Keba Kemro KeTop T10 Project Engineering Manual Download

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Kemro

KeTop T10

Project engineering manual V1.02

Translation of the original manual

Summary of Contents for Kemro KeTop T10

Page 1: ...Kemro KeTop T10 Project engineering manual V1 02 Translation of the original manual ...

Page 2: ...bject to change due to further technical developments Details presented may be subject to correction All rights reserved KEBA AG Headquarters Gewerbepark Urfahr 4041 Linz Austria Phone 43 732 7090 0 Fax 43 732 7309 10 keba keba com For information about our subsidiaries please look at www keba com ...

Page 3: ...in chapter Description changed by 1 00 04 2013 Newly created swb ekr 1 01 03 2014 Several Several updates swb 1 02 10 2014 Several No enabling control electronics ekr KeTop T10 Record of Revision KEBA 2014 Project engineering manual V1 02 3 ...

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Page 5: ...fety notes 14 2 1 Representation 14 2 2 General safety instructions 14 2 3 Personnel safety instructions 16 2 4 Transport Conditions 16 3 System overview 17 3 1 Functions of KeTop T10 17 3 2 Integration of the KeTop T10 into robot control 18 3 3 Using KeTop T10 for jogging a robot 19 3 3 1 Suggestion for jog functions 20 4 Description of the product 22 4 1 Front view 22 4 2 Rear view 23 4 3 Side v...

Page 6: ...ings respective grey halt button 44 12 6 Enabling control device 44 13 Options 45 13 1 Grey stop switch 45 14 Accessories 46 14 1 Wall bracket KeTop T10 46 14 1 1 Dimensions 46 14 2 Junction Box JB 001 46 14 2 1 Views and basic dimensions 47 14 2 2 Connectors 48 14 2 3 Connection diagram 48 14 2 4 Shielding inside the Control Cabinet 49 14 2 5 Mounting Instructions 50 14 2 6 Technical data of Junc...

Page 7: ... in Special Operating Modes 65 17 8 Information about the Emergency Stop Button 66 17 9 Application of Emergency Stop Button and Stop Button on the Handheld Terminal 67 17 10 Information about enabling control devices 70 18 Appendix Electromagnetic Compatibility 72 18 1 The electromagnetic environment interference sources interference sinks and coupling paths 72 18 2 EMC measures on KeTop 75 19 Ap...

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Page 9: ...ent contains information for following persons with corresponding preconditions Target group Prerequisite knowledge and ability Project engineer Technical basic education advanced technical education engineering degree or corresponding professional experience Knowledge about the method of operation of a PLC safety regulations the application Electrician Specialized training in the electro technica...

Page 10: ...ut the method of operation of a PLC safety regulations the method of operation of the machine or system diagnosis possibilities systematic error analysis and troubleshooting 1 3 Intended Use of the Handheld Terminal The intended use of the KeTop T10 covers tasks from watching and parame trizing up to operating of machines e g Injection moulding machine Robots Machine tools Textile machines Printin...

Page 11: ...ife cycle of the product and should be forwarded to any subsequent owners or users of the product Information This manual also applies to identically constructed and functional identically costumer variants of the KeTop T10 Because of the fact that costumer variants may differ in their appearance e g with a different front cover from the KEBA standard variant the pictured de vices used in this man...

Page 12: ...97 EN 60204 1 2006 Enabling device Enabling control device chapter 10 9 In this manual the new terms of MD 2006 42 EC are used 1 6 2 Quantitative safety relevant specifications for emergency stop button and enabling control device Emergency stop button and enabling control device Enabling device KEBA specifies a B10d value Other values e g SIL PL Category cannot be specified by KEBA Explanation KE...

Page 13: ...ility of a dangerous breakdown per hour 1 h a 10 5 to 10 4 b 3 x 10 6 to 10 5 c 10 6 to 3 x 10 6 d 10 7 to 10 6 e 10 8 to 10 7 1 6 4 Abbreviations Abbreviation Term Meaning B10d Number of cycles until 10 of the components fail dangerously per channel MTTFd Mean Time to Dangerous Failure Mean time to dangerous failure per channel DC Diagnostic Coverage Diagnostic coverage PL Performance Level Discr...

Page 14: ...sult in damage to property This symbol reminds you of the possible consequences of touching elec trostatically sensitive components Information Useful practical tips and information on the use of equipment are identified by the Information symbol They do not contain any information that warns about potentially dangerous or harmful functions 2 2 General safety instructions The device was developed ...

Page 15: ...ath If you do not use the device hang it into the wall bracket provided for stor age Do not lay down the device with the operating side facing down to avoid damaging the operating elements Never lay the device onto unstable surfaces It could fall to ground and thus be damaged Never lay the device close to heat sources or into direct sunlight Avoid exposing the device to mechanical vibrations exces...

Page 16: ... safety aspects must be considered Right cable length for limitation of workspace Is an emergency stop button necessary and permissible Is the safety category for the application sufficient From the operating place the operator must have a good view at the hazard area The device may be operated in faultless condition only and the operating instructions must be observed The operator must have a suf...

Page 17: ... it the per fect operating device for any machine requiring save manual operation The new intuitive way of operation together with its compact size allows the oper ator to concentrate on the operated machine instead of paying attention to the operating device The display of the KeTop T10 is used to display the status and shows the icons setted by the application on the control An exception are the...

Page 18: ...and state control to provide the robot control with the current orientation of the de vice and filter undesired vibrations like e g from tremor of the hand of the operator To get reliable orientation results from the sensors the sensors have to be calibrated at the beginning of operation This is done automatically after power up as soon as the device is in rest position Due to the inertial sensors...

Page 19: ...server implementation for Windows delivered as source code in the programming language C and a KeTop T10 emulation that can be used for testing a KVC driver implementation The reference implementation is containing all operating system dependent functions in a module to make porting to different operating systems an easy task Furthermore the reference server is integrated in a test program This di...

Page 20: ...the robot is aligned to coordinates snap to grid In free mode the direction of the KeTop T10 directly gives the direction of movement without aligning to a coordinate system In coordinate mode the directions are defined by a selected coordinate system world object tool Also several tool coordinate systems can be defined and selected The axis of movement is selected by the direction of the KeTop T1...

Page 21: ...al handle mode grabbing When the joystick is pressed the Tool Center Point TCP follows directly any orientation change of the KeTop T10 This gives the impression of grabbing the TCP directly and changing the orientation manually So the KeTop T10 serves as a virtual handle of the TCP The position of the Tool Center Point itself is unchanged Due to safety standards the rotation speed of the robot is...

Page 22: ... Ethernet the KeTop is ideal for a great variety of applications 4 1 Front view Fig 4 1 Front side of the device 1 Emergency stop switch twin circuit or stop switch option 2 TFT display 3 Joystick 4 Membrane keypad 5 Strain relief and bend protection for connection cable Description of the product KeTop T10 KEBA 2014 Project engineering manual V1 02 22 ...

Page 23: ...late 2 Enabling control device 4 3 Side view Fig 4 3 Side view of the device 4 4 Ergonomic Features Operation by right handed and left handed people Easily readable display KeTop T10 Description of the product KEBA 2014 Project engineering manual V1 02 23 ...

Page 24: ...lubricants Extremly sturdy housing Drop tested on industrial flooring from a height of 1 5 m 59 in 4 6 Type Plate 1 Manufacturer 2 Material name 3 Material number revision 4 Country of origin 5 Serial number 6 Technical data Voltage power supply 7 Date of production month year 8 Ambient temperature 9 UL marking 10 UR marking 11 Manufacturer s address 12 CE marking of conformity Description of the ...

Page 25: ...mming manual The keypad operation is carried out exclu sively with the fingers Fig 5 1 Membrane keypad for KeTop T10 By pressing the key 1 the direction of the KeTop T10 gets controlled and displayed orientation button To re reference the KeTop T10 it has to be held in the desired direction then the key 2 has to be pressed reference button 5 1 1 Key assignment The keys are numbered from left to ri...

Page 26: ... The display contents are generated by the control and only shown on the display The only excep tions are the error messages that are displayed directly on the KeTop The display has a size of 128 x 128 pixels and provides 13 spaces for the symbols Fig 5 2 Display spaces Space Size of the symbols 0 64 x 64 1 12 32 x 32 The firmware of the KeTop T10 contains three sets of symbols with fixed def init...

Page 27: ...19 Appendix Icon sets on page 78 are preset and cannot be changed or deleted KeTop T10 Display and operating elements KEBA 2014 Project engineering manual V1 02 27 ...

Page 28: ...t for the machine The connection of the positive break contacts to an appropriate monitoring system must meet the safety category in accordance with EN ISO 13849 1 which is defined by means of the risk assessment in accordance with EN ISO 14121 1 of the machine Optionally the KeTop is also available with a grey stop button instead of the red yellow emergency stop button In principal the grey stop ...

Page 29: ... in emergency stop switches can be recognized at operation only Test the function of the emergency stop switch when the device had been exposed to mechanical shock e g it had been fallen on the ground Additionally the emergency stop switch must be tested cyclic 6 monthly Watch the machine stopping after the emergency stop switch had been pushed For further informations to emergency stop switch obs...

Page 30: ... the enabling switch Enabling Fig 6 1 Contact travel diagram for enabling Panic The pushing of the actuating elements into the panic position is evaluated in a way that the enabling position is skipped when the actuating elements are re leased Fig 6 2 Contact travel diagram for panic Connection and wiring KeTop T10 KEBA 2014 Project engineering manual V1 02 30 ...

Page 31: ...d this would cause the loss of safeness According to the EN60204 1 the enabling control devices shall be implemented in such a way that at position 1 Off function the control element is activeted and position 3 Off function the control element is pressed down to panic position at least one of the stop categories 0 1 or 2 is initialized For calculation of the PL for the safety function enabling the...

Page 32: ...e 6 Connection box 7 Enabling of dangerous movement The grafic shows a suggested wiring of enabling switches to fulfill safety cat egory 4 PL e for the enabling switch with PILZ control relay Also follow the instructions described in the PILZ operating manual about the device Connection and wiring KeTop T10 KEBA 2014 Project engineering manual V1 02 32 ...

Page 33: ...evice is only suitable as safety function if the oper ator activating the enabling control device recognizes the dangerous sit uation in time so that he can immediately take the necessary measures to avoid such situations As additional measure reduced speed of the move ment can be necessary The allowed speed must be determined by means of a risk assessment The enabling control device is only used ...

Page 34: ...nd circuit 2 5 E Stop Circuit 1 Emergency stop circuit 1 6 E Stop Circuit 1 GND Emergency stop ground circuit 1 7 Enabling Device Circuit 1 Enabling control device circuit 1 8 Enabling Device Circuit 1 GND Enabling control device ground circuit 1 9 n c Not connected 10 n c Not connected 11 n c Not connected 12 Enabling Device Circuit 2 Enabling control device circuit 2 13 TD Ethernet Transmit 14 T...

Page 35: ...tion has been established an ap propriate symbol is shown on the display In parallel the inertial sensors are calibrated For this purpose the Ke Top must be in an steady position e g on the wall brackets As long as the device is connected with the control system and the calibration has not been finished the symbol waiting for calibration is shown on the display If the device is not in a steady pos...

Page 36: ...e button see fig 5 1 Membrane keypad for KeTop T10 on page 25 Information Every 10 minutes the referencing of the KeTop T10 become invalid au tomatically and the icon for Reference lost is shown The operator is forced to re reference the device By a fast position change e g by a fall which exceeds the measuring range the reference can become invalid The exceeding of the measuring range ist detecte...

Page 37: ...ect connection Connection via switch In this connection option a switch is provided between the junction box and the PC For the connection a 1 1 standard Ethernet cable is used Fig 8 1 Connection KeTop T10 PC via Switch 1 KeTop T10 2 Junction box JB 001 3 Switch Hub 4 PC Direct connection In this connection option the KeTop T10 is connected directly via the junction box to the PC For the connectio...

Page 38: ...ivery the default IP address is set to 192 68 25 11 The following configurations can be set Device IP Address Configuration of the desired IP address of the KeTop Server IP Address Configuration of the IP address of the desired control Netmask Configuration of the subnet mask Fig 8 3 Configuration of the addresses The settings will be active after a restart Information For questions related to the...

Page 39: ...iagnostics screen Diagnostics information can be shown on the display of the KeTop This diag nosctics screen is opened by pressing and see fig 5 1 Membrane keypad for KeTop T10 on page 25 Integrated web server The information can also be queried via the integrated web server The web server can be opened on a PC via an internet browser This requires to connect the KeTop with the PC and to enter the...

Page 40: ... line Meanings of the codes see chapter 20 Ap pendix Status and error codes on page 85 Selftest result Status code is displayed Meaning of the status code see chapter 20 Appendix Status and error codes on page 85 KVC In addition the status code of the KeTop is transferred via KVC to the control where it can be read out For further information see KeTop KVC programming manual Diagnostics KeTop T10 ...

Page 41: ...10 Maintenance The device itself is maintenance free KeTop T10 Maintenance KEBA 2014 Project engineering manual V1 02 41 ...

Page 42: ...ainer means that electrical and electronic devices including their accessories must not be disposed of in the household garbage The materials are recyclable in accordance with their labeling You can make an important contribution to protecting our environment by reusing renewing and recycling materials and old appliances Disposal KeTop T10 KEBA 2014 Project engineering manual V1 02 42 ...

Page 43: ...on class IP54 12 2 Environmental conditions Operating temperature 0 C to 45 C 32 F to 113 F Storage temperature 20 C to 70 C 4 F to 158 F Transport temperature 25 C to 70 C 13 F to 158 F Relative humidity non condensing 5 to 95 Vibration resistance operation EN 61131 2 5 Hz f 9 Hz with 3 5 mm 0 138 in 9 Hz f 150 Hz with 1 g 0 035 pounds Shock resistance operation 15 g 11 ms EN 61131 2 12 3 Interfa...

Page 44: ...C 60947 5 1 Schlegel B10d 250 000 Design 2 circuits external wiring Galvanic isolation 500 V AC to the rest 12 6 Enabling control device Output type Solid state output Voltage 24 V DC Current 500 mA max B10d 2nd position 1 000 000 3rd position 1 000 000 Actuating force from 1st position to 2nd position 3 N typical from 2nd position to 3rd position 17 N typical Galvanic isolation 500 V AC to the re...

Page 45: ...e KeTop is available with 13 1 Grey stop switch In place of the emergency stop switch a gray stop switch can be used See chapter 6 2 Emergency Stop Button and grey Stop Button on page 28 KeTop T10 Options KEBA 2014 Project engineering manual V1 02 45 ...

Page 46: ... calibration of the KeTop Fig 14 1 Carrier 14 1 1 Dimensions Fig 14 2 Front and side view of the wall bracket all dimensions in mm 14 2 Junction Box JB 001 This chapter describes the junction box JB 001 which is used to connect a KeTop to a PLC via Ethernet Accessories KeTop T10 KEBA 2014 Project engineering manual V1 02 46 ...

Page 47: ...14 2 1 Views and basic dimensions Fig 14 3 View of the JB 001 1 Mounting nut KeTop T10 Accessories KEBA 2014 Project engineering manual V1 02 47 ...

Page 48: ...45 female connector for connec tion to a PLC 2 S4 9 pin DSUB male connector for CAN connection 1 The requiered mating plug for terminal block S2 can be orderd from Co Phoenix with material number FMC 1 5 11 ST 3 5 2 via Ethernet 14 2 3 Connection diagram The connection diagramm shows the connection of power supply control lines emergency stop switch and enabling control device and data lines via t...

Page 49: ...t Fig 14 5 Connection diagram for Ethernet KeTop T10 via junction box JB 001 Information Point to point connections between KeTop and PLC require a crossed cable 14 2 4 Shielding inside the Control Cabinet In many cases several interference sources exist in the control cabinet such as servo drive modules transformers contactors and relays Therefore it is necessary to continue the cable shield from...

Page 50: ...JB 001 3 Connection cable to KeTop 4 CAN cable to host control 14 2 5 Mounting Instructions Fig 14 7 Dimension dfrawing for the mounting opening of the JB 001 1 Zoom view of the mounting opening 2 Control cabinet wall max 5 mm wall thickness Accessories KeTop T10 KEBA 2014 Project engineering manual V1 02 50 ...

Page 51: ... condensing 5 to 95 Vibration resistance operation IEC 60068 2 6 5 Hz f 9 Hz at 7 mm 9 Hz f 150 Hz at 2 g Shock resistance operation 15 g 11 ms IEC 60068 2 27 Mechanical properties Construction Steel panel housing blue zinc coated with stands grease oil lubricants alcohol etc Flammability class UL94 V0 Dimensions Width 67 2 mm 2 6457 in Height 76 1 mm 2 9961 in Depth 26 mm 1 0236 in Weight 220 g 0...

Page 52: ...5 PG glands M16 for data lines 6 PG glands M16 for data lines status as sup plied with dummy plugs WARNING Danger to persons by electric shock Only supply the device with power from voltage sources having protective extra low voltage e g SELV or PELV acc to IEC 61131 2 Only connect voltages and circuits which are safely separated from dan gerous voltages e g by means of sufficient insulation to co...

Page 53: ...ction and wiring 14 3 3 Technical data of the connection terminals The following technical data apply to the X1 and X3 connector terminal blocks already available in the connection box Connection capacity rigid flexible wire gages 0 14 1 5 mm2 0 14 1 5 mm2 28 16 AWG flexible with wire end ferrules without with plastic sleeve 0 25 1 5 mm2 0 25 0 5 mm2 Grid dimension 3 81 Insulation length 7 mm2 Tig...

Page 54: ...t allowed Use the X4B terminal block for continuing the field bus 14 3 4 Drilling template for wall mounting Fig 14 10 Drilling template for the Gateway box specifications in mm Information A scaled drilling template scale 1 1 can be downloaded from www ke ba com via Login Industrial automation Doc No 1007622 For wall mounting we recommend the following screws and materials Chipboard screw Ø 4 x 4...

Page 55: ...vailable as accessory and will be moun ted on the rearside of a KeTop CB2xx connection box So the connection box can be easily snapped onto a DIN rail DIN Rail Holder Mounting Set DIN Rail Holder fixed on the rear side of the gateway box Tab 14 11 DIN Rail Holder Mounting Set for connection box KeTop T10 Accessories KEBA 2014 Project engineering manual V1 02 55 ...

Page 56: ...ction Box 3 Connection cable to KeTop 4 Power supply emergency stop enabling control device 5 KeTop IC220 or KeTop IC224 6 Dust protection cap 7 Data line 14 3 7 Minimum Bending Radius of Cable Fig 14 13 Required minimum distance outside and inside the control cabinet Accessories KeTop T10 KEBA 2014 Project engineering manual V1 02 56 ...

Page 57: ...wer consumption 10 8 W 600 mA at 18 V DC 450 mA at 24 V DC Inrush current max 5 6 A with limitation of current Safety class III in accordance with EN 61131 2 and EN 50178 Protection degree IP65 Environmental conditions Operating temperature 0 C to 50 C 32 F to 122 F Storage temperature 20 C to 70 C 4 F to 158 F Relative humidity non condensing 5 to 95 Vibration resistance operation IEC 60068 2 6 5...

Page 58: ...quire ments and test Other standards For the design of the safety concept some parts of the following legally not bounded european standards has been used General procedure and safety principles EN ISO 12100 2010 Safety of machinery Basic concepts risk evaluation and risk abatement Enabling control device EN 60204 1 2006 Safety of machinery Electrical equipment of machines Part 1 General requireme...

Page 59: ...ion degree of casing EN 61131 2 2007 chap 12 Programmable controllers Part 2 Equipment require ments and tests Electrical safeness and fire protection EN 61131 2 2007 chap 11 Programmable controllers Part 2 Equipment require ments and tests EN 50178 1997 Electronic equipment for use in power installations Environmental Conditions EN 61131 2 2007 chap 4 Programmable controllers Part 2 Equipment req...

Page 60: ...16 Declaration of conformity 16 1 EC Declaration of Conformity Declaration of conformity KeTop T10 KEBA 2014 Project engineering manual V1 02 60 ...

Page 61: ...EU and intended for the overseeing authorities In addition independent accredited certification organizations can verify the conformity with the EU guidelines and confirm this with a EU design sample certification Both the Electromagnetic Compatibility Directive EMC 2004 108 EC and the Machinery Directive MD 2006 42 EC are applicable to the handheld termi nals Machinery Safety Additional measures ...

Page 62: ...ion and to document all hazards that may possibly arise This has to be done without taking into account pos sible protection devices The next step is to formulate a goal for protection against each identified hazard and subsequently to define one or more protective measures to achieve the protection goal Further details about the procedure for carrying out the hazard and risk anal ysis and lists o...

Page 63: ...ve the safety of the machinery safety component These are for example A complete drawing of the machinery or safety component including con trol circuit diagrams Hazard and risk analysis Calculations Research and test results A list of the basic safety requirements of the Machinery Directive applicable to the machine and a description of the solutions Applied Standards Operating instructions A lis...

Page 64: ... manufacturer may also take into consideration other solutions that are not described in the Standards but these solutions must attain at least the same safety level as the relevant Standards and satisfy the requirements of the appropriate Directives 17 6 Selection of Performance Level and Safety Categories in ac cordance with EN ISO 13849 1 The Machinery Directive demands that a fault in control ...

Page 65: ...ng the safety functions has to be considered The PL must always be considered in relation to a complete safety function and not as applied to individual components or parts A guide for easily calculating the PL for a safety function consisting of several individual components can be found in standard EN ISO 13849 1 chapter 6 3 and appendix H and I If safety components are being connected in series...

Page 66: ...int on the equip ment The hazard zone may only be entered by the person who is operating the handheld terminal If it should be necessary for more than one person to work in the hazard zone at the same time each person present requires an enabling control device and machinery movement may only be allowed after all the enabling control devices have been activated 17 8 Information about the Emergency...

Page 67: ...early identifiable clearly visible and quickly accessible controls Emergency stop buttons are usually identified by red yellow The specific de sign should have a signalling function whose effect is that any person and especially untrained people can quickly recognise the control as the device to eliminate a hazard in the case of an emergency One imperative requirement for equipment identified in t...

Page 68: ...ry 0 or 1 in accordance with EN 60204 1 Radio controlled handheld terminals Stop button Wireless handheld terminal s present a different case These devices are not normally assigned to a specific machine but can be frequently logged on and off whilst the machine is in operation and can also be switched between dif ferent machines For this reason the stop button is not always operational and the op...

Page 69: ...ing device These handheld terminals share the same problems as the radio terminals since due to frequent plugging and unplugging it cannot be ruled out that dis connected handheld terminal s with ineffective stop buttons may be left lying or hanging temporarily in a machine shop or factory in the neighbourhood of working machines and may be mistaken for functional units in an emergency situation T...

Page 70: ...rol device plays a primary role here This application requires the enabling control device to eliminate the hazards that are to be controlled in a timely manner before any personal injury occurs Additional safety measures may be necessary for this purpose such as safely reducing the speed of drive mechanisms In contrast to the emergency stop button respectively the stop button a ma chine in specia...

Page 71: ...g function i e stopping the machine with the enabling control device must al ways be combined with switching off the power supply to the drive mecha nisms In order to prevent incorrect permanent activation of the enabling control de vice by mechanical fixing devices it is recommended to limit the maximum duration of an accepted enablement This must be achieved by means of a controller located down...

Page 72: ...er of artificial and also natural sources of interference in the electromagnetic environment that can affect electrical and electronic device The most well known natural interference phenomenon is atmospheric dis charge lightning discharge Artificial sources of interference are on the one hand intentional such as mo bile radio amateur radio TV and radio transmitters and on the other hand unintenti...

Page 73: ... 61000 4 2 and also defines the severity level Technical systems as interference sources Technical systems can act as sources of interference In doing so the inter ference may be intentional or unintentional Electromechanical energy is often also used for material processing Periodically occurring interference Ignition impulses of combustion engines Sparking of commutator motors Electromagnetic fi...

Page 74: ...lays Power transistors Transistor circuits Integrated switching circuits Tab 18 1 Examples for technical systems as interference sinks Control systems without integrated switching circuits are unthinkable and would therefore not be sufficiently immune without suitable EMC measures Coupling paths The transfer of interference signals from an interference source to an interfer ence sink can take plac...

Page 75: ...eld in order to prevent a coupling with the sensitive data lines The unshielded control and power supply lines are either filtered on entry into the shielded housing of the KeTop or separated from the electronics in such a way that any interference signals carried by these lines cannot affect the internal electronics of the KeTop It is not necessary to lay the KeTop cable separately Shield connect...

Page 76: ...ol cabinet It is therefore necessary to run the cable shield from the connector housing control cabinet to the control continuous connection from the handheld terminal to the control When using the appropriate connection box and a shielded cable for the data line from the connection box to the control the continuous high frequency compatible connection of the shield from the KeTop to the control i...

Page 77: ...he shielding connection the higher will be the interfer ence immunity of the complete system If the Ethernet is used as the communications interface one of the two con nection cables provided for the purpose of connecting to a control system must be used IC020 or IC040 Both cables carry the Ethernet signals to a suitable connector RJ 45 and thereby produce a continuous shielding connection and als...

Page 78: ...icons Customized icons with 64 x 64 pixels Icon set 4 Customized icons with 32 x 32 pixels Icon set 5 The following description of the icons for the application are suggestions for use The final use of the icons depends on the control application 19 1 Predefined internal icons These icons are included in the firmware and displayed by this The set con tains of three icons with 32 x 32 pixels which ...

Page 79: ... reference lost Referencing successful Connected with host 19 2 Icons with 64 x 64 pixels for the application Icon set 2 These icons contains of 64 x 64 icons for individual use in the application ID Icon Description 1 Black Display KeTop T10 ready or empty space 2 Waiting for host connection or control error 3 Calibration successful 4 Calibration not successful or not calibrated KeTop T10 Appendi...

Page 80: ...0 Cartesian tool mode active 11 Cartesian object mode active 12 Cartesian free mode active 13 Internal error 14 Connected with host 15 Grab mode active 16 Emergency stop pressed 17 Information 18 Joint mode not available 19 Drive s has have no power 20 Cartesian tool mode not available Appendix Icon sets KeTop T10 KEBA 2014 Project engineering manual V1 02 80 ...

Page 81: ... with 32 x 32 pixels for the application Icon set 3 This iconset consists of icons with 32 x 32 pixels for individual use in the ap plication ID Icon Description 1 Black Display Empty space 2 Figure null 3 Figure one 4 Figure two 5 Figure three 6 Figure four 7 Figure five 8 Fidure six 9 Figure seven KeTop T10 Appendix Icon sets KEBA 2014 Project engineering manual V1 02 81 ...

Page 82: ...D 16 Symbol E 17 Symbol F 18 Connected with host 19 Joint mode active 20 Cartesian tool mode active 21 Cartesian object mode active 22 Empty bar bottom 23 Full bar below 24 first endposition lower 25 second endposition upper Appendix Icon sets KeTop T10 KEBA 2014 Project engineering manual V1 02 82 ...

Page 83: ...mode active 34 Waiting for host connection or control error 35 Joint mode not available 36 Drive s has have no power 37 Cartesian tool mode not available 38 Referencing not successful or reference lost 39 Referencing not successful or reference lost 40 Cartesian object mode not available KeTop T10 Appendix Icon sets KEBA 2014 Project engineering manual V1 02 83 ...

Page 84: ...r right 45 Calibration successful 46 Calibration not successful or not calibrated 47 Calibration in progress 48 Referencing successful 49 Device has been moved too fast during grab mode 50 Moved during jog start Appendix Icon sets KeTop T10 KEBA 2014 Project engineering manual V1 02 84 ...

Page 85: ... Implausible measuring value KVC Code Diagnosis code Description 0 KVC_OK No error 1 KVC_NOT_INIT KVC cannot be initialized 2 KVC_PROTOCOL_ERR Protocoll error 3 KVC_CONN_UNSTABLE Connection unstable Warning Application Code Diagnosis code Description 0 APPL_OK No error 1 APPL_NOT_INIT Application cannot be initialized 2 APPL_EEPROM Application cannot read or write to EEPROM 3 APPL_DISPMAN Display ...

Page 86: ...1 EEPROM cannot be read bus or storage error 20 2 Codes for errors or warnings The error code respective the warning code is a more detailed description of the status code and explains occured errors and warnings The code consists of a double figure Error No Enum ID Description Appendant diag nosis code 00 eKvcErrorNotIni tialized KVC cannot be initialized start up failed KVC_NOT_INIT 01 eKvcError...

Page 87: ...onnecting 07 eKvcWarningMa nyIgnoredMsg Warning when more than 4 messages will be ignored within 20 seconds Reset of warning if less than 5 mes sages are ignored within the next 20 seconds KVC_CONN_UNSTA BLE 08 eKvcWarningRe peatingConnAbort Warning when more than 4 messages will be ignored within 10 seconds Reset of warning if less than 5 mes sages are ignored within the next 10 seconds KVC_CONN_...

Page 88: ...s than the UCT of the other devices and more than zero Setting base UCT to its default i e 5ms APPL_DEVMON 23 eDevmonWarnin gInvalidJoyUCT Too small UCT for joy stick joystick UCT must be at least the base UCT Setting joystick to its default i e 25ms APPL_DEVMON 24 eDevmonWarnin gInvalidKeysUCT Too small UCT for the key image key UCT must be at least the base UCT Setting key UCT to its default i e...

Page 89: ...d screen saver timeout from EE PROM Screensaver timeout will be set to zero that means the screensaver is turned off APPL_EEPROM 32 eKeySeqWarning FactoryReset Failed Factory reset failed failed to read default values from EEPROM APPL_EEPROM 33 eKeySeqWarning FailedSaveJoyCa libVal Failed to read joystick calibration flags from EEPROM APPL_EEPROM KeTop T10 Appendix Status and error codes KEBA 2014...

Page 90: ...uests can be handled in parallel KVC parameter on the KeTop T10 Parameters for changing and returning the configuration on the KeTop T10 Parameter Example content ScreenSaverTime 20000 ms ScreenSaverState activated DevHWInfoData 1 4 0 2549 15308652 86839 15308652 0 23388 CpuInfoData frequ 50000000 ram 98304 DevTypeInfo KeTop T10 FreeRTOS FirmwareVersion 1 4 KeTop T10 v 1 004 Wed Nov 6 15 42 55 GMT...

Page 91: ...For more information see KeTop KVC Programmierhandbuch KeTop T10 Appendix KVC telegrams on KeTop T10 KEBA 2014 Project engineering manual V1 02 91 ...

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