ABB IRB 6400R - 4 O System

System Description I/O System
Product Manual 17
4 I/O System
Communicates with other equipment using digital and analog input and output signals.
Figure 14 Overview of the I/O system.
I/O
unit(s)
Panel
unit
Field bus
slave
unit(s)
RS 422 SIO2
RS 232 SIO1
General
Serial ports
I/O I/O I/O
Customer connections
16
16
Safety signals
I/O computer
Teach
pendant
Disk
drive
Distributed
I/O bus
CAN/
DeviceNet
Main computer
VME bus
Communication board
Ethernet