Hyundai YL005 Maintenance Manual page 62

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