4.3.2.1 Connection and display

The connector layout, usages, and connecting devices used by the SCM are as follows:

Figure 28 Safety control board (BD6F1)

Connector

         Usage

External connecting device

CNPS1, 2

Power input for the safety circuit, 24 V DC

(Channels 1 and 2)

Power supply (SMPS2)

CNCAN1

Data communication (exchange of torque data) with the torque sensors (Channel 1) of the mechanical parts

Robot cable connection terminal (CNM)

CNCAN2

Data communication (exchange of torque and position data) with the torque sensors (Channel 2) and encoder (Channel 2) of the mechanical parts

Robot cable connector (CNM)

RJ1

EtherCAT communication port

Robot cable connector (CNM)

RJ2

EtherCAT communication port

Microcomputer module (miniH6COM)

CNPM1

Power input for driving motors of the mechanical parts (48 V DC)

Power supply (SMPS1)

CNPM2

Power output for driving motors of the mechanical parts (48 V DC)

Robot cable connector (CNM)

CNPM3

Power output for charging the motor driving power lines (48 V DC)

Power precharge module (PPM)

CNEP1

Power input for charging the motor driving power lines (48 V DC)

Safety control module (SCM)

CNRDM

Exchange of information on the state of regenerative discharge action

Regenerative discharge module (RDM)

CNPC2

Power input for I/O

Power supply (SMPS2)

TBSYS1

Input for the emergency stop switch and protective stop switch (safeguard), control of power charging function, and connection of monitoring signals

External safety switch, power precharge module (PPM)

TBSDO

Connection of safety output signals

Safety device

TBSDI

Connection of safety input signals

Safety device

TBAIO

Connection of general analog I/O signals

General analog devices

TBDIO

Connection of general digital I/O signals

General digital devices

RS485_1, 2

Connection of RS-485 serial communication

(reserved function)

-

RS232_1, 2

Connection of RS-232 serial communication

(reserved function)

-

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