ECHO Robotics TM-2000 Technical Manual

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Page 1

www.echorobotics.com

Technical Manual

Robotic Mower

TM-2000

P/N 99922205383

VERSION 1.0

05/28/2019

EN ENGLISH

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Table of Contents

Chapter: 1 Important Information . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Administrative Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

FCC Declarations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

California Proposition 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Chapter: 2 Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Safety Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Chapter: 3 Theory of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Chapter: 4 System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Robot Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

The Charging Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Chapter: 5 How the Robot Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Autonomous Mission State . . . . . . . . . . . . . . . . . . . . . . . . . 6

Inactive Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Service State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Chapter: 6 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Station Loop Wire Installation . . . . . . . . . . . . . . . . . . . . . . . 11

Peripheral Wire Installation . . . . . . . . . . . . . . . . . . . . . . . . 12

Peripheral Wire Installation Offsets . . . . . . . . . . . . . . . . . . . . 12

Sites Containing Narrow Straits . . . . . . . . . . . . . . . . . . . . . . 13

Sites With Long Lanes . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Obstacles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Islands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Water Obstacle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Sloped Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

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Chapter: 7 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Overlaps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Multi-Field Peripheral Wire Installation . . . . . . . . . . . . . . . . . . 18

Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Configuration Examples . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Chapter: 8 Using the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Safety Measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

The LCD Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

The Actions Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

The Settings Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Service Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Advanced Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Technician's Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Connecting to Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Chapter: 9 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Maintenance Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Winter Service Check List . . . . . . . . . . . . . . . . . . . . . . . . . 53

Maintenance Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Chapter: 10 Service Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Sonar Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Bumper Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Front Lift Cushion Replacement . . . . . . . . . . . . . . . . . . . . . . 60

Rear Lift Cushion Replacement . . . . . . . . . . . . . . . . . . . . . . 60

Front Wheel Replacement . . . . . . . . . . . . . . . . . . . . . . . . . 60

Rear Wheel Replacement . . . . . . . . . . . . . . . . . . . . . . . . . 61

Gear Motor Replacement . . . . . . . . . . . . . . . . . . . . . . . . . 61

Battery Removal and Installation . . . . . . . . . . . . . . . . . . . . . 62

Cutting Disk Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Blade Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Aluminum Anti-friction Disc Replacement . . . . . . . . . . . . . . . . 64

Cutting Head Reassembly . . . . . . . . . . . . . . . . . . . . . . . . . 65

Cutting Motor Service . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Cutting Motor Cable Replacement . . . . . . . . . . . . . . . . . . . . 65

Correcting Stop Button Lid Closure Problems . . . . . . . . . . . . . . 66

Chapter: 11 Robot Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Wheel Brush Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Groomer Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Chapter: 12 Battery Service and Installation . . . . . . . . . . . . . . . . . . . . . 68

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Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Battery Removal and Installation . . . . . . . . . . . . . . . . . . . . . 69

Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Recycling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Chapter: 13 Torque References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Mower Body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Cutting Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Electrical Box, Battery, and Housing . . . . . . . . . . . . . . . . . . . . 74

Lift Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Wheels, Motor and Gear Box . . . . . . . . . . . . . . . . . . . . . . . 76

Cutting Head . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Electrical Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Main Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Main Bars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Cover and Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Gear Motor, Cutting Head, and Front Wheel . . . . . . . . . . . . . . . 84

Chapter: 14 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Cutting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Weight and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Software and Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . 85

Intelligence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

iii

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IMPORTANT INFORMATION

ADMINISTRATIVE SUPPORT

1 Important Information

in any form, by any method, for any purpose. ECHO has taken reasonable care in compiling this docu-

ment, however ECHO accepts no liability whatsoever for any error or omission in the information contained herein and gives no other warranty or undertaking as to its accuracy.

ECHO can accept no responsibility for damages, resulting from the use of the operating software. In addition, we refer to the conditions of use specified in the license contract. ECHO reserves the right to amend this document at any time without prior notice.

ECHO and its affiliates are not liable for damages or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.

This manual contains the original instructions. Information contained in this manual is provided as an indication and is in no way contractual. It can be changed by ECHO, without the need for prior announcement. Obtain updated information at: myrobot.echorobotics.com.

The robot has been designed to high safety standards. Risk is always possible. Read and understand all Safety

Information.

This manual refers to Generation 2.0 series of robots with software version 4.0

user will be required to correct the interference at their own expense.

1.3 California Proposition 65

Cancer and Reproductive Harm www.P65Warnings.ca.gov

2 Safety Information

Throughout this manual and on the product itself, you will find safety alerts and helpful, informational messages preceded by symbols or key words. The following is an explanation of those symbols and key words and what they mean to you.

Circle and Slash Symbol:

This symbol means the specific action shown is prohibited. Ignoring this symbol can result in damage to property and serious or fatal injury.

The safety alert symbol accompanied by the word “DANGER” calls attention to an act or condition which WILL lead to serious personal injury or death if not avoided.

1.1 Administrative Support

Send emails to: admin@echorobotics.com.

1.2 FCC Declarations

This equipment has been tested and found to comply with the limits/or a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the

The safety alert symbol accompanied by the word “WARNING” calls attention to an act or condition which CAN lead to serious personal injury or death if not avoided.

The safety alert symbol accompanied by the word “CAUTION” calls attention to an act or condition which may lead to minor or moderate personal injury if not avoided.

The enclosed message provides information necessary for the protection of the unit.

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THEORY OF OPERATION

SAFETY SYMBOLS

2.1 Safety Symbols

Safety and Information Label

Caution: The robot can be dangerous if misused.

Never place hands or feet under the robot while operating.

Beware of projectiles. Keep a safe distance.

Keep animals away from the robot.

Water cleaning with high pressure jet systems can cause damage.

The robot is protected by an access code.

Read the technical manual before using the robot.

3 Theory of Operation

The robot works in a random pattern. A peripheral wire buried in the ground defines the working area.

The charging station energizes the peripheral wire. An electro magnetic field is generated within the working area. The robot senses the magnetic field.

When the robot senses the location of the peripheral wire, it stops, turns back into the field, and continues working.

The robot is equipped with obstacle detection sensors. When the robot detects an obstacle it will slow down, contact the obstacle, then perform a maneuver to avoid it.

When the battery of the robot needs to be charged, the robot will stop, move toward the peripheral wire, then follow a trackborder back to the station loop wire. When the robot detects the station loop wire, it follows it to the charging station. The station loop wire guides the robot into and out of the charging station.

Always stop the robot and wait for the cutting blades to stop before handling the robot.

Always keep a safe distance from the robot while handling.

Do not ride the robot.

Keep bystanders away from the robot.

Protective gloves must be worn when handling the robot, especially the cutting system.

The robot is equipped with an anti-theft system.

7 3 2

1 – Robot 2 – Mowing area 3 – Peripheral wire 4 – Charging station 5 – Obstacle 6 – Station loop wire 7 – Trackborder

Page 7

SYSTEM COMPONENTS

ROBOT COMPONENTS

4 System Components

4.1 Robot Components

6 10

151112

1 – Charging station 2 – Robot 3 – Internet portal 4 – End user

1 – Stop button - Press to stop the robot. 2 – FCC label (lift stop button lid to view) 3 – Serial number label (lift stop button lid to view) 4 – Body 5 – Sonar sensors - Detects object in the path of the robot. 6 – Front wheel 7 – Bumper - A pressure sensor which will cause the robot to

change direction when it touches an obstacle. 8 – Rear wheel 9 – Charge contact- Connects to the charging arm on the charging

station. 10 – Cutting heads - Equipped with three cutting blades. 11 – Li-Ion (Lithium Ion) battery - Supplies power to the robot. 12 – Electrical box - Contains the electronics and the gear drive

motors. 13 – Disc safety guard - A protective guard which inhibits contact

with the cutting heads. 14 – Coil - Detects the magnetic field generated by the peripheral

wires. 15 – Power switch

Page 8

SYSTEM COMPONENTS

ROBOT COMPONENTS

4.1.1 User Interface

Located under the stop button lid.

1 2 3

31 2

4 5

7 9

10 9 8 7

1 – Numeric buttons - Press to select menu choices and enter numeric values.

2 – LED screen - Displays the current information. 3 – LED - Indicates the user interface is switched ON. 4 – ON button - Press to turn the user interface ON. 5 – Navigation buttons - Press to highlight menu options. 6 – Back button - Press to exit a menu and return to previous

level. 7 – Accept button - Press to accept an operation or setting. 8 – Service menu button - Press to access the service menu. 9 – Settings menu button - Press to access the settings menu and

define operational settings. 10 – Actions menu button - Press to access the actions menu.

4.1.2 Cutting Head

4.1.3 STOP Button

Located on the top of the robot. Press or lift to stop the robot.

1 – Stop button

4.1.4 Obstacle Detection Sensors

Five obstacle detection sonar sensors transmit a sonar signal of 40 kHz. The sensors allow the robot to detect and react to obstacles.

Sensors detect obstacles with minimum height of

15.7 in. (400 mm), and a minimum width of 2.0 in. (50 mm).

When the signal hits an obstacle, it is reflected back to the sensors. The speed of the robot is reduced to less than 0.5 mph (0.2 m/s).

1 – Bracket unit 2 – Cable gland 3 – Motor case 4 – Blade disc 5 – Anti friction disc 6 – Cutting blade 7 – Lower stay 8 – Upper stay

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1 – Sensor location 2 – Sensor assembly

When the bumper contacts an object, the robot will touch the object, stop, move backwards, and by

Page 9

SYSTEM COMPONENTS

ROBOT COMPONENTS

default, turn between 60° and 120°, then continue moving forward.

4.1.5 Lift Sensors

Each lift sensor is attached to the body and the chassis of the robot. The two sensors on the front are lift sensors, the two sensors on the rear are a combination of lift and body displacement sensors.

If the body is lifted upwards, all functions will stop, and the robot will remain stationary. If the body is moved horizontally, the robot will, stop, move backwards, and by default, turn between 60° and 120°, then continue moving forward.

4.1.6 Coil

Detects the intensity of the magnetic field that is generated by the peripheral wire.

2 3

1 – Lift sensor attachment point 2 – Front lift sensor assembly 3 – Rear lift sensor assembly

4.1.7 Tilt / Rollover / and Temperature Sensors

These sensors are located on the main circuit board inside of the electrical box.

The tilt sensor detects the angle of the slope on which the robot is working. If this angle exceeds 30° (58%), an alarm will be raised and the robot will stop moving.

The rollover sensor detects if the robot has been tipped upside down, or whether someone is trying to start the robot when it is upside down.

The temperature sensor measures the ambient outdoor temperature and will prevent the robot from operating if this temperature is too low. The minimum temperature is set as an operating parameter.

Page 10

HOW THE ROBOT WORKS

THE CHARGING STATION

4.2 The Charging Station

8 7

5 How the Robot Works

The robot works in a number of operational states. Within these states the robot is programmed to operate in a number of modes.

Operational State Description

Autonomous Mission State

Inactive State

Service State

The robot operates in cycles in which it works, or charges the battery.

The robot can enter an inactive state if there is a condition that causes the Autonomous Mission State to stop. The robot will return to the autonomous mission state when the problem has been resolved or when a specific command has been issued.

Initiate this state to access the Demonstration and Maintenance Test modes.

1 – Enclosure top 2 – Dust cover 3 – Charging arm 4 – Base 5 – Input panel – Caution label 6 – Serial number location 7 – T-27 Torx® driver 8 – Conduit connector 9 – Tie strap (2X)

5.1 Autonomous Mission State

The robot performs programmed instructions when in the Autonomous Mission State.

NOTE: Programmed instructions can be over-ridden by instructions activated from the user interface.

Autonomous

Mission Modes Robot Function

Go zone

Work

Go to charging station

Charge

Wait in station Remains at the charging station.

5.1.1 Go Zone Mode

The robot will leave the charging station when the wirjubg schedule demands it, or a specific command has been issued.

Go Zone Mode describes the maneuvers the robot makes to leave the charging station and start working.

One Field With Station Loop

This configuration contains one peripheral wire and one station loop wire.

Performs a set of maneuvers before entering the work mode.

Mows the grass in a random pattern.

Returns to the charging station.

Connects to the charging station and charges the battery.

Page 11

HOW THE ROBOT WORKS

AUTONOMOUS MISSION STATE

When the robot leaves the charging station it follows the station loop wire until it reaches Point A. This is a predefined distance along the field peripheral wire. At Point A, the robot will follow the trackborder of the field until it reaches Point B. At Point B, the robot will turn into the field and start working. The distance traveled along the trackborder and the angle at which the robot turns into the field, are specified in the StartZone parameters for the field.

the defined working schedule for each field. If the schedule dictates that a specific field must be worked at this time, the robot will startworking in that field.

If there are no schedule constraints, the robot will choose the field based on the percentage values. Over a period of time the robot ensures that it starts in each field according the defined proportions.

When the robot leaves the charging station it follows the station loop wire until it reaches Point A. At Point A, the robot will turn and follow the trackborder of Field 1, until it reaches Point B. Point B is where the two fields overlap.

When the robot is in Field 2, it will travel for a certain distance along the Field 2 trackborder until it reaches Point C. At Point C, the robot will turn into the field and start working. The distance traveled along the Field 2 trackborder, and the angle at which the robot turns into Field 2, are specified in the StartZone parameters for Field 2.

Two Fields With Station Loop

This configuration contains a peripheral wire for each field and one station loop wire.

Before leaving the charging station the robot will determine which field to start working in. This will depend on

1 – Field 1 trackborder 2 – Field 2 trackborder

Page 12

HOW THE ROBOT WORKS

AUTONOMOUS MISSION STATE

5.1.2 Work Mode

The robot randomly works inside the peripheral wire at a normal speed of 2.2 mph (1.0 m/s).

In an area of long grass the robot will automatically reduce speed and start working in spiral pattern until it senses that the grass is short. It will then continue in normal operating mode.

When the robot contacts an obstacle it will maneuver away from it.

1 – Peripheral wire

When the robot approaches the peripheral wire it slows down and passes over the wire. The coil senses a change in phase. This causes the robot to stop, move in reverse, turn through a defined angle, then continue in a new direction.

60° - 120°

5.1.3 Go To Charging Station Mode

When working, the robot checks the current conditions and its programmed instructions. Examples are:

• the battery needs to be charged

• programmed working time has ended (for multi-field installations, this corresponds to the schedule for the field which the robot is currently working)

• a remote command has been issued

As a result of the condition or programmed instruction, the robot will return to the charging station and enter the charge mode.

Page 13

One Field With Station Loop Two Fields With Station Loop

At Point A, the robot returns to the charging station. It moves towards the Field 2 peripheral wire and follows the Field 2 trackborder until it reaches Point B. This is the area where both fields overlap. It then follows the Field 1 trackborder until it reaches Point C. This is where the Field 1 peripheral wire and station loop wire overlap. Next, the robot follows the station loop wire until it docks at the charging station.

HOW THE ROBOT WORKS

AUTONOMOUS MISSION STATE

1 – Trackborder 2 – Peripheral wire

1 – Field 2 / Field 2 peripheral wire 2 – Field 2 trackborder 3 – Field 1 trackborder

5.1.4 Charge Mode

In Charge Mode the robot will dock and remain in the charging station until the battery is fully charged.

The next operations that will be performed depend on programming and external conditions.

The robot will remain at the charging station if:

• rest periods have been scheduled

• it has been programmed to stay in the station

• the temperature is too low

Otherwise, it will continue with the scheduled program.

The robot will remain at the charging station once the battery has been charged until:

• the normal program needs to commence

• a specific command is issued

Page 14

HOW THE ROBOT WORKS

INACTIVE MODES

5.1.5 Wait In Charging Station Mode

The robot will stay in the charging station once the battery has been charged until the normal program needs to commence, or a specific command issued.

5.2 Inactive Modes

The Alarm Mode and Standby Mode will cause the robot to enter an inactive mode.

5.2.1 Alarm Mode

When the robot encounters a problem it will register an alarm and enter the inactive mode. When the cause for the alarm has been corrected, the user can manually clear the alarm and the robot will then enter the Standby mode. If no intervention takes place, the robot will turn off and enter the OFF mode.

5.2.2 Standby Mode

The robot will enter the Standby mode if:

• the autonomous mission has been stopped due to an external command

• an alarm situation has been corrected and the alarm cleared by manual intervention

• it is manually switched ON

5.3 Service State

Initiate this state to access the Demonstration and Maintenance Test modes.

5.3.1 Demonstration Mode

Use this mode to demonstrate the performance of the robot before installation of the peripheral wire.

OPERATIONAL HAZARD

The robot will ignore the electromagnetic field generated by the peripheral wire when operating in demonstration mode.

• Do not leave the robot unsupervised when it is operating in demonstration mode.

5.3.2 Maintenance Test

A set of maintenance tests are available from the Technician's menu.

The robot will leave the Standby mode when a command is issued. It will then enter the Self Test Mode before recommencing any activity.

5.2.3 Self Test Mode

Whenever the robot has been in the Standby Mode it will perform a self test to check the integrity of the entire system (including electronics, sensors, mechanics and software). When the result of the self test is successful, it will resume the autonomous working state. If the result of the self test is not successful, it will register an alarm.

5.2.4 OFF Mode

The robot will be in the OFF mode when:

• it has been manually switched OFF

• an alarm situation has not been corrected after a certain period of time

Page 15

INSTALLATION

STATION LOOP WIRE INSTALLATION

6 Installation

The following figure illustrates the components of a single field installation.

7 3 2

6.1 Station Loop Wire Installation

The station loop wire can be installed completely inside of the field (Figure A), or partially inside of the field (Figure B). The wire must extend a minimum of 13 ± 1.6 ft. (4.0 ± 0.5 m) into the field.

The distance between the center of the charging station and the end of the station loop wire is 8.2 ft. (2.5 m) minimum.

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(4 ± 0.5 m)

1 – Robot 2 – Mowing area 3 – Peripheral wire 4 – Charging station 5 – Obstacle 6 – Station loop wire 7 – Trackborder

Only install the system on a field with a slope that is less than or equal to 17°. If the slope is near the peripheral wire, program the robot to return to the charging station by descending the slope.

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(2.5 m)

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(2.5 m)

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(2.5 m)

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(4 ± 0.5 m)

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(2.5 m)

1 – Station loop wire 2 – Charging station

Page 16

INSTALLATION

PERIPHERAL WIRE INSTALLATION

6.2 Peripheral Wire Installation

IMPORTANT: Only use peripheral wire which is supplied by ECHO Inc.

Each end of a peripheral wire is connected to the charging station.

Install the peripheral wire in a clockwise direction around the field. Do not cross or form loops with the peripheral wire.

Minimum peripheral wire length is 656 ft. (200 m). If this minimum length is not possible, install an inductor.

Maximum peripheral wire length is 3937 ft. (1,200 m). Use a second charging station when:

• total length of the peripheral wire (including islands and pseudo-islands) exceeds 3,281 ft. (1,000 m)

• more than five obstacles are on the trackborder

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Peripheral wire installation dimensions:

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(5.0 m)

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(12.0 m)

28.3 in.

(720 mm)

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(5.0 m)

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1 – Peripheral wire

The peripheral wire needs to take obstacles into account. Some obstacles can be detected by the sonar sensors on the robot, others require specific placement of the peripheral wire, or the use of islands or pseudo-islands.

6.3 Peripheral Wire Installation Offsets

NOTE: The dimensional values shown apply when the “Wire crossing distance” parameter is at the default setting of 20 in. (510 mm).

Rough grass that does not need to be mowed:

1 – Peripheral wire 2 – Charging station 3 – Recommended length incoming side 4 – Recommended length outgoing side 5 – Obstacle free zone 6 – Trackborder

Peripheral wire installation angles must be greater than or equal to 90°, with a radius greater than or equal to 3.3 ft. (1.0 m).

(510 mm)

1 – Rough grass 2 – Peripheral wire

20 in.

Page 17

INSTALLATION

SITES CONTAINING NARROW STRAITS

Raised hard landscaping:

9.5 in.

(240 mm)

29.5 in.

(750 mm)

1 – Terrace / Path / Wall 2 – Peripheral wire 3 – Area not mowed

Hard landscaping level with grass:

11.8 in.

(300 mm)

1 – Terrace / Path 2 – Peripheral wire

NOTE: A path that crosses the field to be mowed should be level with the grass.

Lawn-level planting (e.g. flower bed).

3.5 in.

(90 mm)

29.5 in.

(750 mm)

1 – Flower bed 2 – Peripheral wire 3 – Area not mowed

6.4 Sites Containing Narrow Straits

These sites require specific installation of the peripheral wire.

The required minimum width of the strait, depends on the length of the strait. If this minimum width is not available when the robot is in Zone B, it will not be able to pass through the strait and return to the charging station. In this case, installation of an additional charging station in Zone B is required.

Zone A

1 – Narrow strait 2 – Peripheral wire 3 – Minimum distance between peripheral wire 4 – Length of strait

The table below presents the minimum distance between wires required to enable the robot to follow its trackborder from Zone B through the strait and return to the charging station in Zone A.

Zone B

Page 18

INSTALLATION

SITES WITH LONG LANES

6.5 Sites With Long Lanes

A long lane represents an area where a minimum distance for the installation of the peripheral wire is required. If this minimum distance is not met, the robot may not be able to detect the peripheral wire. If the peripheral wire is not detected, the robot cannot return to the charging station to charge its battery.

• Target ball nets

• bunkers

• water hazards

Some obstacles are detected by the sonar sensors on the robot. Other obstacles require the installation of the peripheral wire to create an island, or a pseudo-island.

If an island is created, the robot will not approach the obstacle. The robot will move across the peripheral wire to avoid the obstacle.

If a pseudo-island is created, the robot will approach the obstacle, and then maneuver around it.

6.6.1 Obstacles Near the Boundary to be Mowed

1 – Lane 2 – Peripheral wire 3 – Minimum distance between peripheral wire

If the length of the lane is less than 49.2 ft. (15 m), then the minimum distance between the peripheral wire must be greater than 32.8 ft. (10 m).

6.6 Obstacles

Obstacles are objects that the robot must avoid. Examples are:

• trees, flower beds

• swing sets, climbing frames, trampolines

• sidewalks, walking paths, terraces

• ponds, swimming pools

On a golf course installation, examples are:

• distance markers and flags

1 – Obstacle 2 – Peripheral wire

If an obstacle is less than 3.3 ft. (1.0 m) from the boundary, install the peripheral wire around the obstacle. If the distance between the obstacle and the boundary is greater than 3.3 ft. (1.0 m), but less than

16.4 ft. (5.0 m), install a pseudo-island.

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(1.0 m)

6.7 Islands

Create an island when an obstacle is more than:

• 16.4 ft. (5.0 m) from the peripheral wire

• 49.2 ft. (15.0 m) from the charging station

• 16.4 ft. (5.0 m) from another island or pseudo-island

Page 19

INSTALLATION

WATER OBSTACLE

Install the peripheral wire around an obstacle to create an island. A maximum of five islands can be installed.

Installation requirements for an island:

• counterclockwise direction around an object

• place the approach and return sides of the peripheral wire directly next to each other (do not cross or twist the wire)secure with tie straps at 0.4 in. (10 mm) increments

• do not cross or twist the approach and return side of the peripheral wire

15.7 - 23.6 in.

(400 - 600 mm)

1 – Obstacle 2 – Direction to install peripheral wire 3 – Peripheral wire 4 – Movement of robot 5 – Tie strap locations

x x x x

0.4 in.

(10 mm)

Create a pseudo-island when an obstacle is less than:

• 16.4 ft. (5.0 m) from the peripheral wire

• 49.2 ft. (15.0 m) from the charging station

• 16.4 ft. (5.0 m) from another island or pseudo-island

Install the peripheral wire around an obstacle to create a pseudo-island.

Installation requirements for a pseudo-island:

• counterclockwise direction around an object

• allow a fixed distance of 15.7 - 23.6 in. (400 - 600 mm) between the approach and return sides

1 – Obstacle 2 – Direction to install peripheral wire (and movement of robot) 3 – Peripheral wire 4 – Fixed distance between approach and return sides

6.8 Water Obstacle

WATER AMPLIFIES THE ELECTROMAGNETIC SIGNAL OF THE PERIPHERAL WIRE

The robot is attracted towards higher signal levels. Failure to correctly avoid a water obstacle can result in submersion of the robot.

• Use an island or a pseudo-island to avoid a water obstacle.

Install the peripheral wire a minimum distance of

5.3 ft. (1.6 m) from the edge of the water. Increase this distance if the ground slopes towards the water, is slippery, or can become wet or flooded.

If meeting the minimum distance of 5.3 ft. (1.6 m) is not possible, install a physical barrier around the water.

Page 20

CONFIGURATION

SLOPED FIELDS

Install the charging station a minimum of 49.2 ft. (15 m) from the edge of the water.

Two possible installations for the charging station are shown in the following figure.

NOTE: The robot should return to the charging station from the direction away from the water.

If the charging station is located at Point A, program the robot to return to it in a clockwise direction.

If the charging station is located at Point B, program the robot to return to it in a counterclockwise direction.

2 2

7 Configuration

Configuration of this installation is completed through the through User Interface. The instructions given are the minimum set of configuration parameters that must be set for this type of installation.

1) Press and hold 9 on the user interface screen

until the technician's menu appears.

2) Select Infrastructure > Peripheral wires.

3) On the "Wire settings" screen, select Wire CH{X},

then press .

4) Rename this Wire to LOOP.

5) Select Signal channel, then press . Assign the

channel number for the station loop.

6) Check the value shown at the top of the screen.

This should be positive. If it is not, select Reverse phase and check the button ON.

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(>15.0 m)

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(>1.6 m)

1 – Peripheral wire 2 – Charging station

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(>15.0 m)

6.9 Sloped Fields

The maximum slope on any part of the field must be less than or equal to 17°.

If a sloping part of the field is well away from the peripheral wire, no specific programming of the robot is required. If the sloping part of the field is near the peripheral wire, program the robot to return to the charging station by descending the slope.

7) Press twice to return to the Infrastructure menu.

8) Select Parcels, then press . Select the parcel associated with the LOOP wire.

9) Select Return direction, then press . Choose whether you want the robot to return in a clockwise or counterclockwise direction.

10) Disable the use of the trackborder. Select Use trackborder and check the button OFF. This ensures that when the robot is in this field, it will just follow the wire to reach the station.

11) Press twice to return to the Infrastructure menu.

12) Select Create new wire, then press .

13) Select the newly created wire, then press .

14) Rename this field to LAWN.

15) Select Signal channel, then press Assign the channel number for the large field to be mowed.

16) Check the value shown at the top of the screen. This should be positive. If it is not, select Reverse

phase and check the button ON.

Page 21

CONFIGURATION

SLOPED FIELDS

17) Press twice to return to the Infrastructure

menu.

18) Select Parcels, then press . Select the parcel

associated with the LAWN wire.

19) Set the Return direction to the same as above.

20) Select Use trackborder and check the button ON.

This ensures that when the robot is in this field, it will follow the trackborder until it reaches the LOOP field.

21) Select Neighboring parcels, then press .

Check the button next to the LOOP parcel.

22) Press to exit this menu.

23) Select Edit parcels percentage, then press .

Set the value to 100% for the lawn parcel.

24) Press to return to the Infrastructure menu.

25) Select Infrastructure > Stations > Create new

station, then press .

Station loop wire 1 / Field 1, is the small wire to which the charging station is connected. In this example it overlaps the larger peripheral wires and fields. When in this field, the robot will not use the trackborder, it will follow the station loop wire to enter the charging station.

All three fields are neighbors to each other. The overlap area is a transition zone used to connect

the main working areas of the fields. The proportion of time that the robot spends working

in fields 1 and 2 is determined by the percentage values assigned to the corresponding fields. For the station loop field, the percentage can be set to 0.The elements of a multiple field installation are shown in the following figure.

26) A name is generated that you can modify if you want.

27) Select Connected to parcels, then press .A list of parcels is presented. Select the parcel inside the LOOP wire and check the button ON.

28) Select Station inside parcel's wire. Check the button ON if the station is inside the LOOP wire. In the example shown above it is outside the wire.

Connect a total of one station loop and two peripheral wires to a single charging station.

• Each field is defined by a peripheral wire that starts and ends at the charging station.

• Each peripheral wire is assigned to a different signal channel in the charging station.

• The charging station must contain one signal channel board for every peripheral wire required.

• The area inside of each peripheral wire is defined as a field. Each peripheral wire must overlap with its neighboring one.

• Each pair of wires which overlap must be designated as neighboring fields.

1 – Station loop wire / Field 1 2 – Peripheral wire 2 / Field 2 3 – Peripheral wire 3 / Field 3 4 – Overlap area

Page 22

CONFIGURATION

OVERLAPS

7.1 Overlaps

An overlap is an area that lies within two fields and is used for the robot to transition from one field to another. The length and width of the overlap must be greater than 9.8 ft. (3 m).

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(> 3.0 m)

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(> 3.0 m)

7.2 Multi-Field Peripheral Wire Installation

The start and finish sides of the peripheral wire must lie next to each other when they enter the charging station. Install the start and finish sides of the peripheral wire for one field around the other field. The distance between the peripheral wires for each field must be greater than or equal to 23.6 in. (600 mm).

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;шϲϬϬŵŵͿ

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1 – Overlap area 2 – Field 1 3 – Field 2

1 – Start and finish side of Field 1 peripheral wire 2 – Start and finish side of Field 2 peripheral wire 3 – Field 2 4 – Field 1

Page 23

CONFIGURATION

7.3 Configuration

Once the peripheral wire(s) and the charging station have been set in place, the installation needs to be configured.

Access the User Interface to configure single and multi-field installations.

7.3.1 General Configuration Procedure

Using a Station Loop

1) Open the technician's menu.

2) Select Infrastructure > Peripheral wires and create the required number of wires for the installation.

3) For each wire assign the channel number and check the reverse phase.

4) Select Infrastructure > Parcels.

5) Define the properties of the parcel that is associated with each wire.

6) Create new parcels if necessary.

7) If the installation is a multi-field installation, define the start zone parameters for a parcel.

7.3.3 Start Zone Properties

Following from

This option appears if you are defining a start zone for station with a positioning beacon. It specifies the parcel in which the start zone is implemented.

For a multi-field installation, you can specify the specific parcel.

Default means coming from any other parcel.

Coming from

This option appears if you are defining a start zone for a parcel.

It defines the parcel preceding the one in which the start zone will be implemented.

Edit percentage

Allows you to edit the percentages applied to different parcels.

If only one parcel is defined this value must be set to 100%.

Do not edit the percentage until more than one start zone has been defined.

8) Select Infrastructure > Stations.

9) Select Create new station.

10) Select Connected to parcels and connect the station to the loop parcel.

11) Select Station Inside Parcel's Wire and specify whether the station is on the inside or the outside of the station loop wire.

7.3.2 Start Zones

Start zones define where and how the robot starts working.

• A start zone is defined for a parcel.

• Multiple start zones can be defined for the same wire/parcel.

The Start Zone screen displays the following:

List of defined start zones

For each one the line below shows some characteristics of the zone.

Direction

This specifies the clockwise or counterclockwise direction the robot will take to move along the trackborder after leaving the charging station.

When the robot leaves the charging station, it follows the station loop wire for a predefined distance until it arrives in the trackborder of the field, it then takes the specified direction.

Create new start zone

Enables you to create a new zone with all the properties listed below.

Page 24

CONFIGURATION

1 – Charging station 2 – Station loop wire 3 – Trackborder 4 – Clockwise direction on trackborder 5 – Counterclockwise direction on trackborder

1 – Distance Min. 2 – Distance Max. 3 – Trackborder

Angle Min. / Angle Max.

This is the angle that the robot will turn through to take it into the field to start working. Minimum and maximum values are defined and the robot will choose a random value between the defined limits.

Distance Min. / Distance Max.

This is the distance that the robot will travel along the trackborder after leaving the station and start working. A random value between the minimum and maximum values will be selected.

Distance Min. and Distance Max. are measured from the point where the robot enters the parcel, if this differs from the one in which the charging station is located.

If the start zone is located in a different parcel than the one containing the charging station, the distances are measured from the entry point into the parcel (shown in the figure below).

Delete StartZone

Allows the start zone to be deleted.

Page 25

CONFIGURATION

CONFIGURATION EXAMPLES

7.4 Configuration Examples

7.4.1 Wire Configuration - One Zone

Installation

6) Check the value shown at the top of the screen. The value should be positive, if it is not, select

Reverse phase, then press .

7) Press once, the WIRES SETTINGS menu will display. Select 9. Create new wire, then press

8) The VALIDATE screen will display. Select OK,

then press .

9) The WIRES SETTINGS menu will display. Select

Wire CH5, then press .

10) The Wire CH5: No Signal screen will display. Select the numeric option next to SIGNAL

CHANNEL, press or and set the value to

1, then press .

11) Check the value shown at the top of the screen. The value should be positive, if it is not, select

1 – Charging station 2 – Station loop wire 3 – Peripheral wire

Access the User Interface to set the following parameters.

Peripheral Wire Configuration

1) Press and hold 9 on the numeric keypad until the

technician’s menu appears.

2) The TECHNICIAN SETTING menu will display.

Select 1. Infrastructure, then press .

3) The INFRASTRUCTURE menu will display. Select

1. Peripheral wires, then press .

4) The WIRES SETTINGS menu will display. Select 1.

Wire CH0, then press .

5) The WIRE CH0: NO SIGNAL menu will display. Select the numeric option next to Signal channel,

set the value to 0, then press .

NOTE: The station loop wire will always be set to 0.

Reverse phase, then press .

12) Press twice to return to the INFRASTRUCTURE screen.

Parcels Configuration

1) From the INFRASTRUCTURE menu, select

Parcels, then press .

2) The PARCELS menu will display. Select 1. Parcel

1, then press .

3) The Parcel 1 menu will display. Parcel 1 will be

highlighted, press . Use , , , or

select V (located in the bottom row), then press

4) Press once to return to the PARCELS screen.

5) Select Parcel 2, then press . Use , ,

renaming, select V (located in the bottom row),

then press .

, rename Parcel 1 to LOOP. After renaming,

, or , rename Parcel 2 to Field. After

Page 26

CONFIGURATION

CONFIGURATION EXAMPLES

6) The FIELD screen will display. Select Use Track-

border, then press .

7) Scroll down to 8. Neighboring parcels, then press

8) The NEIGHBORING PARCELS screen will display.

Select LOOP, then press . Select Confirm,

then press .

9) The FIELD screen will display. Press twice to

return to the INFRASTRUCTURE screen.

Station Configuration

1) Select 3. Stations, then press .

2) Select 9. Create manual station, then press .

3) The VALIDATE screen will display. Select OK,

then press .

13) The PARCELS PERCENTAGE screen will display. Select the numeric option next to LOOP, set the number to O. Select the numeric option next to FIELD, set the number to100. Select CONFIRM,

then press .

7.4.2 Wire Configuration - Two Zone

Installation

4) The Manual Station 1 screen will display. Select

Connected to parcels, then press .

5) The VALIDATE screen will display. Select OK,

then press .

6) The Connected Parcels screen will display. The option for Wire CH0 will be highlighted. Press

to change it to LOOP, then press .

7) Press once to return to the Manual Station

screen.

8) Select Station inside parcel’s wire. Press if the charging station is inside of the station loop wire.

9) Press twice to return to the INFRASTRUC-

TURE screen.

10) Press twice, the Waiting for new mission

screen will display.

1 – Charging station 2 – Station loop wire 3 – Field Zone 1 peripheral wire 4 – Field Zone 2 peripheral wire

Peripheral Wire Configuration

1) Press and hold 9 on the numeric keypad until the

technician’s menu appears.

2) The TECHNICIAN SETTING menu will display.

Select 1. Infrastructure, then press .

3) The INFRASTRUCTURE menu will display. Select

1. Peripheral wires, then press .

4) The WIRES SETTINGS menu will display. Select 1.

Wire CH0, then press .

5) The WIRE CH0: NO SIGNAL menu will display. Select the numeric option next to Signal channel,

11) Press once, the SERVICE SETTINGS screen

will display. Select 3. Operations, then press .

12) The OPERATIONS screen will display. Select Edit

parcels percentage, then press .

set the value to 0, then press .

NOTE: The station loop wire will always be set to 0.

6) Check the value shown at the top of the screen. The value should be positive, if it is not, select

Reverse phase, then press .

Page 27

CONFIGURATION

CONFIGURATION EXAMPLES

7) Press once, the WIRES SETTINGS menu will

display. Select 9. Create new wire, then press

8) The VALIDATE screen will display. Select OK,

then press .

9) The WIRES SETTINGS menu will display. Select

Wire CH5, then press .

10) The Wire CH5: No Signal screen will display. Select the numeric option next to SIGNAL

CHANNEL, press or and set the value to

1, then press .

11) Check the value shown at the top of the screen. The value should be positive, if it is not, select

Reverse phase, then press .

12) Press once, the WIRES SETTINGS menu will

display. Select 9. Create new wire, then press

13) The VALIDATE screen will display. Select OK,

then press .

14) The WIRES SETTINGS menu will display. Select

Wire CH5, then press .

15) The Wire CH5: No Signal screen will display. Select the numeric option next to SIGNAL

CHANNEL, press or and set the value to

2, then press .

16) Check the value shown at the top of the screen. The value should be positive, if it is not, select

Reverse phase, then press

17) Press twice to return to the INFRASTRUC-

TURE screen.

Parcels Configuration

1) From the INFRASTRUCTURE screen, select

3) The Parcel 1 menu will display. Parcel 1 will be

highlighted, press . Use , , , or

, rename Parcel 1 to LOOP. After renaming,

select V (located in the bottom row), then press

4) Press once to return to the PARCELS screen.

5) Select Parcel 2, then press . Use , ,

, or , rename Parcel 2 to Field 1. After

renaming, select V (located in the bottom row),

then press .

6) The FIELD 1screen will display. Select Use Track-

border, then press .

7) Press once to return to the PARCELS screen.

8) Select Parcel 3, then press . Use , ,

, or , rename Parcel 3 to Field 2. After

renaming, select V (located in the bottom row),

then press .

9) The FIELD 2 screen will display. Select Use Track-

border, then press .

10) Scroll down to 8. Neighboring parcels, then press

11) The NEIGHBORING PARCELS screen will display.

Scroll down to select LOOP, then press .

Scroll down to Confirm, then press .

12) Press once to return to the PARCELS screen.

13) Scroll down to Field 1, then press .

14) Scroll down to Neighboring parcels, then press

15) The NEIGHBORING PARCELS screen will display.

Parcels, then press .

2) The PARCELS menu will display. Select 1. Parcel

1, then press .

Scroll down to select LOOP, then press .

Scroll down to Confirm, then press .

16) The FIELD screen will display. Press twice to

return to the INFRASTRUCTURE screen.

Page 28

CONFIGURATION

CONFIGURATION EXAMPLES

Station Configuration

1) Select 3. Stations, then press .

2) Select 9. Create manual station, then press .

3) The VALIDATE screen will display. Select OK,

then press .

4) The Manual Station 1 screen will display. Select

Connected to parcels, then press .

5) The VALIDATE screen will display. Select OK,

then press .

6) The Connected Parcels screen will display. The option for Wire CH0 will be highlighted. Press

to change it to LOOP, then press .

7) Press once to return to the Manual Station

screen.

The layout of the installation is shown in the figure below.

>16.4 ft.

(>5 m)

8) Select Station inside parcel’s wire. Press if the charging station is inside of the station loop wire.

9) Press twice to return to the INFRASTRUC-

TURE screen.

10) Press twice, the Waiting for new mission

screen will display.

11) Press once, the SERVICE SETTINGS screen

will display. Select 3. Operations, then press .

12) The OPERATIONS screen will display. Select Edit

parcels percentage, then press .

13) The PARCELS PERCENTAGE screen will display. Select the numeric option next to LOOP, set the number to O. Select the numeric option next to FIELD, set the number to100. Select CONFIRM,

then press .

7.4.3 Single Field With Two Start Zones

This is an example of an installation that might be used in a large field with two areas. Even though it is set up as a single field, two start zones are used to ensure that the robot starts working in both areas on a regular basis.

1 – Start zone 1 2 – Start zone 2 3 – Peripheral wire

Access the User Interface to set the following parameters.

Peripheral Wire Configuration

1) Press and hold 9 on the numeric keypad until the

technician’s menu appears.

2) The TECHNICIAN SETTING menu will display.

Select 1. Infrastructure, then press .

3) The INFRASTRUCTURE menu will display. Select

1. Peripheral wires, then press .

4) The WIRES SETTINGS menu will display. Select 1.

Wire CH0, then press .

5) The WIRE CH0: NO SIGNAL menu will display. Select the numeric option next to Signal channel,

set the value to 0, then press .

NOTE: The station loop wire will always be set to 0.

6) Check the value shown at the top of the screen. The value should be positive, if it is not, select

Reverse phase, then press .

Page 29

CONFIGURATION

CONFIGURATION EXAMPLES

7) Press once, the WIRES SETTINGS menu will

display. Select 9. Create new wire, then press

8) The VALIDATE screen will display. Select OK,

then press .

9) The WIRES SETTINGS menu will display. Select

Wire CH5, then press .

10) The Wire CH5: No Signal screen will display. Select the numeric option next to SIGNAL

CHANNEL, press or and set the value to

1, then press .

11) Check the value shown at the top of the screen. The value should be positive, if it is not, select

Reverse phase, then press .

12) Press twice to return to the INFRASTRUC-

TURE screen.

Parcels Configuration

1) From the INFRASTRUCTURE menu, select

Parcels, then press .

2) The PARCELS menu will display. Select 1. Parcel

1, then press .

3) The Parcel 1 menu will display. Parcel 1 will be

highlighted, press . Use , , , or

, rename Parcel 1 to LOOP. After renaming,

select V (located in the bottom row), then press

8) The NEIGHBORING PARCELS screen will display.

Select LOOP, then press . Select Confirm,

then press .

9) The FIELD screen will display. Scroll down to Start

Zones, then press .

10) The

Start Zones screen will display. Press

once.

11) The VALIDATE screen will display. Select OK, then

press .

12) The Start Zones screen will display. For the Coming from parcel option, DEFAULT is correct. For the Direction option, CW is correct. Set the Distance Min. value. Set the Distance Max. value. Set the Angle Min. value (between 0° - 180°). Set the Angle Max. value (between 0° - 180°).

13) Press once. The Start Zones screen will

display. Scroll down to Create new start zone,

then press .

14) The VALIDATE screen will display, select OK, then

press .

15) The Start Zones screen will display. For the Coming from parcel option, DEFAULT is correct. For the Direction option, CW is correct. Set the Distance Min. value. Set the Distance Max. value. Set the Angle Min. value (between 0° - 180°). Set the Angle Max. value (between 0° - 180°).

4) Press once to return to the PARCELS screen.

5) Select Parcel 2, then press . Use , ,

, or , rename Parcel 2 to Field. After

renaming, select V (located in the bottom row),

then press .

6) The FIELD screen will display. Select Use Track-

border, then press .

7) Scroll down to 8. Neighboring parcels, then press

16) Scroll to Edit Percentage, then press .

17) The Edit Percentage screen will display. Set the Start Zone 2 values to 80%. Set the Start Zone 3

value to 20%. Select CONFIRM, then press .

18) The START ZONE screen will display. Press

four times to return to the INFRASTRUCTURE screen.

Page 30

USING THE ROBOT

SAFETY MEASURES

Station Configuration

1) Select 3. Stations, then press .

2) Select 9. Create manual station, then press .

3) The VALIDATE screen will display. Select OK,

then press .

4) The Manual Station 1 screen will display. Select

Connected to parcels, then press .

5) The VALIDATE screen will display. Select OK,

then press .

6) The Connected Parcels screen will display. The option for Wire CH0 will be highlighted. Press

to change it to LOOP, then press .

7) Press once to return to the Manual Station screen.

8 Using the Robot

PERSONAL INJURY HAZARD

Contact with the robot during operation can cause personal injury.

• Press the STOP button before handling the robot.

The operator or user is responsible for accidents or hazards occurring to other people or their property.

Safety and information symbols are located on the back of the robot. Follow and understand all Safety Symbols before using the robot.

Maintain and service the robot on a regular basis.

8.1 Safety Measures

8) Select Station inside parcel’s wire. Press if

the charging station is inside of the station loop wire.

9) Press twice to return to the INFRASTRUC- TURE screen.

10) Press twice, the Waiting for new mission screen will display.

11) Press once, the SERVICE SETTINGS screen

will display. Select 3. Operations, then press .

12) The OPERATIONS screen will display. Select Edit

parcels percentage, then press .

13) The PARCELS PERCENTAGE screen will display. Select the numeric option next to LOOP, set the number to O. Select the numeric option next to FIELD, set the number to 100. Select CONFIRM,

then press .

• Remove all non-stationary obstacles from the working area before using the robot.

• Never leave the robot on a slope.

• Only use the robot charging station to charge the robot’s battery. Use of any other charger can cause damage and loss of warranty coverage.

• Never connect an external electrical element to the battery cable.

• Never pick up or carry the robot while the motor is running.

• Do not leave the robot to operate unattended if there are pets, children or people in the vicinity.

• Never operate the robot if it has defective guards or shields, or without safety devices.

• Avoid using the robot in bad weather conditions especially when there is a risk of lightning or flooding.

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THE LCD SCREEN

8.2 The LCD Screen

1 3 2 4 5

1 – Name - The name of the robot. 2 – WiFi / Mobile connection - Indicates the robot is connected as

a WiFi client. When blinking, it is trying to connect. When steady, it is connected.

3 – WiFi access point - Indicates the robot is connected. 4 – GPS - Indicates the robot can detect at least four satellites and

that it knows its current location. If blinking, it indicates the robot can not detect enough satellites.

5 – Battery charge level - Percentage of battery charge. 6 – Message - Shows the current status of the robot (also displays

error messages). 7 – Time and date (24-hour clock only).

8.3 The Actions Menu

NOTE: If the STOP button cover is not closed withing 10 seconds, the operation is canceled and will need to be repeated.

1) Open the STOP button lid.

2) Press .

3) Press or to highlight the required

command, then press .

4) Close the STOP button cover.

8.3.2 Operation In the Charging Station

Perform these operations when the robot is in the charging station.

Use these operations to override the regular operating schedule.

Mow now

Leave the charging station and continue working.

Mow after charge

Remain in the charging station until the battery is charged and then start working.

Stay in station after charge

The operations provided in this menu depend on the current state of the robot when it is in the field and in the charging station.

8.3.1 Operation In the Field

Perform these operations when the robot is stopped and not in the charging station.

Perform the operations if the robot has been stopped during its normal operation schedule, or if it has stopped because an alarm has been raised. If an alarm has been raised, correct the problem before executing the operations.

Go charge

Return to the charging station, charge the battery and then resume working.

Charge & stay

Return to the charging station and stay there until it a new instruction is issued.

Mow

Continue the working schedule after an interruption.

Stay in the charging station until a new command is issued.

Mow now on...

Leave the charging station and continue working in a specific parcel. A list of parcel appears in which you can choose the required one.

To execute the operations:

1) Open the STOP button cover.

2) Press .

3) Press or to highlight the required

command, then press .

4) Close the STOP button cover. If the STOP button cover is not closed within 10 seconds, the operation is canceled and will need to be repeated.

To execute the operations:

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THE SETTINGS MENU

8.4 The Settings Menu

Use the options in this menu to control the operation of the robot.

8.4.1 Schedule

NOTE: The schedule is based on a 24-hour clock. Use this command to:

• Define the weekly working schedule.

• Define a schedule for each day of the week.

• Define working periods for each day and each parcel. Each defined period can be active (implemented) or inactive (ignored).

• Copy a schedule for one day, and for one parcel, to other days of the week.

• Set the robot to work at all times (which is a default factory setting).

To define a working schedule:

4) To edit the schedule, highlight the parcel, then

press .

5) Use and to select the required day of

the week, then press .

1) Press .

2) Press or to highlight Schedule, then

press . The following screen will appear. There are two columns for each day because there are two parcels that have been defined. This screen shows the current schedule, where the white blocks represent the time when the robot will be operating in one parcel. By default, all the time periods will appear white, meaning the robot will work continuously.

6) Use to select the required period in the day,

then press .

3) Use , , , or to highlight Edit, then

press . The following screen appears:

7) Use the numeric keyboard to enter the start and end time values where the cursor is flashing,

then press .

8) Press to select the active check box, then

press to activate the defined session.

NOTE: In the figure above, Period 1 is active, Period 2 is inactive.

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9) Repeat the process for all days and time periods required. note: The defined schedule can be copied to another day.

10) Press to return to the “Parcel Schedule” screen.

11) Use the arrows to select Follow sched. Press to check the button ON to ensure that the robot follows the defined schedule. When unchecked, the robot will ignore the timetable and work continuously.

To copy the schedule from one day to another:

1) Follow the procedure above to define the working schedule for one day.

2) When all the required periods have been

defined, press to highlight Copy, then press

. The following screen will appear:

7) Use the arrow keys to highlight Follow sched.

then press to uncheck the button.

8.4.2 Cutting Heads

The robot is supplied with five cutting heads which, under normal conditions, should all be used. When there is a problem with a cutting head, use this menu to disable it.

To enable or disable specific cutting heads:

1) Press .

2) Press or to highlight Cutting heads, then

press . The following screen appears:

3) Press the number key that corresponds to the day to which the schedule is to be copied (more than one day can be selected).

4) Press .

5) Highlight Edit.

6) Press .

3) Press the number key(s) that corresponds to the cutting head(s) to enable or disable it. NOTE: Press 0 on the numeric keypad to select all cutting heads.

4) Press .

5) Press to return to the main menu.

To enable a disabled cutting head, repeat the procedure above, selecting the disabled head.

8.4.3 Cutting Height

Use this command to set the height of the blades.

• lowest cutting height is 0.8 in. (20.0 mm)

• highest cutting height is 4.7 in. (120.0 mm)

The cutting height is adjusted in 0.20 in. (5.0 mm) increments.

To set the cutting height:

1) Press .

2) Press or to highlight Cutting height,

then press . The following screen appears, which shows the current cutting height. NOTE: If this value is negative, a reset of the parameters

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has taken place and the cutting height needs to be re-calibrated.

3) Press to highlight the Set value.

4) Use and to scroll to the required value.

To unlock the system:

1) Enter the PIN code, then press . The robot will wait for a new command to be issued.

8.4.5 LCD Settings

To modify the LCD settings:

1) Press and hold for three seconds. The LCD Setting screen will appear.

2) Press or to change the contrast.

5) Press to return to the main menu.

8.4.4 System Locking

Use this command to lock the use of the robot. The command is useful if the field area is in use during the time when the robot is scheduled to be working. The robot will remain locked until the system is unlocked.

NOTE: It is also possible to create PIN code which must be entered before specific commands can be issued.

To lock the system:

1) Press .

2) Press or to highlight System locking,

then press .

3) Highlight OK, then press . Enter the robot’s

PIN code to access the menu again.

3) Press or to highlight Temperature Auto Adj. When this option is checked ON, the LCD contrast is automatically adjusted according to

the ambient temperature. Press to check or uncheck this option.

4) Press the 9 key to invert the black and white colors.

5) Press the 0 key to revert to the factory settings.

6) Press to exit the menu.

8.5 Service Menu

8.5.1 Regional Parameters

Use this menu to set the robot time zone and the language.

To set the time zone:

1) Press .

2) Press the arrow keys to highlight Regional

parameters, then press .

3) Use and to scroll to the required time zone.

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4) Press to accept the time zone.

5) Press to exit the menu.

To set the language:

1) Press .

2) Press the arrow keys to highlight Regional

parameters, then press .

3) Press to highlight Language.

4) Press .

5) Use and to highlight the required language.

USING THE ROBOT

SERVICE MENU

• Access point - The robot will use its inbuilt modem to generate its own WiFi network to which you can connect.

Search for networks

This option appears when the robot is not connected or cannot detect a WiFi network.

SSID

This displays the name of the WiFi network to which the robot is connected, and allows you to modify it.

Highlight {network name} and press .

A list of networks will display.

• Entries in bold text are ones that the robot has connected to.

• Entries in normal text are available but which have not been used.

• [*] indicates the actual network to which the robot is connected.

• [!] indicates that the network to which the robot is connected, is not encrypted using either WPA or WPA2 technologies. This is therefore an insecure network and the [!] indicates a warning.

• [-] indicates that the network has been disabled.

• To connect to a different known network, high-

6) Press to accept the language.

7) Press to exit the menu.

8.5.2 Connections

To display the connections screen:

1) Press .

2) The Connections screen will display. Use the arrow keypad to select an option.

IP address

Select to display the current IP address of the robot, depending on the mode on which it is operating.

Modes can be mobile, vpn, or WiFi.

Mode

Select to set the mode in which the robot is to operate. Mode selections are:

• OFF - The robot will not be connected to a network.

• Client - The robot will connect to the selected network as a client.

light the network, press and select Enable Network.

• To modify the current network, highlight the

network, press . The following operations are available:

– Disable Network - Disconnects the

robot from this network.

– Change Password - Allows modification

of the password to access the network from the robot.

– Forget Network - Removes the recogni-

tion of this known network from the robot.

8.5.3 Using the Robot as a Client

For normal operation, set up the robot as a WiFi client. This will enable the robot to communicate with the portal on the web-server.

To set up the robot as a client:

1) Press .

2) Highlight Connections and press

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3) Highlight Mode and set it to Client. If the robot has not been connected to a WiFi network, selecting the option Search for networks will search for networks and present a list of those available.

4) Highlight the WiFi network required and press

5) Enter the password for the network using the keyboard.

6) Highlight V and press .

8.5.4 Operations

Use this menu to set the following operating parameters:

Min temp

Sets the lowest operating temperature for the robot. The default value is 41.0 °F (5.0 °C).

Edit parcels percentage

8.5.5 Device

Use this menu to display the characteristics of the device and change the robot’s name.

By default the name of the robot corresponds to the serial number.

To change the name of the robot:

1) Press .

2) Press the arrow keys to highlight Device info,

then press .

Use this option to view and modify each of the parcels that have been defined. The percentage value assigned to a parcel determines the proportion of times the robot will start working in the parcel.

To set the operating parameters:

1) Press .

2) Use the arrow keys to highlight Operations, then

press .

3) Press or to highlight the required parameter.

4) Enter the required value.

5) Check that the current values have been updated.

6) Press to return to the main menu.

3) Highlight Robot name and press .

4) Highlight the back arrow to delete the current name.

5) Use the alpha-numeric keyboard to enter the new name. Highlight each character required

and press to select it.

6) Highlight V in the bottom row and press .

7) Press to accept the new name.

8) Press to return to the main menu.

8.5.6 Device info

To see the device info:

1) Press .

2) Press the arrow keys to highlight Device then

press .

3) Highlight Device info and press .

4) Press or to scroll through the list.

Robot name

The name of the robot.

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Serial number

Serial number of the robot.

Latitude

Current latitude of the robot position.

Longitude

Current longitude of the robot position.

Visible satellites

Number of satellites that the device can currently detect.

Lat [GF center]

The current latitude of the center of the Geofence security zone.

Long [GF center]

The current longitude of the center of the Geofence security zone.

Radius

Current radius of the Geofence security zone.

Version

Current software version.

Brain version

Current AI version.

System version

Current version of the system software.

Software version

Current version of the application software.

Bootloader ver.

Current bootloader version.

8.5.8 Security

Use this menu to enable or disable the use of a PIN code and to define a security area in which the robot is allowed to operate.

NOTE: By default the pin code is 0000. To obtain the Pin Code menu, enter 0000.

Dist. to beacon

This option is not used in North America.

DW board not installed

This option is not used in North America.

Magnetic distance

The distance between the robot and the peripheral wire.

This value should be positive when the robot is inside the peripheral wire loop. If the distance is shown as a negative value, it is necessary to reverse the phase. See Infrastructure > Peripheral wires > WireCH# from the technician’s menu.

MAC address

MAC address.

8.5.7 System version

To see the System version information:

• Press .

• Press the arrow keys to highlight Device, then

Enable pin code

Highlight the check box. Press to toggle the setting.

Enable PIN code OFF

Enable PIN code ON

Press to accept the new setting.

From now on certain commands will require the PIN code to be entered before they can be executed.

Change pin code

Use to change the pin code.

Enter the required numbers and press .

press .

• Highlight System version, then press .

• Press or to scroll through the list.

8.5.9 Geofence

This option is not available in North America. A Geofence is a circular security zone in which the

robot is allowed to operate. If the robot moves out of

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ADVANCED PARAMETERS

this area, a security notification will be issued. The circular area is defined by its center and a radius.

The current location of the center point can be viewed in the device settings menu.

To define and implement a security zone:

1) Move the robot to the required center of the security zone.

2) Press .

3) Press the arrow keys to highlight Security, then

press .

8.6 Advanced Parameters

Press and hold 0 on the numeric keypad until the ADVANCED PARAMETERS screen appears.

ADVANCED PARAMETERS

Wire CH1: -11.29 Good shape

Wire CH0: +511.75 Bad shape

Wire CH2: -13.87 Good shape

1 – Wire channel numbers (Wire CH#). This is a list of currently defined peripheral wires.

2 – Distance the robot is from the peripheral wire. - A positive value indicates the robot is inside the peripheral wire. A negative value indicates the robot is outside of the peripheral wire.

3 – Wire integrity - “Good shape” indicates a good wire connection. “Bad shape” indicates the wire is damaged or not connected properly.

4 – GPS position (longitude and latitude).

GPS position : 50.736893 / 4.586355

2 3

4) Press the arrow keys to highlight Geofence and

press .

5) Highlight Define current position. The latitude and longitude of the current position is displayed.

6) Press to highlight Enable Geofence.

7) Make sure this option is checked on. Press to toggle the setting.

8) Use to highlight Radius value, then press

9) Use the numeric keypad to enter the required value.

10) Press to return to the main menu.

8.7 Technician's Menu

Press repeatedly until the home screen appears.

From the Home screen, press and hold 9 on the numeric keypad until the TECHNICIAN SETTINGS screen appears.

8.7.1 Infrastructure

Use the operations in this menu to configure the robot's installation in the field.

Peripheral wires

Use to configure the "Wires Setting" screen.

Wire CH#

A list of defined wires is presented, with the corresponding channel number. The list of parcels associated with the wire is listed below it.

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Select a wire and press to see the wire properties.

Create new wire

Use to Create a new wire.

Wire CH#

Wire id and magnetic distance

The identification of the wire in terms of the associated channel is displayed. In addition the current value and sign of the magnetic distance between the robot and the wire is indicated.

Signal channel

The signal (frequency) channel for the peripheral wire. This corresponds to the channel set using the rotating switch in the charging station. In the case of a multi-field installation, each wire used, must be assigned to a specific channel.

Reverse phase

The sign of the phase on the inside of the field is opposite to that on the outside. This is how the robot can detect whether it has crossed the peripheral wire. The phase should be positive inside the field.

6) Check the sign of the magnetic distance displayed at the top of the screen. If this value is negative, check the Reverse phase button ON.

7) Click to exit the menu.

The newly created wire will appear in the Wire settings screen.

Peripheral Wires

Wire CH#

A list of defined wires is presented, with the corresponding channel number. The list of parcels associated with the wire is listed below it.

Select a wire and press to see the Wire properties.

Create new wire

Use to Create a new wire.

Wire id and magnetic distance

The identification of the wire in terms of the associated channel is displayed. In addition the current value and sign of the magnetic distance between the robot and the wire is indicated.

To determine if this is the case, examine the magnetic distance value shown at the top of the screen. If the value is positive the phase is correct. If it is negative, check this option to reverse the phase.

Delete Wire CH#

This option only appears if there is more than one wire defined. It allows the current wire to be deleted. NOTE: At least one wire must be defined.

Create New Wire

1) Select Infrastructure > Peripheral wires > Create new wire.

2) Select OK to confirm that you want to create the new wire.

3) The new wire and its associated parcel will appear in the wire settings list.

4) Select the new wire and click on .

5) Select the required channel number. Station Loop is always channel 0. Field 1 is always channel 1. Field 2 is always channel 2

Signal channel

Reverse phase

Delete Wire CH#

This option only appears if there is more than one wire defined. It allows the current wire to be deleted. NOTE: At least one wire must be defined.

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Create a New Wire

1) Select Infrastructure > Peripheral wires > Create new wire.

2) Select OK to confirm that you want to create the new wire.

3) The new wire and its associated parcel will appear in the wire settings list.

4) Select the new wire and click on .

5) Select the required channel number. Station Loop is always channel 0. Field 1 is always channel 1. Field 2 is always channel 2

6) Check the sign of the magnetic distance displayed at the top of the screen. If this value is negative, check the Reverse phase button ON.

7) Click to exit the menu.

The newly created wire will appear in the Wire settings screen.

Set the value of this parameter to ensure that the robot can return to the charging station in the most efficient manner. This is important if a problem has occurred and the robot does not know which parcel it is in.

8.7.2 Parcels

The Parcels menu lists the defined channels and their associated parcels. There is, by default, one parcel associated with each wire.

For each parcel, the name and indication of the return direction is shown.

Selecting a parcel and pressing displays the list of parcel properties given below.

Parcel properties

1 – Counterclockwise return direction 2 – Clockwise return direction

The current return direction is indicated in the list of parcels.

Name

The current name of the parcel. The name can be edited.

Return direction

Defines the default direction (clockwise or counterclockwise) in which the robot returns to its charging station following the wire.

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The following figure illustrates the advantage of setting different return directions in different parcels to facilitate the most efficient way for the robot to return to the charging station.

1 – Parcel 1 (area inside station loop wire) 2 – Parcel 2 3 – Parcel 3

Use trackborder

This parameter defines whether the robot uses the trackborder when leaving or returning to the charging station.

NOTE: This parameter value must be checked ON in all parcels which are not the station loop.

This parameter can be checked OFF for the station loop

Min. Bounce Angle / Max. Bounce Angle

This is the angle through which the robot turns when it arrives at the peripheral wire. The range of values for this parameter is typically between 60° and 120°.

3 2

1 – Peripheral wire 2 – Min. Bounce Angle 3 – Max. Bounce Angle

Perimeter

This defines a distance the robot will travel along the trackborder to return to the charging station. If the robot travels the distance defined by this parameter and does not find the station, it will issue an alarm.

The recommended value of this parameter is the length of the peripheral wire around the working area, the default value is 1000 m.

Neighboring parcels

It is necessary to define how parcels are located relative to each other so that the robot can determine the route required to reach a particular parcel. Two parcels

Trackbord. Min. / Trackbord. Max.

The minimum and maximum values allowed for the trackborder. The robot will select a random value between the defined values.

The default minimum value for Trackbord Min.is 2.6 ft. (0.8 m). The default maximum value for Trackbord.

Max. is 9.8 ft. (3 m).

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are considered neighbors if they overlap. In the following figure:

• Parcel 1 is a neighbor of Parcel 2

• Parcel 3 is a neighbor of Parcel 2

Create new station

The charging station must be defined manually. Define the following parameters.

Charge

This defines whether the charging station is used to charge the robot or not.

Connected to parcels

This defines which of the defined parcels the station is connected to. For a multi-field installation a list of defined parcels will be presented and button next to the required one must be checked ON.

NOTE: This parameter must be defined for a multi-field installation.

Station Inside Parcel's Wire

This specifies whether the station is located inside or outside of the peripheral wire.

If the station is inside the wire, check the button ON.

Delete

1 – Parcel 1 (area inside station loop wire) 2 – Parcel 2 3 – Parcel 3

In the example above, select Parcel C and then check the buttons next to Parcel A and Parcel B.

StartZones

This menu displays a list of the defined start zones and enables you to create a new one. Start zones define where the robot will start working after it has left the station.

8.7.3 Stations

The "Paired Stations" screen appears.

Existing stations

If stations have already been defined a list of them is presented.

Selecting a station enables you to view and edit the properties of the station. These are the same as those used in creating the station.

Create manual station

Allows you to manually create a new station.

This procedure is required to define a station that does not use a positioning beacon.

Use to remove the manually created station from the installation.

Station Properties

Station properties include details of a station. This menu also allows you to specify Access parameters, which determine how the robot will enter and leave the station, and Start Zones, which are the points at which the robot starts working after leaving the station.

Charge

Defines whether the station is used to charge the robot or not.

Software version

The current version of the software for the station.

Connected to parcels

This defines to which of the defined parcels the station is connected. For a multi-field installation a list of defined parcels will be presented and button next to the required one must be checked ON.

NOTE: This parameter must be defined for a multi-field installation.

Station inside Parcel's wire

This specifies whether the station is located inside or outside of the peripheral wire loop.

If the station is inside the loop, check the button ON.

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Start Zones

This menu displays a list of the defined start zones and enables you to create a new one. Start zones define where the robot will start working after it has left the station.

NOTE: A start zone defined here is only used for a installation that contains a single wire and a positioning beacon.

8.7.4 Mobile Connection

In the absence of a wireless network, the robot contains a SIM card that enables you to use 4G technology in the field.

Select the Mobile connection in the list and press .

Mobile Connection Options

Status

Displays the current mobile network status.

Network

MCC

Mobile Country Code. This code identifies the country. For example, in China MCC is equal to 460, in USA - 310, Hungary - 216, Belorussia - 257.

MNC

Mobile Network Code. This code identifies the mobile operator.

LAC

Location Area Code.

Cell ID

A unique number used to identify each Base transceiver station (BTS) or sector of a BTS within a Location area code.

8.7.5 Demonstration

Check the option ON. Confirm you want to ignore the peripheral wire.

Use this mode to demonstrate the performance of the robot before installation of the peripheral wire.

Displays the name of the current network operator.

Network Carrier

Displays the name of the current network carrier.

APN

Displays the current id of the Access Point Name of the SIM card.

Radio

3G/2G/UMTS/4G.

Signal Strength

Signal strength in dB.

Bit Error Rate

Number of errors during transmission. Very standard in every communication.

ICCID

Integrated circuit card identifier.

IMEI

International Mobile Equipment Identity.

OPERATIONAL HAZARD

The robot will ignore the electromagnetic field generated by the peripheral wire when operating in demonstration mode.

• Do not leave the robot unsupervised when it is operating in demonstration mode.

8.7.6 Service

Cutting heads

Use this option to calibrate the rotational speed of the cutting heads.

1) If a cutting head has been modified, or if a new

cutting head has been installed, press to

select Calibrate now, then press .

2) Close the lid.

3) The cutting heads will be rotated and the rotational speed evaluated.

IMSI

International Mobile Subscriber Identity

PLMN

Public land mobile network.

4) When an audible beep is heard, open the lid and view the results.

5) If any of the heads display a NOK value that is not in line with the others, examine the heads and see if there is any sort of blockage that is preventing the head from rotating normally.

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Cutting height

The cutting height values need to be calibrated if

• erroneous values (negative) values are displayed

• a cutting head has been replaced

• the belt lifting the cutting heads has been modified or replaced

During the calibration procedure the cutting heads are lifted until they reach their maximum height. Their position during this movement is termed the "raw position" and when the maximum height is reached, it is termed the "homing position" and assigned a scalar value. When the homing position has been reached, the cutting heads can be lowered to the required height.

1) To calibrate the cutting height, press to

select Calibrate now,then press .

2) The robot will move the cutting heads up to the maximum height. The cutting heads will then be lowered to the required height.

3) Repeat this for all tests required.

4) Select Start and press .

5) The robot will start executing each of the selected tests. Follow the instructions given on the screen.

Charge Test

This test checks if the:

• robot can detect a charge

• received charging current is sufficient

When this option is selected, the following information is displayed:

X/Y CHARGE _LR

X represents the current test in the current sequence.

Y represents the total number of tests to be performed in the current sequence.

Charge_LR is the name of the current test.

3) When the value is OK, set the required cutting height.

4) If there is a problem, examine the cutting heads and see if there is anything blocking the movement over the complete range.

Information

Total distance

This is the total distance (in meters) traveled by the robot to date. Use this information to decide when maintenance is required.

Bumper resistance

Displays the current value of the bumper resistance. This should lie in the range 82-94 kΩ.

Tests

These tests are only to be run by an authorized ECHO Robotics Technician.

Use this menu to execute tests on a number of components. These tests will be carried out before the robot is delivered to a customer and at the end of a regular service.

To execute a test:

Detect

This displays whether the robot can detect a voltage on the left and right sides.

KO means it can not detect a voltage on the left or right side. OK means that it can detect a voltage.

Current

This displays whether a sufficient charge current can be detected (>7A).

KO means it can not detect sufficient charge current on the left or right side. OK means that it can detect sufficient charge current.

[value]

The current on the connected side.

Discharge required for current test

You will see this message if the current battery level is above 95%. It is best to perform this test when the battery charge level is lower.

To test the charge:

1) Connect one side of the robot to the charging station.

2) The result will be displayed.

1) Press to select the test(s) you want to execute.

2) Press to select the test.

3) Repeat this for the other side.

If the results of the test are KO, check the connections between the robot and the charge station arms.

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Bumper

This test checks that the electrical resistance of the bumper is within the correct range and that it responds to pressure from an obstacle.

The following information is shown.

X/Y BUMPER SENSORS

X represents the current test in the current sequence.

Y represents the total number of tests to be performed in the current sequence.

BUMPER SENSORS is the name of the current test.

Activate sensors

The sides of the bumper that need to be tested by activating. (Bumper Left Bumper Right)

Disable Sensors

The sides of the bumper that need to be disabled (Bumper Left Bumper Right)

To test the Bumper

1) Check that Bumper Left Bumper Right are listed below Activate sensors.

2) If these are listed under Disable Sensors, remove any constrictions that are compressing the bumper.

Lift Sensors

This checks whether each of the lift sensors is responding correctly.

X/Y LIFT_SENSORS

X represents the current test in the current sequence.

Y represents the total number of tests to be performed in the current sequence.

LIFT_SENSORS is the name of the current test.

Activate sensors

The lift sensors that need to be tested by activating by lifting (Lift1, Lift2, Lift3, Lift4).

Disable Sensors

The lift sensors that need to be disabled by depressing them (Lift1, Lift2, Lift3, Lift4).

To test the Lift Sensors

1) Check which Lift sensors are listed below Activate sensors.

2) Lift each of sensors in turn.

3) If the lift sensor is operating correctly, the item will be remove from the list.

4) Repeat for the remaining lift sensors.

3) Press your hand against the right or left side of the bumper.

4) If the resistance is modified sufficiently the item will be remove from the list.

5) Repeat this process on the other side of the bumper.

6) If an item remains in the list, the bumper is not functioning correctly and needs to be replaced.

Smartbox

This test checks all the functionality of the user interface panel.

To test the Smartbox

1) Follow each of the instructions as they appear on the screen.

2) Press to answer Yes to a question and to

answer No.

3) If the item being tested is operating correctly it will disappear from the list.

If there is a problem with any of the items, replace the Smartbox.

5) If there are sensors listed under Disable Sensors,

push down on the lift sensor to deactivate it.

6) When all the items have been removed from the list the test is complete.

7) Any items that remain in the list are not functioning correctly and need to be replaced.

Backwards Sensors

This checks that the backwards sensors are operating correctly.

The following information is shown.

X/Y BACK_SENSORS

X represents the current test in the current sequence.

Y represents the total number of tests to be performed in the current sequence.

BACK_SENSORS is the name of the current test.

Activate sensors

The number of sensors that need to be tested by activating them (CollisionLeft, CollisionRight).

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Disable Sensors

The number of sensors that need to be deactivated (CollisionLeft, CollisionRight).

To test the Back Sensors

1) Check that CollisionLeft and CollisionRight are

listed below Activate sensors.

2) If these are listed under Disable Sensors, remove

any constrictions activating them.

3) Push the body of the robot backwards on one side so that it moves relative to the chassis.

4) If the backward sensor on this side is functioning correctly it will be removed from the list.

5) Repeat this on the other side.

6) If an item remains in the list, the backward sensor is not functioning correctly. Visually inspect it to see if there is a constriction that is impeding its function. If not, replace it if necessary.

Signal Sensors

This checks the functionality of the coil that is used to detect a signal on a peripheral wire.

The following information is shown.

X/Y COIL0_CENTER

X represents the current test in the current sequence.

Y represents the total number of tests to be performed in the current sequence.

COIL0_CENTER is the name of the current test.

Detecting wire < {value}

{value} is the value of the "track value". If the result of the test is less than this value, the test is successful.

CH{A}:{result value}

If the test result is greater than the defined "track value", it will be listed here.

Move the robot closer to the signal wire detected. When the value is less than the "track value", the item should be removed from the list.

If the robot is close to the wire and the displayed values are high (900 or more) it is an indication that the coil connections are not good.

Drive Motor

This checks the function of the drive motor. It checks that:

• the motor drives the wheel forward at 0.2 mph (0.1m/s)

• a current of 2.5 A is delivered to the motor

To test the Drive Motor

1) Press to start the test.

2) Close the lid when requested.

3) The robot will move forward a short distance then stop and beep.

4) Open the lid.

5) If the robot moved forward, answer Yes to the

question by clicking .

6) If the robot moved backwards answer No to the

question by clicking . If this is the case,

reverse the connections on the drive motor cable.

If the robot did not move, or only one wheel moved, the test will fail, and the report will indicate the problem.

1) Visually inspect the drive motors to see if there is a blockage.

2) Check the fuse and the cabling for the drive motors.

Cutting Motor

This test rotates each of the cutting heads and verifies that their rotational speed is correct.

If any of the heads display a NOK value that is not in line with the others, you will need to examine those heads and see if there is any sort of blockage that is preventing it from rotating normally.

Sonars System

This performs a test to verify that the sonar sensors are operating correctly.

If any of the sonar sensors are found to be defective, they need to be replaced. An indication of which sensor needs to be replaced is given.

Lid

In order for the robot to be able to execute its missions the lid needs to be shut, and to form a closed circuit between magnets on the lid and relays on the body. This circuit needs to be open when the lid is open and when the lid is pressed down and acts as the stop button. This requires that all magnets and relays are

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functioning correctly and there is some precision in their positioning.

Software update

This menu enables you to perform a software update. The current software version is displayed.

Select Update now, then press . The robot will contact the server, download and then install the latest software version.

8.7.7 Advanced Parameters

Max speed

Use this menu to set the maximum speed of the robot. The maximum speed is 2.2 mph (1.0 m/s). This is also the default speed setting for the robot.

Wire crossing distance

Use this menu to set the distance the robot will move when it crosses the peripheral wire, before turning back into the field again.

The default value is 8.0 in. (0.2 m). This distance represents the distance between the front of the robot and the position of the coil that detects the presence of the wire.

NOTE: The values of distances between the peripheral wire and boundary of the working area are based on the use of a wire crossing distance of 8.0 in. (0.2 m).

Min temp

Sets the lowest temperature at which the robot will operate. The default value is 41.0 ° F (5.0 °C).

NOTE: Mowing at too low a temperature can damage the grass.

Error Message Description

Values displayed for the battery on the GUI

Bad battery measure

BMS communication wire is not connected

Shutdown in 2 min / inhibit shutdown principal / unblock brakes

Some wires not well configured. Please add at least one parcel to each wire

No charge current; Check contacts and charging station

screen do not correspond to the actual values.

BMS (Battery Management System) wire is not connected properly. This refers to the electronic part of the battery.

GUI (Graphical User Interface) screen displays the alarm- and asks if you want to inhibit the shutdown.

The LED is blinking very fast (~5x per second).

The brakes are deactivated.

Battery charge level is critically low.

Configuration of wires and parcels is incorrect.

At least one wire must be defined in the installation configuration, and at least one parcel must be assigned to each wire.

Charging station voltage is detected but there is no supply current.

8.8 Error Messages

Report error messages to your authorized ECHO Robotics Dealer. Always note the date, time, and robot serial number.

Error Message Description

Battery temperature issue

Battery over voltage

Bad battery connection

Battery temperature is above or below the allowed limit.

One, or more, battery cell voltage is over the limit.

Internal problem with the battery.

The robot has no wire to mow. Please configure at least one wire.

The robot has no parcel to mow. Please configure least one parcel.

No peripheral signal!

No wire has been configured.

No parcel has been configured. At least one wire must be configured defining a field to mow, and a parcel must be defined for each wire.

Robot is unable to detect a valid magnetic signal.

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Error Message Description

Robot has reached the charging station and started to charge, but at

Station contact lost for {0}s!

Wrong wire and parcels Configuration

No station contact detected

Wire Lost during TrackWire!

Unlock system: bad pin code

Unable to find the working area

Failed to dock to station

Head {0} is blocked!

Head {0} did not start!

Motor blocked when going {0} to {1}mm

a certain time the charging station contact is lost. If the contact loss lasts for more than one hour, this alarm is triggered.

Robot has encountered a problem while mowing in a particular parcel. When the robot re-starts it is not sure in which parcel it is located, and where it should start mowing.

The robot has executed the loopstep, but has not made contact with the charge arms after 29 m (by default).

Robot is following the trackwire and is then unable to detect a signal on the wire. When this happens the robot will rotate 360° in an attempt to detect a phase difference, and then issue this message.

"System blocking" is set and must be unblocked by entering a pin code. An incorrect code has been entered.

The robot is unable to find a valid magnetic signal.

Robot has tried to return to the charging station but failed.

Occurs when a cutting head should be spinning, but is not

Cutting head should be spinning but it does not start.

A command to change the cutting height has been issued, but the cutting head can not move.

Error Message Description

There is no 5V for {0}.

STOP button issue detected

Unexpected exit zone event

The {L/R} fuse is blown or the {L/R} motor is not connected

Failed to consistently re-enter the zone

SelfTest failed to clear within 15s

Unhandled exit zone!

5 V power supply does not work properly.

Stop button is not operating correctly. The Stop button lid must be closed when the robot is operating.

The Stop button lid is determined to be closed by detecting a closed circuit between magnets on the lid and relays in the body. If these magnets are and relays are not connecting correctly the correct state of the lid can not be determined. This can arise due to wide temperature fluctuations.

Robot did not exit from the charging station correctly, possibly turning in the wrong direction.

Robot can not detect any current in either the left or the right wheel motor.

Either a fuse or a connection is faulty.

Robot has crossed the peripheral wire, but is not able to re-enter the field where it is mowing.

Possible reasons are a loss of signal or the robot is physically unable to re-enter the field because of mud or obstacles.

When the robot starts up, it executes a self-test of a range of functions. This error occurs if a failure occurred on any of the functions tested.

A problem arises as the robot exits the charging station.

There is no 12V peripheral for {0}

12 V power supply does not work properly.

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Error Message Description

Robot is in the charging

Waiting for station contact

Wait for 5 Seconds of full contact

Waiting for signal

Noise on bumper

Lift(X) Detected Front/Rear Left/Right

Too many repetitive collisions!

Unhandled collision event!

Sonars issue detected

Collisions at start-up: {0}

station and it loses contact. It will wait one hour before generating the alarm.

Contact with the charging station arm has been lost.

There is insufficient voltage on the charging station arm to charge the robot.

The signal on the peripheral wire is lost. The robot will wait for a period of 12 hours and then start again - if the signal has been restored. This message appears if the Stop button lid is opened during the 12 hour period.

There is no signal on the peripheral wire.

Electrical (background) noise level on the bumper is high enough to impair the proper operation

A cover lift is detected.

An obstacle has caused the cover to be lifted.

A series of repetitive collisions is detected.

Too many obstacles.

Robot has detected small obstacles in the mowing field, which are not large enough to trigger the operation of the lift sensors.

One of the sonar sensors is malfunctioning.

The robot can not resolve a collision at start up.

There is an obstacle blocking the robot start up.

Error Message Description

The robot is leaving the charging station. The robot encountered an obstacle (at {X} meters

from the charging Collision too close to station ({X}m)

DMA Error, on sonars: {0}

LongCollision ({0}) event detected

Still in collision ({0})!alarm

Wait for no collision

Did not find the zone due to collision ({0})

ManualTask shall not complete: MotorDrive is in safety.

The wire is currently configured to be ignored.

Cannot start MotorMow If we are in Alarm/Safety. Check navigation.

station), but was unable

to move around it

because it was too close

to the charge arms.

Obstacle too close to the

charging station.

A hardware error in the

sonar control system.

either a lift or a

backwards sensor has

been blocked for at least

10 seconds.

A maneuver to avoid a

collision has failed after

one minute.

Occurs after a collision.

The robot moves

backwards and then

checks if the obstacle is

still there. It will then

wait until the obstacle

has been removed. This

message appears while it

is waiting.

Robot has crossed the

peripheral wire, but was

unable to re-enter the

zone to be mowed

because of an obstacle.

Robot did not start.

Robot sends a cautionary

message before starting

work. It can come out of

its area and there is a

risk it could fall into

water

Robot was asked to

start, but an existing

alarm has not been

cleared.

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8.9 Connecting to Robots

Communication with a robot is available through:

• Direct interaction with the robot. This type of communication refers to the direct operation of the robot using the user interface. There are some instructions which can only be issued using this method of communication.

31 2

4 5

7 9

• Direct access using a smartphone, tablet, or personal computer.

• Remote access via the web server. This method of communication allows a user to connect to the robot using a smartphone, tablet, or personal computer, via a web server using the internet.

• A user account is required to access the web server. This depends on the concepts of Entities, Users and Roles, and Robots.

Through access to the web server the user can:

• Receive notifications about problems encountered by the robot (alarms and warnings).

• Issue commands to remotely control the robot, such as send to station, start from station, etc.

• Change or remotely configure some parameters, such as the working hour.

• Monitor the performance of the robot.

• Implement automatic software updates.

8.9.1 Entities, Users and Roles, Robots

• Sports Field 2

• Park West

• Park East

The entity "Park West" has a child entity "Golf Course".

City Authority

User A

User B

User C

Sports Field 1

User D

Sports Field 2

User E

User F

Park West

Golf Course

User G

Park East

User Roles

A user has an account that is associated with an entity. This is referred to as the user's "home" entity. The information and the operations available to a user depend on the roles thathave been assigned to the user. The following roles are available.

Standard User

A user with this role can view and follow the robots but has no control over them.

RobotControl

A user with this role can send commands from the portal or from the application, and change schedules on line.

EntityManager

A user with this role can create or delete other users or sub-entities as part of its hierarchy. The user can also move robots between sub-entities.

Technician

A user with this role can see and read more details on the robot versions. The capabilities of this user will be progressively increased with access to technical data not available to end users.

Entities

An entity is a group of users and robots associated with a "site". Each entity can have a number of robots that are used within the site.

There are five entities in the image below that are related in a hierarchical structure. The parent entity is the "City Authority". It has four child entities:

• Sports Field 1

Robots

Robots are transferred from a parent entity to a child entity when the robot is "sold" by the parent to its child. The end-user entity and the end-user account used to access the web server are created at the moment when the robot is commissioned. Following this, the account holder will receive an email from which the account can be activated.

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In the case where an end-user purchases a robot directly, an account will be created using the information received on the registration card supplied with the robot.

8.9.2 Accessing the Web Server

NOTE: Before you can access the web server you need to have set up an account. See Creating Accounts.

The web server can be accessed using a web browser, on a personal computer, or by using the application that can be downloaded onto a smart phone or tablet.

NOTE: This section refers to the use of the web-server through a browser.

To access the web server:

1) Enter the URL https://myrobot.echorobotics.com in the browser.

2) Enter the email address used to activate the account.

3) Enter the password defined when you activated the account.

4) Click [Login].

To Modify Your Profile

1) Click on the gear wheel next to your user name.

Your Name Here

Profile

Log out

2) Click on Profile.

3) Modify any of the settings.

4) Click [Register].

You can then:

• Modify your profile parameters.

• Change your password.

• See a list of your robots and information about their activity, alarms, statistics and the map of the field they work in.

• Create and manage users and entities. This functionality is only available to users who have a suitable role.

• Specify the type of notifications you want to receive and how they will be delivered.

• Access documentation.

To Change Your Password

The password was set when you activated the account.

1) Click on the gear wheel next to your user name.

2) Click on Profile.

3) Scroll down to the Password panel.

4) Enter your current password. (If you have forgotten the password, click on the gear wheel, and logout. Enter your email address and then click on "Forgotten password". An email will be sent with a link which will allow you to enter a new password.

5) Enter the new password in the two fields provided.

NOTE: There are no restrictions on the pass-

word. Use a strong password which has at least 12 characters and includes numbers, symbols, and a mixture of upper and lower case letters.

6) Click [Register].

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8.9.3 My Robots

This page enables the user to:

• search for a robot

• add a robot to the favorites list

• view the current status and issue a command

• view the robot history

• view the alarm history of a robot

• view a map of the robot’s movement

• view a robot’s statistics

• view identification information for a robot

Search for a Robot

1) Click on the Search tab.

2) Enter the name or part of the name of the robot you are searching for (there is no need to add any wild cards.)

3) Click on the search icon.

The list of robots that match the search criteria will appear.

Add a Robot to the Favorites List

1) Search for robots as described above.

2) Click on . The robot will be added to the list of Favorites.

3) Click on the Favorites tab to see the list of Favorites.

View the Current Status and Issue a Command

1) Click on the robot in the Favorites list.

2) Click on the "Report and Commands" tab.

3) Click on the required command.

The information is provided in two formats: as a chart, or in a table.

Viewing the History as a Chart

This shows the time the robot spent in various states over a period of time. The number of days for which the data is displayed is set using the period field. Select a part of this period by clicking on a button above the chart.

You can also restrict the time period, by dragging the sliders at the bottom of the chart.

A set of tools are available to manipulate the view of the chart. These will appear when the mouse is hovered on the top right side of the chart.

In each case the function of the tool can be seen by hovering over it as shown above.

Viewing the History In a Table

Sort the data in the table on any of the columns by

clicking or to select Ascending or Descending order.

For some items you can filter the data displayed by selecting required content from the drop-down list.

Different states are shown in different colors.

To View the Alarm History of a Robot

If the robot is in an alarm state, this will be indicated in the Favorites list.

1) Click on the robot in the Favorites list.

2) Click on the "Alarms" tab.

A list of alarms and the times when they occurred as well a map showing where the alarm occurred will be displayed.

To View a Map of a Robot's Movement

1) Click on the robot in the Favorites list.

2) Click on the "Map" tab.

3) Choose the time period for which the movements are required.

4) Click on the calender icon next to the date and choose the start and end date required.

View the Robot History

1) Click on the robot in the Favorites list.

2) Click on the "History" tab.

This page provides information on the activities and status of the selected robot over a period of time.

The time period is shown in the period field. To adjust the time period, use the up and down arrows to choose

the number of days and then click .

5) Click Set.

6) Click [Obtain Data].

NOTE: You can add a "Symbolic" map of the field which improves the visualization of the robot movements.

To do this:

1) Go to http://geojson.io (Satellite/OSM views)

2) Follow the instructions on their site.

3) Copy the contents of the generated file.

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4) On the robot's map page click on [Manage Geojson].

5) Import the contents of the file.

To View a Robot's Statistics

1) Click on the robot in the Favorites list.

2) Click on the "Statistics" tab.

3) Choose the time period for which the statistics are required

4) Click in the date field and choose the date required.

5) Click [Set].

6) Click on .

7) To change the presentation of the data click on

to see cumulative data in a pie chart. Click

on to see daily information in a bar chart.

8) To download the information click on the download icon.

To View Identification Information for a Robot

1) Click on the robot in the Favorites list.

2) Click on the "Robot Info" tab.

8.9.4 Creating Accounts

The creation of an end-user account can be done by:

• The parent entity (a distributor or dealer for example). This is done when the parent entity sells the robot to the user entity.

• By the end-user who has purchased a robot. This uses the information on the registration card supplied with the robot.

• Once the account has been created, it needs to be activated.

Creation of Accounts by a Parent Entity

This consists of a number of stages.

Stage 1: The parent creates a new child entity

This step is performed by the representative from the parent entity who currently owns the robot.

For this procedure, an example of creating a new entity called "New distributor" is used.

To create a new child entity

1) Log on to the web-server.

2) Click on Management.

3) Click on [Create Entity].

4) Enter the "Last name" of the new entity ("New distributor" in this example).

5) Enter a description if necessary (this is optional).

6) Enter the "Street", "Number", "City", "Postcode" and "Country" fields (all are required).

7) Click .

A message will appear to show that the new entity has been created.

To see the new entity

1) Click on Management.

2) Search for the "Last name" of the newly created

entity and click on . The newly created entity will appear in the hierarchy under the "Entities" tab.

Stage 2: The parent entity creates a user account for the new entity manager

Once the new entity has been created, a user account for the manager of this entity can be created.

For this procedure the email address of the manager is required.

1) Click on the newly created entity in the "Entities" list ("New distributor" following the example above). This will be reflected in the hierarchy at the top of the page.

2) Click on [Create user].

3) Enter the details of the new entity manager.

NOTE: The fields "First name", "Last name" and "E-mail address" are required.

4) Click .

The new user will receive an email from the web server to activate the account.

Stage 3: The robot is transferred to the new entity

This step is performed by the representative from the original parent entity.

1) On the web server click on Management.

2) Search for robots.

3) Click on the "Robots" tab.

4) Select the robot to be transferred.

5) Click on [Change Parent Entity].

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6) Search for the entity to which the robot is to be transferred.

7) Click on the entity.

The robot will be transferred and the information

updated on the screen. Click .

Creation of an Account by an End-user

The procedure is for a user who has purchased a robot from ECHO Incorporated. It requires information on the registration card that was delivered with the robot which contains the serial number and the activation code for the robot.

To Open an Account

1) Go to https://myrobot.echorobotics.com an click on Create an account.

2) Enter all the details required. All fields are required.

3) Click [Confirmation].

At this point, the account will be created and an email sent to the email address supplied. Follow the procedure to add the robot to your account.

NOTE: If you do not receive the email, or you do not respond rapidly enough, follow the procedure to initiate an account activation.

To Add the Robot to Your Account

1) Copy the link in the email into the address bar of your browser and press the <Enter> key.

2) On the Home page click on "Add 1st Robot".

3) Enter the Serial number for the robot (see the registration card).

the activated. Activate the account within 24 hours of receiving the email.

If you did not receive the email, or you did not respond rapidly enough, follow the procedure to initiate an activation.

To Activate an Account

1) Open the "Account validation" email received from ECHO Robotics.

2) Copy the link in the email into the address bar of a browser.

3) Enter the password you wish to use. There are no restrictions on the password. Use a strong password that has at least 12 characters and which includes numbers, symbols, and a mixture of upper and lower case letters. You can change the password later by modifying your profile.

4) Re-enter the same password.

5) Click [Send].

You can now login to the web server using your email address and the password that you defined above.

To Initiate an Account Activation

If you did not receive the activation email, or you did not respond rapidly enough to it, you can follow the procedure below to gain access to your account.

1) Go to https://myrobot.echorobotics.com

2) Enter the email address used when the account was created.

3) Enter the password defined in the creation of the account.

4) Click [Login].

4) Enter the validation code (see the registration card).

5) Enter a name for the robot.

6) Enter the number of the charging station to be used with the robot.

7) Click "Validate".

The robot will be added to your user account and you can now use the web server to access information about the robot.

Account Activation

An account must be activated before full access to the web server can be made. An account is created by your dealer. Following the creation of the account, an email is sent to the account holder enabling the account to

You will be able to request an activation email to be sent to your address. You can then follow the instructions given above to activate the account.

8.9.5 Management

This section allows users to search for and manage Entities, Robots, and Users.

Manage Entities

This enables the user to:

• view information about your entity and its child entities

• create a new entity

• change the properties of an entity

• change the parent entity

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Manage Robots

This enables the user to:

• view the robots in an entity

• view the properties of a robot

• move a robot to another entity

Manage Users

This enables the user to:

• view the users in an entity

• view the properties of a user

• create a new user

On this page you can search for entities, users and robots. To search for particular items use the filter list.

The breadcrumb above the list is adapted. Clicking on any entry will take you to that level.

To Create a New Entity

1) Select the parent of the new entity in the Entities list.

2) Click on [Create entity].

3) Fill in all the details required.

4) Click .

To Change the Properties of an Entity

1) Search for the entity.

2) Click on it in the list.

3) Modify the required information.

4) Click (located on the far right-hand side of the screen).

Managing Entities

When you login, your account is associated with your parent entity.

To View Information About Your Entity and its Child Entities

1) Click on .

2) Enter the name of the entity or part of it in the search field (enter * to search for all entities).

3) Set the filter to Entities:

To Change the Parent Entity

1) Search for the entity.

2) Click on it in the list.

3) Click [Change parent entity]

4) Select the new parent entity.

5) Click (located on the far right-hand side of the screen).

Managing Robots

NOTE: The information given here, refers to the operations available from the Management section of the web-server.

To View the Robots in an Entity

1) Enter the name (or part of the name) in the search field. Enter * to search for all robots.‘

2) Set the filter to Robots.

4) Click .

5) Click on an entity to see the details.

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3) Click . The list of robots and their parent entity will be displayed.

To View the Properties of a Robot

To Create a New User:

1) Select the parent entity to which the user is to be added.

2) Click [Create user].

1) Click on the robot in the list. The properties of the robot will be displayed.

To Move a Robot to Another Entity

1) Click on the robot in the list.

2) Click [Change parent entity]. A pop-up window will appear.

3) Enter the name of the new parent entity, or choose one from the list. The pop-up window closes.

4) Click (located on the right hand side of the screen).

Managing Users

To View the Users in an Entity:

1) Click on .

2) Enter the name (or part of the name) in the search field. Enter * to search for all users.

3) Enter the details of the new user.

The fields "First name", "Last name" and "E-mail address" are required.

4) Click .

An email will be sent to the new users email address, from which the user can activate the account.

To Delete a User:

1) Click on the user in the list.

2) Click X.

3) Click .

8.9.6 Notifications

This section allows the user to set the robot notifications to receive, and the manner in which they will be delivered.

3) Set the filter to Users.

4) Click . The list of users and their parent entity will be displayed.

To View the Properties of a User

1) Click on the user in the list. The properties of the user will be displayed.

NOTE: The properties of a user can not be modified here. This must be done by the user adapting his profile.

To Add a New Notification

1) Click +.

2) Enter the name of the robot (serial number).

3) Select the Notification type.

4) Choose the delivery method:

• Email - to your email address

• Smartphone - the notification can be viewed in the ECHO Robotics application

5) Click .

To Modify a Notification

1) Click .

2) Modify the notification.

3) Click

Page 57

MAINTENANCE

MAINTENANCE CHART

To Delete a Notification

1) Click .

8.9.7 Documentation

Provides access to the documentation available.

8.9.8 Using the Application

You can view information about your robots using an application that can be downloaded onto a tablet or a smartphone.

You can find the application by searching for "ECHO Robotics" in the application store.

NOTE: Before you can use the application your need to have set up an account and activated it.

The functionality available from the application is a subset of the functions available when accessing the server through a web browser.

To see information about a robot, click on the robot in the list.

risk of accidents, the use of any non-OEM parts will result in the annulment of the warranty for any resulting damage. ECHO Incorporated declines all liability in case of accident due to the use of non-OEM parts.

9.1 Maintenance Chart

Component Weekly 6 months Annual

Cover

Charge contacts

Coil

Bumper

Chassis

Electrical cables Inspect

Front and rear lift sensors

Front wheels

Rear wheels

Inspect /Clean

CleanSonars

Inspect /Clean

Inspect

To see the alarm history, click on . To see the battery level and the robot details, swipe on

the robot.

To see the location of the robot, click on .

9 Maintenance

Follow all Safety Information when performing maintenance.

Perform maintenance procedures regularly throughout the season. Have an authorized authorized ECHO Robotics dealer service the robot once a year.

When maintaining the robot for optimum performance, do not attempt to make any changes to the robot. Making changes may disturb the robot’s operation, causing an accident, and damaging parts.

NOTE: If unusual operation or physical damage is noticed, contact an authorized authorized ECHO Robotics dealer.

IMPORTANT: Keep all nuts, bolts and screws tight to be sure the robot is in safe working condition.

Always use OEM (Original Equipment Manufacturer) parts supplied by ECHO Incorporated. In addition to the

Cutting height system

Cutting heads

Cutting discs

Cutting blades Inspect Replace

Battery Charge

Clean

9.2 Winter Service Check List

Basic Information

Client Technician

Serial number

Date

Robot Information (record as appropriate)

Software version

Height of cutting heads (mm)

Check history on Myrobot

Field

Installation date

Page 58

MAINTENANCE

WINTER SERVICE CHECK LIST

Perform the service tests listed in the following table. Access the user interface and select Technician's menu

> Service > Test.

Service Tests

(indicate condition as appropriate)

Charge

Bumper

Smartbox

Lift Sensors

Backward Sensors

Signal Sensors

Drive Motor (gear motor)

Cutting Motor

Sonar Sensors

Lid (stop button lid)

Complete two cutting height tests: highest and lowest. Check that all cutting heads go to the correct height.

Select a trajectory along a straight line without obstacles and verify that the robot follows the line.

Start the robot, listen for any abnormal noises. Check the wheels, cutting heads, cutting height motors, rear wheel motors. Also listen for excessive body vibrations.

Service Inspections

(indicate condition as appropriate)

Check the integrity of the sonar electrical connectors, clean as necessary.

Clean the charge contacts.

Clean the GUI screen. Check that there is no moisture on the exterior of the screen or condensation on the interior of the screen.

Smartbox: If a problem has been indicated with the GPS signal, replace the Smartbox.

Inspect the inside of the cover and the chassis:

• cable condition (check for cuts or abrasions)

• attachment and routing of cables

• cable electrical connections

• inspect for corrosion on the chassis

• check the JEA40 connector for corrosion

• check the charge connector for corrosion

Frame

Service Inspections

(indicate condition as appropriate)

Body

Check the body fixing screws for rust. Tighten all screws. If necessary, replace with A4 type screw during service.

Check for scratches or cuts on the bumper. Verify that all bumper retention screw are tight.

Verify that the coil is securely tightened to the chassis. Check the coil electrical connector.

Check that the front wheel axles rotate freely and the axle nuts are securely tightened.

Front wheels: check the rotation, wheels should spin freely without wobbling. Verify that the wheel bearings are sealed.

Check the rear tires for excessive wear, replace as necessary.

Page 59

MAINTENANCE

MAINTENANCE PROCEDURES

Service Inspections

(indicate condition as appropriate)

Front lift sensors: verify that the lift sensors move up and down with no resistance, lubricate as necessary.

Check the front and rear silentblocs for cracking or splitting, replace as necessary. Replace the silentblocs once every two years regardless of their condition.

• Cutting heads and cutting system:

• cable condition (check for cuts or abrasions)

• check the lifting strap

• check for moisture in the interior of the cutting motor housing (always replace the top seal when servicing the cutting motor housing)

• check for excessive lateral movement of the cutting head upper and lower brackets

• verify that the cutting disc spins freely and does not wobble

• verify that the anti-friction disc spins freely (this disc must spin independently from the cutting disc).

Service Inspections

(indicate condition as appropriate)

Inspect all electrical cables for cuts or abrasions. Verify that all connectors are securely assembled. Replace damaged cables.

Electrical box: check cable connections, inspect the interior for the presence of moisture.

Drive motor: Lubricate the motors during every service. Check and replace the axle, bearing and the seal on the outlet of the gear unit if necessary.

9.3 Maintenance Procedures

9.3.1 General Inspection and Cleaning

During periods of wet weather, perform inspection and cleaning once per day.

1) Move the power switch to the OFF position.

2) De-energize AC power at the mains (charging station only).

3) Remove robot from charging station (if required).

4) Visually inspect the unit, replace damaged components.

5) Check all electrical connectors, reconnect if necessary.

6) Use a plastic scraper, nylon brush, compressed air, or a damp cloth to clean dirt, grass, sticks, or obstructions.

Inspect the cutting blades, replace if dull, cracked, or chipped.

Inspect the cutting head motor.

Inspect the backwards sensors.

Page 60

MAINTENANCE

MAINTENANCE PROCEDURES

NOTE: Do not use a high-pressure washer or running water for cleaning. Never use solvents.

9.3.2 Cover and Electrical Cables

1) Clean the outside of the cover.

2) Stand the robot on end. Disconnect the two electrical cables (located in circled area).

7) Place the cover onto the chassis.

8) Assemble the cover screws and washers. Tighten the screws to 5 lbf•ft (7 N•m).

9) Stand the robot on end.

10) Connect the electrical cables.

11) Lay the robot back onto flat ground.

9.3.3 Charge Contacts

Clean once per week.

1 2

1 – Right side charge contact 2 – Left side charge contact

3) Lay the robot back onto flat ground.

4) Remove the front cover screws, rear cover screws, rear washers, and cover.

1 – Front cover screw (2X) 2 – Rear cover screw (2X) 3 – Rear washer (2X) 4 – Cover

2 3

9.3.4 Sonar Sensors and Bumper

Clean once per week. Check that the bumper material is intact and not cut or torn. If the bumper is damaged, replace it.

1 2

1 – Sonar sensors (5X) 2 – Bumper

5) Lift the cover off and turn it over.

6) Clean the inside of the cover, clean all electrical cables.

Page 61

MAINTENANCE

MAINTENANCE PROCEDURES

9.3.5 Coil

Clean once per week.

1) Visually inspect the coil for damage.

2) Inspect the cable. If there are exposed wires, replace the cable.

9.3.7 Front and Rear Lift Sensors

Clean once per week. Verify that the front lift sensors move up and down with no resistance.

9.3.6 Chassis

Clean the chassis once per week.

2 3

1 – Lift sensor attachment point 2 – Front lift sensor assembly 3 – Rear lift sensor assembly

Page 62

MAINTENANCE

MAINTENANCE PROCEDURES

9.3.8 Front Wheel Assemblies

Verify that the wheels (and wheel axle) rotate easily. Clean the front wheel assemblies once per week.

1 – Wheel 2 – Wheel axle

9.3.9 Rear Wheels and Rear Wheel

Brushes

Clean the rear wheels and rear wheel brushes (if installed) once per week.

9.3.10 Cutting Height System

Clean the cutting height system once per week. Rotate the lifting axle by hand and verify that the cutting heads move up and down smoothly.

1 – Lifting axle

9.3.11 Cutting Heads

1 – Rear wheel 2 – Wheel brush

SHARP BLADES

Contact with cutting blades can result in cutting of fingers or hands.

• Wear protective gloves when handling the robot.

Clean the cutting head assemblies once per week. Verify that the cutting head assemblies move smoothly

up and down and the cutting discs and anti-friction discs rotate freely. The cutting head should not have an excessive amount of lateral movement.

1 1

1 – Cutting head assembly (5X) 2 – Cutting disc (one per cutting head assembly)

Page 63

SERVICE PROCEDURES

SONAR REPLACEMENT

9.3.12 Winter Storage

• Charge the battery to 100% before storing.

• Complete all weekly, 6 month, and annual maintenance procedures.

• Schedule service procedures with an authorized ECHO Robotics dealer (if required).

• Store the robot in a protected dry location where the temperature is above 32° F (0° C).

At the start of a new season:

1) Move the power switch to the ON position.

2) Place the robot onto the charging station and allow the battery to fully charge.

3) Run the robot as normal and observe for correct operation.

10 Service Procedures

10.1 Sonar Replacement

1) Remove the cover.

2) Disconnect the sonar cables and push the sonars out of the cover (from inside out).

3) Insert and securely seat the replacement sonars into the cover.

SHARP BLADES

Contact with cutting blades can result in cutting of fingers or hands.

• Wear protective gloves when handling the robot.

Follow all on the robot. Only use an authorized ECHO Robotics dealer for

service procedures. Genuine ECHO Robotics parts and assemblies for ECHO

Robotics products are available only from an authorized ECHO Robotics dealer. Always supply a model and serial number when purchasing parts and assemblies.

Move the power switch to the OFF position before starting any service procedures.

4) Connect the sonar cables and replace the cover.

5) Complete the Sonar Sensor Service Test.

10.2 Bumper Replacement

NOTE: Left side cut-away view of cover shown.

1) Remove the cover.

2) Disconnect the bumper cable from the bumper.

3) Remove the bumper retaining screws.

1 – Bumper cable 2 – Bumper retaining screw (11X)

Page 64

SERVICE PROCEDURES

FRONT LIFT CUSHION REPLACEMENT

4) Remove the bumper assembly.

5) Assemble the new bumper assembly to the cover.

6) Assemble the bumper retaining screws, tighten to 1.5 lbf• ft (2 N•m).

7) Connect the bumper cable to the bumper.

8) Complete the Bumper Service Test.

10.4 Rear Lift Cushion Replacement

1) Remove the cover.

2) Remove the rear lift cushion.

3) Assemble the new rear lift cushion.

4) Complete the Lift Sensor Service Test.

10.3 Front Lift Cushion

Replacement

NOTE: Detail of left side shown.

1) Remove the flexible cap and the screw.

2) Remove the front lift cushion.

3) Assemble the new front lift cushion in the original location.

4) Assemble the screw, tighten to 4.5 lbf•ft (6 N•m).

5) Replace the flexible cap.

6) Complete the Lift Sensor Service Test.

1 – Rear lift cushion

10.5 Front Wheel Replacement

1) Remove the nut, washer, and wheel from the axle.

2) Assemble the new wheel to the axle.

1 – Flexible cap 2 – Screw 3 – Cushion

Page 65

SERVICE PROCEDURES

REAR WHEEL REPLACEMENT

3) Assemble the washer and nut. Tighten the nut to

7.5 lbf•ft (10 N•m).

1 – Nut 2 – Washer 3 – Wheel 4 – Axle

10.7 Gear Motor Replacement

Bottom view of robot shown.

1) Remove the rear wheel and washers. Discard the washers.

2) Remove the six screws and cover from the electrical box.

10.6 Rear Wheel Replacement

1) Remove the cover.

2) Loosen the wheel nut and remove the rear wheel assembly and washers from the gear motor output shaft. Discard the washers. The wheel nut remains captive with the rear wheel assembly.

3) Place new washers on the gear motor output shaft. Do not reuse old washers.

4) Apply Loctite® 243 Blue Threadlocker to the interior threads of the wheel nut. Place the rear wheel assembly onto the gear motor output shaft, tighten the nut to 48 lbf•ft (65 N•m).

1 – Screw 2 – Cover

3) Disconnect the gear motor cables from the traction drive card.

4) Remove the six bolts from the gear motor support.

1 – Bolt 2 – Gear motor support

1 – Wheel nut 2 – Wheel assembly

Page 66

SERVICE PROCEDURES

BATTERY REMOVAL AND INSTALLATION

5) Remove the gear motor assembly.

1 – Gear motor assembly

6) Remove the four screws from the gear motor, then remove the c-clip from the output shaft. Remove the gear motor from the bracket assembly.

10.8 Battery Removal and Installation

NOTE: TM-2000 shown.

Removal:

1) Stand the robot on end. Disconnect the two electrical cables (located in circled area).

2) Lay the robot back onto flat ground.

3) Remove the front cover screws, rear cover screws, rear washers, and cover.

2 3

1 – Screw 2 – C-clip 3 – Gear motor 4 – Bracket assembly

7) Place new motor into the bracket assembly. Assemble the four mounting bolts, tighten to

4.5 lbf•ft (6 N•m). Replace the clip on the output shaft.

8) Use compressed air to remove any moisture from the inside of the electrical box.

9) Place the new motor and bracket assembly into the electrical box.

10) Assemble the six bolts to the gear motor support.

11) Reconnect the gear motor cables to the traction drive card.

12) Assemble the electrical box cover onto the electrical box.

13) Place new washers on the gear motor output shaft. Do not reuse old washers.

1 – Front cover screw (2X) 2 – Rear cover screw (2X) 3 – Rear washer (2X) 4 – Cover

4) Disconnect the battery cable from the battery.

14) Assemble the rear wheel.

15) Complete the Drive Motor Service Test.

Page 67

SERVICE PROCEDURES

CUTTING DISK SERVICE

5) Remove the battery fastener nuts, washers, battery fastener, and battery.

10.9 Cutting Disk Service

SHARP BLADES

Contact with cutting blades can result in cutting of fingers or hands.

• Wear protective gloves when handling the robot.

1) Rotate the cutting head so the retention screw aligns with the slot in the guard. Loosen the retention screw to remove the cutting head.

1 – Nuts, washers 2 – Battery fastener 3 – Battery

Installation:

1) Place the new battery in the robot.

2) Assemble the battery fastener, washers, and nuts.

3) Connect the battery cable to the battery.

4) Place the cover on the robot.

5) Assemble the cover screws and washers. Tighten screws to 5 lbf• ft (7 N•m).

6) Stand the robot on end.

7) Re-connect the two electrical cables.

8) Lay the robot back onto flat ground.

9) Complete the Charge Service Test.

1 – Retention screw 2 – Guard 3 – Cutting head

2) Remove the retention screw, nut, and washer from the cutter shaft. Separate the two discs.

1 – Retention screw 2 – Nut 3 – Washer 4 – Cutter shaft

Page 68

SERVICE PROCEDURES

BLADE REPLACEMENT

10.10 Blade Replacement

1) Remove the blades from the upper cutting disc. Replace the blades, tighten the screws to

1.5 lbf•ft (2 N•m).

1 – Screw 2 – Blade 3 – Upper cutting disc

10.11 Aluminum Anti-friction Disc Replacement

1) Remove the four screws from the cap, then remove the cutter shaft, collar, and cap.

1 – Screw 2 – Cap 3 – Cutter shaft 4 – Collar

2) Place the new disc on a flat surface.

3) Assemble the cap to the disc using the four screws.

4) Securely seat the collar into the cap.

5) Securely seat the cutter shaft into the disc.

Page 69

SERVICE PROCEDURES

CUTTING HEAD REASSEMBLY

10.12 Cutting Head Reassembly

1) Place the cutting disc onto the anti-friction disc.

2) Assemble the washer and nut onto the cutter shaft, tighten the nut to 15 lbf•ft (20 N•m).

3) Assemble the screw to the cutter shaft. NOTE: Do not allow the screw to extend into the center of the cutter shaft.

1 – Cutting disc 2 – Anti-friction disc 3 – Washer 4 – Nut 5 – Screw 6 – Center of cutter shaft

10.13 Cutting Motor Service

1) Remove the screws, bracket, cap, and gasket from the motor case. NOTE: Slowly lift the cap off from the motor case. Do not pull the wiring.

2) Inspect the interior of the motor case the cutting drive card for condensation or water accumulation. Use compressed air to dry as necessary.

3) Reassemble the gasket, cover, bracket, and screws to the motor case. Tighten the screws to

1.0 lbf•ft (1.5 N•m).

1 1

4) Place the assembled cutting head back onto the cutting head axle. NOTE: Align the screw with the flat surface of the cutting head axle.

5) Tighten the screw to 4.5 lbf•ft (6 N•m).

1 – Screw 2 – Flat surface of cutting head axle

1 – Cutting head assembly on robot (5X) 2 – Screw 3 – Bracket 4 – Cap 5 – Gasket 6 – Motor case 7 – Cutting drive card (located in motor case)

4) Complete the Cutting Motor Service Test.

10.14 Cutting Motor Cable Replacement

1) Visually inspect the cables for cuts or abrasions.

2) Replace damaged cables.

3) Replace cable retention clips if necessary.

Page 70

SERVICE PROCEDURES

CORRECTING STOP BUTTON LID CLOSURE PROBLEMS

10.15 Correcting Stop Button Lid

Closure Problems

The stop button lid needs to be properly closed before the robot can perform its specified missions. On occasions, even when the cover has been closed properly, the robot does not start its mission and the message "Lid not closed, please select option again" is displayed.

In order for the robot to be able to execute its missions the lid needs to be shut, and to form a closed circuit between magnets on the lid and relays on the body. This circuit needs to be open when the lid is open. When the lid is pressed down, it acts as the stop button. This requires that all magnets and relays are functioning correctly, and there is precision in their positioning.

The next figure shows a representation of the lid, body, magnet, and relays. There are two magnets on the lid and two sets of relays on the body.

A - Rear view of robot with lid open.

NO NC

One relay is "Normally Open" (NO), the other is "Normally Closed" (NC). The circuit is shown below.

1 – Relay (NO - normally open) 2 – Relay (NC - normally closed)

When the lid is closed the magnet must be in a position to align with the reed relays on the cover. This alignment allows the circuit to close and the robot to operate.

When the lid is open, the circuit is open, preventing the robot from operating.

When the lid is closed and pressed down, the roles of the two relays are reversed and the circuit is open, preventing the robot from operating.

If there are problems with the lid closure, run a service test. Select Service > Tests > Lid from the service menu.

1 – Stop button lid 2 – Magnet 3 – Relays 4 – Body (cover of robot)

3 3

10.15.1 Relays

The pairs of relays must be installed one above the

other in the correct order: NO must be on top. This relay is identified as having the

digit “1” in the reference number. NC must be on the bottom. This relay is identified as

having the digit “4” in the reference number. NOTE: The reference numbers are etched on the

surface of the relays. The relays are supplied as an assembly. The assembly

contains two pairs of relays and the cabling between them.

Page 71

When installing replacement magnets and relays, visually examine the position to ensure correct alignment. Run the service test to ensure the relays correctly align to the magnets. Select Service > Tests > Lid from the service menu.

10.15.2 Magnets

Assemble the magnets to the lid at the positions shown in the figure below.

SERVICE PROCEDURES

CORRECTING STOP BUTTON LID CLOSURE PROBLEMS

1 – Magnets

The magnets must be at the correct height so that when the lid is closed or pressed down they connect with the correct relays. If necessary, spacers must be placed behind the magnets. Run the service test to ensure the magnets correctly align to the relays. Select

Service > Tests > Lid from the service menu.

Page 72

ROBOT ACCESSORIES

WHEEL BRUSH KIT

11 Robot Accessories

11.1 Wheel Brush Kit

Assemble the wheel brush kit to the inside rear of the cover behind each rear wheel.

1) Assemble the wheel brush to the brush holder.

2) Assemble the brush holder to the inside rear of the cover behind each rear wheel.

3 2

11.2 Groomer Kit

Assemble the groomer kit to the rear guard of the robot. The rear guard is factory assembled to the bottom of the robot’s chassis.

1) Assemble the springs to the support bar.

2) Assemble the groomer support to the rear guard.

1 – Rear guard plate 2 – Springs (28X) 3 – Screw M6 x 16 (32X) 4 – Groomer support

1 – Wheel brush 2 – Brush holder 3 – Screw M6 x 16 (10X)

12 Battery Service and Installation

SAVE THESE INSTRUCTIONS – This document contains important safety and operating instructions for the Lithium-ion battery.

PERSONAL INJURY HAZARD

Failure to follow all instructions listed in this document can lead to serious personal injury.

• Read and understand all instructions prior to servicing the battery.

Page 73

RISK OF FIRE, ELECTRIC SHOCK, AND BURNS

Do not crush, heat above 140 °F (60 °C), incinerate, short circuit, dismantle, or immerse the battery in any liquid. Do not charge below 32 °F (0 °C).

BATTERY SERVICE AND INSTALLATION

SAFETY INFORMATION

• wash affected areas of skin with soap and water

• rinse eyes with water for a minimum of 15 minutes

To obtain a battery Material Safety Data Sheet, send an email request to: admin@echorobotics.com.

12.2 Operation

• Refer to the operator’s manual for battery recycling instructions. Only use the charger specified in the technical manual.

NOTE: Federal law prohibits transport or shipment of these batteries aboard passenger aircrafts or other vessels. Abide by all federal and local regulations for the safe transport of Lithium-ion batteries.

12.1 Safety Information

Recycle the battery if it is damaged or does not operate correctly.

Li-Fe

Do not dispose of the battery in a non-approved container.

The automatic operation of the robot optimizes battery life. Allow the robot to manage its work cycles. If these work cycles seem unusually short, contact an authorized ECHO Robotics Technician to check the condition of the battery.

NOTE: It is possible to monitor the work cycles using the portal.

Monitor the work cycles at the end of each season.

12.3 Battery Removal and Installation

NOTE: TM-2000 shown.

Removal:

1) Stand the robot on end. Disconnect the two electrical cables (located in circled area).

Do not allow water on the battery. Do not service the battery in wet conditions.

Read the technical manual before servicing the battery.

Caution: The battery can be dangerous of misused.

NOTE: Electrolyte may leak from the battery if it is damaged or not used properly. In the event of accidental contact:

2) Lay the robot back onto flat ground.

3) Remove the front cover screws, rear cover screws, rear washers, and cover.

Page 74

BATTERY SERVICE AND INSTALLATION

BATTERY REMOVAL AND INSTALLATION

1 – Front cover screw (2X) 2 – Rear cover screw (2X) 3 – Rear washer (2X) 4 – Cover

2 3

4) Disconnect the battery cable from the battery.

5) Remove the battery fastener nuts, washers, battery fastener, and battery.

1 – Nuts, washers 2 – Battery fastener 3 – Battery

Installation:

1) Place the new battery in the robot.

2) Assemble the battery fastener, washers, and nuts.

3) Connect the battery cable to the battery.

4) Place the cover on the robot.

5) Assemble the cover screws and washers. Tighten screws to 5 lbf• ft (7 N•m).

6) Stand the robot on end.

Page 75

TORQUE REFERENCES

STORAGE

7) Re-connect the two electrical cables.

8) Lay the robot back onto flat ground.

9) Complete the Charge Service Test.

12.4 Storage

Prior to storage:

• Move the robot to the charging station, allow the battery to completely charge.

• Move the main power switch for the robot to the OFF position.

• Disconnect the battery cable from the battery.

13 Torque References

12.5 Recycling

Li-Fe

non-operational.

non-approved container. If there are no accredited facilities available to recycle

batteries, check with your authorized ECHO Robotics Dealer or local government agency for proper battery disposal procedures.

Recycle the battery if it is damaged or

Do not dispose of the battery in a

IMPORTANT: The values in the following table apply only when a specific torque for a fastener is not listed.

Size lbf•ft N•m

No. 6 0.58 - 0.83 0.8 - 1.1

No. 8 1.25 - 1.83 1.7 - 2.5

No. 10 2.0- 3.0 2.7 - 4.0

No. 12 3.0 - 4.0 4.0 - 5.4

M3 1.25 - 1.83 1.7 - 2.5

M4 2.0 - 2.9 2.7 - 4.0

M5 2.9 - 5.0 4.0 - 6.8

M6 7.0- 8.8 9.5 - 12.0

M8 14.7 - 17.0 20.0 - 23.0

M10 25.8 - 28.0 35.0 - 38.0

Page 76

TORQUE REFERENCES

MOWER BODY

13.1 Mower Body

1.5 lbf·Ō (2 N·m)

†

5 lbf·Ō

(7 N·m)

<1 lbf·Ō

(<0.7 N·m)

<1 lbf·Ō

(<0.7 N·m)

1.5 lbf·Ō (2 N·m)

†

5 lbf·Ō (7 N·m)

<1 lbf·Ō

(<0.7 N·m)

1.5 lbf·Ō (2 N·m)

†

Loctite 243

Blue Threadlocker

††

Loctite 2701

Green Threadlocker

†

Page 77

13.2 Cutting Height

18 lbf·Ō

(3 N·m)

TORQUE REFERENCES

CUTTING HEIGHT

18 lbf·Ō

(3 N·m)

2 lbf·Ō (3 N·m)

1-1.5 lbf·Ō

(1.5-2.0 N·m)

1 lbf·Ō

(1.5 N·m)

1-1.5 lbf·Ō

(1.5-2.0 N·m)

1 lbf·Ō

(1.5 N·m)

9 lbf·Ō

(12 N·m)

18 lbf·Ō

(3 N·m)

1 lbf·Ō

(1.5 N·m)

†

1 lbf·Ō

(1.5 N·m)

4.5 lbf·Ō (6 N·m)

1 lbf·Ō

(1.5 N·m)

1 lbf·Ō

(1.5 N·m)

†

9 lbf·Ō

(12 N·m)

1 lbf·Ō

(1.5 N·m)

0.7 - 1.5 lbf·Ō (1 - 2 N·m)

9 lbf·Ō

(12 N·m)

†

Loctite 243

Blue Threadlocker

††

Loctite 2701

Green Threadlocker

Page 78

TORQUE REFERENCES

ELECTRICAL BOX, BATTERY, AND HOUSING

13.3 Electrical Box, Battery, and Housing

2 lbf·Ō (3 N·m)

9 lbf·Ō

(12 N·m)

11 lbf·Ō

(15 N·m)

†

2 lbf·Ō

(3 N·m)

11 lbf·Ō

†

(15 N·m)

†

9 lbf·Ō

(12 N·m)

†

9 lbf·Ō

(12 N·m)

†

9 lbf·Ō

(12 N·m)

†

Loctite 243

Blue Threadlocker

2 lbf·Ō (3 N·m)

††

Loctite 2701

Green Threadlocker

Page 79

13.4 Lift Sensors

2 lbfÂft

(3 NÂP

†

2 lbfÂft

(3 NÂP

TORQUE REFERENCES

LIFT SENSORS

††

1 lbfÂft

(1.5 NÂP

4.5 lbfÂft (6 NÂP

†

0.7-1.0 lbfÂft (1-1.5 NÂP

†

Loctite 243

Blue Threadlocker

††

Loctite 2701

Green Threadlocker

0.7-1.0 lbfÂft (1-1.5 NÂP

†

9 lbfÂft

(12 NÂP

1 lbfÂft

(1.5 NÂP

†

Page 80

13.5 Wheels, Motor and Gear Box

9 lbf·Ō

(12 N·m)

0.75 - 1.0 lbf·Ō (1.0 - 1.5 N·m)

†

TORQUE REFERENCES

WHEELS, MOTOR AND GEAR BOX

7.5 lbf·Ō (10 N·m)

48 lbf·Ō

(65 N·m)

4.5 lbf·Ō (6 N·m)

2 lbf·Ō

††

(3 N·m)

†

Loctite 243

Blue Threadlocker

††

Loctite 2701

Green Threadlocker

Page 81

13.6 Cutting Head

1.0-1.5 lbf·Ō

(1.5-2.0 N·m)

4.5 lbf·Ō (6 N·m)

TORQUE REFERENCES

CUTTING HEAD

1.5 lbf·Ō

†

(2 N·m)

1.5 lbf·Ō

†

(2 N·m)

†

15 lbf·Ō

†

(20 N·m)

††

3.7-5.0 lbf·Ō (5-7 N·m)

†

9 lbf·Ō

(12 N·m)

4.5-6.0 lbf·Ō (6-8 N·m)

†

0.75-1.5 lbf·Ō (1-2 N·m)

4.5-6.0 lbf·Ō

(6-8 N·m)

†

3.5-5.0 lbf·Ō

†

Loctite 243

(5-7 N·m)

†

Blue Threadlocker

††

Loctite 2701

Green Threadlocker

Page 82

TORQUE REFERENCES

ELECTRICAL PARTS

13.7 Electrical Parts

1 lbfÂft

(1.5 NÂP

2 lbfÂft (3 NÂP

1 lbfÂft

(1.5 NÂP

†

Loctite 243

Blue Threadlocker

††

Loctite 2701

Green Threadlocker

View A

Page 83

13.8 Main Frame

TORQUE REFERENCES

MAIN FRAME

9 lbfÂft

(12 NÂP

1 lbfÂft

(1.5 NÂP

†

1 lbfÂft

(1.5 NÂP

†

9 lbfÂft

(12 NÂP

†

4.5 lbfÂft (6 NÂP

9 lbfÂft

(12 NÂP

†

Loctite 243

Blue Threadlocker

†

9 lbfÂft

(12 NÂP

†

††

Loctite 2701

Green Threadlocker

Page 84

TORQUE REFERENCES

lbf·Ō

MAIN BARS

13.9 Main Bars

(1.5 N·m)

4.5 lbf·Ō (6 N·m)

†

1 lbf·Ō

(1.5 N·m)



††

†

9 lbf·Ō

(12 N·m)

†

4.5 lbf·Ō (6 N·m)

4.5 lbf·Ō

††

(6 N·m)

9 lbf·Ō

(12 N·m)

†

9 lbf·Ō

1 lbf·Ō

(1.5 N·m)

(12 N·m)

†

Loctite 243

†

Blue Threadlocker

††

†

9 lbf·Ō

(12 N·m)

†

Loctite 2701

Green Threadlocker

Page 85

13.10 Accessories

5 lbf·Ō

(7 N·m)

TORQUE REFERENCES

ACCESSORIES

†

Loctite 243

Blue Threadlocker

††

Loctite 2701

Green Threadlocker

†

4.5 lbf·Ō (6 N·m)

9 lbf·Ō

(12 N·m)

†

Page 86

TORQUE REFERENCES

COVER AND CHASSIS

13.11 Cover and Chassis

11 lbfÂft

(15 NÂP

5 lbfÂft

(7 NÂP

9 lbfÂft

(12 NÂP

2.25 lbfÂft (3 NÂP

11 lbfÂft

(15 NÂP

1 lbfÂft

(1.5 NÂP

9 lbfÂft

(12 NÂP

1 lbfÂft

(1.5 NÂP

†

4.5 lbfÂft (6 NÂP

9 lbfÂft

(12 NÂP

†

1 lbfÂft

(1.5 NÂP

†

48 lbfÂft

(65 NÂP

†

Loctite 243

Blue Threadlocker

††

Loctite 2701

†

Green Threadlocker

Page 87

A - Rear View B - Bottom View

2.2 lbfÂft (3 NÂP

TORQUE REFERENCES

COVER AND CHASSIS

4.5 lbfÂft (6 NÂP

7.5 lbfÂft (10 NÂP

2.2 lbfÂft (3 NÂP

4.5 lbfÂft (6 NÂP

Page 88

TORQUE REFERENCES

GEAR MOTOR, CUTTING HEAD, AND FRONT WHEEL

13.12 Gear Motor, Cutting Head, and Front Wheel

A - Gear motor assembly B - Cutting head assembl. C - Front wheel assembly

4.5 lbf·Ō (6 N·m)

4.5 lbf·Ō (6 N·m)

2.2 lbf·Ō (3 N·m)

†

4.5 lbf·Ō (6 N·m)

†

1.5 lbf·Ō (2 N·m)

†

9 lbf·Ō

(12 N·m)

†

1.5 lbf·Ō (2 N·m)

1.0 lbf·Ō

(1.5 N·m)

7.5 lbf·Ō (10 N·m)

†

Loctite 243

Blue Threadlocker

††

Loctite 2701

Green Threadlocker

Page 89

SPECIFICATIONS

CAPACITY

14 Specifications

14.1 Capacity

Recommended working

area

Number of sports fields per robot

Mowing width 41 in. (1033 mm)

Speed 2.2 mph (3.6 km/h)

Maximum slope 30%

Valid for a lawn that is rectangular, flat, without obstacles, with fertilizer and watering, being worked 24 hours per day, seven days per week.

14.2 Cutting

Number of cutting heads 5

Number of cutting blades

Low cut (minimum) 0.9 in. (22 mm)

High cut (maximum) 3.4 in. (100 mm)

Adjustment of cutting heads

6 acres (20,000 m2)

1-2

Electronic

14.4 Weight and Dimensions

Weight 156.5 lbs. (71 kg)

Length 43.7 in. (1110 mm)

Width 50.3 in. (1278 mm)

Height 20.3 in. (466 mm)

14.5 Software and Monitoring

Security PIN code Yes

GPS positioning

APP robot management

Standard

14.6 Intelligence

Sonar detection of obstacle (height and diameter)

Adaptive cut

Return to station via GPS

Multiple starting zone

Multi field (optional)

Multi robot

Height 15.7 in. (400 mm) Diameter 2.0 in. (50 mm)

In a future release

Maximum noise level <70 dB(A)

14.3 Battery

Type Lithium-ion

Nominal Voltage 25.6 V

Nominal Capacity 19.2 Ah

Standard charge voltage 29.2 V

Maximum charge current

Energy 491.5 Wh

Working temperature range

Time to fully charge (minimum)

Average working time per charge

Average annual consumption

19.2 A

Between -4 °F and 140 °F (-20 °C and 60 °C)

80 minutes

110 minutes

830 kWh

14.7 Safety

Lift sensors Yes

Reverse sensors No

Bumper Electronic

Deflectors on the cutting head Exterior

Page 90

SPECIFICATIONS

DIMENSIONS

14.8 Dimensions

50.3 in.

(1278 mm)

39.1 in.

(993 mm)

39.4 in.

(1000 mm)

(1110 mm)

31.6 in.

(804 mm)

43.6 in.

20.3 in.

(515 mm)

12.0 in.

(306 mm)

Page 91

ECHO Incorporated

400 Oakwood Road

Lake Zurich, IL 60047

1-800-392-0329

www.echorobotics.com

ECHO Robotics TM-2000 Technical Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Important Information

1.3 California Proposition 65

2 Safety Information

1.1 Administrative Support

1.2 FCC Declarations

2.1 Safety Symbols

3 Theory of Operation

4 System Components

4.1 Robot Components

4.2 The Charging Station

5 How the Robot Works

5.1 Autonomous Mission State

5.2 Inactive Modes

5.3 Service State

6 Installation

6.1 Station Loop Wire Installation

6.2 Peripheral Wire Installation

6.3 Peripheral Wire Installation Offsets

6.4 Sites Containing Narrow Straits

6.5 Sites With Long Lanes

6.6 Obstacles

6.7 Islands

6.8 Water Obstacle

7 Configuration

6.9 Sloped Fields

7.1 Overlaps

7.2 Multi-Field Peripheral Wire Installation

7.3 Configuration

7.4 Configuration Examples

8 Using the Robot

8.1 Safety Measures

8.2 The LCD Screen

8.3 The Actions Menu

8.4 The Settings Menu

8.5 Service Menu

8.6 Advanced Parameters

8.7 Technician's Menu

8.8 Error Messages

8.9 Connecting to Robots

9.1 Maintenance Chart

9 Maintenance

9.2 Winter Service Check List

9.3 Maintenance Procedures

10 Service Procedures

10.1 Sonar Replacement

10.2 Bumper Replacement

FRONT LIFT CUSHION REPLACEMENT

10.4 Rear Lift Cushion Replacement

10.5 Front Wheel Replacement

10.7 Gear Motor Replacement

10.6 Rear Wheel Replacement

10.8 Battery Removal and Installation

10.9 Cutting Disk Service

10.10 Blade Replacement

10.11 Aluminum Anti-friction Disc Replacement

10.12 Cutting Head Reassembly

10.13 Cutting Motor Service

10.14 Cutting Motor Cable Replacement

CORRECTING STOP BUTTON LID CLOSURE PROBLEMS

11 Robot Accessories

11.1 Wheel Brush Kit

11.2 Groomer Kit

12 Battery Service and Installation

12.2 Operation

12.1 Safety Information

12.3 Battery Removal and Installation

12.4 Storage

13 Torque References

12.5 Recycling

13.1 Mower Body

13.2 Cutting Height

13.3 Electrical Box, Battery, and Housing

13.4 Lift Sensors

13.5 Wheels, Motor and Gear Box

13.6 Cutting Head

13.7 Electrical Parts