Page 1
Kemro
KeTop T10
Project engineering manual V1.02
Translation of the original manual
Page 2
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: +43 732 7090-0, Fax: +43 732 7309-10,
For information about our subsidiaries please look at www.keba.com.
keba@keba.com
Page 3
KeTop T10 Record of Revision
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
Project engineering manual V1.02 3
© KEBA 2014
Page 4
Page 5
KeTop T10
Table of Contents
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
Project engineering manual V1.02 5
© KEBA 2014
Page 6
Table of Contents
KeTop T10
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
Project engineering manual V1.026
© KEBA 2014
Page 7
KeTop T10 Table of Contents
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
Project engineering manual V1.02 7
© KEBA 2014
Page 8
Page 9
KeTop T10 Introduction
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
the end costumer have to be taken into the costumer manual in the respective
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
Technical basic education (advanced technical education, engineering
degree or corresponding professional experience),
Project engineer
Electrician
Knowledge about:
● the method of operation of a PLC,
● safety regulations,
● the application.
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.
Project engineering manual V1.02 9
© KEBA 2014
Page 10
Introduction
Target group Prerequisite knowledge and ability
Technical basic education (advanced technical education, engineering
degree or corresponding professional experience),
Knowledge about:
Start-up technician
Service technician
● 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.
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
KeTop T10
1.3 Intended Use of the Handheld Terminal
The intended use of the KeTop T10 covers tasks from watching and parametrizing 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.
Project engineering manual V1.0210
© KEBA 2014
Page 11
KeTop T10
Handheld terminals which are not connected permanently must not be equipped with a red-yellow emergency shutdown button, therefore a gray stop button
is available.
All savety function are realized with two circuts in order to meet the requirements of category 4 PL e in accordance with EN ISO 13849-1 considering m
the B
values of the savety elements.
10d
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.
Introduction
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 devices 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 between 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
Project engineering manual V1.02 11
© KEBA 2014
Page 12
Introduction
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.
KeTop T10
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 B
specified by KEBA.
Explanation: KEBA solely delivers the control element, but no 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 SILor category and PL-value can be determined.
-value. Other values (e.g. SIL, PL, Category) cannot be
10d
The B
-value is declared in the manuals at chapter "Technical Data" ("Emer-
10d
gency stop" respective "Enabling Control Device".
Project engineering manual V1.0212
© KEBA 2014
Page 13
KeTop T10 Introduction
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
Table 3 (EN ISO 13849-1) - Performance Level (PL)
Performance Level (PL)
1.6.4 Abbreviations
Abbreviation Term Meaning
B
10d
MTTF
d
DC Diagnostic Coverage Diagnostic coverage
PL Performance Level
PFH
SIL Safety Integrity Level Safety integrity level
Safety Integrity Level (SIL) by
EN ISO 13849-1
a no corresponding value
b 1
c 1
d 2
e 3
IEC 61508-1
Average probability of a dangerous
breakdown per hour 1/h
a
b
c
d
e
Number of cycles until 10% of the
-
components fail dangerously (per
channel)
Mean Time to Dangerous Failure
Mean time to dangerous failure (per
channel)
Discrete level that specifies the capacity of safety devices to execute a
safety function under foreseeable
conditions.
Probability of Failure per Hour Probability of failure per hour
-5
≥ 10
to < 10
≥ 3 x 10-6 to < 10
-6
≥ 10
to < 3 x 10
-7
≥ 10
to < 10
-8
≥ 10
to < 10
-4
-5
-6
-6
-7
Project engineering manual V1.02 13
© KEBA 2014
Page 14
Safety notes
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 serious bodily injury if the corresponding precautions are not taken.
CAUTION!
● means that if the corresponding safety measures are not taken, a potentially
hazardous situation can occur that may result in property injury or slight
bodily injury.
KeTop T10
CAUTION
● CAUTION used without the safety alert symbol indicates a potentially hazardous situation which, if not avoided, may result in damage to property.
● This symbol reminds you of the possible consequences of touching electrostatically 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-cordance with the applicable safety standards. If you follow the instructions regarding 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 circumstances. Failure to do so could result in the creation of potential sources
of danger or the disabling of safety features integrated in the handheld terminal.
Project engineering manual V1.0214
© KEBA 2014
Page 15
KeTop T10 Safety notes
Apart from the safety instructions given in this manual, the safety precautions
and accident prevention measures appropriate to the situation in question must
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 improper 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 solvents, 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 protective 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.
Project engineering manual V1.02 15
© KEBA 2014
Page 16
Safety notes
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.
KeTop T10
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.
● The operator must have a sufficient educational level and must know details
of intended use described in the user’s manual.
● The safety advices in the following chapters must be considered absolutely.
● 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.
Project engineering manual V1.0216
© KEBA 2014
Page 17
KeTop T10
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 robots in an intuitive way with "DirectMove". DirectMove is the name for operating
a robot or a machine on the basis of position detection in or parallel to the
pointing direction.
Compared to a conventional KeTop the KeTop T10 is equipped with a firmware
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.
System overview
An integrated emergency stop and an enabling control switch make it the perfect operating device for any machine requiring save manual operation. The
new, intuitive way of operation together with its compact size allows the operator 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 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 addition 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.
Project engineering manual V1.02 17
© KEBA 2014
Page 18
System overview
KeTop T10
The display is quite reduced in function: It only allows the selection of predefined icons representing mode and state information. There are several icon
sets available which are stored in the KeTop T10 itself.
The KeTop T10 has an Ethernet interface which allows exchanging information
with the control. The following information is exchanged between controller and
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 parameters. 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
orientation of the device.. Furthermore a small web server on the device allows
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 device 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 powerup as soon as the device is in rest position. Due to the inertial sensors the
KeTop T10 only can calculate the orientation relative to the starting orientation.
Therefore before operation the KeTop T10 has to be put in a defined orientation
relative to the robot. The automatically calculated orientation is stored as reference direction via the reference button.
Sensor errors lead to a growing deviation of the orientation in horizontal direction. 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
the current orientation at any time by activating device's own orientation button.
The used gyro sensors (measuring angular speed), have a measurement
range of 2000°/s. If this 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
Project engineering manual V1.0218
© KEBA 2014
Page 19
KeTop T10
System overview
standard devices of the KeTop product line. So KeTop T10 may be used alternating 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 management 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 direction, for jogging horizontal the KeTop T10 is held horizontal, and so on). For
Project engineering manual V1.02 19
© KEBA 2014
Page 20
System overview
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
moved toward the operator to make intuitively a movement of the robot towards
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 Cartesian 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".
KeTop T10
Jogging in Cartesian space
One of the following Cartesian modes can be chosen:
● Free mode (free movement)
● Coordinate mode - movement of 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
T10 itself and corresponds to the axis of the coordinate system which is closes
to the axis defined by the length dimension of the KeTop T10. Coordinate mode
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.
The joystick is used to control the jog speed and in either translation or 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
can be changed in alternation very easy without any operation mode switching.
Thus the movement of the thumb directly corresponds to the produced movement of the robot. A simultaneous translation and rotation is locked by the
firmware. Therefore an oblique diagonal deflection of the joystick results in the
Project engineering manual V1.0220
© KEBA 2014
Page 21
KeTop T10 System overview
activation of the movement (translation/rotation) which is interpreted by the
device.
The direction of the KeTop T10 can be changed during active jogging at any
time. This results in a continuously changing motion direction in free mode and
a direction jumping from one axis of the coordinate system to the next in aligned
mode (= integrated tracking functionality).
Jogging robot joints
The keypad is used for toggling jog mode between Cartesian mode and joint
mode. In joint mode the joystick is used for jogging the active joint. The active
joint can be selected by the keypad (keys "Plus" and "Minus").
Virtual 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
limited in virtual handle mode. When the KeTop T10 is rotated nearly in the
allowed speed limit in grab operation, a warning is displayed, and if the speed
is too high, the robot movement will be stopped.
All motion functions (translation, rotation, grab) are locked against each another to prevent unexpected behavior of the robot.
Project engineering manual V1.02 21
© KEBA 2014
Page 22
Description of the product KeTop T10
4 Description of the product
The handheld terminal KeTop is a portable operating and display device with
rugged design without an operating system. Using 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)
3 ... Joystick 4 ... Membrane keypad
5 ... Strain relief and bend protection for connection
cable
2 ... TFT display
Project engineering manual V1.0222
© KEBA 2014
Page 23
KeTop T10
4.2 Rear view
Description of the product
Fig.4-2: Back side of the device
1
... Type plate
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
Project engineering manual V1.02 23
© KEBA 2014
Page 24
Description of the product KeTop T10
● Operation with one hand possible (low weight, optimal handle situation)
4.5 Housing
● Vibration- and shock resistance
● Housing made of non-flammable material (UL 94-V0), impact-resistant,
withstands water, cleaning agents (alcohol and tensides), oil, drilling oils,
grease and 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
Project engineering manual V1.0224
© KEBA 2014
Page 25
KeTop T10 Display and operating elements
5 Display and operating elements
● Membrane keys with mechanical pressure point
● Backlighted LC color display, 1,45", 65,000 colors, 128 x 128 pixels
5.1 Membrane keypad
The KeTop T10 is equipped with a membrane keypad with 10 keys, the two
bottom keys have predefined functions. For the keypad assignment see "KeTop KVC programming manual". The keypad operation is carried out exclusively 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 right and from top to bottom.
0
1 2
Project engineering manual V1.02 25
© KEBA 2014
Page 26
Display and operating elements
3 4
5 6
7 8
9
10
The order corresponds to the position in the bit string and the KVC code, i.e.
0 for the leftmost bit, etc. The joystick button therefore is in the KVC bit pattern
on the leftmost and has the KVC code 0.
5.2 Joystick
The KeTop is equipped with a 2-axis joystick inclusive joystick button. This is
evaluated by the software and can be read via the KVC server.
To avoid that the joystick is damaged when the device falls to ground, a short
joystick is used.
● Value range: -128 to +127 per axis (256 increments)
KeTop T10
5.3 Display
All information is represented by symbols, there is no text. The display contents
are generated by the control and only shown on the display. The only exceptions 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 definitions. In the KVC protocol you can programme which symbols are used and
how the individual symbols are arranged on the display. The selection of symbols used in the KVC server cannot be changed during operation of the KeTop
T10. The symbols defined for the operation and eror indications (see chapter
Project engineering manual V1.0226
© KEBA 2014
Page 27
KeTop T10 Display and operating elements
19 "Appendix: Icon sets" on page 78)are preset and cannot be changed or
deleted.
Project engineering manual V1.02 27
© KEBA 2014
Page 28
Connection and wiring KeTop T10
6 Connection and wiring
6.1 Power supply
WARNING!
Please observe the safety-relevant information in the chapter 2.3 "Personnel
safety instructions" on page 16.
Specification of power supply lines in the TTxxx connection cable:
● Cross section: AWG24 (0.24mm²)
● Material: zinc-coated copper strand
●
Line resistance: ≤ 90 Ohm/km (≤ 145 Ohm/mile)
6.2 Emergency Stop Button and grey Stop Button
The emergency stop button respectively the grey stop button used on the
KeTop features two circuits. The contacts are normally closed.
The red-yellow emergency stop button of the handheld terminal meets the requirements of the EN ISO 13850. It must be designed as an emergency stop
of category 0 or category 1 (see EN 60204-1 chapter 9.2.5.4.2) on the basis
of the risk assessment 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 button has the
same functionality as the red-yellow emergency stop button. If the handheld
terminal is not plugged in, the grey color of the stop button should avoid the
usage of the non-effective (emergency) stop button in dangerous situations.
For a more information about this topic see chapter "CE Conformity, Directives
and Standards".
The grey stop button fulfils also all mechanical aspects of the EN ISO 13850
and differs from the emergency stop button only by its color.
Project engineering manual V1.0228
© KEBA 2014
Page 29
KeTop T10 Connection and wiring
WARNING!
● Not fully functional emergency stop devices may have fatal consequences!
Emergency stop switches which are red-yellow marked must be effective
under all circumstances in all operating modes of a machine or plant.
Store handheld terminals with not operational red-yellow emergency stop
switches on a place where the operator cannot see it, so that he can not
mistake the device.
Handheld terminals which are plugged in and out frequently for temporarely
use, must not have a red-yellow emergency stop switch. Such devices must
be equipped with a grey stop switch.
● Resetting an activated emergency stop facility must not result in uncontrolled start-up of machines or installations.
● The emergency stop button does not replace other safety facilities.
● The emergency stop button on the handheld terminal does not replace the
emergency stop buttones to be mounted directly on the machine.
● Some mechanical errors 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 observe chapter "Directives and Standards".
6.3 Enabling Control Device
The KeTop is equipped with one enabling control device. The enabling control
device consists of a 3-position operating element. An essential feature are the
two-channel circuits and the forced opening according to EN 60947-1 and EN
60947-2 to the third switch position.
6.3.1 Functioning
The enabling control device can be in the following three positions:
Position Function
1 home position is not pressed
2 enabling is pressed
3 panic is pressed strong
Enabling control
device
Contacts
enabling outputs are
open
enabling outputs are
closed
enabling outputs are
open
Project engineering manual V1.02 29
© KEBA 2014
Page 30
Connection and wiring
WARNING!
The enabling control device must be tested cyclic (6 monthly) by pressing the
panic position. Watch the machine performing the panic function after pressing
the enabling switch.
Enabling
KeTop T10
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 released.
Fig.6-2: Contact travel diagram for panic
Project engineering manual V1.0230
© KEBA 2014
Page 31
KeTop T10 Connection and wiring
Information
At the KeTop, the enabling control devices always feature two circuits.
To meet the safety category 4 PL e in accordance with EN ISO 13849-1, the
enabling control device must be realized with 2 circuits and these circuits have
to be dynamically monitored on short circuits and shunt currents. These two
circuits have to be concurrent considering the operating cycle with respect to
the B
value of the safety device. The safety category 4 PL e means that one
10d
single failure most not lead to the loss of the safety function and one single
failure is detected during or before the next request (e.g switching-on or at the
end of a machine cycle).
The monitoring of the simultaneity by the control relay is necessary, because
otherwise maybe a failure culmination would not be recognised and 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 safety-related
characteristic values (B
-values) of all involved components have to be in-
10d
cluded. For details for calculating the PL for the whole safety function see
EN ISO 13849-1, chapter 6.3, appendix H and appendix I.
6.3.2 Example of Connection with control relay (PILZ PNOZ)
CAUTION
Technical data of the control relay have to be observed in the final application!
Otherwise it is possible that the rated voltage tolerance of the KeTop is limited.
The following example is a support for realizing the end application.
Project engineering manual V1.02 31
© KEBA 2014
Page 32
Connection and wiring
KeTop T10
Fig.6-3: Suggested wiring
... Hand-held terminal 2 ... Enabling control device
1
3 ... Hand-held terminal connection cable 4 ... 17 pin male connector
5 ... Intermediate cable 6 ... Connection box
7 ... Enabling of dangerous movement!
The grafic shows a suggested wiring of enabling switches to fulfill safety category 4 PL e for the enabling switch with PILZ control relay. Also follow the
instructions described in the PILZ operating manual about the device
Project engineering manual V1.0232
© KEBA 2014
Page 33
KeTop T10
Connection and wiring
PNOZ s3. For calculation of the whole safety function "enabling" the control
relay and all subsequent components have to be considered.
6.4 Foreseeable Misuse of Enabling control device
Foreseeable misuse means the not allowed fixing of the enabling control device in the enabling position. The foreseeable misuse of the enabling control
device must be restricted.
The following measures causing the stop of the machine in the manual mode
are recommended:
● Inquiry of the enabling control device when turning on the machine/plant
and inquiry of the enabling control device when changing the operating
mode from automatic to manual (The enabling control device must not be
in the enabling position.).
● The enabling control device must be released within a defined period and
pushed into the enabling position again. The length of the period must be
defined according to the activity.
WARNING!
● The enabling control device is only suitable as safety function if the oper-
● The enabling control device is only used to enable commands for perform-
● Only the person who operates the enabling control device is allowed to work
● For further informations regarding the enabling control device please pay
6.5 Ethernet
The standard version of the KeTop is equipped with an Ethernet interface, the
signals are transferred by shielded lines in the connection cable.
The following interface parameters are defined and cannot be changed:
ator activating the enabling control device recognizes the dangerous situation in time so that he can immediately take the necessary measures to
avoid such situations. As additional measure reduced speed of the movement can be necessary. The allowed speed must be determined by means
of a risk assessment.
ing dangerous movements. The commands themselves must be activated
by a separate operating element (key on handheld terminal).
in the dangerous area.
attention to chapter "Machinery Safety".
● 10 MBit/s
● UDP and TCP/IP protocol
Project engineering manual V1.02 33
© KEBA 2014
Page 34
Connection and wiring KeTop T10
6.6 Connector plug
The supply voltage and the signals (emergency stop, Ethernet, KVC signals, ...) of the KeTop T10 are merged in one cable and are plugged via one
connector to the control cabinet.
6.6.1 Pin assignment
Fig.6-4: Pin assignment connector plug
Pin No. Signal designation Description
1 24 V DC Supply voltage (24 V)
2 GND Ground
3 E-Stop Circuit 2 Emergency stop (circuit 2)
4 E-Stop Circuit 2 GND Emergency stop (ground 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 TD- Ethernet (Transmit -)
15 RD+ Ethernet (Receive +)
16 RD- Ethernet (Receive -)
17 Enabling Device Circuit 2 GND Enabling control device (ground circuit 2)
Project engineering manual V1.0234
© KEBA 2014
Page 35
KeTop T10
7 Operating behaviour
After being switched on and a short self-test, the KeTop T10 is ready for operation. 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 sensors, ...) 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 appropriate symbol is shown on the display.
In parallel, the inertial sensors are calibrated. For this purpose the KeTop 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.
Operating behaviour
Project engineering manual V1.02 35
© KEBA 2014
Page 36
Operating behaviour KeTop T10
7.2 Referencing during operation
Sensor errors lead to a growing horizontal deviation of the orientation. Therefore the referencing of the KeTop must be repeated from time to time. The user
can check the accuracy of the current orientation at any time by activating the
orientation button of the KeTop (see fig. 5-1 "Membrane keypad for KeTop
T10" on page 25). The display will show a symbol with a compass indicating
the supposed referencing direction. As soon as the orientation of the device
matches the supposed referencing direction, the compass needle will change
its color from red to green. A necessary reset of orientation is performed by
holding the KeTop T10 into the defined direction and pressing the reference
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 automatically 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 detected automatically.
● During the heating phase of the device a higher drift of orientation can
occur. This phase can last up to 30 minutes.
● Long working phases or fast temperature changes can lead to a higher
deviation of orientation. This can be improved by placing the KeTop
T10 from time to time for approx. 20 seconds into an steady position (e.g.
in the wall bracket). Thereby the inertial sensors of the device will be
automatically recalibrated.
Project engineering manual V1.0236
© KEBA 2014
Page 37
KeTop T10 Configuration
8 Configuration
The KeTop T10 is configured externally on a PC via web server which is a
integrated on the KeTop T10. For this the KeTop T10 has to be connected with
a PC.
8.1 Connection KeTop T10 - PC
The KeTop is connected by way of the junction box JB 001 (siehe chapter
14.2 "Junction Box JB 001" on page 46) via Ethernet to the PC. There are
two connection options:
● Connection via switch
● Direct 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 connection a 1:1 standard Ethernet cable is used.
Fig.8-2: Direct connection KeTop T10 - PC
... KeTop T10 2 ... Junction box JB 001
1
3 ... PC
Project engineering manual V1.02 37
© KEBA 2014
Page 38
Configuration KeTop T10
Information
If there is no connection, this is indicated by a symbol (see chapter 19
"Appendix: Icon sets" on page 78).
8.2 Configuration of the KeTop T10
After the KeTop has been connected to the PC, you can access the configuration mask on the PC, by opening a web browser with the address <IP address
of the KeTop>/settings.shtml. At delivery, 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 network operation please contact your network
administrator.
Project engineering manual V1.0238
© KEBA 2014
Page 39
KeTop T10 Diagnostics
9 Diagnostics
Current errors or warnings are shown on the display of the KeTop by a symbol
(see chapter 19 "Appendix: Icon sets" on page 78).
The KeTop offers diagnostics information about the firmware version, the current network configuration and the current errors and warnings. There are three
ways to show this information:
● on the display of the KeTop T10 (diagnostics screen)
● via the integrated web server
● via KVC
A description of the status codes and errors codes can be found in the appendix.
Diagnostics 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 IP address of the device in the browser.
Fig.9-1: Current settings
Configuration Description
Version Firmware version
Server-IP IP adrdess of the server (control)
Device-IP | MAC IP and MAC address of the KeTop
Netmask Subnet mask
Project engineering manual V1.02 39
© KEBA 2014
Page 40
Diagnostics KeTop T10
Configuration Description
Uptime Elapsed time since start up of the KeTop
Information about:
● KVC connection
● Calibrating
● Referencing
Status
Selftest result
● Warnings
● Errors
If warnings or errors occur the corresponding
error codes wil be written in the respective line.
Meanings of the codes see chapter 20 "Ap-
pendix: Status and error codes" on page 85.
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".
Project engineering manual V1.0240
© KEBA 2014
Page 41
KeTop T10 Maintenance
10 Maintenance
The device itself is maintenance-free.
Project engineering manual V1.02 41
© KEBA 2014
Page 42
Disposal KeTop T10
11 Disposal
11.1 Disposal of the module
CAUTION
Please observe the regulations regarding disposal of electric appliances and
electronic devices!
● The symbol with the crossed-out waste container 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.
Project engineering manual V1.0242
© KEBA 2014
Page 43
KeTop T10 Technical Data
12 Technical Data
12.1 In general
Rated supply voltage:
Maximum interruption time of supply voltage:
Inrush current: <1A
Power consumption: 1.2 W (50 mA to 24 V DC)
Display:
Touchscreen: No
Keypad:
Equipment class: III according to EN 61131-2 and EN 50178
Protection class: IP54
12.2 Environmental conditions
Operating temperature:
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):
Shock resistance (operation): 15 g / 11 ms (EN 61131-2)
24 V DC (rated voltage tolerance 19,2 V DC to
30 V DC according to EN 61131-2)
≤ 10 ms (acc. to EN 61131-2)
1,45'' TFT-LCD, LED-backlight, 65.000 color,
128 x 128 Pixel
65,000 color
● Membrane keypad with tactile feedback
● maximum 10 keys
0 °C to 45°C (32 °F to 113 °F)
(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)
12.3 Interface
Ethernet:
● Data transmission rate: 10 MBit/s
1
12.4 Mechanical properties
Construction:
Flammability class: UL94-V0
Dimensions:
● Width: 210 mm
● Height: 62 mm
Project engineering manual V1.02 43
© KEBA 2014
ABS housing
withstands grease, oil, lubricants, alcohol, etc.
Page 44
Technical Data KeTop T10
● Depth: 75 mm
Weight: ca. 250 g (without cablel)
Drop-tested: 1.5 m on industrial floor
12.5 E-Stop ratings (respective grey halt-button)
Rated voltage: 24 V DC
Minimum current: 10 mA (each contact)
Maximum current: 1000 mA (each contact)
Utilization category: DC-13 (in accordance with IEC 60947-5-1)
B
Schlegel:
Design: 2 circuits, external wiring
Galvanic isolation: 500 V AC to the rest
: 250 000
10d
12.6 Enabling control device
Output type:
Voltage: 24 V DC
Current: 500 mA (max.)
B
:
10d
Actuating force:
Galvanic isolation: 500 V AC to the rest
Solid-state output
2nd position: 1 000 000
3rd position: 1 000 000
from 1st position to 2nd position: 3 N typical
from 2nd position to 3rd position: 17 N typical
Project engineering manual V1.0244
© KEBA 2014
Page 45
KeTop T10 Options
13 Options
This chapter describes the options the 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.
Project engineering manual V1.02 45
© KEBA 2014
Page 46
Accessories
14 Accessories
14.1 Wall bracket KeTop T10
The powder-coated black wall bracket is used for stationary operation, storage
or calibration of the KeTop
KeTop T10
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.
Project engineering manual V1.0246
© KEBA 2014
Page 47
KeTop T10 Accessories
14.2.1 Views and basic dimensions
Fig.14-3: View of the JB 001
1
... Mounting nut
Project engineering manual V1.02 47
© KEBA 2014
Page 48
Accessories
14.2.2 Connectors
KeTop T10
Fig.14-4: Connectors of the JB 001
K1
... 17-pin Coninverse female connector
for the KeTop connection cable
S3 ... RJ-45 female connector for connec-
tion to a PLC
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 the
junction box.
S2 ... 11-pin terminal block for power supply
and control line (emergency stop
switch, enabling control device). For
this terminal block a plug will be nee-
1)
ded.
2)
S4 ... 9-pin DSUB male connector for CAN
connection
Project engineering manual V1.0248
© KEBA 2014
Page 49
KeTop T10
Accessories
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 dangerous voltages (e.g. by means of sufficient insulation) to connections,
terminals or interfaces up to a rated voltage of 50 V.
Ethernet
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 the connector shell (control cabinet) up to the PLC (continuous connection from handheld terminal up to PLC).
Project engineering manual V1.02 49
© KEBA 2014
Page 50
Accessories KeTop T10
Fig.14-6: Shield connection in the control cabinet
1
... Control cabinat (max. 5 mm wall thickness) 2 ... Junction Box 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
... Zoom view of the mounting opening
1
2 ... Control cabinet wall (max. 5 mm wall thickness)
Project engineering manual V1.0250
© KEBA 2014
Page 51
KeTop T10
14.2.6 Technical data of Junction Box JB 001
General data
Accessories
Rated supply voltage (KeTop):
Power consumption:
Inrush current (KeTop): see chapter "Technical Data - In general"
Safety class:
Protection degree: IP20
24 V DC (rated voltage tolerance 19.2 V DC to
30 V DC according to EN 61131-2)
Without KeTop: none
With KeTop: see chapter "Technical Data - In
general"l
III in accordance with EN 61131-2 and
EN 50178
Environmental conditions
Operating temperature:
Storage temperature: -25 °C to +70 °C (-13 °F to 158 °F)
Relative humidity (non-condensing): 5 % to 95 %
Vibration resistance (operation):
Shock resistance (operation): 15 g / 11 ms (IEC 60068-2-27)
5 °C to 55 °C (41 °F to 131 °F)
IEC 60068-2-6:
●
5 Hz ≤ f < 9 Hz at 7 mm
●
9 Hz ≤ f < 150 Hz at 2 g
Mechanical properties
Construction:
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 (0.485 lb)
Steel panel housing, blue zinc coated, withstands grease, oil, lubricants, alcohol, etc.
14.3 KeTop CB211 Connection Box
The KeTop CB211 connection box is used for integration of the KeTop in the
machine/system. It is suitable for wall mounting and can also be mounted on
a mounting rail through the use of the mounting rail assembly kit
(KeTop DR200).
Project engineering manual V1.02 51
© KEBA 2014
Page 52
Accessories KeTop T10
14.3.1 Views and basic dimensions
Fig.14-8: View and device description of the Gateway box
1
... Status and error LEDs 2 ... PG gland (M20) for voltage supply, enabling
control device and emergency stop
3 ... PG gland (M16) for separate
functional ground (status as
supplied with dummy plugs)
5 ... PG glands (M16) for data lines 6 ... PG glands (M16) for data lines (status as sup-
4 ... Coninvers female connector for KeTop con-
nection cable
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 dangerous voltages (e.g. by means of sufficient insulation) to connections,
terminals or interfaces up to a rated voltage of 50 V.
Project engineering manual V1.0252
© KEBA 2014
Page 53
KeTop T10 Accessories
14.3.2 Interior view
Fig.14-9: Interior view of connection box
K1
... 17-pin female connector (Coninvers)
for KeTop connection cable
X3 ... Terminal block for data lines SHIELD ... Cable shield clamp with con-
X1 ... Terminal block for power and
Details about connecting the connection box KeTop CB 211 to the KeTop see
chapter "Connection 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:
● flexible with wire end ferrules without / with
plastic sleeve:
Grid dimension: 3,81
Insulation length:
Tightening torque: 0,22-0,25 Nm
Order data of Co PHOENIX:
0,14-1,5 mm2 / 0,14-1,5 mm2 / 28-16 AWG
0,25-1,5 mm2 / 0,25-0,5 mm
7 mm
control lines (enabling control
device and emergency stop)
nection surface for cable
shield of data lines (not used
for strain-relief of the cable!)
2
2
Gateway-terminal block
PHOENIX
Type Part no.
X1 MCVR 1.5/6-ST-3.81 1827169
X3 MCVR 1.5/7-ST-3.81 1827172
X4, X4B MCVR 1.5/10-ST-3.81 1827208
Project engineering manual V1.02 53
© KEBA 2014
Page 54
Accessories
Information
● Consider the connection capacity of the terminal blocks when selecting
the connection cable.
● Use the following screwdriver to connect the wires to the terminal blocks:
Blade: 0.4 x 2.5 x 80 mm, Length: 160 mm
● Multi-line connections (2 wires in one terminal) are not allowed. Use the
X4B terminal block for continuing the field bus.
14.3.4 Drilling template for wall mounting
KeTop T10
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 40mm
Project engineering manual V1.0254
© KEBA 2014
Page 55
KeTop T10 Accessories
Head form: flat head
Max. head diameter: Ø 9 mm
● Recommended rawlplug: Ø 6 x 30mm
14.3.5 DIN Rail Holder Mounting Set KeTop DR200
The DIN rail holder KeTop DR200 is available as accessory and will be mounted 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
Tab.14-11: DIN Rail Holder Mounting Set for connection box
DIN Rail Holder fixed on the rear side of the
gateway-box
Project engineering manual V1.02 55
© KEBA 2014
Page 56
Accessories
14.3.6 Use of Connection Box
KeTop T10
Fig.14-12: Connection box KeTop CB211 in control cabinet
1
... Control cabinat (max. 5 mm wall thickness) 2 ... Connection Box
3 ... Connection cable to KeTop 4 ... Power supply, emergency stop,
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
enabling control device
Project engineering manual V1.0256
© KEBA 2014
Page 57
KeTop T10 Accessories
14.3.8 Accessories
Accessories Usable for Description
Intermediate cable
KeTop IC220 (2 m)
KeTop IC240 (4 m)
DIN Rail Holder Mounting Set KeTop DR100
Strapping plug KeTop BC001
Connection box to connection cable
For mounting on the rearside of a
KeTop CB2xx connection box.
Serves for bridging the emergency
stop circuits if the KeTop is unplugged.
14.3.9 Technical Data of Connection Box KeTop CB211
General data
Rated supply voltage:
Maximum interruption time of supply voltage:
Power consumption:
Inrush current: max. 5.6 A (with limitation of current)
Safety class:
Protection degree: IP65
24 V DC (rated voltage tolerance 19.2 V DC to
30 V DC according to EN 61131-2)
≤ 10 ms (following EN 61131)
10.8 W (600 mA at 18 V DC, 450 mA at
24 V DC)
III in accordance with EN 61131-2 and
EN 50178
Environmental conditions
Operating temperature:
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)
Shock resistance (operation): 15 g (0.033 pound) / 11 ms (IEC 60068-2-27)
0 °C to 50 °C (32 °F to 122 °F)
5 Hz ≤ f < 9 Hz with 7 mm (0.276 in)
9 Hz ≤ f < 150 Hz with 2 g (0.0044 pound)
Mechanical properties
Construction:
Flammability class: UL94-V0
Dimensions:
● Width: 160 mm
● Height: 140 mm
● Depth: 70 mm
Weight: 500 g
ABS housing, withstands grease, oil, lubricants, alcohol, etc.
Project engineering manual V1.02 57
© KEBA 2014
Page 58
EC directives and standards KeTop T10
15 EC directives and standards
15.1 EC directives
2006/42/EC
2004/108/EC EMC directive
2011/65/EC RoHS directive
15.2 Standards
For examination of the conformity of the KeTop regarding the directives the
following legally not bounded european standards has been used:
Examination of the conformity regarding the directive of machinery
EN ISO 13850:2008
EN 60204-1:2006 chap. 9 and 10
Examination of the conformity regarding the directive of EMC
EN 61131-2:2007 chap. 8, 9 and 10
Directive for the safety of machinery with the application
MD 2006/42/EC
Safety of machinery - emergency stop equipment, functional aspects, principles for design
Safety of machinery - Electrical equipment of machines,
general requirements
Programmable Controllers, Part 2: Equipment requirements 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
EN ISO 10218-1:2011
EN 60947-5-8:2006
EN 60947-1:2007
EN 60947-5-1:2004
Safety of machinery - Electrical equipment of machines
- Part 1: General requirements
Manipulating Industrial Robots - Safety requirements -
Part 1: Robots
Low-voltage switchgear and controlgear - Part 5-8: Con-
trol circuit devices and switching elements - Three-position enabling switches
Low-voltage switchgear and controlgear - Part 1: General rules
Low-voltage switchgear and controlgear - Part 5-1: Control circuit devices and switching elements - Electromechanical control circuit devices
Project engineering manual V1.0258
© KEBA 2014
Page 59
KeTop T10 EC directives and standards
Stop switch and emergency stop switch
EN ISO 13850:2008
EN 60204-1:2006 chap. 9 and 10
Safety of machinery; emergency stop equipment, functional aspects; principles for design
Safety of machinery - Electrical equipment of machines
- Part 1: General requirements
Ergonomics
EN 614-1:2006
EN 614-2:2000 Interaction of the design of machines and the work task
EN 894-3:2008
Safety of machinery - Ergonomic design principles - Part
1: Terminology and general principles
Safety of machinery – Ergonomics requirements for the
design of displays and control actuators – Part 3: Control
actuators
Stability and impermeability of casing
EN 60529:1991
EN 61131-2:2007 chap. 12
Protection degree of casing
Programmable controllers - Part 2: Equipment require-
ments and tests
Electrical safeness and fire protection
EN 61131-2:2007 chap. 11
EN 50178:1997 Electronic equipment for use in power installations
Programmable controllers - Part 2: Equipment requirements and tests
Environmental Conditions
EN 61131-2:2007 chap. 4
EN 50178:1997 Electronic equipment for use in power installations
Programmable controllers - Part 2: Equipment requirements and tests
For the US market these standards had been used furthermore:
UL examination for industrial control equipment
UL 508
Industrial Control Equipment (NRAQ, NRAQ7)
UL examination for robotic applications
UL 1740
Industrial Robots and Robotic Equipment E216950
(TETZ2, TETZ8)
Project engineering manual V1.02 59
© KEBA 2014
Page 60
Declaration of conformity KeTop T10
16 Declaration of conformity
16.1 EC Declaration of Conformity
Project engineering manual V1.0260
© KEBA 2014
Page 61
KeTop T10
17 Appendix: Machinery Safety
Guidelines of the European Union
An essential goal of the European Union is the realization of a single European
market and thus free trade. This means that quantitative import limitations of
goods between the member states are prohibited.
Goods that endanger the safety of persons or the environment are an exemption. Member states can prohibit such products on their country's territory. To
ensure free trade for these products, the national safety regulations of the
member states are standardized via guidelines set forth by the European Union.
These guidelines apply for a number of product classes, such as for example
machines, medical products, as well as toys. However, corresponding guidelines were also developed for additional common safety aspects of products,
such as protection against electricity, explosion protection or electro-magnetic
compatibility. The guidelines are directed towards member states, who must
implement them into the respective national laws. The guidelines therefore
have legally binding effects.
Appendix: Machinery Safety
With the CE label the manufacturer certifies to have met all obligations of the
EC guidelines applicable for the product. The CE symbol, which is affixed to
the products by the manufacturer himself, is the "passport" within the 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 terminals.
Machinery Safety
Additional measures must be taken wherever faults arising in the machinery
may cause personal injury or significant material damage. These measures
must also guarantee a safe operating condition for the whole system in the
event of a fault. According to the Machinery Directive (MD) a machine is considered to be "a totality of components or appliances linked together, of which
at least one can move". The directive also implies, that " Machinery must be
designed and constructed so that it can be operated, adjusted and maintained
without putting persons at risk when these operations are carried out under the
conditions foreseen".
Although the handheld terminal is not, strictly speaking, a machine, it does,
however, perform important tasks to guarantee the safety functions of a machinery to which it is attached.
The handheld unit has, for example, the “Emergency Stop" safety function and
an enabling control device for use in special operating modes. It is, as a result,
a “Safety Component" in the sense of the Machinery Directive.
Project engineering manual V1.02 61
© KEBA 2014
Page 62
Appendix: Machinery Safety
Safety components, or parts whose failure or faulty operation put the safety of
people within the hazard area of the machine in danger, fall expressly within
the range of application of the Machinery Directive.
The fundamental requirements that the Machinery Directive places on the
manufacturer are as follows:
● To carry out a hazard and risk analysis
● To comply with the integration of safety principles
● To compile and keep a technical construction file
● To provide solutions in accordance with the latest state of the art
● To recognise conformity by means of harmonised Standards
● To apply CE marking
The same basic requirements apply to safety components. In their particular
case, it must be proven that failure or malfunction are not possible, or that
malfunction does not lead to a hazardous situation.
17.1 "Hazard and Risk Analysis"
KeTop T10
The manufacturer of a machine is required to analyse its machine throughout
its operating life and in all modes of operation, and to document all hazards
that may possibly arise. This has to be done without taking into account possible 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 analysis and lists of commonly occurring hazards can be found in the following
Standards:
● EN 12100-1 and EN 12100-2 "Safety for machinery - Basic concepts, general principles for design"
● EN 14121-1 "Safety of machinery - Risk assessment"
17.2 "Principles for the Integration of Safety"
In Appendix I, Chapter 1.1.2 of the Machinery Directive 2006/42/EC there is a
clear procedure and sequence for the selection of protective measures:
Eliminating or minimising the hazards
This takes place at the design stage of the machine. These measures include,
for example:
● A reduction in the use of energy (power, revolutions, voltages etc.) as far
as this is possible
● The avoidance of unnecessary sharp points or edges
Project engineering manual V1.0262
© KEBA 2014
Page 63
KeTop T10
Appendix: Machinery Safety
● The avoidance of human errors by means of the ergonomic and logical
design of operating devices
● The avoidance of hazardous materials and commodities
Taking protective measures against hazards that cannot be eliminated
These measures include, for example:
● Guards, railings, housings
● Protective devices (light barrier for hazard elimination)
● Protective control equipment (enabling control devices, two-hand controls,
speed monitoring etc.)
User information about residual hazards
This last of the three options is used if residual hazards remain after the first
two options have been applied. These measures include, for example:
● Warning notices
● Training and organisational measures
● The use of personal protective equipment
17.3 "Technical Construction File"
The technical construction file contains all the documents that are required to
prove the safety of the machinery / safety component. These are, for example:
● A complete drawing of the machinery or safety component including control 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 list of the quality assurance measures in the procedure
The technical construction file must be retained for a minimum of 10 years after
the supply of the last product, and must be presented within a period of a few
days in the event of a claim for damages.
17.4 "State of the Art"
This means technical possibilities at a certain point of time that are based on
certain scientific and technical knowledge. The state of the art also means
something that is commercially viable, that is it can be realised by the majority
in the industrial sector concerned.
Project engineering manual V1.02 63
© KEBA 2014
Page 64
Appendix: Machinery Safety
The state of the art is defined as the state of development of advanced procedures, equipment or operating methods, that makes the practical applicability of the measure appear assured overall in respect of the targeted goals
(e.g. the goals of protection of work, protection of the environment, safety of
third parties and operating efficiency: namely to achieve a generally high level
overall in relation to the aspects under consideration).
The state of the art can develop further irrespective of the Standards.
KeTop T10
17.5 "Recognition of Conformity by means of Harmonised Standards"
The European Directives mainly contain general requirements for the safety
of products; however they do not contain details of how to carry them out.
The European Standards Institutes are responsible for this. They provide implementation proposals for real safety problems or specific product classes.
Standards that are assumed to meet and correctly interpret the requirements
of the Directives are known as “Harmonised Standards”. Most of the available
Standards, however, are not harmonised.
By applying and implementing harmonised Standards, a manufacturer can
claim conformity for the respective product. However, the Standards, in contrast to the Directives, are not legally binding. This means that the 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 accordance with EN ISO 13849-1
The Machinery Directive demands that a fault in control circuit logic, or interference or damage thereto, shall not lead to a hazardous situation.
This general approach is substantiated in EN ISO 13849-1 "Safety of machinery - Safety related parts of control systems", which defines Performance
Levels (PL a to e) for control parts that are relevant to safety. The PL depends
on the safety category, the MTTFd-value and the degree of coverage of diag-
nosis (DC
As in the preceding standard EN 954-1, the safety category describes the
structure of the safety function. The Performance Level (PL), which describes
the conditional probability of failure and the defect discernability of the safety
function, has been added.
) of the corresponding safety circuit.
avg
The selection of the PL has to be done by the manufacturer of a machine
depending on the real risk potential. The risk potential will be be determined
from a hazard and risk analysis. In case of hazards that can cause irrevisible
injury or death usually a Performance Level not less than PL d is required.
Project engineering manual V1.0264
© KEBA 2014
Page 65
KeTop T10
Appendix: Machinery Safety
The category of the Performance Level determines if
● the system has been built in single circuit technology, which means that a
failure will lead to a loss of safety, although the availability of components
and parts is high (category 1)
● the system has been built in single circuit technology, which means that a
failure will lead to a loss of safety, but the failure will be detected by the
system and will be displayed somehow or other (category 2)
● the system has been built in multiple (2) circuit technology and that a fault
will not lead to loss of safety (category 3) or
● the system has been built in multiple (2) circuit technology and a build up
of multiple faults will not lead to loss of safety (category 4).
Starting from category 3 it is also important in this context that individual faults
are detected in time to avoid a build up of faults, which may finally lead to loss
of safety.
Faults that have to be detected in electric and electronic systems are for example short circuits between multiple circuits, interrupts, short circuits or
contacts that are stuck together. Special certified safety control devices are
often used to detect faults in the individual safety circuits, which have a certain
PL. The PL quoted for these devices is only attained, however, if also the whole
machine circuit under review lies within the scope of the respective PL and the
PL of all components supporting 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, the individual component
with the least PL determines the PL of the whole safety function. For example
a safety function consisting of 3 components, one with category 4 PL e, another
one with category 3 PL d and a third component with category 2 PL c will have
a PL c for the whole safety function. This means that a fault will lead to loss of
safety, although components with category 4 PL e are integrated into the safety
function, as one of the components being used has category 2.
When chaining several PLs the overall PL can decrease. For more information
read EN 13849-1 chapter 6.3.
The proof of attainment of a safety category can take place with the aid of an
FMEA (Failure Mode and Effects Analysis), in which all the faults that could
possibly arise are simulated, either theoretically or in practice, and it is demonstrated that the requirements of the category are fulfilled.
17.7 Application of Handheld Terminals in Special Operating Modes
For the manual control of machines in special operating modes, where safety
depends on the timely reaction of the operating staff, it is absolutely essential
Project engineering manual V1.02 65
© KEBA 2014
Page 66
Appendix: Machinery Safety
that the operator can overlook the operating area. The handheld terminal has
the advantage that the operator can get very close to the control panel. At the
same time, the danger of misuse increases with mobility since, in remote locations where it is not possible to observe the operating area, machine movements can also be set in motion with the handheld terminal, knowingly or
unknowingly. The machine operator, therefore, has to find the right compromise between necessary flexibility and a reasonable limitation of the working
range when selecting the corresponding cable length for the handheld terminal’s. It is not possible for the working range of radio-operated handheld
terminal’s to be limited by means of the cable; therefore additional technical
solutions are required for these handheld terminal’s.
If the machine or equipment is operated with the handheld terminal, care must
be taken at this time to ensure that operation can only be controlled by the
handheld terminal and cannot be operated from any other point on the equipment. 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.
KeTop T10
17.8 Information about the Emergency Stop Button
In theory, a perfectly designed machine should not require an emergency stop
button, since the Machinery Directive demands that a machine must be safe
throughout its lifetime and in all operating modes.
In practice, however, one is aware that unforeseen situations arise, in spite of
all precautions. In order to enable fast shutdown of the machine in these cases,
or to avert danger, an emergency stop button is provided on most machines.
As can be seen from the following illustration, a machine is permanently in the
hazard state from the viewpoint of the emergency stop button, for as long as
this is not activated.
Fig.17-1: Neutral position (not activated) Fig.17-2: Emergency stop button pressed
Tab.17-3: Emergency stop button functions
Project engineering manual V1.0266
© KEBA 2014
Page 67
KeTop T10
Appendix: Machinery Safety
The emergency stop button may not, therefore, serve as the primary safety
device but is provided exclusively to cover any residual risks.
Instead of this and depending on the mode of operation, other methods should
be employed as the primary safety device, for example guards, light barriers
and two-hand control devices or enabling control devices.
When the emergency stop button is activated, the entire machine or all of the
machines that are switched together in a plant must be lead to a safe state e.g.
by stopping and switching off the power to the endangering drive mechanisms
(stop categories 0 or 1 in accordance with EN 60204-1).
The release of the emergency stop button must not cause any uncontrolled
restart of the machine.
Irrespective of whether a handheld terminal has an emergency stop button or
not, permanently installed, universally identifiable and easily accessible emergency stop buttons must be provided at selected points around the machine
in every case.
17.9 Application of Emergency Stop Button and Stop Button on the Handheld Terminal
The Machinery Directive does not specify any detailed requirements in respect
to the colouring of the operating elements for emergency stop. The requirement states: “The device must have clearly identifiable, clearly visible and
quickly accessible controls“.
Emergency stop buttons are usually identified by red/yellow. The specific design 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 this way is, therefore,
that it must be possible to trigger a safe state at any time and in any operating
mode, without further knowledge of the machine (see also EN ISO 13850).
It is not acceptable for an emergency stop button to be enabled temporarily,
since this can lead to faulty operation and life threatening loss of time in panic
situations.
If one considers handheld terminals in relation to these requirements it is evident that a differentiation must be made as to whether an emergency stop
button on the handheld terminal may be used or not, depending on specific
criteria and applications.
Permanently installed handheld terminals: Emergency stop button
Permanently installed handheld terminals are provided with a cable by means
of which the handheld terminal is connected to the designated machine. The
handheld terminal is usually connected to or disconnected from the machine
with the machine switched off. This takes place during the installation or de-
Project engineering manual V1.02 67
© KEBA 2014
Page 68
Appendix: Machinery Safety
installation process. The handheld terminal’s are not designed to be connected
or disconnected whilst the machine is operating.
On many simple machines the handheld terminal is also the only operating
option, so that, without the handheld terminal, the machine cannot be put into
operation at all. Nonetheless, if the connector is unplugged from the machine
during operation the emergency stop circuit is broken and the emergency stop
function of the machine is activated, causing the machine to stop.
If a handheld terminal is uninstalled from a machine and is not reinstalled immediately, the equipment must be locked out in order to avoid confusion with
a functioning handheld terminal. The machine can only be put back into operation again after a new handheld terminal has been installed.
This procedure must be described in the operating instructions for the machine
and is the responsibility of the operator.
Due to the fact that plugging and unplugging takes place only rarely and that
the machine is out of operation when unplugged, the risk of an accident as the
result of a non-operational emergency stop button is considered to be very low
and the use of red/yellow identification is therefore permissible.
KeTop T10
The red/yellow emergency stop button must be connected into the emergency
stop circuit of the machine in any case and must cause the power supply to
the machine or set of machines in a plant to be switched off (stop category 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 different machines. For this reason the stop button is not always operational and
the operating status is not clear to everyone.
Therefore, for stop functions in wireless controllers, EN 60204-1:2006 "Safety
of Machinery. Electrical Equipment of Machines" (Chapter 9.2.7.3), demands:
"The operating means to initiate this stop function shall not be marked
or labelled as an emergency stop device, even though the stop function
initiated on the machine can be an emergency stop function."
For this reason, for radio controlled handheld terminal’s KEBA uses a stop
button that features all the mechanical characteristics of a normal emergency
stop button but is of a neutral grey colour.
In contrast to the red/yellow emergency stop button there is no need to switch
the stop output signals of the radio receiver into the machine’s normal emergency stop circuit. It can also be used to stop individual safety zones of a
machine or plant, where functions such as “Safe operational stop” can be triggered. This means that the drive components are safely maintained in controlled shutdown by means of active, powered drives (stop category 2 in
accordance with EN 60204-1). This can prevent the loss of reference data and
facilitates fast restart of the machines.
Project engineering manual V1.0268
© KEBA 2014
Page 69
KeTop T10
Appendix: Machinery Safety
The trained handheld terminal or machine operator is aware of the function
assigned to the button and knows the current operating mode in each case as
well as the current assignment of the machine. For this reason the colouring
is not disadvantageous to the machine operator.
The safety gain is that, in the case of inactive or unassigned equipment, no
danger of confusion is presented to third parties in respect of functional emergency stop buttons.
Temporary plug-in handheld terminals: Stop button
Some cabled equipment is provided with a quick-release connector (e.g. bayonet) that makes it possible to plug in and unplug the handheld terminal quickly
and ergonomically whilst the machine is in operation. Such handheld terminal’s
are provided for frequent alternation of operation between one or more machines and are needed there on a temporary basis, for commissioning or
setting up purposes.
By means of several measures, such as bridging connectors or relay circuits,
the emergency stop circuits of the machine are bridged when the handheld
terminal is unplugged so that the machine can also continue to run in normal
operation without the handheld terminal. Start-up and operation of the machine
can then take place using an independent operating 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 disconnected 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.
This special case is not clearly treated in the corresponding Standards. However, in the Product Standards for presses (EN 692:2004, EN 693:2001,
EN 12622:2001, EN 13736:2003) one finds the following clear statement:
"Any disconnectable control station shall not incorporate an emergency
stop button if the press can be operated while this controls station is
disconnected."
Further Product Standards are currently under review.
In several discussions with external notified bodies and technical committees
it was also determined that temporary, plug-in handheld terminals should be
treated as radio handheld terminal’s.
The approach to constructively eliminate hazards by using clear colour coding,
in preference to any organisational measures, also corresponds to the “Principles for the Integration of Safety” of the Machinery Directive and is therefore
legally binding.
For this reason, temporary plug-in handheld terminals may likewise only be
equipped with a grey stop button.
Project engineering manual V1.02 69
© KEBA 2014
Page 70
Appendix: Machinery Safety
Since handheld terminals made by several other manufacturers are on the
market with a grey stop button and have been certified by nominated test centres, the state of the art requirement is also met.
17.10 Information about enabling control devices
Many machines have both a normal and special operating modes.
The machine fulfils its primary mission in normal (automatic) operation. In this
mode of operation, safety is guaranteed by closed, guards and/or with protective devices.
A machine’s special operating modes serve to maintain normal operation. In
doing so, safety must be guaranteed in a way that is different to normal operation, since hazardous areas of the machine can now be entered and targeted
machine movements have to be possible. The enabling control device plays a
primary role here.
KeTop T10
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 machine in special operating mode with an enabling button is in a safe state as
long as this enabling button is not activated (see illustration).
Fig.17-4: Enabling functions
... "Neutral position" not activated 2 ... "Enabling" pressed
1
3 ... "Panic" pressed heavily
The enabling function is also described in EN 60204-1:2006 and corresponds
to the state of the art.
The panic position on 3 stage enabling control devices was introduced because limbs often become cramped when a person is in a state of shock and
Project engineering manual V1.0270
© KEBA 2014
Page 71
KeTop T10 Appendix: Machinery Safety
as a result is not able to release the enabling control device. For this reason,
firmly pushing down on the enabling control device also leads to switch off.
The controller must be designed in such a way that machine movement is not
initiated directly when the enabling control device is activated but only as a
result of the additional activation of a control button. This may be via the handheld terminal’s membrane keyboard or graphical software buttons on the touch
screen.
An optionally available joystick can also be used to trigger the machine movement signal.
According to EN 60204, only stop categories 0 or 1 are allowed for the enabling
function, i.e. stopping the machine with the enabling control device must always be combined with switching off the power supply to the drive mechanisms.
In order to prevent incorrect, permanent activation of the enabling control device 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 downstream to the handheld terminal.
An enabling control device is not a replacement for a two-hand control device,
which is specified for some machines (e.g. presses) and must therefore not be
confused.
In contrast to the enabling control device, the two-hand control device forces
the endangered limbs of the operator into a safe position whilst the machine
is in motion.
Project engineering manual V1.02 71
© KEBA 2014
Page 72
Appendix: Electromagnetic Compatibility
18 Appendix: Electromagnetic Compatibility
The European Union obligates its member states to harmonise their statutory
provisions in respect of electromagnetic compatibility by means of Directive
2004/108/EC. In the following text this Directive is abbreviated to the EMC
Directive.
All electrical and electronic device that is put into circulation in Europe must,
therefore, conform to the fundamental safety requirements of the EMC Directive. According to this Directive, electromagnetic compatibility is the ability of
a device, plant or system to work satisfactorily in the electromagnetic environment, without itself causing electromagnetic interference that would be unacceptable to all devices, plant and systems present in this environment.
In addition to the legal requirements described above, the reliable functioning
of an electrical device is also a fundamental quality characteristic of such a
device.
As well as basic information concerning electromagnetic compatibility, the following pages describe the implementation of the EMC requirements in respect
of the KeTop product range of handheld terminal devices.
KeTop T10
18.1 The electromagnetic environment – interference sources, interference sinks and coupling paths
There are a number 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 discharge (lightning discharge).
Artificial sources of interference are, on the one hand, intentional, such as mobile radio, amateur radio, TV and radio transmitters, and, on the other hand,
unintentional, such as microwave ovens, arc welding, ignition systems, high
voltage device, electric motors, electronic device and also electrostatic discharge.
Atmospheric discharge (lightning)
Atmospheric discharge can take place directly or indirectly on power and communication lines. The consequence of such an impact if there is insufficient
protection is the destruction of the electrical device.
Atmospheric discharge is simulated in accordance with the international test
standard IEC 61000-4-5 (EN 61000-4-5 for Europe) – "Electromagnetic compatibility (EMC). Testing and measurement techniques. Surge immunity test".
The relevant international product standard for control systems, IEC61131-2
(EN61131-2 for Europe), divides the areas of application into zones. Higher or
lower levels of interference can be expected depending on the zone in question. All Kemro control systems and also the products of the KeTop range are
suitable for application in Zone B.
Project engineering manual V1.0272
© KEBA 2014
Page 73
KeTop T10
Appendix: Electromagnetic Compatibility
The product standard requires the testing of surge immunity in accordance with
IEC 61000-4-5.
Electrostatic discharge (ESD)
Materials can be charged by contact followed by subsequent separation. This
effect only arises when at least one of the two materials is a non-conductor.
As a result, discharge may take place if a charged conductor, or one that is
changed by the influence of an electronic field, comes near a metallic object.
After charging, the possible voltages between the charged bodies can reach
over 10 kV.
The most frequent occurrence of electrostatic discharge takes place between
people and metallic objects. Since one is practically unnoticed of discharges
below 3500 V and yet electronic components are destroyed by low voltages,
ESD damage to electronic components often goes unnoticed.
The international Standard IEC 61000-4-2 (EN 61000-4-2 for Europe) is used
to simulate the measurement of electrostatic discharge. The international
product standard IEC 61131-2 (EN 61131-2 in Europe) for programmable controls demands testing to IEC 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 interference 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 fields of induction furnaces, arc welding device, micro-
wave device etc.
● Pulse currents from frequency converters and switching power supplies
● Electromagnetic fields of radio and telecommunications device
Randomly occurring interference:
● Ignition impulses of fluorescent lamps
● Switching procedures on inductive electrical circuits
● Contact bounces when closing or opening make-and-break contacts
● Voltage fluctuations on heavy load switching procedures
There is a series of test standards for the above listed sources of interference,
intentionally or unintentionally caused by technical systems, which simulate
this interference:
● IEC 61000-4-3 High Frequency Electromagnetic Field Immunity Test
● IEC 61000-4-4 Electrical Fast Transient / Burst Immunity Test
Project engineering manual V1.02 73
© KEBA 2014
Page 74
Appendix: Electromagnetic Compatibility
● IEC 61000-4-6 Test of Immunity to Conducted Disturbances, Induced by
High Frequency Fields
● IEC 61000-4-8 Power Frequency Magnetic Field Immunity Test
● IEC 61000-4-11 Voltage Dips, Short Interruptions and Voltage Variations
Immunity Test
All the international Standards listed here are also available as European
Standards. The Product Standard IEC 61131-2 demands testing to these
Standards and also defines the severity level.
Technical systems as interference sinks
In the case of functional interference, EMC problems first arise at interference
sinks. The following interference sinks can be identified dependent on the degree of immunity to electromagnetic influences:
KeTop T10
Immunity Interference sinks
Transformers
max
min
Tab.18-1: Examples for technical systems as interference sinks
Circuit breakers, contactors
Relays
Power transistors
Transistor circuits
Integrated switching circuits
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 interference sink can take place via various coupling paths.
Coupling paths very often consist of two or more parallel lines running closely
together. The coupling is a field coupling that takes place at low frequencies
either via the electrical field (capacitive coupling) or via the magnetic field (inductive coupling).
At high frequencies and with corresponding expansion of the parallel running
lines one speaks about an electromagnetic coupling due to close linking of both
field types.
Project engineering manual V1.0274
© KEBA 2014
Page 75
KeTop T10
Direct coupling can occur when electrical circuits from the interference source
and electrical circuits from the interference sink have common line components.
If there is a large distance between an interference source and an interference
sink then one speaks of a radiation coupling.
18.2 EMC measures on KeTop
The KeTop is designed for industrial applications. Considerable electromagnetic and electrostatic interference can occur in this environment. For this
reason special emphasis was placed on interference immunity and data security in the design of the device. The EMC design implemented and described
below considers all the above named sources of interference and the possible
coupling paths.
● All shielding and filter measures (filtered power supply) in the KeTop are
carried out directly on the printed circuit board.
● The special design of the KeTop cable guarantees interference immunity
even for greater connection lengths, i.e. the data lines (communication
signals) are shielded and so they are separated from the control lines
(power supply, enabling control device, emergency off, key-operated
switch etc.) inside the KeTop cable.
● Power supply lines in the control cabinet are usually unshielded. They are
therefore laid outside the KeTop cable shield 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.
Appendix: Electromagnetic Compatibility
Shield connections
The cable shield of the KeTop cable can be considered to be an extension of
the KeTop shielded housing (=printed circuit board) to the shielded housing of
the communication partner (e.g.: PLC). From this it can be deduced that the
shielded connections from the cable shield to the device shields make a fundamental contribution to the interference immunity of the KeTop. It is not
necessary to wire shielded connections to earth. The shielding connection in
the KeTop is made via the RJ-45 connector in the connection slot.
Connecting the KeTop via the connection box (e.g. CB211) guarantees safe
shielding protection right through to the communication partner. All connection
cables available from KEBA guarantee correct shielding connection.
For self-made cables the following conditions must be met for shielding data
lines:
● On every connector design (DSUB or RJ-45) the cable shield must be
connected to as large a surface area of the connector housing as possible.
Project engineering manual V1.02 75
© KEBA 2014
Page 76
Appendix: Electromagnetic Compatibility
Fig.18-2: Correct shield connection for DSUB and RJ-45 connectors
1
... Metallised or metallic housing
2 ... Connect the shield to a large surface area
● The use of pig tails for contacting the cable shield via plug pins is unsuitable. The inductivity of such pig tails represents high impedance resistance
for higher frequency interference; this means an apparent break in the
cable shield. Interference is then no longer diverted and works directly on
the inner lines.
KeTop T10
Fig.18-3: Insufficient contacting of a cable shield
1
... No pig tails
Shielding inside the control cabinet
In many cases a range of interference sources, such as servo drive modules,
transformers, contactors and relays, is present in the control 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
is guaranteed.
If for some reason a connection box cannot be used, the continuous connection
of the shielding on less critical interface types takes place by contacting the
connector housing with the control cabinet and inside the control cabinet by
contacting the shielding with the control cabinet (using shielding clips). The
smaller the distance between the contacting of the connector housing on the
Project engineering manual V1.0276
© KEBA 2014
Page 77
KeTop T10 Appendix: Electromagnetic Compatibility
control cabinet to the cable clip in the control cabinet, the better the shield
damping.
The interference immunity of the device with the connection type presented
above is also decisively influenced by the satisfactory separation of the control
signals and the data line signals. The better the separation of the two signal
types and the shorter the shielding connection, the higher will be the interference immunity of the complete system.
If the Ethernet is used as the communications interface one of the two connection 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
also the required characteristic impedance of the cable.
Project engineering manual V1.02 77
© KEBA 2014
Page 78
Appendix: Icon sets KeTop T10
19 Appendix: Icon sets
This appendix contains a listing of from KEBA provided icons which can be
displayed on the display of the KeTop. The following icons are available:
● Predefined internal icons
● Icons with 64 x 64 pixels for the applicaton (Icon set 2)
● Icons with 32 x 32 pixels for the applicaton (Icon set 3)
Information
Icon set 1 is not available for the user.
Additionally the buildup of the following customized icon sets can be requested
from KEBA:
● Predefined internal 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 contains of three icons with 32 x 32 pixels which are displayed in the top left corner
of the display and of eight icons with 64 x 64 pixels which are displayed in the
center.
Symbols with 32 x 32 pixels
Icon Description
Information
Warning
Error
Project engineering manual V1.0278
© KEBA 2014
Page 79
KeTop T10 Appendix: Icon sets
Symbols with 64 x 64 pixels
Icon Description
Waiting for host connection
or
control error
Calibration successful
Calibration not successful
or
not calibrated
Calibration in progress
Referencing not successful
or
reference lost
Referencing not successful
or
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
KeTop T10 ready
1 Black Display
2
3 Calibration successful
or
empty space
Waiting for host connection
or
control error
Calibration not successful
4
Project engineering manual V1.02 79
© KEBA 2014
or
not calibrated
Page 80
Appendix: Icon sets KeTop T10
ID Icon Description
5 Calibration in progress
Referencing not successful
6
7 Referencing successful
8 Device not active
9 Joint mode active
10 Cartesian tool mode active
or
reference lost
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
Project engineering manual V1.0280
© KEBA 2014
Page 81
KeTop T10 Appendix: Icon sets
ID Icon Description
21 Cartesian object mode not available
22 Device has been moved too fast during grab mode
23 Warning
24 Moved during jog start
25 Figure null
19.3 Symbols 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 application.
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
Project engineering manual V1.02 81
© KEBA 2014
Page 82
Appendix: Icon sets KeTop T10
ID Icon Description
10 Figure eight
11 Figure nine
12 Symbol A
13 Symbol B
14 Symbol C
15 Symbol 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)
Project engineering manual V1.0282
© KEBA 2014
Page 83
KeTop T10 Appendix: Icon sets
ID Icon Description
26 Information
27 Error
28 Warning
29 Device not active
30 Device not active
31 Emergency stop pressed
32 Cartesian free mode active
33 Grab mode active
Waiting for host connection
34
35 Joint mode not available
36 Drive(s) has/have no power
37 Cartesian tool mode not available
38
39
or
control error
Referencing not successful
or
reference lost
Referencing not successful
or
reference lost
40 Cartesian object mode not available
Project engineering manual V1.02 83
© KEBA 2014
Page 84
Appendix: Icon sets KeTop T10
ID Icon Description
41 Empty bar left
42 Empty bar right
43 Full bar left
44 Full bar right
45 Calibration successful
Calibration not successful
46
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
Project engineering manual V1.0284
© KEBA 2014
Page 85
KeTop T10
20 Appendix: Status and error codes
In this appendix the status and error codes of the KeTop T10 and their meanings are explained.
20.1 Status codes
The status code consists of five digits. Each digit delivers information about a
certain part of the device:
0 0 0 0 0
Sensors KVC Application Display EEPROM
In the following tables the meanings of the digits are explained:
Sensors
Code Diagnosis code Description
0
1
2
3
INU_OK
INU_SENSOR_READ
INU_SENSOR_RATE
INU_SENSOR_VALUE
No error
Measuring value cannot be read
Unexpectedly large number of measuring values
Implausible measuring value
Appendix: Status and error codes
KVC
Code Diagnosis code Description
0
1
2
3
KVC_OK
KVC_NOT_INIT
KVC_PROTOCOL_ERR
KVC_CONN_UNSTABLE
No error
KVC cannot be initialized
Protocoll error
Connection unstable (Warning)
Application
Code Diagnosis code Description
0
1
2
3
4
5
APPL_OK
APPL_NOT_INIT
APPL_EEPROM
APPL_DISPMAN
APPL_DEVMON
APPL_DEACTIVATED
No error
Application cannot be initialized
Application cannot read or write to EEPROM
Display manager cannot write (e. g. icon size mismatch,
invalid icon number, etc.)
Error monitoring the devices
Device deactivated (e.g. joystick not available, no key-
board available, etc.)
Display
This error code is binary coded and shows incorrect iconsets.
Project engineering manual V1.02 85
© KEBA 2014
Page 86
Appendix: Status and error codes KeTop T10
Code Description
0 No error
1 Error in first two sets (internal icons and 64 x 64)
2 Error in third set (32 x 32)
3 Error in first two sets and in third set
4 Error in fourth set (64 x 64 customized)
5 Error in first two sets and in fourth set
6 Error in third and fourth set
7 Error in first two sets, in third set and in fourth set
8 Error in fifth set (32 x 32 customized)
9 Error in first two sets and in fifth set
A Error in third and fifth set
B Error in first two sets, in third set and in fifth set
C Error in fourth set and in fifth set
D Error in first two sets, in fourth set and in fifth set
E Error in third, fourth and fifth set
F Error in all sets
EEPROM
No. Description
0 No error
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
.
00
01
02
03
04
05
Enum ID Description
eKvcErrorNotInitialized
eKvcErrorWrongTelNr
eKvcErrorMsgToLong
eDevmonErrorMaxListeners
eDevmonErrorNotInitialized
eDispManErrorNotInitialized
KVC cannot be initialized, start up failed
Wrong telegram number
Received KVC message too long
Maximum number of devices reached, re-
ceiving device cannot be added
Device monitoring cannot be initialized
Display manager cannot be initialized
Appendant diag-
nosis code
KVC_NOT_INIT
KVC_PROTOCOL_ERR
KVC_PROTOCOL_ERR
APPL_DEVMON
APPL_NOT_INIT
APPL_NOT_INIT
Project engineering manual V1.0286
© KEBA 2014
Page 87
KeTop T10 Appendix: Status and error codes
Warning
No
.
00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
Enum ID Description Error behavior
eKvcWarningMsgIgnoredCyclic
eKvcWarningMsgIgnoredAnticyclic
eKvcWarningWrongTelLenReqState
eKvcWarningWrongTelLenParamRead
eKvcWarningWrongTelLenParamWrite
eKvcWarningRecvSafetyTel
eKvcWarningConnAbort
eKvcWarningManyIgnoredMsg
eKvcWarningRepeatingConnAbort
eKvcWarningEepromReadingFail
eKvcWarningEepromDataInvalid
eKvcWarningNotSupportedParam
eKvcWarningInvalidParNr
eKvcWarningWrongParLen
eDevmonWarningDefaultValueJoy
eDevmonWarningDefaultValueKeys
Incoming cyclic KVC
message ignored
(message queue full)
Incoming anticyclic
KVC message ignored
(message queue full)
Wrong telegram length
of received request
state telegram
Wrong telegram length
of received parameter
read telegram
Wrong telegram length
of received parameter
write telegram
Received safety telegram, although not
supported on KeTop
T10
KVC connection lost
(detected by timeout)
Warning when more
than 4 messages will
be ignored within 20
seconds
Warning when more
than 4 messages will
be ignored within 10
seconds
Reading device info
from EEPROM failed
(Parts of) EEPROM
data not initialized or
invalid
KVC parameter not
supported on KeTop
T10
KVC parameter number does not exist
Wrong length of KVC
parameter value (quoted length and real
length differ)
Failed to read number
of joystick axes from
EEPROM
Failed to read number
of keys from EEPROM
Reset of warning
after 20 seconds
Reset of warning
after 20 seconds
Reset of warning
after 20 seconds
Reset of warning
after 20 seconds
Reset of warning
after 20 seconds
Reset of warning
after 20 seconds
Reset of warning
on reconnecting.
Reset of warning
if less than 5 messages are ignored
within the next 20
seconds
Reset of warning
if less than 5 messages are ignored
within the next 10
seconds.
-
-
-
-
-
Taking default
value
Taking default
value
Appendant diag-
nosis code
-
-
KVC_PROTOCOL_ERR
KVC_PROTOCOL_ERR
KVC_PROTOCOL_ERR
KVC_PROTOCOL_ERR
-
KVC_CONN_UNSTABLE
KVC_CONN_UNSTABLE
APPL_EEPROM
APPL_EEPROM
KVC_PROTOCOL_ERR
KVC_PROTOCOL_ERR
KVC_PROTOCOL_ERR
APPL_DEVMON
APPL_DEVMON
Project engineering manual V1.02 87
© KEBA 2014
Page 88
Appendix: Status and error codes KeTop T10
No
.
16
17
18
19
20
21
22
23
24
25
26
27
28
29
Enum ID Description Error behavior
eDevmonWarningDefaultValueOri
eDevmonWarningDefaultValueDevPin
eDevmonWarningOriDeactivated
eDevmonWarningKeysDeactivated
eDevmonWarningJoystickDeactivated
eDevmonWarningEepromRWFail
eDevmonWarningInvalidBaseUCT
eDevmonWarningInvalidJoyUCT
eDevmonWarningInvalidKeysUCT
eDevmonWarningInvalidOriUCT
eDispManWarningDrawIconFailed
eDispManWarningInvalidTileId
eDispManWarningInvalidIconSetFull
eDispManWarningInvalidIconSetBig
Failed to read information from EEPROM if
orientation data is
available at all or
whether it shall be interpreted or not
Failed to read device
pin from EEPROM
Stopped to interpret
orientation because
INU is defect
Deactivated keys because of a hardware
problem
Deactivated joystick
because of a hardware
problem
Failed to read from EEPROM – hardware or
ressources problem
Too large base update
cycle time (UCT) –
base UCT must be less
than the UCT of the
other devices and
more than zero
Too small UCT for joystick – joystick UCT
must be at least the
base UCT
Too small UCT for the
key image – key UCT
must be at least the
base UCT
Too small UCT for orientation interpretation
– orientation UCT must
be at least the base
UCT
Failed to draw system
icon in the upper left
corner
Given tile-id is higher
than the number of
tiles
Given set-id contains
full screen icons, which
cannot be set by the
user
Given set-id contains
big icons, but tile-id is
for small icons
Taking default:
supposing orientation data is
available and it
shall be used
Taking default
value
-
-
-
-
Setting base UCT
to its default (i.e.
5ms)
Setting joystick to
its default (i.e.
25ms)
Setting key UCT
to its default (i.e.
5ms)
Setting orientation UCT to its default (i.e. 100ms)
-
-
-
-
Appendant diag-
nosis code
APPL_DEVMON
APPL_DEVMON
APPL_DEACTIVATED
APPL_DEACTIVATED
APPL_DEACTIVATED
APPL_EEPROM
APPL_DEVMON
APPL_DEVMON
APPL_DEVMON
APPL_DEVMON
APPL_DISPMAN
APPL_DISPMAN
APPL_DISPMAN
APPL_DISPMAN
Project engineering manual V1.0288
© KEBA 2014
Page 89
KeTop T10 Appendix: Status and error codes
No
.
30
31
32
33
Enum ID Description Error behavior
eDispManWarningInvalidIconSetSmall
eDispManWarningScreensaverDefaultVal
eKeySeqWarningFactoryResetFailed
eKeySeqWarningFailedSaveJoyCalibVal
Given set-id contains
small icons, but tile-id
is for big icons
Failed to read screensaver timeout from EEPROM
Factory reset failed –
failed to read default
values from EEPROM
Failed to read joystick
calibration flags from
EEPROM
-
Screensaver
timeout will be set
to zero, that
means the
screensaver is
turned off.
-
-
Appendant diag-
nosis code
APPL_DISPMAN
APPL_EEPROM
APPL_EEPROM
APPL_EEPROM
Project engineering manual V1.02 89
© KEBA 2014
Page 90
Appendix: KVC telegrams on KeTop T10 KeTop T10
21 Appendix: KVC telegrams on KeTop T10
This appendix explains how the KeTop T10 executes the KVC telegrams. Furthermore the parameter provided on the KeTop T10 are listed and example
values for them are shown.
Concurrency of KVC telegrams
According to the protocol definition state requests will be transmitted cyclically
which means the executing is always one after another.
Parameter requests are carried out as necessary and have to be serialized on
the server: The server can only send another request after the acknowledge
of the previous request has been received. This ensures that each parameter
request is executed correctly.
A synchronization between status requests and inquiries parameter is not necessary, since they are handled in several buffers. So state requests and
parameter requests 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
CpuInfoData frequ 50000000, ram 98304
DevTypeInfo KeTop T10, FreeRTOS
FirmwareVersion
BootSystemVersion 1.6, KEBA Bootloader v1.06
NetConfig
DiagnosisDataLength 5
ClientDiagnosis 20000
DisplayTileCount 13
DisplayData
MonitorCycleTime 5 (ms)
1, 4, 0, 2549, 15308652, 86839, 15308652, 0,
23388
1.4, KeTop T10 v 1.004 (Wed Nov 6 15:42:55 GMT
2013)
192.168.137.151, 255.255.255.0, 192.168.137.1,
192.168.137.234, 0
Representation of syntax <Tile#: [Set-Id/IconId]>
0:[2/12] 1:[3/1] 2:[3/1] 3:[3/1] 4:[3/1] 5:
[3/1] 6:[3/1] 7:[3/1] 8:[3/1] 9:[3/3] 10:[3/4]
11:[3/5] 12:[3/1]
Parameter as commands for KeTop T10
Parameter Process
Reset Reset
Calibrate Kalibration of the sensor
OrientationReset Referencing = Reset of the orientation
Project engineering manual V1.0290
© KEBA 2014
Page 91
KeTop T10 Appendix: KVC telegrams on KeTop T10
For more information see "KeTop KVC Programmierhandbuch".
Project engineering manual V1.02 91
© KEBA 2014
Loading...