# 4.3 Functions of the Individual Components

<mark style="color:green;">Table 4-3 Summary of Functions of the Individual Components</mark>

<table data-header-hidden><thead><tr><th width="150" align="center"></th><th width="150" align="center"></th><th></th></tr></thead><tbody><tr><td align="center"></td><td align="center"><strong>Components</strong></td><td>　　　　　　<strong>Functions</strong></td></tr><tr><td align="center">Control module</td><td align="center"><p>Main control module</p><p>(H6COM)</p></td><td><ul><li>Recording the record points and calculating the operation paths</li><li>Preservation of the programs and robot integers</li><li>Teach pendant (T/P) communication</li><li>Connection of the PC, SD card, and the serial communication</li></ul></td></tr><tr><td align="center"></td><td align="center">Servo board (BD640)</td><td><ul><li>DSP for servo control</li><li>Encoder connection(serial I/F)</li><li>Sequence control</li></ul></td></tr><tr><td align="center"></td><td align="center"><p>Safety module</p><p>(BD630/631)</p></td><td><ul><li>I/O in the controller (I/O for the system)</li><li>Control of the sequence inside the panel</li><li>Processing of various input signals from the manipulator</li><li>Open/close outputs for the servo motor</li><li>Safety chain circuit</li></ul></td></tr><tr><td align="center">Drive Module</td><td align="center"><p>Medium-sized 6 axes: H6D6X</p><p>Small-sized 6 axes: H6D6A</p><p>Additional: </p><p>H6D1X, H6D1Z</p></td><td><ul><li>Generation of the motor drive power</li><li>Regenerative discharge</li><li>Servo motor power amplification circuit</li><li>Various error outputs</li></ul></td></tr><tr><td align="center"><p>T/P</p><p>(Teach Pendant)</p></td><td align="center">TP600</td><td><ul><li>Display of various information(LCD)</li><li>Button inputs and switch inputs (function/jog. etc.)</li><li>Emergency stop, enable, and T/P On/Off inputs</li></ul></td></tr><tr><td align="center">Cooling device</td><td align="center">Fan</td><td><ul><li>Air circulation inside the panel</li><li>Cooling of the drive module</li></ul></td></tr><tr><td align="center">Power supply module</td><td align="center"><p>Medium-sized: H6PSM30</p><p>Small-sized: </p><p>H6PSM15</p></td><td><ul><li>Opening/closing of the motor drive power</li><li>Distribution of various power</li></ul></td></tr></tbody></table>

※ For the types of components of each controller, refer to “[**2.1 Details of Specifications of Each Controller Model.**](https://hyundai-robotics.gitbook.io/hi6-s-controller-maintenance-manual/cm-english/2-detail-spec/2-1-each-controller-model)”