# 4.3.3 Power precharge module (PPM)

The PPM precharges 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 36 Power precharge module (PPM)](https://1696510089-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MiyQmCk-2APhc5ujw_h%2F-MjXeaEoBuYo0oCQH5f4%2F-MjXeomZTIvpPB6RX0c4%2Fimage117.png?alt=media\&token=9b798070-03ec-4c18-b9ba-46ab70e4bb1f)
