Kuka KR C1 - Serial Connection DSE X812 to RDC X31

Hardware
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Hardware R2.2.8 1 1.98.02 en
EMT interface:
The two channels of the EMT are read as binary inputs and transmitted in serial mode to the
DSEAT together with the actual values and motor temperatures.
A Lemosa (5--pin) connector is used for the EMT interface.
Serial connection from DSE X812 to RDC
X31
Data communication with the DSEAT is implemented by a synchronous serial interface (SSI
interface with RS422/485 drivers).
DSEAT
con-
nector
Cabinet
connec-
tor
Cable
con-
nector
Connecting
cable
Cable
con-
nector
Connector
on robot
box
Cable in
RDC box
RDC
con-
nector
X812 X21 X21 X31 X31
Frei 1
GND
7)
2 2 2 2 2 2 14 14
24V
7)
3 3 3 3 3 3 15 15
/CLKo
1)
4 4 4 4 4 4 10 10
CLKo
1)
5 5 5 5 5 5 11 11
FSi
6)
6 6 6 6 6 6 7 7
/FSi
6)
7 7 7 7 7 7 6 6
Di
4)
8 8 8 8 8 8 9 9
/Di
4)
9 9 9 9 9 9 8 8
/FSo
5)
10 10 10 10 10 10 3 3
FSo
5)
11 11 11 11 11 11 2 2
/Do
3)
12 12 12 12 12 12 5 5
Do
3)
13 13 13 13 13 13 4 4
/CLKi
2)
14 14 14 14 14 14 13 13
CLKi
2)
15 15 15 15 15 15 12 12
16 16
1)
Clock signal from RDC differential, 1 pair, shielded
2)
Clock signal from DSEAT differential, 1 pair, shielded
3)
Transmitted data differential, 1 pair, shielded
4)
Received data differential, 1 pair, shielded
5)
Frame synchronization transmitted data differential, 1 pair, shielded
6)
Frame synchronization received data differential, 1 pair, shielded
7)
Supply voltage 1 pair or 2 single conductors