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)	-