KR10 X11 Diagram

[shelbydoyle]

Working on bypassing X11 on our two new KR10s - attached is a diagram we've put together from all of the sources / information we've received.

[Johannes @ Robots in Architecture]

That looks right, is it working?
If so, thanks for sharing!

[shelbydoyle]

Going to try to master them on Friday - so we will see if its all working then!

[Johannes @ Robots in Architecture]

Usually, unless they were treated a bit roughly, they should not need to be mastered. It's still recommended, of course.
To move the robot without the X11, go into a usergroup >= Expert and then activate the Start-Up mode. I believe it's in Startup/Service (but no promises, I'm not at the robot at the moment).
In startup mode you can only operate the robot in T1, i.e. you need to keep the button on the back pressed, even for programs, and the speed is limited.
If there is a plastic bag with 4 blue wires included, you may also need to build that plug, which provides power to the internal Beckhoff EK1100 coupler. You just connect the internal power supply with the internal power connection, unless you want an external 24V power supply. I'm at the airport right now so I cannot give you the X-something ID of the plug - I believe it's X55, though.
Finally, if you are doing the startup yourself, don't forget to plug in the battery. Inside the cabinet there will be one loose cable, which will fortunately only fits into a single plug next to it.

Best,
Johannes

[shelbydoyle]

Thanks Johannes!
Battery plugged in, mastering completed, X11 plug built, now onto the Beckhoff EK1100 coupler.
Attached is a noted PDF of the process of constructing the X11 bypass plug...

[shelbydoyle]

We don't have a Beckhoff 1100 - this is the Kuka interface. We will make another post of how we did this.

[luigipachecoFIU]

are this the right pins for the X11 connector:
https://www.amazon.com/PC-Accessories-Connectors-Plated-Crimping/dp/B00EDFJFD6/ref=sr_1_2?crid=268GAM375577D&keywords=Pro+D-Sub+Male+Crimp+Pins&qid=1659372051&sprefix=pro+d-sub+male+crimp+pins%2Caps%2C53&sr=8-2%27

thank you!

[Johannes @ Robots in Architecture]

Looks right, the X11 is a DSUB with I believe 50pins on the KRC4 compact!
You could also get a terminal block like that: https://www.amazon.com/Header-Breakout-Terminal-Connector-Module/dp/B08GLX1VPM
I don't know if type of connection conforms to all standards, but it is convenient!

Best,
Johannes

[luigipachecoFIU]

Yes that looks way more convenient , thank you!!

[Anbifa]

I just wanted to comment and voice my appreciation for the detailed guide for the one plug to rule them all. It was more than helpful for me!

Some things to report back:

• The plug on the KR C4 compact is indeed a Sub-D 50 plug (not the High-Density/HD version but the standard pitch). This allowed me to get a cheap standard connector with solder connections and make the necessary bridges as outlined above
• I was not aware that the pins are counted from the "backside" on those connectors. The more detailed PDF guide saved me there
• The screws next to the connector are not M3, but seem to follow the standard and use UNC 4-40. Using screws from a VGA or DVI connector seem to work fine
• Even with the connector installed and everything turning green, I could not move the robot in T1. After some more research, I found that there is an additional MOVE_ENABLE flag on the controller. My robot came from industry where it had an external controller attached to it which also enabled the movements. But since the controller is missing now, it would not budge until that flag was changed.

I hope this helps some more people