In this case Using Cisco ISR 1841 15.1(4)M10.

• Manual Configuration
• EUI-64

R1#conf t
Enter configuration commands, one per line.  End with CNTL/Z.
R1(config)#int f0/0
R1(config-if)#ipv6 address 2011:1234:abcd:321::1/64
R1(config-if)#no shut
R1(config-if)#
*Jul  8 05:29:46.407: %LINEPROTO-5-UPDOWN: Line protocol on Interface FastEthernet0/0, changed state to up
R1(config-if)#
R1(config-if)#end
R1#
*Jul  8 05:30:27.271: %SYS-5-CONFIG_I: Configured from console by console

R2#conf t
Enter configuration commands, one per line.  End with CNTL/Z.
R2(config)#int f0/0
R2(config-if)#ipv
R2(config-if)#ipv6 address 2011:1234:abcd:321::/64 eui-64
R2(config-if)#exit
R2(config)#int f0/1
R2(config-if)#ipv6 address autoconfig ?
  default  Insert default route
  <cr>

R2(config-if)#ipv6 address autoconfig
R2(config-if)#no shut
R2(config-if)#exit
R2(config)#int f0/0
R2(config-if)#no shut
R2(config-if)#
*Jul  8 05:30:53.891: %LINK-3-UPDOWN: Interface FastEthernet0/0, changed state to up
*Jul  8 05:30:54.891: %LINEPROTO-5-UPDOWN: Line protocol on Interface FastEthernet0/0, changed state to up
R2(config-if)#end
R2#
*Jul  8 05:31:26.835: %SYS-5-CONFIG_I: Configured from console by console

R1#sh ipv6 int f0/0
FastEthernet0/0 is up, line protocol is up
  IPv6 is enabled, link-local address is FE80::21B:2AFF:FE77:66D2
  No Virtual link-local address(es):
  Global unicast address(es):
    2011:1234:ABCD:321::1, subnet is 2011:1234:ABCD:321::/64
  Joined group address(es):
    FF02::1
    FF02::1:FF00:1
    FF02::1:FF77:66D2
  MTU is 1500 bytes
  ICMP error messages limited to one every 100 milliseconds
  ICMP redirects are enabled
  ICMP unreachables are sent
  ND DAD is enabled, number of DAD attempts: 1
  ND reachable time is 30000 milliseconds (using 30000)
R1#sh int f0/0
FastEthernet0/0 is up, line protocol is up
  Hardware is Gt96k FE, address is 001b.2a77.66d2 (bia 001b.2a77.66d2)
  MTU 1500 bytes, BW 100000 Kbit/sec, DLY 100 usec,
     reliability 255/255, txload 1/255, rxload 1/255
  Encapsulation ARPA, loopback not set
  Keepalive set (10 sec)
  Full-duplex, 100Mb/s, 100BaseTX/FX
  ARP type: ARPA, ARP Timeout 04:00:00
  Last input 00:00:25, output 00:00:02, output hang never
  Last clearing of "show interface" counters never
  Input queue: 0/75/0/0 (size/max/drops/flushes); Total output drops: 0
  Queueing strategy: fifo
  Output queue: 0/40 (size/max)
  5 minute input rate 0 bits/sec, 0 packets/sec
  5 minute output rate 0 bits/sec, 0 packets/sec
     100 packets input, 19695 bytes
     Received 100 broadcasts (0 IP multicasts)
     0 runts, 0 giants, 0 throttles
     0 input errors, 0 CRC, 0 frame, 0 overrun, 0 ignored
     0 watchdog
     0 input packets with dribble condition detected
     222 packets output, 25727 bytes, 0 underruns
     0 output errors, 0 collisions, 4 interface resets
     57 unknown protocol drops
     0 babbles, 0 late collision, 0 deferred
     0 lost carrier, 0 no carrier
     0 output buffer failures, 0 output buffers swapped out

R2#sh ipv6 int f0/0
FastEthernet0/0 is up, line protocol is up
  IPv6 is enabled, link-local address is FE80::224:C4FF:FE31:126E
  No Virtual link-local address(es):
  Global unicast address(es):
    2011:1234:ABCD:321:224:C4FF:FE31:126E, subnet is 2011:1234:ABCD:321::/64 [EUI]
  Joined group address(es):
    FF02::1
    FF02::1:FF31:126E
  MTU is 1500 bytes
  ICMP error messages limited to one every 100 milliseconds
  ICMP redirects are enabled
  ICMP unreachables are sent
  ND DAD is enabled, number of DAD attempts: 1
  ND reachable time is 30000 milliseconds (using 30000)
R2#sh ipv6 int f0/1
FastEthernet0/1 is up, line protocol is down
  IPv6 is tentative, link-local address is FE80::224:C4FF:FE31:126F [TEN]
  No Virtual link-local address(es):
  Stateless address autoconfig enabled
  No global unicast address is configured
  Joined group address(es):
    FF02::1
  MTU is 1500 bytes
  ICMP error messages limited to one every 100 milliseconds
  ICMP redirects are enabled
  ICMP unreachables are sent
  ND DAD is enabled, number of DAD attempts: 1
  ND reachable time is 30000 milliseconds (using 30000)
R2#sh int f0/0
FastEthernet0/0 is up, line protocol is up
  Hardware is Gt96k FE, address is 0024.c431.126e (bia 0024.c431.126e)
  MTU 1500 bytes, BW 100000 Kbit/sec, DLY 100 usec,
     reliability 255/255, txload 1/255, rxload 1/255
  Encapsulation ARPA, loopback not set
  Keepalive set (10 sec)
  Full-duplex, 100Mb/s, 100BaseTX/FX
  ARP type: ARPA, ARP Timeout 04:00:00
  Last input 00:00:14, output 00:00:07, output hang never
  Last clearing of "show interface" counters never
  Input queue: 0/75/0/0 (size/max/drops/flushes); Total output drops: 0
  Queueing strategy: fifo
  Output queue: 0/40 (size/max)
  5 minute input rate 0 bits/sec, 0 packets/sec
  5 minute output rate 0 bits/sec, 0 packets/sec
     97 packets input, 19515 bytes
     Received 97 broadcasts (0 IP multicasts)
     0 runts, 0 giants, 0 throttles
     0 input errors, 0 CRC, 0 frame, 0 overrun, 0 ignored
     0 watchdog
     0 input packets with dribble condition detected
     215 packets output, 24897 bytes, 0 underruns
     0 output errors, 0 collisions, 4 interface resets
     57 unknown protocol drops
     0 babbles, 0 late collision, 0 deferred
     0 lost carrier, 0 no carrier
     0 output buffer failures, 0 output buffers swapped out
R2#sh int f0/1
FastEthernet0/1 is up, line protocol is down
  Hardware is Gt96k FE, address is 0024.c431.126f (bia 0024.c431.126f)
  Internet address will be negotiated using DHCP
  MTU 1500 bytes, BW 100000 Kbit/sec, DLY 100 usec,
     reliability 255/255, txload 1/255, rxload 1/255
  Encapsulation ARPA, loopback not set
  Keepalive set (10 sec)
  Auto-duplex, Auto Speed, 100BaseTX/FX
  ARP type: ARPA, ARP Timeout 04:00:00
  Last input never, output never, output hang never
  Last clearing of "show interface" counters never
  Input queue: 0/75/0/0 (size/max/drops/flushes); Total output drops: 0
  Queueing strategy: fifo
  Output queue: 0/40 (size/max)
  5 minute input rate 0 bits/sec, 0 packets/sec
  5 minute output rate 0 bits/sec, 0 packets/sec
     0 packets input, 0 bytes
     Received 0 broadcasts (0 IP multicasts)
     0 runts, 0 giants, 0 throttles
     0 input errors, 0 CRC, 0 frame, 0 overrun, 0 ignored
     0 watchdog
     0 input packets with dribble condition detected
     595 packets output, 35870 bytes, 0 underruns
     0 output errors, 0 collisions, 0 interface resets
     0 unknown protocol drops
     0 babbles, 0 late collision, 0 deferred
     0 lost carrier, 0 no carrier
     0 output buffer failures, 0 output buffers swapped out

prefix 2011:1234:ABCD:321::/64 MAC addr is 0024.c431.126e split 24 bit insert fffe interface ID is 0224:c4 + fffe + 31:126e = 224:c4ff:fe31:126e

EUI-64 address is 2011:1234:ABCD:321:224:c4ff:fe31:126e/64

R1#ping ipv6 2011:1234:abcd:321:224:c4ff:fe31:126e
Type escape sequence to abort.
Sending 5, 100-byte ICMP Echos to 2011:1234:ABCD:321:224:C4FF:FE31:126E, timeout is 2 seconds:
!!!!!
Success rate is 100 percent (5/5), round-trip min/avg/max = 0/0/4 ms

R2#ping ipv6 2011:1234:abcd:321::1
Type escape sequence to abort.
Sending 5, 100-byte ICMP Echos to 2011:1234:ABCD:321::1, timeout is 2 seconds:
!!!!!
Success rate is 100 percent (5/5), round-trip min/avg/max = 0/0/4 ms

1. IPv6ルータのアドレス設定（手動設定、EUI-64設定、Autoconfig）
2. IPv6ホストへIPv6アドレスを割り当てる方法
3. RFC 6106 - IPv6 Router Advertisement Options for DNS Configuration
4. IPv6ホストのアドレス設定（ステートレス、ステートフル、DHCPv6）