manipulator
Technical data for customer connections
Customer Power CP
Conductor resistance <0,5 ohm, 0,241 mm
2
Max. voltage 250 V AC
Max. current 2 A
Customer Signals CS
Conductor resistance <3 ohm, 0.154 mm
2
Max. voltage 50 V AC / DC
Max. current 250 mA
3.1.1 Connections on upper arm.
Figure 16 Customer connections on upper arm.
Signal name Customer terminal
controller, see chapter 2
for Controler.
Customer contact on
manipulator base, R1
(cable not supplied)
Customer contact
on upper arm, R3
Power supply
CPA XT6.1 R1.CP/CS.A1 R3.CP.A
CPB XT6.2 R1.CP/CS.B1 R3.CP.B
CPC XT6.3 R1.CP/CS.C1 R3.CP.C
CPD XT6.4 R1.CP/CS.D1 R3.CP.D
CPE XT6.5 R1.CP/CS.A2 R3.CP.E
CPF XT6.6 R1.CP/CS.B2 R3.CP.F
CPJ XT6.7 R1.CP/CS.C2 R3.CP.J
CPK XT6.8 R1.CP/CS.D2 R3.CP.K
CPL XT6.9 R1.CP/CS.A3 R3.CP.L
CPM XT6.10 R1.CP/CS.B3 R3.CP.M
Signals
CSA XT5.1.1 R1.CP/CS.B5 R3.CS.A
CSB XT5.1.2 R1.CP/CS.C5 R3.CS.B
R3.CP/CS
Air R1/2”