CONTROL CABINET

KRC2

Electrical Servicing

Connecting Cables, Robot to Control Cabinet

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e Copyright

KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effect on the function.

PD Interleaf
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Contents
1 2 3 4 5 6
6.1 6.1.1 6.2 6.2.1 6.2.2

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Junction boxes on robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Cable installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connector panel on control cabinet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuration of the connecting cables . . . . . . . . . . . . . . . . . . . . . . . . . . . Connector pin allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data cable connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control cabinet connector X21 to robot connection point X31 . . . . . . . . . . . . . . . . . . . . . . . . Motor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Control cabinet connector X20 to robot connection point X30 . . . . . . . . . . . . . . . . . . . . . . . . Control cabinet connector X7 to robot connection point X30.2 . . . . . . . . . . . . . . . . . . . . . . . .

5 6 7 8 9 10
10 10 11 11 12

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Electrical Servicing

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1 Valid for KR 125 W KR 125 K KR 125 L100 K KR 125 L90 K KR 150 K KR 60 P/1 KR 100 P/1 KR 350/1

Overview

Overview
Connecting cables are all the plug--in cables running between the robot and the control cabinet (Fig. 1). They have plug--in connections at both ends. The terminal allocation of the connectors is given in list form (Chapter 5). In order to avoid the connectors being mixed up, the ends of each cable are provided with a designation label, which must match the corresponding connection point on the robot or on the control cabinet. The cable connections on the robot and control cabinet are shown in Fig. 1. The connection points for the connecting cables are the junction boxes on the robot (Fig. 2) and the connector panel on the control cabinet (Fig. 3). The connectors must be inserted carefully to avoid damaging the contacts.

Control cabinet KR C2 X20 X7 X21 Motor cable (7 m, 15 m, 25 m) Optional motor cable (7 m, 15 m, 25 m) Data cable (7 m, 15 m, 25 m)

Robot X30 X30.2

X31

Fig. 1 Connecting cables

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Electrical Servicing

Junction boxes on robot

The plug--in connections on the robot are located on the junction boxes on the base frame: on junction box X01 for the motor cable, on X02 for the data cable. The allocation of the junction boxes to their respective connectors may be noted from Fig. 2.

X30

X30.2 X01 X02

X31

Base frame

Fig. 2 Junction boxes on robot

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Cable installation

Cable installation
The following points must be observed when laying the cables: -----Ensure that the bending radius of the cables is not less than the specified value (for fixed cabling 120 mm). Protect the cables from mechanical loads and stresses. Installation of the cables must be free from tension (no tensile forces on the connectors). Cables must only be laid indoors. Observe the temperature range (fixed cabling) of --10 _C to +70 _C.

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Electrical Servicing

Connector panel on control cabinet

The connector panel (Fig. 3) is accessible without opening the door to the cabinet. The connected cables are routed under the control cabinet to the rear.

Connection panel, KR C2 control cabinet

1 2 3 4 5 6 7 8 9 10 11

Connection panel, robot

Power cable Motor cable X30/X30.2 Data cable X31

1 2 3 4 5 6

Mains connection Motor connector X20 X7 (optional) Optional Optional Optional

PE1 PE2

7 8 9 10 11 PE

Optional Optional Optional KCP connection X19 Data cable X21 Ground conductor connections

Fig. 3 Connector panel on the KR C2 control cabinet

The optional cable connection from the connector panel X7 to the robot base X30.2 is wired in parallel on large robot models to enlarge the cross--section of the motor cable and thus reduce the maximum current load of the contact points.

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Configuration of the connecting cables

Configuration of the connecting cables

X21

X31

Connector (round) Fig. 4 Data cable

Connector (round)

X20

X30

Rectangular connector with central locking

Cable diameter approx. 24 mm

X7

Optional

X30.2

Contact inserts (HAN modular):

X20
= Coding pin
a b c d e f

X30
= Coding bush = Screw
A B C D E F

X7
a b c d e f

X30.2
A B C D E F

Fig. 5 Motor cables

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Electrical Servicing

6
6.1
6.1.1

Connector pin allocation

Data cable connection
Control cabinet connector X21 to robot connection point X31

Connector X21/X31, Pin no. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

Assignment not connected GND DC +24 V A1 / /CLKX A1 / CLKX FSR /FSR DR /DR /FSX FSX /DX DX /CLKR CLKR not connected not connected

Fig. 6 Connector pin allocation X21 / X31

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Connector pin allocation (continued)

6.2
6.2.1

Motor connection
Control cabinet connector X20 to robot connection point X30

Connector X20/X30, Pin no. a1 a2 a3 b1 b2 b3 c1 c2 c3 d1 d4 d6 d3 d5 e1 e4 e6 e3 e5 f1 f4 f6 f3 f5 PE A1 A2 A3 B1 B2 B3 C1 C2 C3 D1 D4 D6 D3 D5 E1 E4 E6 E3 E5 F1 F4 F6 F3 F5

Assignment Motor A1 / U Motor A1 / V Motor A1 / W Motor A2 / U Motor A2 / V Motor A2 / W Motor A3 / U Motor A3 / V Motor A3 / W Motor A4 / U Motor A4 / V Motor A4 / W Motor A1--A6 Motor A1--A6 Motor A5 / U Motor A5 / V Motor A5 / W Motor A1--A6 Motor A1--A6 Motor A6 / U Motor A6 / V Motor A6 / W Motor A1--A6 Motor A1--A6 Brake+ Brake-Brake+ Brake-Brake+ Brake--

Ground conductor Fig. 7 Connector pin allocation X20 / X30

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6.2.2

Control cabinet connector X7 to robot connection point X30.2

Connector X7/X30.2, Pin no. a1 a2 a3 b1 b2 b3 c1 c2 c3 d1 d2 d3 d4 d5 e1 e4 e6 e3 e5 f1 f4 f6 f3 f5 PE A1 A2 A3 B1 B2 B3 C1 C2 C3 D1 D2 D3 D4 D5 E1 E4 E6 E3 E5 F1 F4 F6 F3 F5

Assignment Connector monitoring Connector monitoring Motor A1 / U Motor A1 / V Motor A1 / W Motor A2 / U Motor A2 / V Motor A2 / W Motor A3 / U Motor A3 / V Motor A3 / W

Ground conductor Fig. 8 Connector pin allocation X7 / X30.2

1

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Index

C
Connection panel, 8

Index -- i