1.10.3 SCM board status monitoring

Select the [SCM Status] tab of [Configure > 4: Application parameter > 21: Cobot Setup > 1: Cobot Safety Function > 5: Cobot Safety Status] to view the status of the SCM board.

Figure 15 Safety conditions of the collaborative robot: SCM status

• [Status]: You can view the safety conditions.

  You can monitor the statuses of the safety functions of the collaborative robot. In a normal condition, Normal will be displayed. If an error or violation of a safety function occurs, the pertaining error code will be displayed.

• You can view the status of the SCM board.

  • [Main]: This is a status display of the dual MCUs (MCU A, MCU B).

    POWER_ON, INIT_STATE, WAIT_KIENMATICS_INFO, WAIT_DYNAMICS_INFO, WAIT_SAFE_PARAMETER, INITIAL_MONITORING, NORMAL_OPERATION, , STO_STATE_BY_PARAM, STO_STATE_BY_SI, SS1_STATE, SS2_STATE, SOS_STATE, FAULT_STATE

  • [Encoder]: This is a status display of the axial dual encoders (Normal, Error, Off).

  • [Joint torque sensor]: This is a status display of the axial dual JTSs (Normal, Error, Off).