Keba Kemro KeTop T10 Installation and operation manual

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

Document : V1.02 / article no.: 1008509
Filename : t10_pjen.pdf
Pages : 91
.
© KEBA 2014
Specifications are subject 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: [phone], Fax: [phone],
[email protected]
For information about our subsidiaries please look at www.keba.com.

Record of Revision
Version Date Change 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

Table of Contents
1 Introduction....................................................................................................................... 9
1.1 Purpose of the document........................................................................................ 9
1.2 Preconditions.......................................................................................................... 9
1.3 Intended Use of the Handheld Terminal............................................................... 10
1.4 Notes on this document........................................................................................ 11
1.4.1 Contents of document............................................................................ 11
1.4.2 Not contained in this document.............................................................. 12
1.5 Documentation for further reading........................................................................ 12
1.6 Information about MD 2006/42/EC........................................................................ 12
1.6.1 Definition of terms.................................................................................. 12
1.6.2 Quantitative safety relevant specifications for emergency stop-
button and enabling control device......................................................... 12
1.6.3 Relationship between Performance Level and Safety Integrity
Level....................................................................................................... 13
1.6.4 Abbreviations.......................................................................................... 13
2 Safety 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 view............................................................................................................... 23
4.4 Ergonomic Features.............................................................................................. 23
4.5 Housing................................................................................................................. 24
4.6 Type Plate............................................................................................................. 24
5 Display and operating elements.................................................................................... 25
5.1 Membrane keypad................................................................................................ 25
5.1.1 Key assignment...................................................................................... 25
5.2 Joystick................................................................................................................. 26
5.3 Display.................................................................................................................. 26
6 Connection and wiring................................................................................................... 28
6.1 Power supply......................................................................................................... 28
6.2 Emergency Stop Button and grey Stop Button..................................................... 28
KeTop T10 Table of Contents
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Project engineering manual V1.02 5

6.3 Enabling Control Device........................................................................................ 29
6.3.1 Functioning............................................................................................. 29
6.3.2 Example of Connection with control relay (PILZ PNOZ)........................ 31
6.4 Foreseeable Misuse of Enabling control device.................................................... 33
6.5 Ethernet................................................................................................................. 33
6.6 Connector plug...................................................................................................... 34
6.6.1 Pin assignment....................................................................................... 34
7 Operating behaviour....................................................................................................... 35
7.1 Start-up................................................................................................................. 35
7.2 Referencing during operation ............................................................................... 36
8 Configuration.................................................................................................................. 37
8.1 Connection KeTop T10 - PC................................................................................. 37
8.2 Configuration of the KeTop T10............................................................................ 38
9 Diagnostics..................................................................................................................... 39
10 Maintenance.................................................................................................................... 41
11 Disposal........................................................................................................................... 42
11.1 Disposal of the module.......................................................................................... 42
12 Technical Data................................................................................................................ 43
12.1 In general.............................................................................................................. 43
12.2 Environmental conditions...................................................................................... 43
12.3 Interface................................................................................................................ 43
12.4 Mechanical properties........................................................................................... 43
12.5 E-Stop ratings (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 Junction Box JB 001.................................................. 51
14.3 KeTop CB211 Connection Box............................................................................. 51
14.3.1 Views and basic dimensions.................................................................. 52
14.3.2 Interior view............................................................................................ 53
14.3.3 Technical data of the connection terminals............................................ 53
14.3.4 Drilling template for wall mounting......................................................... 54
14.3.5 DIN Rail Holder Mounting Set KeTop DR200........................................ 55
14.3.6 Use of Connection Box........................................................................... 56
14.3.7 Minimum Bending Radius of Cable........................................................ 56
Table of Contents KeTop T10
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14.3.8 Accessories............................................................................................ 57
14.3.9 Technical Data of Connection Box KeTop CB211................................. 57
15 EC directives and standards......................................................................................... 58
15.1 EC directives......................................................................................................... 58
15.2 Standards.............................................................................................................. 58
16 Declaration of conformity.............................................................................................. 60
16.1 EC Declaration of Conformity................................................................................ 60
17 Appendix: Machinery Safety.......................................................................................... 61
17.1 "Hazard and Risk Analysis"................................................................................... 62
17.2 "Principles for the Integration of Safety"................................................................ 62
17.3 "Technical Construction File"................................................................................ 63
17.4 "State of the Art".................................................................................................... 63
17.5 "Recognition of Conformity by means of Harmonised Standards"........................ 64
17.6 Selection of Performance Level and Safety Categories in accordance
with EN ISO 13849-1............................................................................................ 64
17.7 Application of Handheld Terminals 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 Appendix: Icon sets........................................................................................................ 78
19.1 Predefined internal icons....................................................................................... 78
19.2 Icons with 64 x 64 pixels for the application (Icon set 2)....................................... 79
19.3 Symbols with 32 x 32 pixels for the application (Icon set 3).................................. 81
20 Appendix: Status and error codes................................................................................ 85
20.1 Status codes......................................................................................................... 85
20.2 Codes for errors or warnings................................................................................. 86
21 Appendix: KVC telegrams on KeTop T10..................................................................... 90
KeTop T10 Table of Contents
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Project engineering manual V1.02 7

1 Introduction
1.1 Purpose of the document
This document describes the hand-held terminal KeTop T10.
This document contains all specifications required by machinery directive
2006/42/EC.
Information
This manual is not adressed to end costumers! Necessary safety notes for
theendcostumerhavetobetakenintothecostumermanualintherespective
national language by the machine builders and system providers.
1.2 Preconditions
This document 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-technical field (in accordance with
industrial training guidelines).
Knowledge in:
●safety regulations,
●wiring guidelines,
●circuit diagrams,
●correct installation of electrical connections.
KeTop T10 Introduction
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Project engineering manual V1.02 9

Target group Prerequisite knowledge and ability
Start-up technician
Technical basic education (advanced technical education, engineering
degree or corresponding professional experience),
Knowledge about:
●safety regulations,
●the method of operation of the machine or system,
●fundamental functions of the application,
●system analysis and troubleshooting,
●the setting options at the operating devices.
Service technician
Technical basic education (advanced technical education, engineering
degree or corresponding professional experience),
Knowledge about:
●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
●Printing machines
●Theater backdrops
●and similar
in normal operating modes
●Automatic
as well as
●Setting
●Teaching
●Testing
●and similar
in half automatic or manual mode.
Enabling control devices and an optional emergency stop button or halt-button
are available as savety features.
Introduction KeTop T10
© KEBA 2014
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Handheld terminals which are not connected permanently must not be equip-
pedwithared-yellowemergencyshutdownbutton,thereforeagraystopbutton
is available.
All savety function are realized with two circuts in order to meet the require-
ments of category 4 PL e in accordance with EN ISO 13849-1 considering m
the B10d values of the savety elements.
The selection of the Handheld Terminal which is suitable for the machine and
the projecting of the additional functions must obey the necessary hazard
analyses and risk assessment bounded by law.
For intended use of the Handheld Terminal also please pay attention to the
appendices.
1.4 Notes on this document
This manual is integral part of the product. It is to be retained over the entire
life 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.
Becauseofthefactthat costumer variantsmaydifferintheirappearance(e.g.
with a different front cover) from the KEBA standard variant, the pictured de-
vices used in this manual may differ in their appearance from the devices
used by you.
Information
Note the datasheet provided in the delivery if there are any differences be-
tween the KEBA standard variant and the costumer variant.
1.4.1 Contents of document
●Safety notes and transport conditions
●General product description
●Display, operating elements and keypad
●Connection and wiring
●Configuration and operating instructions
●Options
●Accessories
●Technical Data
●CE Conformity, Directives and Standards
KeTop T10 Introduction
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1.4.2 Not contained in this document
●Mask description of the application
●Software
1.5 Documentation for further reading
If certificates (e.g. UL certificate) are required they can be purchased from
KEBA on request.
1.6 Information about MD 2006/42/EC
1.6.1 Definition of terms
This user's manual corresponds to machinery directive 2006/42/EC.
To avoid ambiguity for users the following table shows the comparison of the
old terms of MD 98/37/EC and the new ones of MD 2006/42/EC.
This term replacement is also fulfilled in the corresponding standard
EN ISO 13850:2008.
98/37/EC 2006/42/EC
emergency switching off (chap. 1.2.4) emergency stop (chap 1.2.2)
Within standard EN 60204-1 the following term has changed:
EN 60204-1:1997 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: KEBAsolely delivers thecontrol element, butno evaluation of the
element. The customer has to connect the emergency stop and the enabling
control device to his application on his own. Depending on the connection of
the emergency stop and the enabling control device to the machine the SIL-
or category and PL-value can be determined.
The B10d-value is declared in the manuals at chapter "Technical Data" ("Emer-
gency stop" respective "Enabling Control Device".
Introduction KeTop T10
© KEBA 2014
Project engineering manual V1.0212

1.6.3 Relationship between Performance Level and Safety Integrity Level
When evaluating safety functions by IEC EN 62601 the PL can be transformed
into SIL by following the equivalence table of EN ISO 13849-1.
Table 4 (EN ISO 13849-1) - Correlation of Performance Level (PL) and Safety
Integrity Level(SIL)
Performance Level (PL) by
EN ISO 13849-1 Safety Integrity Level (SIL) by IEC 61508-1
a no corresponding value
b 1
c 1
d 2
e 3
Table 3 (EN ISO 13849-1) - Performance Level (PL)
Performance Level (PL) Average probability 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)
MTTFdMean Time to Dangerous Failure Mean time to dangerous failure (per
channel)
DC Diagnostic Coverage Diagnostic coverage
PL Performance Level
Discrete level that specifies the ca-
pacity of safety devices to execute a
safety function under foreseeable
conditions.
PFH Probability of Failure per Hour Probability of failure per hour
SIL Safety Integrity Level Safety integrity level
KeTop T10 Introduction
© KEBA 2014
Project engineering manual V1.02 13

2 Safety notes
2.1 Representation
At various points in this manual you will see notes and precautionary warnings
regarding possible hazards. The symbols used have the following meaning:
DANGER!
●indicates an imminently hazardous situation which will result in death or
serious bodily injury if the corresponding precautions are not taken.
WARNING!
●indicates a potentially hazardous situation which can result in death or se-
rious bodily injury if the corresponding precautions are not taken.
CAUTION!
●meansthat ifthe corresponding safetymeasures arenottaken, apotentially
hazardous situation can occur that may result in property injury or slight
bodily injury.
CAUTION
●CAUTION used without the safety alert symbol indicates a potentially haz-
ardous situation which, if not avoided, may result 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, manufactured, tested and documented in ac-cord-
ance with the applicable safety standards. If you follow the instructions re-
garding safety and use as described in this manual, the product will, in the
normal case, neither cause personal injury nor damage to machinery and
equipment.
The instructions contained in this manual must be precisely followed in all cir-
cumstances. Failure to do so could result in the creation of potential sources
ofdangerorthedisablingofsafetyfeaturesintegratedinthehandheldterminal.
Safety notes KeTop T10
© KEBA 2014
Project engineering manual V1.0214

Apart from the safety instructions given in this manual, the safety precautions
andaccidentpreventionmeasuresappropriatetothesituationinquestionmust
also be observed.
Handling of KeTop
You have chosen a high-quality KeTop that is equipped with highly sensitive
state-of-the-art electronics. To avoid malfunctions or damage through improp-
er handling, follow these instructions during operation.
WARNING!
The following application areas are expressly excluded for the KeTop:
●Use in areas prone to explosion or fire
●Use in mining
●Outdoor use
Other products must be used for these applications!
CAUTION
●The KeTop housing must not be opened. Otherwise safety and tightness of
the housing can no longer be ensured.
●Make sure that nobody can fall over the cable to avoid that the device falls
to ground.
●Take care not to squeeze and thus damage the cable with any object.
●Do not lay the cable over sharp edges to avoid damaging the cable sheath.
●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, excessive dust, hu-
midity or to strong magnetic fields.
●Never clean the device, operating panel and operating elements with sol-
vents, scouring agent or scrubbing sponges. For cleaning the device, use
a soft cloth and a bit of water or a mild cleaning agent.
●Make sure that no foreign objects or liquids can penetrate into the device.
Check at regular intervals and especially after a hard hit (e.g. a fall) the pro-
tective covers of the device, if all housing screws are firmly tightened and
if the housing or the cable entry is damaged.
●If the device shows any defect, please send it, including a detailed error
description, to your supplier or the relevant after-sales service office.
KeTop T10 Safety notes
© KEBA 2014
Project engineering manual V1.02 15

2.3 Personnel safety instructions
WARNING!
Danger of personal injury due to electric shock!
●Supply the device exclusively from power sources that have an extra low
voltage (e.g. SELV or PELV according to EN 61131-2)
●When using a SELV power source it can become PELV by reason of the
module construction and the connectors (grounding!).
●Protective low voltage circuits must always be installed safely insulated
separated from circuits with dangerous voltage.
CAUTION!
Danger of fire in case of component failure!
●In final application, make sure that the 24 V DC power supply to the operator
panel is adequately fused! Therefore a fuse that complies with UL 248 and
is rated max. 0,5 A must be used.
WARNING!
●For the right projecting of the Handheld Terminal the manufactorer must
enforce a hazard and risk analysis. The following 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.
●Theoperator musthave a sufficienteducational levelandmust knowdetails
of intended use described in the user’s manual.
●Thesafety advicesinthe followingchaptersmust beconsideredabsolutely.
●Further informations to safety and EMC are included in the appendices.
2.4 Transport Conditions
To avoid damaging the KeTop during further or return transport, the following
transport conditions must be fulfilled:
●Always use the original packaging for the transport.
●The environmental conditions for the KeTop (see chapter "Technical Da-
ta") must also be fulfilled during transport.
Safety notes KeTop T10
© KEBA 2014
Project engineering manual V1.0216

3 System overview
The following chapters provide a brief overview of the functions, integration
and use of the KeTop T10.
In general
The KeTop T10 is a machine operating device that is intended for jogging ro-
botsinanintuitivewaywith"DirectMove".DirectMoveisthenameforoperating
a robot or a machine on the basis of position detection in or parallel to the
pointing direction.
Comparedtoaconventional KeToptheKeTopT10isequippedwithafirmware
for calculation the orientation of the device and for communication with the
control, since it has a limited graphical interface.
The key benefit of the KeTop T10 is the knowledge about it’s own orientation
in space. This way the KeTop T10 can be used for selecting desired directions
of movements. Similar to show a direction to a human operator using ones
finger. Although the KeTop T10 is designed for jogging robots, it can be used
for any application, where it is useful to show directions or orientation in space
by using the device itself.
An integrated emergency stop and an enabling control switch make 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.
Thedisplay of the KeTop T10 is used to display thestatus and shows the icons
setted by the application on the control. An exception are the error codes or
internal icons (e.g. compass for referencing) which are displayed directly by
the KeTop T10.
The following chapters offer an overview of the following topics:
●KeTop T10 functions
●Connecting the KeTop T10 to an OEM control
●Using the KeTop T10 for robot jogging
3.1 Functions of KeTop T10
In principle the KeTop T10 is a operating device with keyboard, joystick and a
small color LCD display for showing operating modes and status. But in addi-
tion to that the device has knowledge about its own orientation in space. This
information is used by the robot control to handle the robot. The KeTop T10
itself has no built-in logic for robot jogging and no specific information about it.
This way it is up to the controller to implement the best way of using the device
in a special context.
KeTop T10 System overview
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Project engineering manual V1.02 17

The display is quite reduced in function: It only allows the selection of prede-
fined icons representing mode and state information. There are several icon
sets available which are stored in the KeTop T10 itself.
TheKeTopT10hasanEthernetinterfacewhichallowsexchanginginformation
withthecontrol.Thefollowinginformationisexchangedbetweencontrollerand
the device:
●state of keyboard and joystick
●current orientation of the device
●current selected icons for display
As a communication protocol KVC (KEBA Virtual Channel) based on UDP/IP
designed by KEBA is used. The protocol also implements a transfer of param-
eters. Parts of the data exchange are handled cyclically like a live check to
detect connection errors between KeTop T10 is active.
The communication protocol is integrated into the firmware of the KeTop
T10. The firmware also contains all (inertial) sensor evaluation to derive the
orientationof the device.. Furthermore asmall web server on the deviceallows
basic diagnosis and network settings.
Inertial sensor processing
The KeTop T10 contains a 6D IMU (inertial measurement unit), consisting of
3 accelerometers and 3 gyroscopes, which measure the motion of the device
in space. The sensor software contains all necessary sensor processing 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
calibratedatthe beginningofoperation.Thisisdoneautomaticallyafterpower-
up as soon as the device is in rest position. Due to the inertial sensors the
KeTopT10onlycancalculatetheorientationrelativetothestartingorientation.
ThereforebeforeoperationtheKeTopT10hastobeputinadefinedorientation
relative to the robot. The automatically calculated orientation is stored as ref-
erence direction via the reference button.
Sensor errors lead to a growing deviation of the orientation in horizontal direc-
tion. To keep the quality of the orientation at a high level the KeTop T10 has
to be referenced about every 10 minutes. The user can check the accuracy of
thecurrentorientationatanytimebyactivatingdevice'sownorientationbutton.
The used gyro sensors (measuring angular speed), have a measurement
rangeof2000°/s.Ifthis range is exceeded it is necessary to restore the original
orientation by re-referencing.
3.2 Integration of the KeTop T10 into robot control
The KeTop T10 is equipped with an Ethernet interface for exchanging I/O data
between device and control. The hardware interface is compatible with the
System overview KeTop T10
© KEBA 2014
Project engineering manual V1.0218

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
KVCisused as a communication protocol for exchangingdatabetween device
and control and provides means of:
●I/Odataexchange(keyboard,joystick, orientation anddisplayinformation)
●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-
menthastobeusing(thejogmanagementevaluatestheuserinteractionswith
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

adjusting jog speed and positive or negative direction the joystick is used. So
the direction and movement of the thumb always directly corresponds to the
robot movement, which is the most intuitive way. The joystick can also be
movedtowardtheoperatortomakeintuitivelyamovementoftherobottowards
the operator.
The buttons on the KeTop T10 can be used for selecting different jog modes
and coordinate systems. The display can be used for showing selected modes
and additional information, such as error status. The following chapter gives a
suggestion, how to use a KeTop T10 for jogging a robot.
3.3.1 Suggestion for jog functions
As the robot control is in charge of the jog functions, any modifications are
possible. The suggested function set is a typical implementation which has
proved useful in field tests by KEBA.
The KeTop T10 provides a joystick with a button function which is used for
jogging or moving the robot. The jog operation can be switched between Car-
tesian coordinates and robot joints. Furthermore the KeTop T10 provides a
new motion mode for the alignment of the Tool Center Point (TCP) without
changing the position, called "virtual handle mode".
Jogging in Cartesian space
One of the following Cartesian modes can be chosen:
●Free mode (free movement)
●Coordinatemode-movementoftherobot is alignedtocoordinates(“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).Alsoseveraltool coordinate systems canbedefined
and selected. The axis of movement is selected by the direction of the KeTop
T10 itself and corresponds to the axis of the coordinate system which is closes
totheaxisdefinedbythelengthdimensionoftheKeTopT10.Coordinatemode
can be seen as a kind of “snap-to-grid” variant of the free motion mode.
Advantage of the free mode is that any arbitrary direction of robot motion can
be achieved. Coordinate mode is useful for jogging very precisely when fine
adjusting robot position.
Thejoystickisusedto control thejogspeedandineithertranslationor rotation.
Deflecting the joystick forward and backward activates translation along the
selected (= pointed with the device) axis. Deflecting left and right activates
rotation around the selected axis. This way position and rotation of the robot
canbechangedinalternation veryeasywithoutanyoperationmode switching.
Thus the movement of the thumb directly corresponds to the produced move-
ment of the robot. A simultaneous translation and rotation is locked by the
firmware. Therefore an oblique diagonal deflection of the joystick results in the
System overview KeTop T10
© KEBA 2014
Project engineering manual V1.0220