Hyundai Robotics
62
_Maintenance | Controller check and maintenance
Hyundai Robotics
Connector
Usage
External connecting device
data) with the torque sensors (Channel 2) and encoder
(Channel 2) of the mechanical parts
RJ1
EtherCAT communication port
Robot cable connector (CNM)
RJ2
EtherCAT communication port
Microcomputer module (miniH6COM)
CNPM1
Power input for driving motors of the mechanical parts
(48 V DC)
Power supply (SMPS1)
CNPM2
Power output for driving motors of the mechanical parts
(48 V DC)
Robot cable connector (CNM)
CNPM3
Power output for charging the motor driving power lines
(48 V DC)
Power pre-charge module (PPM)
CNEP1
Power input for charging the motor driving power lines
(48 V DC)
Safety control module (SCM)
CNPMD
Exchange of information on the state of regenerative
discharge action
Regenerative discharge module
(RDM)
CNPC2
Power input for I/O
Power supply (SMPS2)
TBSYS1
Input for the emergency stop switch and protective stop
switch (safeguard), control of power charging function,
and connection of monitoring signals
External safety switch, power pre-
charge module (PPM)
TBSDO
Connection of safety output signals
Safety device
TBSDI
Connection of safety input signals
Safety device
TBAIO
Connection of general analog I/O signals
General analog devices
TBDIO
Connection of general digital I/O signals
General digital devices
RS485_1, 2
Connection of RS-485 serial communication (reserved
function)
-
RS232_1, 2
Connection of RS-232 serial communication (reserved
function)
-
4.3.2.2
Connection of I/O signals for the robot system (TBSYS1)
The I/O signals dedicated for the robot system are connected through TBSYS1, the terminal block of the safety
control module.
