3.3.2.4 D-sub 25-pin connector (SDIO): common digital I/O
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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 on signal connection, see “General purpose safety I/O signals.”
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
Pin number
1
2
3
4
5
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)
Internal connections of the controller
SCM TBSDI
Pin 9
SCM TBSDI
Pin 10
SCM TBSDI
Pin 11
SCM TBSDI
Pin 12
SCM TBSDI
Pin 13
Pin number
6
7
8
9
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)
Internal connections of the controller
SCM TBSDI
Pin 14
SCM TBSDI
Pin 15
SCM TBSDI
Pin 16
SCM TBSDI Pin 1, 2
SCM TBSDI Pin 3, 4
Pin number
11
12
13
14
15
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)
Internal connections of the controller
SCM TBSDI Pin 5, 6
SCM TBSDI Pin 7, 8
-
SCM TBSDO
Pin 9
SCM TBSDO
Pin 10
Pin number
16
17
18
19
Internal of the controller
11
12
13
14
Name
SDOUT2
SDOUT3
SDOUT4
SDOUT5
Usage
Safety signal output 2 (Channel 1)
Safety signal output 3 (Channel 1)
Safety signal output 4 (Channel 2)
Safety signal output 5 (Channel 2)
Internal connections of the controller
SCM TBSDO
Pin 11
SCM TBSDO
Pin 12
SCM TBSDO
Pin 13
SCM TBSDO
Pin 14
Pin number
21
22
23
24
25
Internal of the controller
16
1, 2
3, 4
5, 6
7, 8
Name
SDOUT7
SIO_GND1
SIO_GND1
SIO_GND2
SIO_GND2
Usage
Safety signal output 7 (Channel 2)
Safety signal output common (Channel 1)
Safety signal output common (Channel 1)
Safety signal output common (Channel 2)
Safety signal output common (Channel 2)
Internal connections of the controller
SCM TBSDO
Pin 16
SCM TBSDO Pin 1, 2
SCM TBSDO Pin 3, 4
SCM TBSDO Pin 5, 6
SCM TBSDO Pin 7, 8
This signal is connected to the Safety control module installed inside the controller. For more details on signal connection, refer to “4.3.2.3 Safety I/O signal connection (TBSDI, TBSDO).”
[Caution]
Separate safety signals and common I/O signals, and never connect safety signals to other PLCs than safety PLCs. If you connect safety signals to other PLCs, it will lead to the malfunction of the safety stop function and may cause safety accidents, including physical injuries.
All the I/Os of safety grade are of redundancy structure. Make sure to separate the relevant channels to prevent signal faults from compromising the safety function.
Make sure to power off the product before carrying out any types of wiring, termination, and electrical work.
Hyundai Robotics will not take responsibility for product damages caused by the customer’s carelessness, unskillful operation, and other errors. Never arbitrarily modify, disassemble, or repair the product.
Make sure to check the safety functions before robot installation and check for anomalies at regular intervals afterward.
