ABB IRB 6400R - Page 55

Technical specification
Product Specification IRB 6400R M99/BaseWare OS 3.2 45
Digital outputs
120 V AC (option 204)
Optically isolated, voltage spike protection
Rated voltage 120 V AC
Output current: max. 1A/channel, 12 A
16 channels
or
max. 2A/channel, 10 A
16 channels
(56 A in 20 ms)
min. 30mA
Voltage range: 24 to 140 V AC
Potential difference: max. 500 V
Off state leakage current: max. 2mA rms
On state voltage drop: max. 1.5 V
Time intervals: hardware ≤ 12 ms
software ≤ 4 ms
Analog inputs (option 202)
Voltage Input voltage: +10 V
Input impedance: >1 Mohm
Resolution: 0.61 mV (14 bits)
Accuracy: +0.2% of input signal
Analog outputs (option 202)
Voltage Output voltage: +10 V
Load impedance: min. 2 kohm
Resolution: 2.44 mV (12 bits)
Current Output current: 4-20 mA
Load impedance: min. 800 ohm
Resolution: 4.88 µA (12 bits)
Accuracy: +0.2% of output signal
Analog outputs (option 203)
Output voltage (galvanically isolated): 0 to +10 V
Load impedance: min. 2 kohm
Resolution: 2.44 mV (12 bits)
Accuracy: ±25 mV ±0.5% of output
voltage
Potential difference: max. 500 V
Time intervals: hardware ≤ 2.0 ms
software ≤ 4 ms
Signal connections on robot arm
Signals 10 50 VAC/DC, 250 mA, AWG24
Power 2 + earth 250 VAC, 8A, 1,0 mm
2
Air 1 Max. 10 bar, inner hose diameter 13 mm
Canbus signals 2 50 VAC/DC, 250 mA, min AWG24
Power 2 50 VAC/DC, 2A, AWG24