4.3.5 Microcomputer module

The microcomputer module (miniH6COM, EBC-GF53) drives and controls the collaborative robot based on the Hi6 control platform. For more details on this module, see “Operation Manual for Hi6 Controllers.”

The composition of the external interface, COM ports, and power connector of the microcomputer module is as follows:

Figure 40 External interface of the microcomputer module

Port	Usage	Specification	Count
DP	Display	Display Port	1
LAN1, LAN2, LAN3	Wired LAN	Giga LAN	3
USB1, USB2	USB	USB2.0	2
COM1, COM2	Serial communication	RS-232/422/485	2
GPIO	Digital I/O	8 bits, DSUB-9	1
DC IN	Power input	DC12 ~ 24V, 10A	1
-	Extension slot	PCIe x1, PCI	2

Figure 41 COM port (male) pin map

No	Name	No	Name
	COMn_422_485_TX-		COMn_DSR#
	COMn_422_485_TX+		COMn_RTS#
	COMn_422_RX+		COMn_CTS#
	COMn_422_RX-		COMn_RI_V#
	GND

Figure 42 COM port (female) pin map

No	Name	No	Name
	GPIO_GPIO0		GPIO_GPIO4
	GPIO_GPIO1		GPIO_GPIO5
	GPIO_GPIO2		GPIO_GPIO6
	GPIO_GPIO3		GPIO_GPIO7
	GND

Figure 43 DCIN (power connector) pin map

No	Name
	DC24V
	FG
	GND