Hyundai YL005 Maintenance Manual page 41

the controller
BD5B3T
DSW1/1 OFF
Pin number
Name
Protective stop
Usage input (Channel
1)
SCM TBSYS1/9
Internal
BD5B3T CN2/2
connections of
the controller
BD5B3T
DSW1/1 OFF

Set all the pins from 1 to 5 of BD5B3T DSW1 at the OFF position.

If you set all the pins from 1 to 5 of BD5B3T DSW1 at the ON position, the pin combinations of
Caution
1-6, 2-7, 3-4, and 5-10 of the Terminal Block (TB2) will be short-circuited. Therefore, pay
attention not to set them at the ON position.
3.3.2.3 Terminal block (TB3): common safety signal I/O
You can connect common safety signal I/Os, eight at a time, to Terminal Block, TB3. You can compose the robot
system by connecting various peripheral devices such as emergency stop devices, safeguarding (protective) devices,
PLCs, and conveyor belt encoders.
Set the safety I/O signals according to usages, referring to "Safety Function Manual for Collaborative Robots." For
example, if you will not use the teach pendant and will use an enabling switch, connect it to the common safety
signal input and assign input signals. The types of I/O signals that can be assigned are as follows:
 Input signals: STOP0, STOP1, STOP2, SOS, Reduced mode, Enable SW, Motor on, Mode switch-manual, Mode
switch-auto, Mode switch-remote, Cartesian space #1 - #12

Output signals: STO activation status, SOS activation status, Reduced mode activation status, Not reduced mode,
Robot moving, Robot not stopping, Mode switch-manual, Mode switch-auto, Mode switch-remote, Cartesian
space status #1 - #12, Violation alarm, TCP speed violation, TCP orientation violation, TCP force violation,
Collision detection, Momentum violation, Power violation, SOS violation, Joint position violation, Joint speed
violation, Cartesian space violation #1 - #12
For more details of signal connection, see "4.3.2.3 Safety I/O signal connection (TBSDI, TBSDO)."
Hyundai Robotics
BD5B3T DSW1/2
OFF
6 7
SG1 SG2
Protective stop
input (Channel
2)
SCM TBSYS1/10
BD5B3T CN2/4
BD5B3T DSW1/2
OFF
Maintenance manual for Collaborative Robot
BD5B3T DSW1/3 BD5B3T DSW1/4
OFF OFF
8
-
-
-
BD5B3T CN2/6 BD5B3T CN2/8
BD5B3T DSW1/3 BD5B3T DSW1/4
OFF OFF
Product installation | Robot interface_
BD5B3T
DSW1/5 OFF
9 10
- -
- -
- -
BD5B3T CN2/10
BD5B3T
DSW1/5 OFF
41