Kuka KR C4 compact - 6.7 Mastering Test; 6.8 X65 EtherCAT Interface

70 / 93 Issued: 20.04.2018 Version: Spez KR C4 compact V10
KR C4 compact
6.7 Mastering test
For the mastering test, a reference switch must be connected to the safety
PLC and activated via PROFIsafe or CIP Safety. The safety PLC must evalu-
ate the reference switch and set the input “Mastering test” accordingly.
6.8 X65 EtherCAT interface
Description Connector X65 in the connection panel is the interface for connection of Ether-
CAT slaves outside the robot controller. The EtherCAT line is routed out of the
robot controller.
Necessary
equipment
 Connector, Data 3A RJ45
 Cable clamping range: Ø9 ... Ø13 mm
 Maximum cable cross-section: AWG22
 Recommended connecting cable: Ethernet-compatible, min. category
CAT 5
Connector pin
allocation
Interface X65 can be wired internally to the CCU_SR, either directly or via a
bus coupler.
5C-
7D+
8D-
Pin Description
The EtherCAT devices must be configured with WorkVisual.
Fig. 6-10: RJ-45 pin assignment
Pin Description
1TFPO_P
2TFPO_N
3TFPI_P
6TFPI_I
-PE