Which unit on the R-30iB Controller are the DCS OPSFTY signals hardwired to?

The correct answer is the Emergency Stop Board. DCS (Safety-Related) signals, such as OPSFTY (Operational Safety), are typically associated with safety functions within robotic systems to ensure that emergency protocols can be effectively managed. In the context of the R-30iB Controller, these safety-related signals are hardwired to the Emergency Stop Board to provide a direct and reliable means for safety management.

This configuration allows the Emergency Stop Board to monitor the status of safety-related signals actively. In the event of a safety condition, the Emergency Stop Board can then execute immediate actions to prevent accidents, such as halting operations or disabling motion. Ensuring that these signals are hardwired rather than relying on software or other connection methods enhances safety by minimizing the response time and eliminating potential communication failures that could arise.

Understanding the role of each unit provides clarity: the Power Supply Unit is responsible for delivering power, the Controller Motherboard manages overall controller functions, and the Communication Board facilitates communication between devices. However, these components do not specifically handle safety signals directly, which is why they are not the correct answers in this context.