![background image](http://html.mh-extra.com/html/hyundai/yl005/yl005_maintenance-manual_2197281043.webp)
Maintenance manual for Collaborative Robot
Hyundai Robotics
Product installation | Robot interface_
43
P
ro
d
u
c
t ins
ta
lla
tion
3.3.2.4
D-sub 25-pin connector (SDIO): common digital I/O
You can connect digital I/O signals for external safety signals, eight at a time, to the D-sub 24-pin connector (SDIO).
For more details of signal connection, see “4.3.2.3
Safety I/O signal connection (TBSDI,
* Internal connections of the controller (SCM TBSIO)
Pin number
1
2
3
4
5
Internal
connections of
the controller
9
10
11
12
13
Name
SDIN0
SDIN1
SDIN2
SDIN3
SDIN4
Usage
Safety signal
input 0 (Channel
1)
Safety signal
input 1 (Channel
1)
Safety signal
input 2 (Channel
1)
Safety signal
input 3 (Channel
1)
Safety signal
input 4 (Channel
2)
Pin number
6
7
8
9
10
Internal
connections of
the controller
14
15
16
1, 2
3, 4
Name
SDIN5
SDIN6
SDIN7
SIO_POW1
SIO_POW2
Usage
Safety signal
input 5 (Channel
2)
Safety signal
input 6 (Channel
2)
Safety signal
input 7 (Channel
2)
Safety signal
input common
(Channel 1)
Safety signal
input common
(Channel 1)
Pin number
11
12
13
14
15
Internal
connections of
the controller
5, 6
7, 8
-
9
10
Name
SIO_POW3
SIO_POW4
-
SDOUT0
SDOUT1
Usage
Safety signal
input common
(Channel 2)
Safety signal
input common
(Channel 2)
-
Safety signal
output 0
(Channel 1)
Safety signal
output 1
(Channel 1)
Pin number
16
17
18
19
20