Características

DSQC 317 Memory Board

DSQC 325 Main Computer

DSQC 326 Robot Computer

DSQC 256A System Board

DSQC 223 (x4) Digital I/O Board

ELECTRICAL_TROUBLESHOOTING_MANUAL_FOR_IRB6400_INDUSTRIAL_ROBOT_&_S4_CONTROL_SYSTEM.pdf

Información extra sobre la compatibilidad con el software 

https://forums.robotstudio.com/discussion/13461/irb-1400-s4-controller-buy-boot-disk-but-can-039-t-use

I/O parameters are in the User Manual starting at page 12-9.

Regarding the I/O boards, I suggest making parameter changes thru the teach pendant.