4.3.1 Internal structure

Identifying the structure and part names of the controller is useful for learning how to install and maintain it.

Figure 26 Internal structure of the controller

No	Name		Description
	Microcomputer module	miniH6COM	This has overall control of the collaborative robot
	Power switch and breaker	CP1	This turns on/off the main power of the controller.
	Noise filter	NF1	This filters conductive noise.
	Buffer power	BUFFER	This supplies power to the microcomputer module for a certain period in case of a blackout.
	Power supply 2	SMPS2	This is the power source (24 V DC) of the joint actuator.
	Power supply 1	SMPS1	This is the power source (48 V DC) for the controlling.
	Regenerative discharge module	RDM	This discharges the regenerative power generated by the motor of the joint actuator.
	Safety control module	SCM	This controls the safety functions of the collaborative robot.
	Power precharge module	PPM	This precharges the power for the joint actuator of the collaborative robot.