4.3 Functions of the Individual Components

Table 4-3 Summary of Functions of the Individual Components

	Components	Functions
Control module	Main control module (H6COM)	Recording the record points and calculating the operation paths Preservation of the programs and robot integers Teach pendant (T/P) communication Connection of the PC, SD card, and the serial communication
	Servo board (BD640)	DSP for servo control Encoder connection(serial I/F) Sequence control
	Safety module (BD630/631)	I/O in the controller (I/O for the system) Control of the sequence inside the panel Processing of various input signals from the manipulator Open/close outputs for the servo motor Safety chain circuit
Drive Module	Medium-sized 6 axes: H6D6X Small-sized 6 axes: H6D6A Additional: H6D1X, H6D1Z	Generation of the motor drive power Regenerative discharge Servo motor power amplification circuit Various error outputs
T/P (Teach Pendant)	TP600	Display of various information(LCD) Button inputs and switch inputs (function/jog. etc.) Emergency stop, enable, and T/P On/Off inputs
Cooling device	Fan	Air circulation inside the panel Cooling of the drive module
Power supply module	Medium-sized: H6PSM30 Small-sized: H6PSM15	Opening/closing of the motor drive power Distribution of various power

※ For the types of components of each controller, refer to “2.1 Details of Specifications of Each Controller Model.”