KUKA KR150 KRC2 making new cables for X30-X31 and X20-X21

machete · December 31, 2017 at 12:30 AM

Good day!

We have just bought KUKA KR150 KRC2 (built in 2002) for simple drilling applications, but mostly for education purposes.

Unfortunately our robot has no cables X20-X30 and X21-X31. (Seller have tested robot with his own cables). So now we're trying to make new cables ourselves.

We have circuit diagrams for KRC2, but don't have wiring diagrams for robot, and do not have any CD's.

Can anybody give me a wiring diagram for our robot, or just confirm that pins on X20-X21 is "one-to-one"?

And for X30-X31 is also "one-to-one"?

Is there any other requirements for cables X20-X21 except wires diameter (AWG)?

For X21-X31 we plan to use "Unitronic FD CP TP (plus)" cable - is it suitable for this application? (this is an industrial twisted pair shielded cable)

P.S. I've been trying to find answers on this forum (especially in Manuals section) and in the Internet without any successes - so will appreciate any help!

Martin84 · December 31, 2017 at 1:18 AM

I think it will be easier to buy wires

Martin84 · December 31, 2017 at 1:22 AM

https://www.ebay.de/itm/Kuka-Robot…KMAAOSw0IJZ18jr

http://www.ebay.de/itm/KUKA-Robot…w4AAOSwe51Z5fTb

machete · December 31, 2017 at 10:45 AM

Sure, but we are interested to do it ourselves (Let's say, it is for "education purposes").

Martin84, thank you for diagrams, but it is the same as we have (for cabinet) - and I'm searching for pinout of X30 and X31 located on robot (or want be sure that is the same).

Martin84 · December 31, 2017 at 6:12 PM

I still have it

javaman · January 3, 2020 at 1:28 AM

Happy new year!

I want to make the same cables.

I have the cable (i will cut an existing 15m cable in the middle) but iam searching the harting connectors.

Does anyone knows the type of harting connectors for X20/30 & X21/31 ?

Also where can i find protocol documentation about RDC serial interface with krc2 ?

(CLKX FSR DR FSX DX CLKR signals)

I want to make my own controller and i need to translate the serial data to something A/B incremental signals for each axis(1-8).

**panic mode** · January 3, 2020 at 6:27 AM

there would be no documentation available as the protocol is proprietary so you would need to reverse engineer it, at least in part (to get position values).

then generating quadrature signals would need some high speed processing. an FPGA would be a good choice.

another option is to get rid of RDC and just use several resolver to quadrature converter or make own.

etc.

javaman · January 3, 2020 at 7:12 AM

yes i will use fpga but it would be nice to have the documentation of protocol.

I have a logic analyzer so technically i can do reverse engineering but

the robot is installed in a "difficult" place that i have not internet nor pc/tools.

Can i remove rdc pcb and the kpc and do it in my home ?

**panic mode** · January 3, 2020 at 4:37 PM

Maybe but that would likely make it exponentially more difficult. You still need to have motors (resolvers). And what do you plan to do about drives, KPS and safety...

I would want to have fully operational system to get startup as quick and clean as possible to shorten data stream that need to be analyzed.

And what do you need internet for? Is this a team effort? I would expect that you are in this by yourself.

This is 2020 and PC tools can be installed on a laptop. This tend to be more portable than desktops or some room sized computer.

javaman · January 3, 2020 at 5:21 PM

Ok i will do it on operating system..

Whats are the type of connectors X20/21 X30/31 ?

**panic mode** · January 3, 2020 at 5:29 PM

don't know exact models but clearly

X20/X30 are from Harting, i bet it is Han Modular series.

X21/X31 are from Intercontec

or just let your favourite connectors supplier work it out.

javaman · August 13, 2020 at 12:08 PM

What type intercontec connector is that in kcp2 ?

javaman · January 24, 2024 at 12:15 AM

Found anyone which model are exactly krc2 connectors?

javaman · May 4, 2024 at 12:44 AM

Hello again.

Has anyone something newer about type of X20-X30 connectors for krc2 power cable ?

KUKA KR150 KRC2 making new cables for X30-X31 and X20-X21

Advertising from our partners

How to see your Job Posting (search or recruit) here in Robot-Forum.com