Connecting Signals Installation and Commissioning
76 Product Manual IRB 6400R
Connector X20 - Encoder and digital input connections
X20
Input and ID Signal name Pin Description
24 VDC 1 24 VDC supply
0 V 2 0 V
ENC 3 Encoder 24 VDC
ENC 4 Encoder 0 V
ENC_A 5 Encoder Phase A
ENC_B 6 Encoder Phase B
DIGIN 7 Synch switch 24 VDC
DIGIN 8 0V
DIGIN 9 Synch switch digital input
Not to be used 10
Not to be used 11
Not to be used 12
Not to be used 13
Not to be used 14
Not to be used 15
Not to be used 16
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