I cant get pictures to post on here from my phone (hence the link)
The link is broken.
You say it's a 24-pin Harting plug? This is what Harting connectors usually look like (many different pin counts):
I haven't seen a KRC2sr in 20+ years, so I can't reliably recall what kind of connectors it used.
For any KRC2 variant that I'm aware of, the Safety connection is always X11, and it should be on the KRC cabinet itself.
Does the link to the photo work?
nope...
Do I just have some kind of non-standard x11 connector because this is a school bot, or am I stupidly looking at the wrong thing?
who knows... we are unable to see
Does the link to the photo work?
Don't know, never follow external links to pictures. They always disappear after a short time, then the thread is useless in future for other people.
that is something different...
when talking about X11 interface of the robot controller, one is thinking of X11 that is on the KRC itself (or whatever plugs into X11 on the KRC itself).
what you are showing is likely some other X11, probably part of the training cell.
strong suggestion - always identify and ensure use of correct hardware before making any connections. or thing can and will end up in smoke.
following image shows the robot system (without rest of the cell). KRC is box on the left. that is where your X11 connector is.
That cable leads to this distribution block, the one labelled 1-22. Should I add a jumper from 1-20 and 2-21 leaving it in the block or remove the wires and jump them with it disconnected from that block? I tried jumping them while still in the block and it just gave me a different e stop error (#1) on top of the error 20 external e stop error
That... is going to depend entirely on how whomever set this up originally wired it. It looks like they wired in actual safety devices -- are those devices still there? They should be closing the external E-Stop contacts.
If you don't have a wiring diagram for that panel, this may require ringing out all the wires one at a time.
I advise starting at the KRC2sr. Look at Panic's photo -- the X11 is that connector in the bottom left. Unplug your custom cable from the KRC and examine the X11 on the KRC itself. It should match the pinouts we've posted previously. If it doesn't, then you'll probably need to contact KUKA with the serial number of the KRC and ask them for the correct interface wiring diagram for that specific cabinet.
If the X11 on the KRC2 matches the X11 diagram posted previously, then you should be able to reverse-engineer it. You'll need to ring out each pin on the KRC-end X11 to the pins on your 22-terminal block in your photo. Once you've determined which pins on that block are wired to which pins on the KUKA X11, it should be possible to jumper a TEST-A to EMStop-A, and a TEST-B to EMStop-B and clear the error.
Just trying jumpers semi-randomly is a BAD idea. There's at least one 24VDC power connection on the X11, typically, and cross-wiring that to itself or one of the Safety signals could very easily smoke the ESC board in the KRC.
documentation should show if the connections from X11 to that terminal strip are really 1:1 or mixed.
why not use documentation or get someone qualified to check it out?
making connections is always dangerous as it can damage system.
if you want it to work, it need to be wired and configured correctly.
if you just want a way to move robot for temporary use (diagnostics/service purposes) and without all of the external circuitry, then good idea is to simply make a new X11 jumper plug.
You guys are awesome, that fixed the error 20 (external e-stop pressed) now the only thing left is 200 (drives contactor off) and the battery voltage error. If I can get it to move batteries will be the first thing I order
Drives Contactor Off is a status message, not an error. If the KRC is in T1 mode, and you squeeze the deadman switch on the KCP, the motors should engage and the DCO message should clear itself.
