SoftBank Keenbot T5 Quick start guide

Operational Manual

2
Keenbot Operational Manual
TABLE OF CONTENTS
1 Introduction .......................................................................................................4
2 Safety Precautions ............................................................................................5
2-1 About Safety Precautions .................................................................................................................. 5
2-2 Description of Symbols ...................................................................................................................... 6
2-3 Description of Pictorial Symbols ..................................................................................................... 6
2-4 Handling the Machine and Charger (Common)...............................................................7
2-5 Handling the Machine ........................................................................................................................ 8
2-6 Handling the Charger........................................................................................................................11
2-7 Handling Near Medical Devices ....................................................................................................13
2-8 Lasers and Infrared Light .................................................................................................................13
2-9 Maintenance ........................................................................................................................................13
2-10 Disposal and Recycling Information .........................................................................................14
3 Machine Overview ..........................................................................................15
4 Operation..........................................................................................................16
4-1 Charging the Machine ......................................................................................................................16
4-2 Turning the Power On / Off .............................................................................................................18
4-2-1 Turning the power on............................................................................................................................................18
4-2-2 Turning the power o............................................................................................................................................19
4-3 Stop Button Operation .....................................................................................................................20
4-4 Moving the Machine Manually......................................................................................................21
5 Machine Settings.............................................................................................22
5-1 About the Settings Menu Screen..................................................................................................22
5-2 Basic Settings .......................................................................................................................................24
5-2-1 Frequently used mode..........................................................................................................................................24
5-2-2 Mode selection ........................................................................................................................................................24
5-2-3 Select the number ..................................................................................................................................................25
5-2-4 Table number............................................................................................................................................................25
5-2-5 Colour settings.........................................................................................................................................................26
5-3 Sound Settings ....................................................................................................................................27
5-3-1 Volume........................................................................................................................................................................27
5-3-2 Voice for Return mode ..........................................................................................................................................27
5-3-3 Voice for Course mode..........................................................................................................................................28

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Keenbot Operational Manual
5-4 Return Mode Settings .......................................................................................................................29
5-4-1 Stay duration for meal unloading.....................................................................................................................29
5-4-2 Walking pause duration........................................................................................................................................29
5-4-3 Walking speed..........................................................................................................................................................29
5-4-4 Return speed ............................................................................................................................................................30
5-4-5 Stable mode departure speed ...........................................................................................................................30
5-4-6 Stable mode return speed...................................................................................................................................30
5-5 Course Mode Settings.......................................................................................................................31
5-5-1 Operating mode......................................................................................................................................................31
5-5-2 Walk pause duration ..............................................................................................................................................31
5-5-3 Walking speed..........................................................................................................................................................32
5-6 Connecting to the Network (Wi-Fi) ..............................................................................................33
5-7 About Me...............................................................................................................................................34
6 Delivering Meals / Items ................................................................................35
6-1 Delivering Meals / Items to a Destination..................................................................................35
6-1-1 Pause a delivery.......................................................................................................................................................37
6-1-2 Change a destination ............................................................................................................................................38
6-1-3 Set Stable mode ......................................................................................................................................................39
7 Maintenance ....................................................................................................40
7-1 Taking Care of the Machine.............................................................................................................40
7-2 Taking Care of the Ceiling Tags ......................................................................................................42
7-3 Storing the Machine ..........................................................................................................................43
8 Troubleshooting ..............................................................................................44
9 Machine Specications ..................................................................................46

4
Keenbot Operational Manual 1 Introduction
1 Introduction
Keenbot is a meal / item delivery robot provided by SoftBank Robotics which aims to work
together with sta at restaurants, hotels, inns and retail stores.
This Keenbot Operational Manual (hereinafter referred to as "this manual") provides operating
instructions for both Keenbot and Keenbot Laser models. Any model-specic information or
instructions will be explicitly stated as such. To identify your machine's model, locate the "Model"
section of the information sticker under its expression display and compare to the following key:
For Keenbot: T5
For Keenbot Laser: T5-LS
Sticker location.
■The contents described in this manual may be changed without prior notice due to
specication change, etc.

5
Keenbot Operational Manual 2 Safety Precautions
2 Safety Precautions
2-1 About Safety Precautions
Before using this machine, please read this manual thoroughly to understand and comply with the
"Safety Precautions" described in this manual.
Precautions presented here are intended to prevent harm to the operator and third parties as well
as damage to property. Always observe them.
SoftBank Robotics assumes no responsability or liability for any errors or inaccuracies that may
appear in the contents of this manual. SoftBank Robotics assumes no responsability or liability
other than that of which is expressly stated in the lease or purchase contract for the machine, and
SoftBank Robotics assumes no responsability or liability for any damage incurred by the user or
any third person as a result of the malfunctioning and mishandling experienced by the machine or
the charger.
This manual also provides safety precautions, correct handling procedures, and other regulatory
information for operating the machine and the charger. Precautions provided in this manual
do not cover all possible situations that may arise. Safety of the operator or any third parties in
the immediate vicinity of the machine and/or charger, and personal property must be the rst
priority in any circumstances, and the machine's warnings and correct handling procedures do not
alleviate any legal duties owed to any individuals by the operator.
Always observe the precautions regarding the machine installation and use, and store this manual
where it can always be referenced.

6
Keenbot Operational Manual 2 Safety Precautions
2-2 Description of Symbols
The following symbol categories explain the level of harm or damage that can occur if warnings
are not observed and the machine or related equipment is used incorrectly. Read this manual after
thoroughly understanding the symbols.
DANGER Indicates an imminently hazardous situation that, if not avoided,
will result in death or serious injury*1.
WARNING Indicates a potentially hazardous situation that, if not avoided,
could result in death or serious injury*1.
CAUTION Indicates a potentially hazardous situation that, if not avoided,
may result in minor or moderate injury*2.
NOTE Indicates a situation that, if not avoided, could result in physical
damage*3.
*1 Serious injury refers to loss of eyesight, burns (high-temperature, low-temperature), electric shock, bone fracture,
poisoning, etc. that require short- or long-term hospitalization.
*2 Minor or moderate injury refers to bodily injuries that do not require hospitalization or serious medical intervention.
*3 Physical damage refers to property damage or injury to livestock and pets.
2-3 Description of Pictorial Symbols
The following pictorial indication categories explain information to be observed. Read this guide
after thoroughly understanding the information.
Prohibited (not allowed) action. Compulsory action based on the
instruction (must be performed).
Must not be used where
exposed to water, and must not
be splashed with water.
Unplug the power plug from the
outlet.
Must not be disassembled or
modifed.
Read this operational manual in
advance and understand
the content.

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Keenbot Operational Manual 2 Safety Precautions
2-4 Handling the Machine and Charger (Common)
DANGER
Do not use, recharge, or leave the machine or charger in a place subject to high
temperature (near sparks or ames, near a heater, where there is direct sunlight, in a car
on a hot day, etc.), in a warm place, or where heat accumulates (under a radiator, electric
blanket, or other warm locations). Maintain adequate ventilation and make sure the
machine or charger is not covered with any kind of fabric.
High temperatures may cause deformation, malfunction, overheating, ignition, re, electric
shock, rupture, damage, or leakage. Also, a part of the machine and related equipment may
become hot and cause burns.
Do not drop, break, modify, puncture, gouge, burn, paint, or throw.
Doing so may cause re, injury, electric shock, damage, malfunction, overheating, leakage or
rupture.
Do not carry out repairs by yourself, such as disassembly (removing parts, etc.),
modication, soldering, or replacement of the battery of the machine.
• Doing so may cause re, injury, electric shock, damage, malfunction, overheating,
leakage or rupture.
• Modication of the machine is a violation of the Radio Law and may be subject to
penalties.
• Servicing, disassembly and repair should not be undertaken by people other than
SoftBank Robotics or other service sta who has received training approved by SoftBank
Robotics.
When connecting the charger to the machine, check that the connectors are not damaged
and that there is no foreign matter.
Do not try to forcibly connect the charger if it does not plug correctly.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or rupture, or damage and burn to the connectors.
Immediately stop using the machine if you notice anything unusual, such as noise, smoke,
or odor, when using or recharging it, or when it is stored.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or rupture, or damage to the machine, the charger, and the battery.
WARNING
Do not allow liquids (tap water, drinks, seawater, animal urine, etc.) or materials that can
carry an electrical charge (pencil graphite, metal fragments, metal necklace, hairpin, etc.)
to enter or come into contact with the charging connectors.
Operators shall read this manual and thoroughly understand how to use the machine
correctly before using it.
Otherwise, it may cause an injury.

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Keenbot Operational Manual 2 Safety Precautions
2-5 Handling the Machine
DANGER
Use only the charger that came with the machine when recharging the machine.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or rupture.
Do not cook (bake, roast, etc.) on the machine.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or rupture.
WARNING
This machine is for indoor use only. Do not use outside such as on a street.
Otherwise, it may cause malfunction, failure or destruction of parts due to natural elements,
or other unexpected behavior as the machine is not designed for an outdoor operating
environment.
This machine is not intended to be used by children. Do not let children use it.
Otherwise, it may cause injury.
Do not intentionally splash liquid on the machine.
The machine is not completely waterproof. If liquid overows from the trays, immediately
wipe it o with a soft, dry cloth and allow it to dry thoroughly. In case a liquid enters inside
the machine, leaving the machine wet or charging it while it is wet may cause overheating,
electric shock, re, injury or malfunction.
Do not expose the machine to dust in large quantity, sand, snow, ice, water, humidity,
saltwater environments, or brine mist (example: ocean environment, shore environment,
etc.).
This machine is solely designed for indoor use. If used outside, malfunction, damage, or
destruction of parts due to natural elements, as well as other unexpected behavior and
damage to surrounding objects are expected.
Do not allow the machine to tip over or drop when moving or transporting it.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or chemical explosion, or damage to the machine or charger.
When the machine is operating, do not let infants, children and pets come near the
machine, or move their feet or hands close to the bottom of the machine.
Otherwise, it may cause injury due to getting caught in the machine.
Do not operate the machine in a way that is not described in the operational manual (this
document).
Otherwise, it may cause death, injury, or malfunction or damage to the surrounding objects.
Operator shall monitor the machine at all times including validation of the settings that
have been selected to be based on a reasonable assessment of the condition(s) of the
premises.
Otherwise, it may cause malfunction, injury or damage.

9
Keenbot Operational Manual 2 Safety Precautions
CAUTION
Do not cover the sensors of the machine.
Otherwise, it may cause a malfunction or damage to the surrounding objects.
Do not use the machine in a location with steps, on an uneven oor (mosaic tiles, carpets
with a length of 1 cm or more, etc.), on a sloped surface or on wet oors.
Otherwise, the LiDAR sensor, the 3D camera or the top camera may not operate correctly,
and the machine may roll over or fall, which may cause injury or damage to the surrounding
people and objects.
Keep the aisle path where the machine is used clean at all times.
If the machine rides on a small obstacle or object such as a fork, spoon or chopsticks, the items
on the trays may fall or it may cause injury, failure or malfunction.
Make sure that the operator is able to respond immediately if something unexpected
happens while the machine is moving. If you feel any danger, press the stop button.
Otherwise, this may lead to injury or damage to the user, third persons or surrounding objects.
Be careful not to get dust or food (sauce, etc.) on the LiDAR sensor, the 3D camera or the
top camera.
Otherwise, it may cause injury, failure, malfunction or damage to the surrounding objects.
Do not place items that exceed maximum loading capacity on a tray.
It may cause injury, failure, malfunction or damage to surrounding objects.
• Use of four trays: 10 kg for each tray (Total 40 kg)
• Use of 4th level tray (lowest) only: 15 kg
Do not take items from a tray when the machine is moving.
It may cause items to drop from the tray or damage to surrounding objects.
For added safety, areas that contain any of the following characteristics should not be
included in drivable sections of a map.
Otherwise, it may cause injury, malfunction or damages to surrounding objects.
• Areas with steps higher than 1 cm, oors that are uneven, contain large cracks, or have
signicant transitions from one material to another (ex. carpet to tile)
• Ramps or sloped surfaces
• Designated play areas for children
• Reective or transparent objects (windows, mirrors, etc.)
• Surfaces covered with black tape (a material with very low light reectivity)
• An exposed downward escalator or stairs
• Lofted environments with no guardrail (open balcony, mezzanine, etc.)
• Outdoors
• Areas with strong sunlight, such as near a window
• Devices that emit infrared rays, such as automatic doors
• Floor drains or areas prone to standing water
Do not leave any item (food) on a tray for a long period of time.
For food hygiene, do not leave it unattended or out of reach.

10
Keenbot Operational Manual 2 Safety Precautions
When delivering hot or unstable dishes (liquid in a glass, soup in a bowl, etc.), carry out a
test run to make sure that no liquid will overow or drip during operation.
Otherwise, it may cause drop, damage, injury or allergenic contamination.
Always unplug the charging cord from the wall outlet and the charging plug from the
machine before use or maintenance.
For more details, see "2-9 About Maintenance" P13.
When changing the walking speed of the machine, carry out a test run at desired speed
and proceed with caution.
When the machine is on, the wheels are locked by default.
To manually move the machine when the power is on, rst unlock the wheels by pressing
the Stop button.
NOTE
Use the machine within the 0°C to 45°C temperature range, and 5% to 85% humidity range.
Store the machine in a dry place without dust between -10°C to 70°C, and 10% to 90% of
humidity range.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or chemical explosion or other damage to the machine or charger.
Use the machine with its wheels always in contact with the oor.
Otherwise, it may cause a malfunction or damage to the surrounding objects.
Do not use trays or plates that are larger than the trays of the machine.
Otherwise, it may block the sensors and cause malfunction.
When placing heavy items or multiple dishes on the trays, place them at the center of the
trays for stabilization.
Otherwise, it may cause malfunction, liquid spills or dropping of dishes.
When delivering heavy items, place them on the lower levels’ trays and operate the
machine on a at oor.
Otherwise, it may cause liquid spills during a delivery or damage to surrounding objects.
Do not use in a smoking room.
It may cause failure or malfunction.
Do not place anything decorative that may hinder the machine’s operation and touch
display.
Otherwise, it may hinder the operation in case of an emergency and cause a malfunction or
damage.
Do not push the machine when the power is on.
Otherwise, it may cause a malfunction or damage to the surrounding objects.
If the indoor environment in which the machine operates changes significantly
(redecoration, use of the machine in a new location, rearrangement of indoor items such
as destinations, chairs, tables, etc.), it is necessary to perform mapping again.

11
Keenbot Operational Manual 2 Safety Precautions
2-6 Handling the Charger
DANGER
Operators shall read this manual and thoroughly understand how to use the machine
correctly before using it.
Otherwise, it may cause death, injury, or malfunction or damage to the surrounding objects.
Do not use the charger in or near locations with dust, salt, corrosive gas, or inammable.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or rupture.
WARNING
The charger is designed specifcally for the machine. Use only the supplied charger and the
supplied designated power cable.
If the supplied designated power cable is not used, it may cause re, injury, electric shock,
damage, malfunction, overheating, leakage or rupture.
Do not allow liquid such as drinks or foreign objects to enter inside of the machine.
In case a liquid enters inside the machine, leaving the machine wet or charging it while it is
wet may cause overheating, electric shock, re, injury or malfunction. Please take necessary
precautions depending on the place the machine is used.
Check that the voltage of the power source is suitable for the charger. Do not use any
power source or voltage other than what is specifed (AC 100 to 240 V, 50 to 60 Hz).
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or chemical explosion.
Do not touch the charger cable with wet hands.
It may cause re, injury, electric shock, damage, malfunction, overheating, leakage, or
chemical explosion.
Do not use the charger or the power cable if damaged.
It may cause re, injury, electric shock, damage, malfunction, overheating, leakage or chemical
explosion.
The charger is specifically for being placed sideways. Do not use it placed standing or
upside down.
It may cause re, injury, electric shock, damage, malfunction, overheating, leakage or chemical
explosion.
Always unplug the power cable from the outlet if you will carry out maintenance or not be
using the charger for a long period.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or rupture.
If the charger is not operating normally, takes a longer time to recharge than normal, or if
it produces sparks, smoke, a strange odor, etc., immediately unplug it from the outlet, and
contact customer support.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or rupture.

12
Keenbot Operational Manual 2 Safety Precautions
Do not step on the power cable or subject it to excessive force when it is connected to the
charger.
Otherwise, it may break the terminal of the power cable and cause malfunction or re.
CAUTION
Do not touch for a long time the charger when recharging it.
Otherwise, it may cause low-temperature burns. If prolonged contact with these products
causes skin irritation (itchiness, rash, eczema, etc.), immediately stop using them and consult a
doctor.
Do not use in a dusty place and do not allow dirt or other foreign matter to adhere to the
charger. If the plug is dusty, unplug it from the outlet and wipe it with a dry cloth.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or rupture.
Do not drop or step on the charger, regardless of if it is connected or not. Do not subject it
to excessive force, such as placing objects on it or stamping on it.
Otherwise, it may damage the power cable and cause re, injury, electric shock, damage,
malfunction, overheating, leakage or rupture.
NOTE
Use the charger in an environment within the 10°C to 40°C temperature range and with
80% maximum humidity.
Otherwise, it may cause re, injury, electric shock, damage, malfunction, overheating, leakage
or chemical explosion, or damage to the machine / the charger.
Check that the voltage of the power source is suitable for the charger.
Otherwise, it may damage the power cable and cause re, injury, electric shock, damage,
malfunction, overheating, leakage or rupture.
Charge the machine indoors only. Do not use outside such as on a street.
Otherwise, it may cause a malfunction or damage to the surrounding objects.
If thunder is audible, unplug the charger from the outlet.
Otherwise, it may cause a malfunction or damage to the surrounding objects.
Place the charger where it is easy to connect it with the outlet and to check the charging
status.
Otherwise, it may cause a malfunction or damage to the surrounding objects.
Always hold the plug body and not the cord when unplugging the power plug.
Otherwise, it may break the power cable and cause an electric shock or damage to the
surrounding objects .

13
Keenbot Operational Manual 2 Safety Precautions
2-7 Handling Near Medical Devices
DANGER
If wearing an implanted cardiac pacemaker or implanted defibrillator, consult with the
manufacturer of such medical device to confirm a safe operational distance from the
machine. Electric signals may aect the operation of the pacemaker or debrillator.
Do not use in a healthcare environment or near electronic medical devices.
* The machine does not comply with UL or IEC 60601 standards (or equivalent standards).
2-8 Lasers and Infrared Light
■The machine conrms the safety of its surrounding area by laser.
■The machine is outtted with one Class 1 laser.
■Class 1 laser:
If within a normal range of operation, no hazard exists by looking directly at the laser beam for
a long period, or by using an optical instrument for observation such as a magnifying glass or
binoculars to look directly at the laser beam (compliant with JIS C6802).
2-9 Maintenance
■To reduce the risk of serious personal injury, always turn o the machine and disconnect the
charging cord before cleaning, inspecting, or performing maintenance.
■Do not spray liquid or aerosol cleaners directly onto the machine.
■Machine
■Clean the LiDAR sensor, the 3D camera and the top camera every day with a microber cloth.
* Microber cloth is not included.
■After use, wipe down the machine's exterior with a damp cloth (water only). Use a dry cloth to
wipe o any remaining water.
■When disinfecting the exterior of the machine, use disinfecting ethanol. Do not spray the liquid
directly onto the machine. Soak it into a disinfecting wipe and clean the machine with it.
■Regularly inspect and clean the bottom of the machine every month.
■Wheels
■Remove hair and dust caught in the wheels and grounding wire, and clean the wheels by
wiping them with a damp cloth.
■If the machine is very dirty, lay it on its side on a soft oor and wipe it with a clean, damp cloth
and mild cleanser. Be sure to proceed with two or more people to lay the machine on its side.
■Ceiling tags
■When removing a ceiling tag attached to the ceiling, slowly peel it o.
If you forcibly remove it, the paint or coating on the ceiling may come o.

14
Keenbot Operational Manual 2 Safety Precautions
2-10 Disposal and Recycling Information
■Rental/leased units
Contact customer support.
■Purchased units
The machine must be disposed of separately from household and business waste. The separate
collection and recycling of this product and/or its battery at the time of disposal will help conserve
natural resources and ensure that it is recycled in a manner that protects human health and
the environment. Contact your local or regional waste authority for more information on the
collection, reuse, and recycling programs applicable to your machine.

15
Keenbot Operational Manual 3 Machine Overview
3 Machine Overview
Machine Front Machine Back Machine Side
No. Item
①LED light
②Expression display
③3D camera
④LiDAR sensor
⑤Top camera
⑥Bumper
⑦Secondary wheel
⑧Main wheel
⑨Touch display
⑩Speaker
⑪Power button
⑫Charging port
⑬Tray (1st level)
⑭Tray (2nd level)
⑮Tray (3rd level)
⑯Tray (4th level)
⑰Stop button
⑱Grounding wire
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16
Keenbot Operational Manual 4 Operation
4 Operation
4-1 Charging the Machine
Charge the machine.
■Be sure to fully charge the machine when using it for the rst time or when the battery level is
below 20%.
* It takes 6 to 7 hours to fully charge the machine.
When the charging indicator of the charger lights green, charging is complete.
■The machine cannot be used while charging.
■It is necessary to fully charge the machine every two months when it is not used for a
long time. If left without charge for more than two months, the battery will be completely
discharged and the machine will not be usable.
1Open the cover of the charging port on the back of the machine and insert the charging plug
into the charging port.
2Plug the charging cable into a wall outlet.
When charging begins, the charging indicator of the charger will appear red and the machine’s
charging status will appear on the touch display.
■If the charging indicator of the charger remains o or appears green before the machine
is fully charged, refer to“8 Troubleshooting” P44 for troubleshooting instructions.
When charging is complete, the charging indicator will appear green and the machine's 100%
charging status will appear on the touch display.

17
Keenbot Operational Manual 4 Operation
3To use the fully-charged machine, unplug the charging plug from the charging port and close
the cover.

18
Keenbot Operational Manual 4 Operation
4-2 Turning the Power On / O
The power button is located on the back of the machine, on the right side under the cover.
4-2-1 Turning the power on
1Before turning the power on, move the machine to the Origin position that was determined
during setup.
Keenbot Keenbot Laser
■Move the machine directly under
the ceiling tag at the Home position
(predetermined position).
■Only one ceiling tag is used for the
Home position.
■There are ceiling tags on the ceiling
other than the Home position.
■Move the machine under the center
of three ceiling tags at the Home
position (predetermined position).
■Three ceiling tags are used for the
Home position.
■There is no ceiling tag on the ceiling
other than the Home position.
2Press the power button once.
Startup takes approximately 40 seconds.

19
Keenbot Operational Manual 4 Operation
■If you are using Keenbot Laser, the following screens will be displayed on the touch display
when the power is turned on. When the machine starts normally, "Localisation successfully
completed" is displayed on the touch display.
Screens on touch display Description
The localisation of the machine is ongoing.
The localisation of the machine has been
completed.
The localisation of the machine could not
be completed (see "8 Troubleshooting"
P43).
4-2-2 Turning the power o
Press the power button once, just like when you turn the power on.

20
Keenbot Operational Manual 4 Operation
4-3 Stop Button Operation
In the following cases, press the stop button to stop the machine.
■When moving the machine manually while it is operating.
■When the machine is operating abnormally (such as moving in a direction dierent from the
indicated one) and may cause damage to the surrounding environment.
■Stopping the machine
Press the stop button on the top of the machine to stop the machine.
■If there is a cover, open the cover and then press the stop button.
■Releasing the stop button
Turn the stop button to the right (clockwise).
■If there is a cover, open the cover and then press the stop button once.