ABB IRB 6400R - Teach pendant

Troubleshooting Tools
38 Product Manual
Figure 4 Diagram of write and read frequencies.
3.4.6 Teach pendant
The data transmission signal complies with the EIA RS 422 standard, see 3.2
(Figure 3).
X9
Pin A C
6 DATA 4=TP D ATA 4-N =TP- N
Write frequency
Read frequency
MOTOR ON
WRITE DATA
MOTOR ON
DRIVE SELECT
STEP
WRITE GATE
READ DATA
WRITE GATE
STEP
DRIVE SELECT