3.1. Mode Switching

By pressing and holding down the Switch button (refer to Fig. 3.1-1 for the button location), you can toggle between the normal mode and DFU (Device Firmware Update) mode.

The Switch operates with a "short push" and a "long push" at two different pushing times. A "short push" is defined as pressing the button for over 100 milliseconds but less than 2 seconds. A "long push" is identified as pressing the button for over 2 seconds. Please refer to Fig. 3.1-2 for the state transition diagram of the robot's boot operation.

Fig. 3.1-1 - Pressing the switch on the robot.

Fig. 3.1-2 State transition diagram for the device's boot operation.

3.1.1. Startup and Shutdown

As shown in Fig. 3.1-2, a "short push" will transition the robot from "Shutdown" to "Normal Operating Mode" and from "Normal Operating Mode" to "Shutdown." On the other hand, a "long push" will transition the robot from "Normal Operating Mode" to "DFU Mode." The multicolor LED on top of the robot indicates the current state. Further details on the LED indications are in Table 3.1-1 below. Note that the LED will turn off when shutdown is successfully completed.

Table 3-1-1 LED Indicators

Note that the robot can be remotely started (*1) and shut down by sending specific commands. For more details, please check 3.5. Shutdown the Robot Remotely (0x05) .

<aside> <img src="/icons/info-alternate_gray.svg" alt="/icons/info-alternate_gray.svg" width="40px" /> *1 Remote activation of the robot is only possible with the robot plugged into the cradle.

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3.1.2. DFU Mode (Firmware Update)

The robot and cradle support firmware update by DFU (Device Firmware Update). The robot can be switched to DFU mode by "long push" as shown in Fig.3.1-3. When it is correctly switched to the DFU mode, the LED on the top of the robot always lights red.

On the other hand, in the case of the cradle, switching to DFU mode is done in software by sending the specified command, not by a physical switch like the robot.

The procedure for updating firmware via the DFU is shown below.

Fig. 3.1-3 DFU Mode.

• Firmware update procedure for the robot:
  1. Connect the cradle to the PC via USB.
  2. Change the robot to DFU mode and plug it into the cradle.
  3. Execute the DFU writer script for the robot (software/firmware/dfu/robot_dfu_writer.py) on the PC and write the firmware file (software/firmware/kr-omsx001.bin) onto the robot.

• Firmware update procedure for the cradle:
  1. Connect the cradle to the PC via USB.
  2. Execute the DFU writer script for the cradle (software/firmware/dfu/cradle_dfu_writer.py) on the PC and write the firmware file (software/firmware/kr-omsx_tm002.bin).

3.2. Charging