Keba Kemro KeTop T10, Руководство по проектированию устройства

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7 Operating behaviour
After being switched on and a short self-test, the KeTop T10 is ready for op-
eration. The device tries to establish a connection to a control system which
will be used to exchange data for the keyboard, the joystick, the display and
the orientation. Based on the user entries the control system determines the
content of the display and the actions of the robot. The device also includes a
web server for diagnostics and for the configuration of the network.
7.1 Start-up
The start-up of the KeTop begins automatically after connecting the power
supply and proceeds in the following order:
1) Starting of the boot loader and loading of the firmware
The software of the device consists of a boot loader and of the firmware.
Firmware updates are provided only by the manufacturer.
2) Self-test
During this phase the device carries out several self-tests (e.g. validity of
EEPROM contents such as symbol data, proper functioning of the sen-
sors, ...) On the display, the splash screen, containing the firmware version
number, the company logo and the IP address, is shown.
3) Connecting to server and calibration
After the self-test the device tries to establish a KVC connection to the
control system. As long as no connection 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 position during start-up, the calibration will
be carried out later.
4) Referencing
After the calibration is finished and the connection with the control system
has been established, the device has to be referenced which means the
orientation of the KeTop will be defined related to the roboter. For this
purpose, the KeTop has to be positioned in the desired start orientation
and the reference button has to be pressed (see
fig. 5-1 "Membrane key-
pad for KeTop T10" on page 25 . As long as the referencing has not been
finished, the symbol "waiting for referencing" is shown on the display.
5) Start-up successful
If the start-up and the initialization of the device was successful, i.e. the
KeTop has been calibrated and referenced correctly and is connected to
the control system, the device can be used by the application. The symbols
specified by the control system are shown on the display. If no symbol has
been set by the application the display stay black.
KeTop T10 Operating behaviour
© KEBA 2014
Project engineering manual V1.02 35