Hyundai Robotics
68
_Maintenance | Controller check and maintenance
Hyundai Robotics
4.3.2.6
Information on major components
The safety control module is not allowed to be subjected to maintenance because it is classified as a safety
management item. Specification information on its major components other than the fuses is not provided.
Component
Usage
Specification
F1, F3
Fuses for preventing overcurrent of the power
to the safety circuit (Channels 1 and 2)
3A (Littelfuse 0453 003)
F10
Fuse for preventing overcurrent of the power
to the external I/O
10A (Littelfuse 0453 005)
4.3.3
Power pre-charge module (PPM)
The PPM pre-charges power for driving the motor of the joint actuator installed for the collaborative robot. It is
composed of relays that open/close the charging system, and a resistor that prevents inrush current.
Figure 25 Power pre-charge module (PPM)
4.3.3.1
Connection and display
The connector layout, usages, and connecting devices used by the PPM are as follows:
Connector
Usage
External connecting device
CNPM3
Output terminal of the 48 V DC output power (for
motor)
Regenerative discharge module (RDM)
CNPM3
CNPM4
Input terminal of the 48 V DC output power (for
motor)
Safety control module (SCM) CNPM3
CNEP1
Input terminal of the 48 V DC source power (for
motor)
Safety control module (SCM) CNEP1
CNPR
Control of the power charge function and
connection of monitoring signals
Safety control module (SCM) TBSYS1
The details of the state display of the PPM are as follows:
LED
Usage
Display details