ABB IRB 6400R - Page 172

Installation and Commissioning
CONTENTS
Page
2 Product Manual IRB 6400R
3.1 Signal classes.......................................................................................................... 37
3.2 Selecting cables...................................................................................................... 37
3.3 Interference elimination ......................................................................................... 38
3.4 Connection types.................................................................................................... 38
3.5 Connections............................................................................................................ 39
3.5.1 To screw terminal......................................................................................... 39
3.5.2 To connectors (option)................................................................................. 39
3.6 Customer connections on manipulator............................................................... 41
3.7 Connection to screw terminal................................................................................. 46
3.8 The MOTORS ON / MOTORS OFF circuit .......................................................... 47
3.9 Connection of safety chains ................................................................................... 48
3.9.1 Connection of ES1/ES2 on panel unit ......................................................... 49
3.9.2 Connection to Motor On/Off contactors...................................................... 50
3.9.3 Connection to operating mode selector ....................................................... 50
3.9.4 Connection to brake contactor..................................................................... 50
3.10 External customer connections............................................................................. 51
3.11 External safety relay............................................................................................. 54
3.12 Safeguarded space stop signals ............................................................................ 55
3.12.1 Delayed safeguarded space stop ................................................................ 55
3.13 Available voltage.................................................................................................. 55
3.13.1 24 V I/O supply.......................................................................................... 55
3.13.2 115/230 V AC supply ................................................................................ 56
3.14 External 24 V supply............................................................................................ 56
3.15 Connection of extra equipment to the manipulator.............................................. 57
3.15.1 Connection of signal lamp on upper arm (option)..................................... 61
3.16 Distributed I/O units............................................................................................. 61
3.16.1 General....................................................................................................... 61
3.16.2 Sensors....................................................................................................... 62
3.16.3 Connection and address keying of the CAN-bus....................................... 62
3.16.4 Digital I/O DSQC 328 (optional)............................................................... 64
3.16.5 AD Combi I/O DSQC 327 (optional)........................................................ 67
3.16.6 Analog I/O DSQC 355 (optional).............................................................. 70
3.16.7 Encoder interface unit, DSQC 354 ............................................................ 74
3.16.8 Relay I/O DSQC 332................................................................................. 77
3.16.9 Digital 120 VAC I/O DSQC 320 ............................................................... 80
3.17 Gateway (Field bus) units..................................................................................... 83
3.17.1 RIO (Remote I/O), remote I/O for Allen-Bradley PLC DSQC 350 .......... 83
3.17.2 Interbus-S, slave DSQC 351...................................................................... 85