ABB IRB6400 - Page 414

Appendix C - 21
Connectors & Cables
Electrical
Troubleshooting Guide
IRB-6400 M94A
Lower Cable Assembly (Cont)
3HAB-4249-2
Cable runs from Back of Robot through Base of Robot
Pin Signal/Desc
A SDI
B SDI-N
C SDO
D SDO-N
E 0V
F 24V
L BAT LD
K +Batsup
J jumpered to E
Pin Signal/Desc
9 SDI
5 SDI-N
8 SDO
4 SDO-N
3 0V
7 24V
2 BAT LD
6 +Batsup
1 0V
Pin Signal/Desc
A CSA
B CSB
C CSC
D CSD
E CSE
F CSF
G CSG
H CSH
J CSJ
K CSK
L CSL
M CSM
N CSN
P CSP
R CSR
S CSC
T CST
U CSU
V CSV
W CSW
X CSX
Y CSY
Z CSZ
Pin Signal/Desc
1 CSA
2 CSB
3 CSC
4 CSD
5 CSE
6 CSF
7 CSG
8 CSH
9 CSJ
10 CSK
11 CSL
12 CSM
13 CSN
14 CSP
15 CSR
16 CSC
17 CST
18 CSU
19 CSV
20 CSW
21 CSX
22 CSY
23 CSZ
Pin Signal/Desc
A CPA
B CPB
C CPC
D CPD
E CPE
F CPF
G CPG
J CPJ
K CPK
L CPL
M CPM
Pin Signal/Desc
1 CPA
2 CPB
3 CPC
4 CPD
5 CPE
6 CPF
7 CPG
9 CPJ
10 CPK
11 CPL
12 CPM
R1.CP R2.CP
R1.SMB R2.SMB R1.CS R2.CS
R1.SMB
R2.SMB
(R2.X2)
R1.CS
R2.CS
R1.CP
R2.CP
BR-12 BR12 BR-23 BR-23
CONNECTOR TYPE
BR-12 DB-9
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