Related Manuals for Keba Kemro KeTop T10
Summary of Contents for Keba Kemro KeTop T10
- Page 1 Kemro KeTop T10 Project engineering manual V1.02 Translation of the original manual...
- Page 2 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, keba@keba.com For information about our subsidiaries please look at www.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 1.02 10-2014 Several No enabling control electronics Project engineering manual V1.02 © KEBA 2014...
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Page 5: Table Of Contents
Type Plate......................24 Display and operating elements..................25 Membrane keypad....................25 5.1.1 Key assignment..................25 Joystick......................... 26 Display........................26 Connection and wiring....................28 Power supply......................28 Emergency Stop Button and grey Stop Button............. 28 Project engineering manual V1.02 © KEBA 2014... - Page 6 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 V1.02 © KEBA 2014...
- Page 7 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 © KEBA 2014...
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Page 9: Introduction
● the application. Specialized training in the electro-technical field (in accordance with industrial training guidelines). Knowledge in: Electrician ● safety regulations, ● wiring guidelines, ● circuit diagrams, ● correct installation of electrical connections. Project engineering manual V1.02 © KEBA 2014... -
Page 10: Intended Use Of The Handheld Terminal
● 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 V1.02 © KEBA 2014... -
Page 11: Notes On This Document
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 de- vices used in this manual may differ in their appearance from the devices used by you. -
Page 12: Not Contained In This Document
-value. Other values (e.g. SIL, PL, Category) cannot be 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 SIL- or category and PL-value can be determined. -
Page 13: Relationship Between Performance Level And Safety Integrity Level
Discrete level that specifies the ca- pacity of safety devices to execute a Performance Level safety function under foreseeable conditions. Probability of Failure per Hour Probability of failure per hour Safety Integrity Level Safety integrity level Project engineering manual V1.02 © KEBA 2014... -
Page 14: Safety Notes
The instructions contained in this manual must be precisely followed in all cir- cumstances. Failure to do so could result in the creation of potential sources of danger or the disabling of safety features integrated in the handheld terminal. Project engineering manual V1.02 © KEBA 2014... - Page 15 ● 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 © KEBA 2014...
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Page 16: Personnel Safety Instructions
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 V1.02 © KEBA 2014... -
Page 17: System Overview
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 © KEBA 2014... -
Page 18: Integration Of The Ketop T10 Into Robot Control
As a communication protocol KVC (KEBA Virtual Channel) based on UDP/IP designed by KEBA is used. The protocol also implements a transfer of param- eters. Parts of the data exchange are handled cyclically like a live check to detect connection errors between KeTop T10 is active. -
Page 19: Using Ketop T10 For Jogging A Robot
(e.g. for selecting the vertical axis the KeTop T10 is held in vertical di- rection, for jogging horizontal the KeTop T10 is held horizontal, and so on). For Project engineering manual V1.02 © KEBA 2014... -
Page 20: 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. - Page 21 All motion functions (translation, rotation, grab) are locked against each an- other to prevent unexpected behavior of the robot. Project engineering manual V1.02 © KEBA 2014...
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Page 22: Description Of The Product
Fig.4-1: Front side of the device ... Emergency stop switch (twin circuit) or stop ... TFT display switch (option) ... Joystick ... Membrane keypad ... Strain relief and bend protection for connection cable Project engineering manual V1.02 © KEBA 2014... -
Page 23: Rear View
Back side of the device ... Type plate ... Enabling control device Side view Fig.4-3: Side view of the device Ergonomic Features ● Operation by right-handed and left-handed people ● Easily readable display Project engineering manual V1.02 © KEBA 2014... -
Page 24: Housing
... Country of origin ... Serial number ... Technical data (Voltage / power supply) ... Date of production (month/year) ... Ambient temperature ... UL marking ... UR marking ... Manufacturer's address ... CE marking of conformity Project engineering manual V1.02 © KEBA 2014... -
Page 25: Display And Operating Elements
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. Project engineering manual V1.02 © KEBA 2014... -
Page 26: Joystick
The selection of sym- bols 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 V1.02 © 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 © KEBA 2014...
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Page 28: Connection And Wiring
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 V1.02 © KEBA 2014... -
Page 29: Enabling Control Device
The enabling control device can be in the following three positions: Enabling control Position Function Contacts device enabling outputs are home position is not pressed open enabling outputs are enabling is pressed closed enabling outputs are open panic is pressed strong Project engineering manual V1.02 © KEBA 2014... - Page 30 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 re- leased. Fig.6-2: Contact travel diagram for panic Project engineering manual V1.02 © KEBA 2014...
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Page 31: Example Of Connection With Control Relay (Pilz Pnoz)
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 © KEBA 2014... - Page 32 The grafic shows a suggested wiring of enabling switches to fulfill safety cat- egory 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 V1.02 © KEBA 2014...
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Page 33: Foreseeable Misuse Of Enabling Control Device
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: ● 10 MBit/s ● UDP and TCP/IP protocol Project engineering manual V1.02 © KEBA 2014... -
Page 34: Connector Plug
Not connected Enabling Device Circuit 2 Enabling control device (circuit 2) Ethernet (Transmit +) Ethernet (Transmit -) Ethernet (Receive +) Ethernet (Receive -) Enabling Device Circuit 2 GND Enabling control device (ground circuit 2) Project engineering manual V1.02 © KEBA 2014... -
Page 35: Operating Behaviour
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. Project engineering manual V1.02 © KEBA 2014... -
Page 36: Referencing During Operation
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 V1.02 © KEBA 2014... -
Page 37: Configuration
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 ... Junction box JB 001 ... PC Project engineering manual V1.02 © KEBA 2014... -
Page 38: Configuration Of The Ketop T10
● 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 V1.02 © KEBA 2014... -
Page 39: Diagnostics
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 © KEBA 2014... - Page 40 "Appendix: Status and error codes" on page 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 V1.02 © KEBA 2014...
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Page 41: Maintenance
KeTop T10 Maintenance 10 Maintenance The device itself is maintenance-free. Project engineering manual V1.02 © KEBA 2014... -
Page 42: Disposal
● 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 V1.02 © KEBA 2014... -
Page 43: Technical Data
12.3 Interface Ethernet: ● Data transmission rate: 10 MBit/s 12.4 Mechanical properties ABS housing Construction: withstands grease, oil, lubricants, alcohol, etc. Flammability class: UL94-V0 Dimensions: ● Width: 210 mm ● Height: 62 mm Project engineering manual V1.02 © KEBA 2014... -
Page 44: E-Stop Ratings (Respective Grey Halt-Button)
1 000 000 position: 1 000 000 from 1 position to 2 position: 3 N typical Actuating force: from 2 position to 3 position: 17 N typical Galvanic isolation: 500 V AC to the rest Project engineering manual V1.02 © KEBA 2014... -
Page 45: 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 Project engineering manual V1.02 © KEBA 2014... -
Page 46: Accessories
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 V1.02 © KEBA 2014... -
Page 47: Views And Basic Dimensions
KeTop T10 Accessories 14.2.1 Views and basic dimensions Fig.14-3: View of the JB 001 ... Mounting nut Project engineering manual V1.02 © KEBA 2014... -
Page 48: Connectors
"Phoenix" with material number FMC 1.5/11-ST-3.5. 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. Project engineering manual V1.02 © KEBA 2014... -
Page 49: Shielding Inside The Control Cabinet
Therefore it is necessary to continue the cable shield from the connector shell (control cabi- net) up to the PLC (continuous connection from handheld terminal up to PLC). Project engineering manual V1.02 © KEBA 2014... -
Page 50: Mounting Instructions
... 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 ... Control cabinet wall (max. 5 mm wall thickness) Project engineering manual V1.02 © KEBA 2014... -
Page 51: Technical Data Of Junction Box Jb 001
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 © KEBA 2014... -
Page 52: Views And Basic Dimensions
● Only connect voltages and circuits which are safely separated from dan- gerous voltages (e.g. by means of sufficient insulation) to connections, terminals or interfaces up to a rated voltage of 50 V. Project engineering manual V1.02 © KEBA 2014... -
Page 53: Interior View
Grid dimension: 3,81 Insulation length: 7 mm Tightening torque: 0,22-0,25 Nm Order data of Co PHOENIX: PHOENIX Gateway-terminal block Type Part no. MCVR 1.5/6-ST-3.81 1827169 MCVR 1.5/7-ST-3.81 1827172 X4, X4B MCVR 1.5/10-ST-3.81 1827208 Project engineering manual V1.02 © KEBA 2014... -
Page 54: Drilling Template For Wall Mounting
A scaled drilling template (scale 1:1) can be downloaded from www.ke- via Login ▶ Industrial automation (Doc.No.: 1007622). ba.com For wall mounting, we recommend the following screws and materials: ● Chipboard screw: Ø 4 x 40mm Project engineering manual V1.02 © KEBA 2014... -
Page 55: Din Rail Holder Mounting Set Ketop Dr200
DIN rail. DIN Rail Holder fixed on the rear side of the DIN Rail Holder Mounting Set gateway-box Tab.14-11: DIN Rail Holder Mounting Set for connection box Project engineering manual V1.02 © KEBA 2014... -
Page 56: Use Of Connection Box
... Power supply, emergency stop, enabling control device ... KeTop IC220 or KeTop IC224 ... Dust protection cap ... Data line 14.3.7 Minimum Bending Radius of Cable Fig.14-13: Required minimum distance outside and inside the control cabinet Project engineering manual V1.02 © KEBA 2014... -
Page 57: Accessories
15 g (0.033 pound) / 11 ms (IEC 60068-2-27) Mechanical properties ABS housing, withstands grease, oil, lubri- Construction: cants, alcohol, etc. Flammability class: UL94-V0 Dimensions: ● Width: 160 mm ● Height: 140 mm ● Depth: 70 mm Weight: 500 g Project engineering manual V1.02 © KEBA 2014... -
Page 58: Ec Directives And Standards
Low-voltage switchgear and controlgear - Part 1: Gen- EN 60947-1:2007 eral rules Low-voltage switchgear and controlgear - Part 5-1: Con- EN 60947-5-1:2004 trol circuit devices and switching elements - Electrome- chanical control circuit devices Project engineering manual V1.02 © KEBA 2014... - Page 59 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 Industrial Robots and Robotic Equipment E216950 UL 1740 (TETZ2, TETZ8) Project engineering manual V1.02 © KEBA 2014...
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Page 60: Declaration Of Conformity
Declaration of conformity KeTop T10 16 Declaration of conformity 16.1 EC Declaration of Conformity Project engineering manual V1.02 © KEBA 2014... -
Page 61: Appendix: Machinery Safety
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 © KEBA 2014... -
Page 62: Hazard And Risk Analysis
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 V1.02 © KEBA 2014... -
Page 63: Technical Construction File
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 © KEBA 2014... -
Page 64: Recognition Of Conformity By Means Of Harmonised Standards
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 V1.02 © KEBA 2014... -
Page 65: Application Of Handheld Terminals In Special Operating Modes
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 © KEBA 2014... -
Page 66: Information About The Emergency Stop Button
Fig.17-1: Neutral position (not activated) Fig.17-2: Emergency stop button pressed Tab.17-3: Emergency stop button functions Project engineering manual V1.02 © KEBA 2014... -
Page 67: Application Of Emergency Stop Button And Stop Button On The Handheld Terminal
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 © KEBA 2014... - Page 68 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.
- Page 69 “Prin- ciples 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 © KEBA 2014...
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Page 70: Information About Enabling Control Devices
The panic position on 3 stage enabling control devices was introduced be- cause limbs often become cramped when a person is in a state of shock and Project engineering manual V1.02 © KEBA 2014... - Page 71 (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 © KEBA 2014...
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Page 72: Appendix: Electromagnetic Compatibility
All Kemro control systems and also the products of the KeTop range are suitable for application in Zone B. Project engineering manual V1.02 © KEBA 2014... - Page 73 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 © KEBA 2014...
- Page 74 (capacitive coupling) or via the magnetic field (in- ductive 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 V1.02 © KEBA 2014...
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Page 75: Emc Measures On Ketop
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: ●... - Page 76 (using shielding clips). The smaller the distance between the contacting of the connector housing on the Project engineering manual V1.02 © KEBA 2014...
- Page 77 (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 © KEBA 2014...
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Page 78: Appendix: Icon Sets
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) ●... -
Page 79: 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. Icon Description KeTop T10 ready Black Display empty space Waiting for host connection control error Calibration successful Calibration not successful not calibrated Project engineering manual V1.02 © KEBA 2014... - Page 80 Cartesian object mode active Cartesian free mode active Internal error Connected with host Grab mode active Emergency stop pressed Information Joint mode not available Drive(s) has/have no power Cartesian tool mode not available Project engineering manual V1.02 © KEBA 2014...
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Page 81: 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 ap- plication. Icon Description Black Display Empty space Figure null Figure one Figure two Figure three Figure four Figure five Fidure six Figure seven Project engineering manual V1.02 © KEBA 2014... - Page 82 Symbol C Symbol D Symbol E Symbol F Connected with host Joint mode active Cartesian tool mode active Cartesian object mode active Empty bar bottom Full bar below first endposition (lower) second endposition (upper) Project engineering manual V1.02 © KEBA 2014...
- Page 83 Waiting for host connection control error Joint mode not available Drive(s) has/have no power Cartesian tool mode not available Referencing not successful reference lost Referencing not successful reference lost Cartesian object mode not available Project engineering manual V1.02 © KEBA 2014...
- Page 84 Empty bar right Full bar left Full bar right Calibration successful Calibration not successful not calibrated Calibration in progress Referencing successful Device has been moved too fast during grab mode Moved during jog start Project engineering manual V1.02 © KEBA 2014...
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Page 85: Appendix: Status And Error Codes
APPL_DISPMAN invalid icon number, etc.) APPL_DEVMON Error monitoring the devices Device deactivated (e.g. joystick not available, no key- APPL_DEACTIVATED board available, etc.) Display This error code is binary coded and shows incorrect iconsets. Project engineering manual V1.02 © KEBA 2014... -
Page 86: Codes For Errors Or Warnings
Received KVC message too long KVC_PROTOCOL_ERR Long Maximum number of devices reached, re- eDevmonErrorMax- APPL_DEVMON Listeners ceiving device cannot be added eDevmonErrorNo- Device monitoring cannot be initialized APPL_NOT_INIT tInitialized eDispManErrorNo- Display manager cannot be initialized APPL_NOT_INIT tInitialized Project engineering manual V1.02 © KEBA 2014... - Page 87 Failed to read number Taking default eDevmonWarning- of joystick axes from APPL_DEVMON DefaultValueJoy value EEPROM eDevmonWarning- Failed to read number Taking default APPL_DEVMON DefaultValueKeys of keys from EEPROM value Project engineering manual V1.02 © KEBA 2014...
- Page 88 Given set-id contains eDispManWarnin- full screen icons, which gInvalidIconSet- APPL_DISPMAN cannot be set by the Full user Given set-id contains eDispManWarnin- gInvalidIconSet- big icons, but tile-id is APPL_DISPMAN for small icons Project engineering manual V1.02 © KEBA 2014...
- Page 89 PROM screensaver is turned off. eKeySeqWarning- Factory reset failed – FactoryReset- failed to read default APPL_EEPROM Failed values from EEPROM eKeySeqWarning- Failed to read joystick FailedSaveJoyCa- calibration flags from APPL_EEPROM libVal EEPROM Project engineering manual V1.02 © KEBA 2014...
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Page 90: Appendix: Kvc Telegrams On Ketop T10
CpuInfoData frequ 50000000, ram 98304 DevTypeInfo KeTop T10, FreeRTOS 1.4, KeTop T10 v 1.004 (Wed Nov 6 15:42:55 GMT FirmwareVersion 2013) BootSystemVersion 1.6, KEBA Bootloader v1.06 192.168.137.151, 255.255.255.0, 192.168.137.1, NetConfig 192.168.137.234, 0 DiagnosisDataLength ClientDiagnosis 20000 DisplayTileCount Representation of syntax <Tile#: [Set-Id/Icon- Id]>... - Page 91 KeTop T10 Appendix: KVC telegrams on KeTop T10 For more information see "KeTop KVC Programmierhandbuch". Project engineering manual V1.02 © KEBA 2014...
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