KOA-PICOITX - K-Team
KOAKOA-PICOITX
PICOITX
User manual
Version 1.0
april 2010
Documentation Author
Frédéric Lambercy
K-Team S.A.
Rue Galilee 9, Y-Park
1400 Yverdon-les-Bains
Switzerland
Email: [email protected]
Url: www.k-team.com
LEGAL NOTICE:
•
•
•
The contents of this manual are subject to change without notice
All efforts have been made to ensure the accuracy of the content of this manual.
However, should any error be detected, please inform K-Team.
The above notwithstanding, K-Team can assume no responsibility for any error in this
manual.
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TABLE OF CONTENTS
1.
INTRODUCTION..................................................................................................4
1.1
1.2
1.3
1.4
1.5
2.
THE KOA-PICOITX ................................................................................................... 4
SPECIFICATIONS ........................................................................................................ 4
HOW TO USE THIS HANDBOOK ................................................................................... 5
SAFETY PRECAUTIONS ............................................................................................... 6
RECYCLING ............................................................................................................... 6
UNPACKING AND INSPECTION .....................................................................7
2.1
PACKAGE CONTENT .................................................................................................. 7
2.2
KOA-PICOITX OVERVIEW ......................................................................................... 8
2.3
FIRST START-UP ........................................................................................................ 9
2.3.1
Hardware startup ............................................................................................. 9
2.3.2
Software startup ............................................................................................. 10
3.
USAGE..................................................................................................................11
3.1
3.2
3.3
3.4
3.5
3.6
3.7
4.
ACCESS TO THE KOALA ROBOT ................................................................................ 11
NETWORK CONFIGURATION ..................................................................................... 11
FILE TRANSFER........................................................................................................ 12
REMOTE CONNECTION ............................................................................................. 12
DIGITAL INPUT/OUTPUT PORTS USAGE ..................................................................... 12
MOTORS USAGE ...................................................................................................... 13
PAN-TILT CAMERA USAGE ....................................................................................... 14
PROGRAMMING ...............................................................................................15
4.1
DIRECTLY ON THE ROBOT ........................................................................................ 15
4.1.1
Template program .......................................................................................... 15
4.1.2
Using examples .............................................................................................. 16
4.2
ON ANOTHER COMPUTER ......................................................................................... 18
5.
SOFTWARE REINSTALLATION ...................................................................19
5.1
UBUNTU INSTALLATION .......................................................................................... 19
5.2
LIBKOREBOT INSTALLATION .................................................................................... 19
5.3
COMPILER INSTALLATION ........................................................................................ 19
5.4
DRIVERS INSTALLATION .......................................................................................... 19
5.4.1
i2c driver ........................................................................................................ 19
5.4.2
gpio driver...................................................................................................... 20
6.
WARRANTY........................................................................................................22
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1.
INTRODUCTION
1.1
The Koa-PicoITX
Thank you for buying Koa-PicoITX extension. This computer extension for Koala will
give you the opportunity to make advanced embedded applications. Thanks to its powerful
processor, the Koa-PicoITX is perfect for image processing, mapping and odometry
calculation. The Koa-PicoITX was developed to work with a Koala, but can be used as a
standalone mini-computer in your own application.
1.2 Specifications
The Koa-PicoITX is based on an EPIA-P700-10L pico-ITX board from VIA. The
main board is connected to a special board which provide different IO, an additional serial
port, a power-button, led indication and the possibility to mount up to two KoreMotorLE
to drive four motors (for two Pan-Tilt cameras). The case is in anodized aluminum to
protect the main board and its extensions.
Model Name
Processor
Chipset
RAM
Hard drive
System Memory
VGA
LAN
Audio
BIOS
I/O Connectors
Operating system
System Monitoring &
Management
Operating Temperature
Operating Humidity
Dimensions
Weight
EPIA-P700-10L
1.0GHz VIA C7® 500MHz VIA EdenTM ULV
VIA VX700 Unified Digital Media IGP chipset
1GB
80GB, Maxtor MobileMax STM980215A
DDR2 533/667 SODIMM socket (effective speed to 533MHz)
Integrated VIA UniChrome™ Pro II 3D/2D AGP graphics with
MPEG-2/4 and WMV9 video decoding acceleration
Gigabit Ethernet port controlled by a
VIA VT6122 Gigabit LAN controller
Line-out, Line-in, & Mic-in controlled by a
VIA VT1708B High Definition Audio Codec
Award BIOS
4/8Mbit flash ROM
2x DB9 serial port male connector
1x VGA connector
1x Gigabit Ethernet connector
3x USB 2.0 ports
3x Audio jacks: (Line-out, Line-in, Mic-in)
Up to 4 Motor connectors
2x Terminal Blocks (Supply, IO & I2C bus)
1x KoreBot power supply connector (+12V, +5V & GND)
Linux Ubuntu 9.10
Wake-On LAN, Keyboard Power-on, Timer Power-on
System power management, AC power failure recovery
Watch Dog Timer
0°C ~ 50°C
0% ~ 95% (relative humidity; non-condensing)
145 x 125 x 91 mm
860g
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1.3
How to use this handbook
This handbook introduces the Koa-PicoITX extension and how to use it. For a quick
start, jump to section 2.3, "First Start-up".
If this handbook does not answer one of the problems you are confronted with, please
consult the K-Team web site (www.k-team.com) and, especially the Forum and the FAQs.
•
Unpacking and Inspection: Koa-PicoITX’s package description and first start-up.
•
Hardware installation:
explanation on how to mount the Koa-PicoITX on a
Koala and how to mount extension inside the case.
•
Usage:
description of the usage of the PicoITX and its devices.
•
Programming:
description of the programming methods of the KoaPicoITX.
•
Software reinstallation:
instruction to reinstall all the software needed to
program the Koa-PicoITX.
•
Warranty:
legal notice on the Koa-PicoITX Warranty.
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1.4
Safety precautions
Here are some recommendations on how to correctly use the Koa-PicoITX extension:
•
Keep the case away from wet area. Contact with water could cause malfunction
and/or breakdown.
•
Store your computer in a stable position. This will avoid the risks of falls, which
could break it or cause damage to a person.
•
Use only the official supply cable which is delivered with the Koa-PicoITX. Do
not try to use another charger; this can cause irreversible damage to the battery.
•
Never leave the Koala and its Pico-ITX powered when it is unused. When you
have finished working with Koala, turn it off. It will save the battery life
1.5
Recycling
Think about the end of life of your robot! Parts of the robot can be recycled and it is
important to do so. It is for instance important to keep batteries out of the solid waste
stream. When you throw away a battery, it eventually ends up in a landfill or municipal
incinerator. These batteries, which contain Lithium Polymer, can contribute to the toxicity
levels of landfills or incinerator ash. By recycling the batteries through recycling
programs, you can help to create a cleaner and safer environment for generations to come.
For those reasons please take care to the recycling of your robot at the end of its life cycle,
for instance sending back the robot to the manufacturer or to your local dealer.
Thanks for your contribution to a cleaner environment!
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2.
UNPACKING AND INSPECTION
2.1 Package Content
Figure 2.1: Content of the Koa-PicoITX extension
Your package should contain the following items:
1. Koa-PicoITX box
2. Koa-PicoITX Support CD
3. Power Supply cable
4. Serial cable (DB9->DB15)
5. 4x fixation screws
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2.2 Koa-PicoITX Overview
Figure 2.2: Koa-PicoITX overview
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Motor connector M1
Motor connector M3
Power supply connector, use the 3 color cable (red = 5V, yellow = 12V, black = GND)
Motor connector M2
Motor connector M0
Terminal block
• 1 : +5V
• 2 : +3.3V
• 3 : I2C clock
• 4 : I2C data
• 5 : GND
• 6 : GPIO2
• 7 : GPIO3
• 8 : GPI4
• 9 : GPI5
• 10: GND
Audio jacks connector (Line-IN, Line-OUT, Mic-IN)
USB 2.0 connectors
COM0 serial connector (/dev/ttyS0)
Power button
Power LED indicator
Hard Drive LED indicator
VGA output
USB serial port (/dev/ttyUSB0)
Gigabit Ethernet connector
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2.3 First Start-up
2.3.1 Hardware startup
If you have received the Koa-PicoITX already mounted and connected to a Koala,
you can directly jump to the section "Software startup". In other case, please be sure to
respect all of the guidelines below.
All manipulations must be executed when Koala is turn off. To avoid any
damage, please remove the battery of the Koala during all the process.
To mount the Koa-PicoITX box on a Koala, you must first unmount the black
protection plate at the rear of the Robot. Place the Koa-PicoITX box on the four fixations
points (see n°2 in page 5 of the "Koala User Manual"); the rear size of the box must be turned
at the back of the Robot.
http://ftp.k-team.com/koala/documentation/KoalaSilverUserManual.pdf
Connect the serial cable to the USB serial port (n°14 in the overview) and the RS232
serial port on the rear of the Koala (see n°4 page 4 in the "Koala User Manual"). Place the
jumper in the back “DCE” serial line position (see page 8 in the "Koala User Manual") and set
the running mode selector of the Robot to the position A (115200bps communication).
Connect a VGA monitor, an USB keyboard and an USB mouse to the Koa-PicoITX.
Connect the power supply cable to the Koala terminal blocks as describe below:
-
Yellow
=>
+VBAT (+12V)
Red
=>
VCC (+5V)
Black
=>
GND (power ground)
(See page 16 of the Koala User Manual for more details)
And finally, connect the supply cable to the Koa-PicoITX (see connector n°3 in the
overview).
Then plug the battery (or the DC/DC converter) in the Robot, turn on the Koala
Robot and push the power button of the Koa-PicoITX. The boot of the computer must appear
on the screen. Then follow the "Software startup" instructions.
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2.3.2 Software startup
At the login, enter the default user name and password as follows:
username: picoitx
password: root <= this will also be the sudo password for the
following chapters.
You will arrive at the desktop depicted in the figure below. You have the
menu bar at the top of the desktop, with direct access to help, file manager,
terminal consol, network manager and logout buttons.
You can have more help at http://help.ubuntu.com/.
help
Network manager
logout
File manager
Terminal / console quick access
Figure 2.3: Ubuntu desktop
The system should be already fully working with the gcc compiler installed and the
libkorebot. See chapter 4, PROGRAMMING" for software development and the next chapter
for using the different features.
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3.
Usage
3.1 Access to the Koala robot
You can communicate to the Koala robot and control it through the serial port.
Open a terminal console and type:
sudo minicom -s
Enter root as password then go the "Serial port setup" menu and configure as described in
figure 2.4.
+----------------------------------------------------------+
| A - Serial Device : /dev/ttyUBS0
|
| B - Lockfile Location : /var/lock
|
| C - Callin Program :
|
| D - Callout Program :
|
| E - Bps/Par/Bits : 115200 8N1
|
| F - Hardware Flow Control : No
|
| G - Software Flow Control : No
|
|
|
| Change which setting?
|
+----------------------------------------------------------+
Figure 2.4: Minicom serial parameters
Save the settings with the command “Save setup as dfl” of the menu [configuration]. The
commands available are listed in the appendix A of the Koala user manual.
Example:
the command B will read the bios and protocol versions. If you enter the
uppercase B, then press return this should return: b,1.19,1.19
See chapter 4 PROGRAMMING" for software development.
3.2 Network configuration
The system should connect autonomously at start-up to your wired network if a
Ethernet cable is connected and you have a dhcp server without identification.
If this is not the case, with the icon in the figure above you can setup your network
connection.
You can have more information about the operation system Ubuntu there:
http://help.ubuntu.com/
and about the network manager there:
https://help.ubuntu.com/9.10/internet/C/networkmanager.html
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Network access:
From the main menu at the top, choose "Places" then "Network" to see your network,
or "Connect to Server" to connect to a server.
3.3 File transfer
You can also use a terminal to connect or transfer files with the program scp:
scp FILE [email protected] REMOTE_IP:/PATH
where
FILE : is the file to transfer
USER: is the username at the remote computer
REMOTE_IP : is the remote computer ip address
PATH: is the path to the file destination on the remote computer
3.4 Remote connection
You can connect to the robot by different ways:
-
for transferring files with the scp command seen above.
-
using the RemoteDesktop feature (configure the
System/Preferences/Remote Desktop menu).
-
with the ssh protocol command: ssh –X [email protected]_IP
from where you can launch:
§
the file manager: nautilus &
§
any other graphical or console program
3.5 Digital input/output ports usage
In the directory ~/software/libkorebot_VERSION/src/tests , the gpio_test program is
already compiled.
- Run it with the command: ./gpio_test
=> You will have a prompt >
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- The GPIO 2 and 3 can be used in input or output. The GPIO 4 and 5 are only
outputs.
-
With the command help you have the help.
-
You configure the direction of the port with the command configio :
configio IO_PORT_NUMBER DIRECTION
where
IO_PORT_NUMBER: port number 2..5
DIRECTION : 0 = input, 1 = output
- Set the IO to 1 with: setio IO_PORT_NUMBER
- Set the IO to 0 with: cleario IO_PORT_NUMBER
- Read the IO with: readio IO_PORT_NUMBER
- Exit the program with quit
See chapter 4 PROGRAMMING" for software development.
3.6 Motors usage
You can use the motors connectors (M0, M1, chapter 2.2: "Koa-PicoITX Overview") to
connect one or two motors (up to 4). See the KoreMotorLE user manual for more details
about the connections and motors:
http://ftp.k-team.com/korebot/documentation/KoreMotorLE.UserManual.pdf
In the directory ~/software/libkorebot_VERSION/src/tests , the kmotLE_test program
is already compiled. Run it with the command:
./kmotLE_test MOTOR_NAME
where MOTOR_NAME = KoreMotorLE:PriMotor1 : motor M0
KoreMotorLE:PriMotor2 : motor M1
=> You will have a prompt >
With the command help you have the help.
The command init set the default parameters. It is necessary to run in before any other
commands because it sets and resets different default settings.
You will have to set the controller (PID) with the command setpid:
- Set it with the command: setpid REGULATION_TYPE P I D
where REGULATION_TYPE = pos position control
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speed speed control
torque torque control
P : proportional parameter
I : integral parameter
D : derivative parameter
- You can set the speed, the position or the torque with the commands:
setspeed SPEED
setpos POS
settorque TORQUE
- And stop it with stop
- Exit the program with quit
See the source code file ~/software/libkorebot_VERSION/src/tests/kmotLE_test.c or
the KoreMotorLE user manual for details:
http://ftp.k-team.com/korebot/documentation/KoreMotorLE.UserManual.pdf
See chapter 4 PROGRAMMING" for software development.
3.7 Pan-tilt camera usage
You can connect up to two Pan-tilt cameras using the motors connectors (chapter 2.2:
"Koa-PicoITX Overview": M0 and M1 for the first one, M2 and M3 and another
KoreMotorLE needed). See the Pan-Tilt user manual for more details about the connections:
http://ftp.k-team.com/koala/pan-tilt/PanTiltCameraManual.pdf
In the directory ~/software/libkorebot_VERSION/src/tests , the kmotLE_pantilt
program is already compiled. This program makes the pan-tilt camera moving. Run it with the
command:
./kmotLE_pantilt MOT0 MOT1 [NB_CYCLES]
where
MOT0: PAN motor number (usually 1)
MOT1: TILT motor number (usually 2)
[NB_CYCLES]: optional: number of cycles
See chapter 4 PROGRAMMING" for software development.
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4.
PROGRAMMING
Knowledge needed:
- C programming
- command line compilation (Makefile)
You have two choices for programming:
- directly on the robot and PicoITX (fastest, nothing more to be installed)
- on another computer (better for remote or if the robot is not available)
4.1 Directly on the robot
4.1.1 Template program
The compiler gcc should be already installed:
launching gcc in a terminal should return "gcc: no input files".
The libkorebot, which is a K-Team library providing facilities for using different
robots and modules, should already be installed in ~/software/libkorebot_VERSION,
where VERSION is the actual version. The documentation for the library is available
here:
http://ftp.k-team.com/korebot/libkorebot-doc/files.html
There is a template program, with which you can start your own program, located in:
~/software/libkorebot_VERSION/template
With the following commands, you can compile then run it:
make clean
make
./template
For specific documentation and examples on the programming of the Koala, read the
next sub-chapter "Using examples", specially the koala_test.c example.
Remarks:
If you modify the program source code name (currently prog-template.c), you
will have to modify its occurrences in the Makefile file, which is the script file
launched when the above make is executed.
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4.1.2 Using examples
You can find many examples using the libkorebot in the directory of the library:
~/software/libkorebot_VERSION/src/tests
All the examples below are already compiled. You can modify them or take some part to
add to your main program. For recompiling them, in the directory
~/software/libkorebot_VERSION, execute:
make clean
make all
You can execute them with the command:
./PROGRAM_NAME
Here after is the list of examples of source code recommended for starting programming with
the Koa-PicoITX and its extensions:
•
Make the Koala move: koala_test.c
Here after are desribed the steps to program the robot. The source code is listed in
figure 4.1 below.
- Firstly, a device pointer of type knet_dev_t must be declared.
- The library debug level is set kb_set_debug_level and the library
initialised kb_init.
- Then the device is open with knet_open .
- From now, any command can be sent to the Koala. By example
koa_setSpeed for setting the speed of the robot, which will make it move
directly. Some main functions are listed below:
§
setting speed:
int koa_setSpeed ( knet_dev_t * dev, short int left, short int
right )
§
setting motors position:
int koa_setPosition( knet_dev_t * dev, long left_pos, long
right_pos)
§
reading motors position:
int koa_readPosition( knet_dev_t * dev, int * position)
§
reading proximity sensors:
int koa_readProximity ( knet_dev_t * dev, int * sens_table )
§
reading battery level:
int koa_readBattery(knet_dev_t * dev)
§
-
and many others. For a detailed description check in the file
~/software/libkorebot_VERSION/src/koala.c.
at the end the kb_config_exit function is called.
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// koala_test.c
#include <korebot/korebot.h>
int main( int argc , char * argv[] )
{
knet_dev_t *koala;
int rc;
unsigned char buf[16];
unsigned char a,b,c,d;
kb_set_debug_level( 2 );
if((rc = kb_init( argc , argv )) < 0 )
return 1;
koala = knet_open( "Koala:Robot", KNET_BUS_ANY, 0 , NULL );
if(!koala)
printf("Open failed\r\n");
koa_getOSVersion(koala,&a,&b,&c,&d);
printf("OS revision %d.%d protocol %d.%d\r\n",a,b,c,d);
koa_setSpeed(koala,10,10);
sleep(1);
koa_setSpeed(koala,-10,-10);
sleep(1);
koa_setSpeed(koala,0,0);
kb_config_exit();
return 0;
}
Figure 4.1: koala_test.c source code
For this file, you must change the serial port in the libkorebot configuration
files. Edit it with the following command on the Koa-PicoITX:
sudo gedit /etc/libkorebot/Koala.knc
Change the line
device Robot rs232 /dev/tts/2
to
device Robot rs232 /dev/ttyUSB0
Then execute the program with: sudo ./koala_test
•
digital inputs outputs: gpio_test.c
•
additional motors: kmotLE_test.c
•
pan-tilt camera: kmotLE_pantilt.c
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4.2 On another computer
You must have an ix86 compatible computer with the operating system Linux. We do
not provide any cross-compiler.
You can install the Ubuntu operating system (http://www.ubuntu.com/) in a dual boot
configuration, or install the VirtualBox virtual machine from Sun Microsystems with the
Ubuntu OS installed into it: http://www.virtualbox.org/ .
Then you install the compiler and the libkorebot as described in the annexes. You don't
need to install the gpio and i2c drivers as they are working only on the PicoITX.
Finally you can compile your program as explained in chapter above 4.1 above"Directly
on the robot" then transfer it to your robot (see chapter 3.3 "File transfer").
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5.
SOFTWARE REINSTALLATION
Usually the Koa-PicoITX comes already installed. But you may need the instructions
below if you would like to reinstall the software.
5.1 Ubuntu installation
From an Ubuntu installation cd, do the standard installation.
5.2 Libkorebot installation
-
Unpack the library file libkorebot_ABC_picoitx_XYZ.tar.bz in ~/software
cd ~/software
tar -xjf libkorebot_ABC_picoitx_XYZ.tar.bz2
−
Copy the library into the system:
sudo cp libkorebot-1.14-kb1/build-x86/lib/libkorebot*.so /usr/lib/
−
Copy the config files into the system:
sudo cp -R libkorebot-1.14-kb1/config/ /etc/libkorebot
5.3
Compiler installation
Execute just this command in a terminal:
sudo apt-get install build-essential
-
− Install linux headers:
sudo apt-get install linux-headers-$(uname -r)
sudo apt-get install module-assistant
sudo module-assistant prepare
5.4
Drivers installation
5.4.1 i2c driver
The i2c driver is usually already included in the Linux OS.
− for an autonomous start-up, add it in the file /etc/modules the ligne i2c_dev
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with command: sudo sh -c 'echo i2c_dev >>/etc/modules'
− add the /dev/i2c device to the dialout group to be used by any user:
create the file i2c_chown in /etc/init.d/
content of i2c_chown:
#! /bin/sh
# add i2c dev into dialout group
chown :dialout /dev/i2c-0
-
change the file to execution mode:
sudo chmod +x /etc/init.d/i2c_chown
-
create the link to the start-up level 2:
sudo ln -s /etc/init.d/i2c_chown /etc/rc2.d/S99i2c_chown
-
load the module: sudo modprobe i2c_dev
-
launch the script: sudo /etc/init.d/./i2c_chown
5.4.2 gpio driver
-
for an autonomous start-up, add it in the file /etc/modules
with command: sudo sh -c 'echo via_gpio >>/etc/modules'
-
create the file via_gpio giving node initialization and device group
modification in /etc/init.d/ :
content of file via_gpio :
#! /bin/sh
#create node
mknod /dev/via_gpio c 241 0 -m660
# add via_gpio into dialout group
chown :dialout /dev/via_gpio
-
change the file to execution mode:
sudo chmod +x /etc/init.d/via_gpio
-
launch the script: sudo /etc/init.d/./via_gpio
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-
create the link to the start-up level 2:
sudo ln -s /etc/init.d/via_gpio /etc/rc2.d/S99via_gpio
-
unpack in the created software directory the driver file gpiodriver_XYZ.tar.bz2:
mkdir ~/software
cd ~/software
tar -xjf gpio-driver_XYZ.tar.bz2
-
in the directory gpiodriver/driver, clean the old file, recompile it, unload
the old module, install the new one and load it with the commands:
make clean (pay attention to not use sudo for this command, else you
will have to resintall the kernel headers files!)
make
sudo make install
sudo make load
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6.
WARRANTY
K-TEAM warrants that this product is free from defects in materials and
workmanship and in conformity with the respective specifications of the product for the
minimal legal duration, respectively one year from the date of delivery, under normal
use conditions.
Upon discovery of a defect in materials, workmanship or failure to meet the
specifications in the Product during the afore mentioned period, Customer must request
help on K-Team Internet forum on http://www.k-team.com/kforum/ by detailing:
• The type of the product used (package, version, & serial number).
• The extension modules.
• The programming environment of the robot (standard, version, OS).
• The standard use of Product before the appearance of the problem.
• The description of the problem.
If no answer is received within two working days, Customer can contact K-TEAM
support by phone or by electronic mail with the full reference as stated below
If the defect is identified as a “warranty” related problem, K-TEAM shall then, at
K-TEAM's sole discretion, either repair such Product or replace it with the equivalent
product without charging any technical labour fee and repair parts cost to Customer,
under the condition that Customer brings such Product to K-TEAM within the period
mentioned before. Repair or replacement under warranty does not entitle to original
warranty team extension.
This limited warranty is invalid if the factory-applied serial number has been
altered or removed from the Product.
This limited warranty covers only the hardware and software components
contained in the Product. It does not cover technical assistance for hardware or software
usage and it does not cover any software products contained in the Product.
This limited warranty is non-transferable.
It is likely that the contents of Customer's flash memory will be lost or reformatted
in the course of the service and K-TEAM will not be responsible for any damage to or
loss of any programs, data or other information stored on any media or any part of the
Product serviced hereunder or damage or loss arising from the Product not being
available for use before, during or after the period of service provided or any indirect or
consequential damages resulting therefore.
If during the repair of the product the contents of the flash memory are altered,
deleted or in any way modified, K-Team is not responsible whatever. Customer’s
product will be returned to customer configured as originally purchased (subject to
availability of software).
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Be sure to remove all third parties' hardware, software, features, parts, options,
alterations, and attachments not warranted by K-TEAM prior to Product service. KTEAM is not responsible for any loss or damage to these items.
This warranty is limited as set out herein and does not cover, any consumable
items (such as batteries) supplied with the Product; any accessory products which is not
contained in the Product; cosmetic damages; damage or loss to any software programs,
data, or removable storage media; or damage due to (1) acts of God, accident, misuse,
abuse, negligence, commercial use or modifications of the Product; (2) improper
operation or maintenance of the Product; (3) connection to improper voltage supply; or
(4) attempted repair by any party other than a K-TEAM authorized robot service facility.
This limited warranty does not apply when the malfunction results from the use of
the Product in conjunction with any accessories, products or ancillary or peripheral
equipment, or where it is determined by K-Team that there is no fault with the Product
itself.
K-Team expressly disclaims all other warranties than stated hereinbefore,
expressed or implied, including without limitation implied warranties of merchantability
and fitness for a particular purpose to the fullest extent permitted by law.
Limitation of Liability: In not event shall either party be liable to the other for any
indirect, special, incidental or consequential damages resulting from performance or
failure to perform under the contract, or from the furnishing, performance or use of any
goods or service sold or provided pursuant hereto, whether due to a breach of contract,
breach of warranty, negligence, or otherwise. Save that nothing herein shall limit either
party’s liability for death or personal injury arising from its negligence, neither party
shall have any liability to the other for indirect or punitive damages or for any claim by
any third party except as expressly provided herein.
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K-Team S.A.
Rue Galilee 9
1400 Yverdon-les-bains
Switzerland
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