KH4 Stargazer User Manual - K
Contents
1. cede 5 e At EE EEN 5 3 2 KSG e e KEE 6 3 25 KSG SOFTWARE 6 4 VUS AGE EE 7 4 1 REQUIRED HARDWARE SOFTWARE 7 Z l l REQUIRED HARDWARE xe x d X RO a ER CT 7 4 1 2 REQUIRED SORTE c cn qne e cn DE COE GOD I moe De a UE C 7 4 2 AJXSSEMBDY ui tM E 8 4 271 KSG ON THE ROBOT uen IR RR RR cuca DRY IR OP ENEE ENEE 8 4 2 2 LANDMARKS SETTING nennen enn enun naar nnn nnn nnn 9 4 3 JPOWER UP AND 10 We Aes ShEST EE 10 4 4 PROGRAMMING THE KG 12 4 4 1 INSTALLATION OF THE LATEST LIBKHEPERA AND CONFIG FILE 12 4 4 2 USING THE KSG WITH KGAZER TEST 14 4 4 3 COMPILING YOUR OWN PROGRAM USING THE 15 4 4 4 SOFTWARE ESAMDPLE 22 5 WARRANTY Rn eege ENEE REN NENNEN ANE 24 1 INTRODUCTION Thank you for buying the Khepera IV Stargazer abbreviated KSG in this document With this module you will be able to have global position and bearing of your Khepera IV robot 1 1 How to use this handbook This handbook introduces the KSG and its various operating modes For a quick start jump to chapter 4 Usage If this handbook does not answer one of the problems you wish to solve please consult the K Team web site http www k team com and especially the F2. Li Pol battery Dimensions 85 width x 80 depth x 56 height mm Mass 117g Compatibility Khepera IV extensions KB 250 specifications 1 ceiling height can be from 1 1 to 6 0 m but with different landmarks range may vary 2 with a homogenously flat floor may increase with an extension Khepera4 Gripper 3 with cables 4 without lower ERNI connectors as plugged 2 UNPACKING AND INSPECTION 2 1 Package Contents Figure 1 View of the StarGazer module Your package should contain the following items 1 KSG board 2 DVD with software and this User Manual Updates can be found at http www k team com 2 2 Inspection First check that you have a complete package You should find e the KSG module e CD with o This user manual o The Libkhepera library software Then check that the wires connecting the Stargazer to the battery module are connected and not in bad shape 3 Description 3 1 Overview An overview of the KSG hardware is depicted in the Figure 3 1 The locations of various key elements are indicated for later references axis of rotation of the robot Stargazer module 50 battery module connector to robot FRONT batte por Figure 2 KSG overview 3 2 KSG Hardware The KSG module is composed of a Stargazer position module from Hagisonic co Ltd and the K4LFSG battery module There are also landmarks to put on the ceiling The Stargazer module has IR LEDs f
3. mode not valid Parameter mode landmark mode index int kb gazer get landmark mode int mode Sets the landmark mode index Return 0 no error 1 serial port not open 2 command not acknowledged 3 unknown landmark mode Parameter mode landmark mode index int kb gazer set height fix mode int mode Sets the height fix mode index Return 0 no error 1 serial port not open 2 command not acknowledged 3 mode not valid Parameter mode height fix mode index int kb gazer get height fix mode int mode Gets the height fix mode index Return 0 no error 1 serial port not open 2 command not acknowledged 3 unknown height fix mode Parameter mode height fix mode index 19 int kb gazer start map mode void Starts the map building mode Return 0 no error 1 serial port not open 2 could not stop receiving position 3 command not acknowledged Parameter int kb gazer set end command void Sets end of commands for update Return 0 no error 1 serial port not open 2 command not acknowledged 3 data not upated Parameter int kb gazer start computation void Starts computation of position Return 0 no error 1 serial port not open 2 command not acknowledged Parameter int kb_gazer_wait_stop_computation void Stops computation of position and wait until it stops retry MAX_STOP Return 0 no error 1 serial port not ope
4. test with the instructions below put the robot so that it can see landmarks for placing landmarks see chapter 4 2 2 after the robot is switched ON you should see some red LED ON inside the Stargazer from its top window change ssh escape character on your If it is it will conflict only with the Stargazer command for the test below not for the normal use of that manual for Linux run sudo sh c echo EscapeChar etc ssh ssh config Open a ssh connections terminal to the robot see Khepera IV User Manual run the following command to set the serial port the terminal stty F dev ttyS2 115200 parenb cs8 clocal crtscts cat dev ttyS2 gt it should display lines like below without interruption if the robot is under landmarks on the first terminal 41I560 79 05 10 94 106 12 190 00 4I560 79 05 10 93 106 11 190 00 4I560 78 39 10 97 106 15 189 16 41I560 79 05 10 94 106 15 190 00 4I560 79 05 10 94 106 13 190 00 41I560 79 05 10 93 106 12 190 00 4I560 79 05 10 93 106 11 189 82 The data is respectively landmark ID 560 angle 79 deg x position 10cm y position 106cm height to landmark 190cm To stop push keys CTRL and C together at the first terminal 10 To test sending commands please use minicom on your Khepera IV launch minicom with the command minicom o set its parameters with the sub menu Serial port setup o
5. cmode 0 switch ret 0 printf data d cm deg 6 1f y 6 1f angle 6 1f height 6 1f idnum 4d mode c n i x y angle z idnum cmode break case 3 fprintf stderr nERROR read error buffer too short leaving n break case 6 printf The sensor does not see any landmark Nn break case 8 fprintf stderr nERROR no data received Mn break default fprintf stderr nERROR read error number d n ret usleep 100000 wait for next data kb_stargazer_Close return 0 23 5 WARRANTY K TEAM warrants that the 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 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 forum by detailing e the type of Product used version e the kernel version of the Product e the programming environment of the Product standard version OS e the standard use of Product before the appearance of the problem e the description of the problem If no answers have been received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference of its order and KSG
6. to file data corr csv m k p change stargazer parameters S t display undisplay old robot position q exit program cm deg x 2 6 y 4 4 angle 18 2 height 4200 4 idnum 560 zoom 5 0x speed mm s 23 4 5120 mode I KEYS q quit arrows move zoom PG UP DOWN speed s save OFF k apply corr OFF t trace m build map OFF p param c calib g goto OFF scale x 20cm gt Figure 7 kgazer_test ASCII interface 14 4 4 3 Compiling your own program using the libkhepera To make your own software to control the KSG you need to install the development tools for the Khepera IV on your computer with Linux OS If it is not already done please look at the Khepera IV User Manual to know how to install it Once done you can start writing your program The best solution is to copy the kgazer_small_ex c source code see chapter 4 4 4 and modify it The source code kgazer test c is a more complete example In any case keep your program in the src tests directory and modify the Makefile to compile your new software add your new program filename in line 35 at the variable TARGETS of the file in the src test Makefile or start with the template program in the template directory As for all the Khepera IV extensions you need to initialize the library before using the functions described below The Libkhepera provides high level functions which include all the available capabilities of the KSG
7. KHeEPera IV User manual Version 1 0 September 2014 Documentation Author Julien Tharin and Timoth e Carron K Team S A Z 1 Plans Praz 28 1337 Vallorbe Switzerland Email info k team com URL www k team com Documentation version Version 1 0 Date 12 09 2014 Author J Tharin Description First draft Trademark Acknowledgements IBM PC Macintosh SUN Sparc Station LabVIEW Matlab Webots Logitech Gumstix Khepera Stargazer LEGAL NOTICE e The contents of this manual are subject to change without notice e 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 e The above notwithstanding K Team can assume no responsibility for any error in this manual International Business Machines Corp Apple Corp SUN Microsystems Corp National Instruments Corp MathWorks Corp Cyberbotics Ltd Logitech Int SA Gumstix Inc K Team SA Hagisonic co Ltd TABLE OF CONTENTS 1 INTRODUCTION WEE 1 1 1 How TO USE THIS 1 1 2 SAFETY PRECAUTIONS 2 De ei REENEN A Tei le uge EE 3 2 UNPACKING AND KEN KK KEN Ka 4 Zed PACKAGE CONTENTS ee faceted A a 4 272 INSPECTION sc oid soi Se D XX X Ig t en eS Su 4 3 DESCRIPTION
8. Look at the following sections to view the different exported constants variables and functions provided by the Libkhepera for that KSG extension 4 4 3 1 Constants Constants defined in the header file are described below NB MARK TYPES Number of types of different landmarks define NB MARK TYPES 6 HLD1S Index of landmark type HLD1S define HLD1S 0 HLD1L Index of landmark type HLD1L define HLD1L 1 HLD2S Index of landmark type HLD2S define HLD2S 2 15 HLD2L Index of landmark type HLD2L define HLD2L 3 HLD3S Index of landmark type HLD3S define HLD3S 4 HLD3L Index of landmark type HLD3L define HLD3L 5 NB_MARK_MODES Number of landmark modes define NB_MARK_MODES 2 MARK_ALONE Alone landmark mode index define MARK_ALONE 0 MARK_MAP Map landmark mode index define MARK_MAP 1 NB_HEIGHT_FIX_MODES Number of landmark height modes define NB HEIGHT FIX MODES 2 HEIGHT FIX NO Index of the non fix height Zdefine HEIGHT FIX HEIGHT FIX YES Index of the fixed height Zdefine HEIGHT FIX YES 1 ANGLE CORRECTION Angle correction for calibration define ANGLE CORRECTION 137 0 CALIB STDEV MAX Maximum standard deviation before calibration error cm define CALIB STDEV MAX 3 0 16 4 4 3 2 Variables External variables for transferring data that are declared in the header file and defined in the library are described below kb_gazer_landmark_types Array of array of char containing landmark type
9. ction to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized module 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 NO 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 25 TEAM K Team S A z Plans Praz 28 1337 Vallorbe Switzerland 26
10. d with the robot is depicted in Figure 3Figure e The assembly and disassembly must be done while the robot is switched OFF also the robot and KSG must not be charging e Insert the KSG module on top of Khepera IV or Khepera IV extensions stack e Pay attention to the orientation of the module front back Figure 3 Assembly 4 2 2 Landmarks setting The landmarks should be placed at maximum of x m interval on the ceiling for the height of about h m in order that any dead zone may not occur figure 4b with a relation of Equation 4 1 x 0 8 h Example h 2 5 m gt x max 2m 8 with dead zone b without dead zone Figure 4 The placement of landmarks You don t need to install all the 4 landmarks if your area is smaller And they don t need to be placed in a square shape because during the map building process the relative position of the landmarks are computed The default landmarks delivered with the KSG are of type HLD1S They can be used with a height range of 1 1 2 9 m See chapter 3 A and appendix C of Stargazer User s Guide for more information about the landmark http ftp k team com KheperalIII KSG StarGazer Guide 02 0904 16 English pdf 4 3 Power up and test The KSG module is switched ON when the Khepera IV robot is switched ON It starts autonomously sending position through the serial port if it sees a landmark 4 3 1 Test You can also launch the kgazer_test program see chapter 4 4 2 or
11. e Khepera IV extensions a library including all the available functions is provided with the Libkhepera version 1 0 or greater If you already have a Libkhepera installed in your computer but with an older version you can download the latest version on our ftp http ftp k team com If your Khepera IV has already the latest Libkhepera installed jump to section 4 4 2 You can check if the latest version is installed Log on the Khepera IV via ssh Bluetooth or serial port e You can check if you have the 1 0 version in listing the present files ls s usr lib libkhepera c This should give this where the number after so is the current version 0 usr lib libkhepera so 315 usr lib libkhepera so 1 0 4 4 1 Installation of the latest libkhepera and config file To use the KSG with the Khepera IV it s necessary to install the libkhepera version 1 0 or greater Normally if you have received the Khepera IV at the same time than the KSG the Khepera IV is ready to be used with the KSG in this case you can jump to section 4 4 2 Otherwise if you have bought the KSG separately you will need to execute the step described below e Log on the Khepera IV via ssh Bluetooth or serial port You have different ways to update the library Autonomously with the package e Upload the package file libkhepera 1 0 rO armv5bte ipk by ssh Bluetooth or Serial e Remove the old one with the command ipkg remove libkhepera e In
12. f the menu configuration Figure 4 4 keys Ctrl A as described in Figure 4 3 A Serial Device dev ttyS2 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 5 Minicom serial parameters Savethe settings with the sub menu Save setup as dfl Figure Siren configuration 1 F Filenames and paths File transfer protocols Serial port setup odem and dialing Screen and keyboard Save setup as dfl Save setup as Exit Figure 6 Minicom configuration menu push CTRL a and e keys to have local echo write the following command to stop receiving position CalcStop gt return should be Multiple stops may be needed The command calcStart starts again the position computation write the following command to get Stargazer firmware version fVersion gt return should be e Version v Version 2 1101 18 See Stargazer User s Guide for more information on chapter 6 for commands and on chapter 7 for landmarks http ftp k team com KheperalIII KSG StarGazer Guide 02 0904 16 English pdf 11 4 4 Programming the KSG The KSG is an extension that can be used only with the Khepera IV That means that the Khepera IV controls all the functions of the KSG As all th
13. knet dev t moti knet dev t mot2 double center xO double center yO double angle rot double a axis double b axis double stddev x double stddev y Configures the Stargazer rotation compensation by moving the robot around itself then fitting the result ellipse Return 0 no error 1 timeout while computing calibration 2 data buffer too short 3 error computing ellipse parameters 4 error data are too scattered 4 return kb stargazer read data error getting Stargazer data Parameter mode height fix mode index mot1 left motor pointer mot2 right motor pointer angle rot angle of rotation of the fitted ellipse a axis half major axis of the fitted ellipse b axis half minor axis of the fitted ellipse stddev x standard deviation error of x stddev y standard deviation error of y 21 4 4 4 Software example A small example of software controlling the KSG is enclosed below You can find its source code file in libkhepera VERSION src tests kgazer_small_ex c This sample example does not use calibration of the sensor due to parallelism error of the ceiling and sensor plan This results in x y error when the robot rotates See libkhepera VERSION src tests kgazer_test c for a full example with calibration include lt khepera khepera h gt int main int argc char argv char version 128 int ret 0 c 0 i idnum float angle x y z xc yc stargazer returned variables and correc
14. n 2 command not acknowledged Parameter int kb_gazer_stop_computation void Sends the computation stop of position Return 0 no error 1 serial port not open 2 command not acknowledged Parameter void kb stargazer Close void Releases the Stargazer Return Parameter 20 int kb_stargazer_read_data double x double y double z double angle int idnum char cmode int corr Reads and interprets data from the Stargazer Should be called periodically up to 10 times s kb gazer start computation must be called once before Return 0 no error 1 cannot serial port not open 2 cannot communicate with the Stargazer 3 buffer overrun try to call more often this function 4 read command not acknowledged 5 data error 6 no landmark found 7 data error 8 no received data 9 mapid error 1 update parameters after map building mode 21 MAPID in map building mode Parameter x x position relative to the reference landmark in cm right dir y y position relative to the reference landmark in cm forward dir z height to the landmark in cm angle angle relative to the reference landmark orientation in degree counterclockwise in 0 360 range idnum id number of the currently used landmark cmode current mode F map building mode I map mode Z height calculation mode corr 1 apply position correction do not apply it int kb gazer calibration
15. or lighting landmarks and a camera for capturing the image which is processed by onboard electronics It computes position and bearing related to landmarks stuck on the ceiling The K4LFSG battery module is composed of a battery and electronics for managing its charge and connections to the robot The module is ON at startup and OFF when the Khepera IV is OFF 3 3 KSG Software The position and bearing are computed internally in the Stargazer and they are communicated through the serial port dev ttyS2 to the robot using several commands For the ease of use functions were developed and included in the Libkhepera library A test program named kgazer_test is also provided It initializes the module and displays the position in an ASCII x y graph The robot can be controlled with the keyboard arrows The parameters of the KSG are saved into the KSG and remain even after power OFF ON The exception is the calibration parameter 4 Usage 4 1 Required hardware software The required hardware and software to use the board and develop programs are described below 4 1 1 Required hardware Computer with Bluetooth or Wi Fi access e KSG module e Khepera IV robot 4 1 2 Required software e Khepera IV light toolchain installed see Khepera IV User Manual e Libkhepera library Remarks You may find updated version of these software at http ftp k team com 4 2 Assembly 4 2 1 KSG on the robot The assembly of the boar
16. orum and the FAQs e Unpacking and Inspection KSG package description e Description KSG description Usage KSG usage descriptions e Warranty Legal notice 1 2 Safety precautions Here are some recommendations on how to correctly use the KSG e Keep the board away from wet area Contact with water could cause malfunction and or breakdown e Store your board in a stable position This will avoid the risks of falling which could break it or cause damage to a person Do not plug any connectors while the board is powered on To avoid any damage make all connections when the board power is off e Never leave the KSG powered when it is unused When you have finished working with KSG turn it off It will save the battery life 1 3 Recycling Think about the end of life of your product Parts of the board can be recycled and it is important to do so By recycling 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 product at the end of its life cycle for instance sending back the product to the manufacturer or to your local dealer Thanks for your contribution to a cleaner environment 1 4 Specifications The main specifications of the KSG board are listed below Range max 2 5 3 m of diameter with 1 landmarks for ceiling height of 2 4 m Accuracy 3 5 cm 3 degrees Measurement time 10 times sec Autonomy 2h30
17. owledged Parameter version firmware version int kb gazer set landmark number int number Sets the numbers of landmarks to be used Return 0 no error 1 serial port not open 2 command not acknowledged Parameter number numbers of landmarks int kb gazer get landmark number int number Gets the numbers of landmarks to be used Return 0 no error 1 serial port not open 2 command not acknowledged Parameter number numbers of landmarks int kb gazer set ref if int refid Sets the landmark id as reference Return 0 no error 1 serial port not open 2 command not acknowledged Parameter refid reference id int kb gazer get ref if int refid Gets the landmark id as reference Return 0 no error 1 serial port not open 2 command not acknowledged Parameter refid reference id int kb gazer set landmark type int type Sets the landmark type index Return 0 no error 1 serial port not open 2 command not acknowledged 3 type not valid Parameter type landmark type index 18 int kb_gazer_get_landmark_type int type Gets the landmark type index Return 0 no error 1 serial port not open 2 command not acknowledged 3 unknown landmark type Parameter type landmark type index int kb gazer set landmark mode int mode Sets the landmark mode index Return 0 no error 1 serial port not open 2 command not acknowledged 3
18. s defined like this const char kb gazer landmark types HLD1S HLD1L HLD2S HLD2L HLD3S HLD3L kb_gazer_landmark_modes Array of array of char containing landmark modes defined like this const char kb gazer landmark modes Alone Map kb gazer height fix modes Array of array of char containing height modes defined like this const char kb gazer height fix modes No Yes 4 4 3 3 High level functions of the libkhepera There below you will find details about declared functions for the KSG extensions in the Libkhepera libraries The green words indicate the type of the function or parameter and must not be included in your code The blue words are the parameters You must declare it in your code before calling the function Only the black words can be directly added to your code int kb stargazer Init char DeviceName Initializes the library to use the different KSG functions and stops the module sending position This function must be called at the beginning of each program using the KSG Return 0 no error 1 error initialising gpio 2 cannot open serial port 3 cannot communicate with the Stargazer Parameter DeviceName name of the device where the KSG is connected Should be dev ttyS2 17 int kb_gazer_get_version char version Gets Stargazer firmware version Return 0 no error 1 serial port not open 2 command not acknowledged 3 command not ackn
19. serial number 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 labor fee and repair parts cost to Customer on the condition that Customer brings such Product to K TEAM within the period mentioned before In case of repair or replacement K TEAM may own all the parts removed from the defective Product K TEAM may use new and or reconditioned parts made by various manufacturers in performing warranty repairs and replacement of the Product Even if K TEAM repairs or replaces the Product its original warranty term is not extended 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 K TEAM excludes all warranties expressed or implied in respect of any additional software provided with Product and any such software is provided AS IS unless expressly provided for in any enclosed software limited warranty Please refer to the End User License Agreements included with the Product for your rights with regard to the licensor or supplier of the software parts of the Product and the parties respective obligations with respect to the software This limited warran
20. stall the new one with the command ipkg install libkhepera 1 0 r0 armv5te ipk 12 By hand Remove the old libkhepera rm usr lib libkhepera Copy or send the ibkhepera so 1 0 file located in the build khepera 2 6 lib directory of the libkhepera source files to the directory usr lib Link the libkhepera file as libkhepera so ln s usr lib libkhepera so 1 0 usr lib libkhepera so 13 4 4 2 Using the KSG with kgazer_test software The kgazer_test is a test and example program given also in source code in directory src tests of the Libkhepera library After copying this program to the Khepera IV and launching it with the command kgazer_test it will initialize the Stargazer display the version of its internal software ask if you would like to change its parameters number type and reference of landmark Then it will rotate to do a calibration due to the fact that the ceiling may not be exactly parallel to the KSG module Then it displays an ASCII interface figure 4 5 You can move the robot with the keyboard arrows keys The robot is represented by the character A lt gt or V depending of its orientation Other keys are defined below zoom in out Page Up Down speed up down the robot C redo position calibration g goto xy choose goal then go to goal using a very basic algorithm if several landmarks starts map building use don t use correction from calibration start stop saving data
21. ted position char cmode current mode of the Stargazer reset the screen kb clrscr printf nKhepera III Stargazer small example program n Set the libkhepera debug level Highly recommended for development kb set debug level 2 initialise the libkhepera if ret kb init argc argv 0 return 1 printf nInitialising Stargazer module please wait n initialise the Stargazer module if ret kb_stargazer_Init 0 printf nError initialising the Stargazer error d n ret kb_stargazer_Close return 2 get Stargazer firmware version kb gazer get version version printf nStargazer version is s n version read parameters values printf nRead current Stargazer parameters n kb gazer get landmark number amp c printf landmark number d n c kb gazer get ref id amp c printf reference id Sd n c kb gazer get landmark type amp c printf landmark type sMn kb gazer landmark types c kb gazer get landmark mode amp c printf landmark mode sMn kb gazer landmark modes c kb gazer get height fix mode amp c printf height fix mode sMn kb gazer height fix modes c kb gazer start computation start computation of position continues on next page for 1 0 1 lt 10 i read 10 data read sensor values ret kb stargazer read data amp x amp y amp z amp angle amp idnum amp
22. ty is non transferable 24 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 Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service K TEAM 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 conne
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