====== KUKA LWR-4 Cables ======

{{:projects:lwr_cables:kuka_lwr4_cable.jpg?300|}}

The LWR-4 has a [[http://www.harting.com/en/|Harting]] HAN-DD connector on the base.

==== Parts ====

Adjust accordingly for the cable length that you want to have (you can order different variants of the fiber optic patch cable, for example a 15m one that you could cut in two. In our last test we used 2 4m ones, as it was the longest type on stock in Digikey).. The cable gages (2.5 and 1.0 sqmm) shown below are the same on the official 7m cable from the company. We have tried 2m and 4.5m cables with success, but longer should work too.

We did not get the crimping tool for fiber optic, as it is very expensive and you only need to crimp two times. Instead, we cut the black plastic cover of the fiber leaving the fiber naked for about 1cm, so that you can insert it into the fiber crimp contact. When the length is correct, we apply two-component glue to the isolation of the fiber, and insert it into the contact. This works very well and it holds the fiber solidly in place.

[[http://www.harting-connectivity-networks.de/en/service/downloads/katalog-industriesteckverbinder-han/|This Webpage of Harting]] has the catalogues. You'll need the Han D / Han DD (chapter 2), Han Modular (chapter 6), Han Accessories (chapter 40) and tools (chapter 99) catalogues.

^ Amount ^ Part # ^ Catalogue ^ Bought at / Stock # ^ Description ^ Picture ^
| 1 | 09 99 000 0021 | Han Tools, p. 2 | Reichelt / HAN 000 0021 or Mouser / 617-09-99-000-0021 | crimping tool | {{:projects:lwr_cables:crimping_tool.jpg?100|}} |
| 1 | 09 99 000 0052 | Han Tools, p. 3 | Farnell / 151858 or Mouser / 617-09-99-000-0052 | removal tool | {{:projects:lwr_cables:removal_tool.jpg?100|}} |
| 2 | IF 636-4-0 | [[http://i-fiberoptics.com/patchcord-series.php?summaryrow=3&series=636|Industrial Fiber Optics]] | Digi-Key / FB154-ND | fiber patch cord, 4 m | {{:projects:lwr_cables:fiber_cord.jpg?100|}} |
| 1 | 19 00 000 5090 | Han Accessories, p. 6 | Mouser / 617-19-00-000-5090 | cable entry protection screw | {{:projects:lwr_cables:screw.jpg?100|}} |
| 1 | 19 14 001 0401 | Han Modular, p. 9 | Mouser / 617-19140010401 | connector hood | {{:projects:lwr_cables:connector_hood.jpg?100|}} |
| 1 | 09 14 001 0311 | Han Modular, p. 9 | Mouser / 617-09-14-001-0311 | carrier hood | {{:projects:lwr_cables:carrier_hood.jpg?100|}} |
| 1 | 09 14 012 3101 | Han Modular, p. 59 | Reichelt / HAN 012 3101 or Mouser / 617-09-14-012-3101 | crimp terminal | {{:projects:lwr_cables:terminal.jpg?100|}} |
| 2 | 20 10 001 3221 | Han DD, p. 6 | Mouser / 617-20100013221 | fiber optic contacts | {{:projects:lwr_cables:fiber_contact.jpg?100|}} |
| 5 | 09 15 000 6202 | Han DD, p. 6 | Reichelt / HAN 915 6202 or Mouser / 617-09-15-000-6202  | crimp contacts, 1 mm<sup>2</sup> | {{:projects:lwr_cables:crimp_contact_10.jpg?100|}} |
| 4 | 09 15 000 6206 | Han DD, p. 6 | Reichelt / HAN 915 6206  or Mouser / 617-09-15-000-6206  | crimp contacts, 2.5 mm<sup>2</sup> | {{:projects:lwr_cables:crimp_contact_25.jpg?100|}} |

==== Pin Configuration ====

^ Pin ^ Function ^ Contact ^ Color ^
| 1 | motor A1-A2 +Ua (48 V) | 2.5 mm<sup>2</sup> | Red |
| 2 | motor A1-A2 -Ua (0 V) | 2.5 mm<sup>2</sup> | Black |
| 3 | motor A3-A7 +Ua (48 V) | 2.5 mm<sup>2</sup> | Red | 
| 4 | motor A3-A7 -Ua (0 V) | 2.5 mm<sup>2</sup> | Black |
| 5 | logic shield | 1.0 mm<sup>2</sup> | Black |
| 6 | logic +48 V | 1.0 mm<sup>2</sup> | Red |
| 7 | logic ground | 1.0 mm<sup>2</sup> | Black |
| 8 | emergency stop 10 mA (+) | 0.5 mm<sup>2</sup> | Blue |
| 9 | emergency stop 10 mA (-) | 0.5 mm<sup>2</sup> | Blue |
| 10 | unpopulated |  |  |
| 11 | fiber to arm | fiber | - |
| 12 | fiber from arm | fiber | - |