Keba Kemro KeTop T10, Руководство по проектированию устройства

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standard devices of the KeTop product line. So KeTop T10 may be used al-
ternating with another KeTop device on one control without hardware change.
Software structure
KVC is used as a communication protocol for exchanging data between device
and control and provides means of:
●
I/O data exchange (keyboard, joystick, orientation and display information)
●
Connection live check
●
Parameterization of KeTop T10
Fig.3-1: KeTop T10 integration; Software structure
For connecting KeTop T10 to a robot control additionally to the required I/O
device driver implementing KVC protocol the integration to the jog manage-
ment has to be using (the jog management evaluates the user interactions with
the controls of the KeTop T10 and derives mode, direction and speed for robot
jogging).
KVC Server Development Kit
The KVC SDK (Server Development Kit) supports a quick implementation of
the driver software for the control. The KVC SDK contains a reference 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
dialog based application provides all functions of the KVC communication for
interactive test.
3.3 Using KeTop T10 for jogging a robot
Robot jogging usually is performed using predefined coordinate systems as
world coordinates or tool coordinates. Usually the robot is moved in a desired
direction by pressing a button or deflecting a joystick.
Using KeTop T10 for jogging a robot is quite similar. But instead of selecting
a desired axis with a special button, the axis is shown in space with the device
itself (e.g. for selecting the vertical axis the KeTop T10 is held in vertical di-
rection, for jogging horizontal the KeTop T10 is held horizontal, and so on). For
KeTop T10 System overview
© KEBA 2014
Project engineering manual V1.02 19