LELY DISCOVERY 90 S Operator's Manual

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LELY DISCOVERY 90 S

Mobile Barn Cleaner

Operator Manual

5.4002.8501.0 A Lely Control

EN - English Original

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TRADEMARKS, COPYRIGHT AND DISCLAIMER

Lely, Astronaut, Astri, Atlantis, Attis, AWS, C4C, Calm, Caltive, Commodus, Compedes, Cosmix, Discovery, F4C, Fertiliner, Gravitor, Grazeway, Hibiscus, Hubble, Juno, L4C, Lely Center, Lelywash, Lotus, Luna, Nautilus, Orbiter, Quaress, Qwes, SAE, Shuttle, Splendimo, Storm, T4C, Tigo, Vector, Viseo, Voyager, Walkway and Welger are registered trademarks of the Lely Group. The right of exclusive use belongs to the companies of the Lely Group. All rights reserved. The information given in this publication is provided for information purposes only and does not constitute an offer for sale. Certain products may not be available in individual countries and products supplied may differ from those illustrated. No part of this publication may be copied or published by means of printing, photocopying, microfilm or any other process whatsoever without prior permission in writing by Lely Holding S.à r.l. Although the contents of this publication have been compiled with the greatest possible care, Lely cannot accept liability for any damage that might arise from errors or omissions in this publication.

The English language manual is the original manual. Translations into other languages use the English language manual as the source document. Lely accepts no liability for discrepancies between the original English language manual and versions in other languages. If there is a conflict over the content and accuracy of any translated manual, the English language manual is the authority document.

5.4002.8501.0 A Lely Control

Lely Industries N.V. Cornelis van der Lelylaan 1 3147 PB Maassluis the Netherlands Phone: +31 (0)88 1228221 Fax: +31 (0)88 1228222 Website: www.lely.com

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2 Trademarks, Copyright and Disclaimer

WARRANTY RESTRICTION

Excluded from this warranty are any cost or expenses due to:

• Abnormal use of the equipment which is not according to the specifications stated in the Operator Manual or handled during the Operators Service and Maintenance Certification program.

• The result of any intervention by technicians other than Lely service technicians or technicians who have Lely’s approval to perform certain duties.

Incidents such as freezing, ice, fire, flood, inundation or any other form of

• excessive water, lightning.

• Defect of the electrical system or grounding.

• Hacking activities, viruses or the like.

• Damage to the electrical system as a result of vermin or the like.

Warranty does not apply to consequential damage which does not involve the machine itself.

All systems are tested. However in the event of a malfunction Lely cannot be held responsible for consequential damage.

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2 Warranty Restriction

LIST OF INCLUDED AMENDMENTS

No: Issue Date

(yy/mm)

4 15/03 All iOS functionality added

3 14/06 All Bluetooth operation added

2 12/11 All Full revision of the manual

1 10/02 All Full revision of the manual

06/07 Initial issue

Chapter(s) Remarks

Hardware changes are incorporated

Pause button added

Operator manual separated

- Hardware changes are incorporated

- Software changes are incorporated

- Manual complies to the new documentation standard

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2 List of Included Amendments

Manual Contents

Applicability

PREFACE

This manual contains the information necessary to operate the Discovery Mobile Barn Cleaner 90 S.

Study and understand this information thoroughly before you operate the Discovery Mobile Barn Cleaner 90 S. Failure to do so could result in personal injury or damage to equipment. Please consult your local Lely service provider if you do not understand the information in this manual, or if you need additional information.

All information in this manual has been compiled with care. Lely shall not be liable for errors or faults in this manual. The recommendations are meant to serve as guidelines. All instructions, pictures and specifications in this manual are based on the latest information that was available at the time of publication. Your Discovery Mobile Barn Cleaner 90 S may comprise improvements, features or options that are not covered in this manual.

The table below shows the type numbers of Discovery for which this manual is applicable and the software version the procedures are based on.

Model designation

5.4002.8501.0 A Lely Control

Standard Torque Loading of Parts

Model Type number

Discovery Mobile Barn Cleaner 90 S 5.4002.0020.1

Software version

The description, operation and procedures in this manual are based on the software version:

ADS 3840 PCB: DISSv04.08.XX or higher

•

ADS 3641 PCB: 1.2.41 or higher

Lely Control app Android: 1.2.23 or higher

•

Lely Control app iOS: 1.0.0 or higher

All the nuts, bolts and screws used on the Discovery Mobile Barn Cleaner 90 S are torque tightened to standard torque loadings applicable to the construction materials used.

If a part has a non-standard torque loading, it is specified in the applicable part of the manual.

Registration

Preface 1

Maintenance Authorization

The Type and Serial Number Plate is attached to the upper side of the frame of the Discovery Mobile Barn Cleaner 90 S, under the red cover. Always include the type and serial numbers of Discovery when you contact your local Lely service provider or order spare parts.

Type and Serial Number Plate

We suggest you complete the table below with the type and serial numbers of your Discovery. This makes sure you can easily find the information.

Type number 5.4002.0020.1

Serial number

Only technicians certified by Lely Industries are authorized to do corrective maintenance on the Discovery except for the maintenance done by the operator as indicated in the Operator Manual. If people who are not certified by Lely Industries do maintenance on the Discovery, the warranty on the Discovery becomes invalid.

Before a technician does maintenance on an Discovery, the owner must examine the service pass of the technician and make sure the technician is currently certified to do maintenance on the Discovery.

When a technician completes maintenance on an Discovery the information must be written in the logbook for the Discovery. The logbook must always be kept near the Discovery. The information in the logbook must include:

• The maintenance done

• The name of the technician

The certification number of the technician

•

• The date of the maintenance.

Technician Training

All the technicians certified by Lely Industries have completed an approved training program, and passed written and practical examinations during and at the end of the training program. The examinations are done under supervision of a product specialist and include troubleshooting and corrective maintenance of the Discovery.

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2 Preface

There are four certification levels:

• Installation Technician (certification valid for two years)

• Maintenance Technician (certification valid for two years)

Service Engineer (certification valid for two years)

•

• Product Specialist (certification valid for one year).

During training, a trainee is permitted to work for up to a maximum of six months on an Discovery in the presence of a certified technician.

When the training program is completed successfully, Lely issue a certificate and a service pass to the technician. The service pass contains the following information:

• The name of the technician

• A photograph of the technician

• The certification number of the technician

• The date of expiry of the certification.

Contact Number Local Service Provider

We suggest you write the telephone number and email address of your local service provider contact in the table below. This makes sure you can easily find the information.

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Telephone number

email address

Preface 3

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4 Preface

Table of Contents

1. Introduction.........................................................................................................................................1-

2. Safety...................................................................................................................................................2-1

2.1 Introduction.............................................................................................................................. 2-1

2.2 Signal Icons..............................................................................................................................2-1

2.3 Safety Instructions....................................................................................................................2-1

2.3.1 General Safety......................................................................................................................... 2-2

2.3.2 Electrical Safety....................................................................................................................... 2-2

2.3.3 Operating Safety...................................................................................................................... 2-3

2.3.4 Maintenance Safety................................................................................................................. 2-3

2.4 Safety Decals........................................................................................................................... 2-4

2.4.1 Safety Decal Messages........................................................................................................... 2-4

2.4.2 Maintenance of Safety Decals................................................................................................. 2-4

2.4.3 Installation of Safety Decals.....................................................................................................2-5

3. Specifications..................................................................................................................................... 3-1

3.1 Barn Cleaner............................................................................................................................ 3-1

3.1.1 Dimensions and Weight........................................................................................................... 3-1

3.1.2 Battery......................................................................................................................................3-1

3.1.3 Operation................................................................................................................................. 3-1

3.1.4 Cleaning Capacity....................................................................................................................3-1

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3.1.5 Miscellaneous.......................................................................................................................... 3-1

3.2 Charging Station...................................................................................................................... 3-2

3.2.1 Dimensions and Weight........................................................................................................... 3-2

3.2.2 Battery Charger........................................................................................................................3-2

3.3 Requirements Smartphone...................................................................................................... 3-2

4. Description and Operation................................................................................................................ 4-1

4.1 Introduction.............................................................................................................................. 4-1

4.2 Component Description............................................................................................................4-2

4.2.1 Discovery Mobile Barn Cleaner 90 S Vehicle.......................................................................... 4-2

4.2.2 Charging Station...................................................................................................................... 4-6

4.3 User Interface...........................................................................................................................4-7

4.3.1 Work.........................................................................................................................................4-7

4.3.2 Routes....................................................................................................................................4-10

4.3.3 Settings.................................................................................................................................. 4-21

4.3.4 Alarms....................................................................................................................................4-21

4.3.5 Service................................................................................................................................... 4-22

4.4 Operation............................................................................................................................... 4-22

4.4.1 Routes, Actions, Manual Routes and Time Paths................................................................. 4-22

Table of Contents v

4.4.2 Control System...................................................................................................................... 4-23

5. Operating Instructions.......................................................................................................................5-1

5.1

Install or Update the Lely Control app on Your Smart Phone.................................................. 5-1

5.2 Rename the Discovery on the Smartphone............................................................................. 5-1

5.3 Set the farmer password.......................................................................................................... 5-1

5.4 Remove or Install the Covers...................................................................................................5-1

5.5 Switch ON or OFF the Discovery............................................................................................. 5-3

5.6 Operate Device Specific Software with a Smartphone............................................................ 5-3

5.7 Start the Software on Your Smartphone.................................................................................. 5-3

5.8 Manually Drive the Discovery...................................................................................................5-4

5.9 Drive the Discovery to the Charging Station............................................................................ 5-5

5.10 Prepare for Programming.........................................................................................................5-6

5.10.1 Requirements for a Good Route.............................................................................................. 5-6

5.10.2 Example Routes, Barn with Milking Robot...............................................................................5-7

5.10.3 Example Route, Barn with Milking Parlour.............................................................................5-12

5.10.4 To Pass a Crosswalk............................................................................................................. 5-12

5.10.5 To make a Turn......................................................................................................................5-13

5.10.6 To Approach the Charging Station from the Opposite Direction............................................5-14

5.10.7 To Follow a Bend in a Wall.................................................................................................... 5-15

5.11 Program the Discovery...........................................................................................................5-16

5.11.1 Program a New Route........................................................................................................... 5-16

5.11.2 Copy a Route......................................................................................................................... 5-22

5.11.3 Modify a Route.......................................................................................................................5-22

5.11.4 Reset a modified Route to the previous Version....................................................................5-23

5.11.5 Delete a Route....................................................................................................................... 5-24

5.11.6 Set or Delete a Manual Route................................................................................................5-24

5.11.7 Set a Time Path..................................................................................................................... 5-24

5.11.8 Make a Backup...................................................................................................................... 5-25

5.11.9 Copy a Backup file from the Smartphone to a PC................................................................. 5-26

5.11.10 Copy a Backup file from a PC to the Smartphone................................................................. 5-26

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5.12 Start or Stop the Time Path....................................................................................................5-27

5.13 Start, Stop or Pause a Manual Route.................................................................................... 5-27

5.14 Block a Route.........................................................................................................................5-29

5.15 Set the Speed for a Route......................................................................................................5-29

5.16 Set the Speed for a Particular Action..................................................................................... 5-29

6. Maintenance........................................................................................................................................6-1

6.1 Introduction.............................................................................................................................. 6-1

6.2 Preventive Maintenance Schedule...........................................................................................6-1

6.3 Maintenance Procedures......................................................................................................... 6-1

6.3.1 Clean the Charging Strips and the Charging Electrodes......................................................... 6-2

vi Table of Contents

6.3.2 Clean the Ultrasonic Sensor.................................................................................................... 6-3

6.3.3 Clean the Sensing Wheel........................................................................................................ 6-3

6.3.4

6.3.5 Clean the Covers..................................................................................................................... 6-6

6.3.6 Tighten a Chain - short procedure........................................................................................... 6-6

6.3.7 Replace the Manure Scraper................................................................................................... 6-7

6.3.8 Replace the Sliding Disc.......................................................................................................... 6-9

Clean the Manure Scraper.......................................................................................................6-4

7. Test and Adjustment..........................................................................................................................7-1

7.1 Introduction.............................................................................................................................. 7-1

7.2 Settings.................................................................................................................................... 7-1

7.2.1 Set the Real-Time Clock.......................................................................................................... 7-1

7.2.2 Set the Display Language........................................................................................................7-1

7.2.3 Set the Motor Power................................................................................................................ 7-2

7.2.4 Modify the Beep Frequency for a Route.................................................................................. 7-2

7.2.5 Modify the Beep Length........................................................................................................... 7-2

7.3 Tests........................................................................................................................................ 7-2

7.3.1 Analyse the Reliability of a Route............................................................................................ 7-2

7.3.2 Test a Route............................................................................................................................ 7-3

7.3.3 Make sure the Battery is Loaded............................................................................................. 7-4

7.3.4 Make sure the Battery is Charging...........................................................................................7-4

7.3.5 Make sure the Bluetooth Connection is Reliable..................................................................... 7-5

7.3.6 Test the Ultrasonic Sensor.......................................................................................................7-5

8. Troubleshooting................................................................................................................................. 8-1

8.1 Introduction.............................................................................................................................. 8-1

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8.2 Alarms and Reports................................................................................................................. 8-1

8.2.1 Recover alarms........................................................................................................................8-1

8.2.2 Read Non-Critical Alarm Messages.........................................................................................8-1

8.2.3 Read a Report..........................................................................................................................8-2

8.2.4 Alarm List................................................................................................................................. 8-2

8.2.5 Report List..............................................................................................................................8-10

8.2.6 Information Report List...........................................................................................................8-12

8.3 Troubleshooting Tables..........................................................................................................8-13

8.3.1 Troubleshooting Table Discovery Vehicle..............................................................................8-13

8.3.2 Troubleshooting Table Discovery Charging Station...............................................................8-15

8.4 Recovery Procedures.............................................................................................................8-15

8.4.1 Reset the Control System...................................................................................................... 8-15

8.4.2 Calibrate the Gyroscope........................................................................................................ 8-15

8.4.3 Charge the Discovery............................................................................................................ 8-16

9. Diagrams............................................................................................................................................. 9-1

Glossary of Terms

Index

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viii Table of Contents

1. INTRODUCTION

The Discovery Mobile Barn Cleaner 90 S is a battery-driven vehicle that cleans the floor of a barn. A manure scraper on the bottom of the Discovery pushes the manure through the openings of the slatted floor.

The farmer (operator) uses the Lely Control app on the smartphone to program the route for the Discovery. Routes can be programmed flexibly. The farmer has the option to do more intensive cleaning of some areas of the barn during certain hours of the day.

The information in this manual is for operators. The operator uses the information to program and operate the Discovery. The operator also uses the information to do maintenance.

The operator must read the operating instructions for daily operation and for the setup of routes and time paths. He must read the test and adjustment section for the setup and for testing the Discovery and routes. He must also read the maintenance and troubleshooting sections for preventive and basic corrective maintenance instructions.

The operator should refer to the description and the operation section for background information. The operator must also read and understand the safety instructions in section 'Safety'.

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Introduction 1-1

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1-2 Introduction

2.1 Introduction

2.2 Signal Icons

2. SAFETY

The Discovery Mobile Barn Cleaner 90 S is an automated machine. Therefore it is of the utmost importance to obey all safety instructions.

The safety alert symbol identifies important safety messages on your Discovery Mobile Barn Cleaner 90 S and in the manual. When you see this symbol, be alert to the possibility of personal injury or death. Follow the instruction of the safety message.

Safety Alert Symbol

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2.3 Safety Instructions

Note the use of the signal words DANGER, WARNING and CAUTION with the safety messages. The signal word for each message uses the following guidelines:

Danger: indicates an imminently hazardous situation that, if not avoided, will result in death or serious injury.

Warning: indicates a potentially hazardous situation that, if not avoided, could result in death or serious injury, and includes hazards that are exposed when guards are removed.

Caution: indicates a potentially hazardous situation that, if not avoided, may result in minor or moderate injury or product or property damage.

Note: this shows extra information that may help the reader.

YOU are responsible for the SAFE operation and maintenance of your barn cleaner. YOU must make sure that you and anyone else who is going to operate, maintain or work in the vicinity of the barn cleaner knows all the related SAFETY information in this manual.

YOU are the key to safety. Good safety practices protect you and the people around you. Make these practices a working part of your safety program. Make sure EVERYONE who operates, maintains or works near the

Safety 2-1

2.3.1 General Safety

Discovery obeys the safety precautions. Do not risk injury or death by ignoring good safety practices.

• Discovery owners must train operators before they operate the barn cleaner. This training must be repeated at least annually

• The operator must read, understand and obey all safety and operating instructions in the manual

A person who has not read and understood all safety and operating

• instructions is not permitted to operate the barn cleaner

• Do not modify the equipment in any way. Unauthorized modification may impair the function and/or safety and could affect the life of the equipment, and persons

• Only use approved spare parts, and make sure they are only installed by authorized technicians.

• Read and understand the manual and all safety signs before you connect power supplies to operate, maintain or adjust the Discovery

• Only trained persons are permitted to operate the Discovery

• A first-aid kit must be available near the Discovery. Store in a highly visible place

• A carbon dioxide or foam fire extinguisher must be available near the Discovery. Store in a highly visible place

• Install all protective covers and guards before you operate the Discovery

• Wear the correct protective clothing and equipment

• Disconnect and isolate the electrical power supply and wait for all moving parts to stop before you clean or do maintenance on the Discovery

• Know the emergency medical center number for your area

• Contact your nearest Lely service provider if you have any questions

• Review safety related items with all operators frequently (annually).

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2.3.2 Electrical Safety

• Only an authorized electrician must install the electrical power supply for the charging station of the Discovery.

• Make sure the electrical grounding of the electrical system and all parts of the charging station of the Discovery meet the local rules and regulations.

• Replace any damaged electrical lines, conduits, switches and components immediately .

• Switch the power OFF with the OFF button on the ADS 3840 PCB before you start to work on the system (page 5‑3).

• Pull the plug from the socket before you start to work on the charging station.

2-2 Safety

2.3.3 Operating Safety

Remote Operation of the smartphone or tablet by remote desktop software (such as, but not limited by, Teamviewer) is strictly forbidden to avoid dangerous situations.

• Read and understand this manual and all safety signs before you connect power supplies to operate, maintain or adjust the Discovery

• Only trained persons are permitted to operate the Discovery

•

Make sure all covers are installed before you operate the Discovery

• Keep hands, feet, hair and clothing away from all moving parts

• Keep away from all areas with high voltage

• Keep unauthorized persons, especially small children away from the Discovery at all times

• Always be alert for unexpected movement of the cow. Cows can transmit large forces to parts of the machine

• Contact your nearest Lely service provider if you have any questions

• Review safety related items with all operators frequently (annually).

• Make sure the slope of the floor is 6 degrees maximum (10,5 cm per 100 cm).

5.4002.8501.0 A Lely Control

2.3.4 Maintenance Safety

Figure 1. Maximum slope

• Read and understand this manual and all safety signs before you connect power supplies to operate, maintain or adjust the Discovery

• Only trained persons are permitted to do corrective maintenance on the Discovery

• Disconnect and isolate the electrical power supply to the charging station before you do maintenance on it

•

Switch OFF all timed actions before you do maintenance on the Discovery or clean it

Safety 2-3

• Keep tools and metal parts away from the battery

• Do NOT use water to clean the body of the Discovery

• Use water and a brush to clean the manure scraper or the ultrasonic sensor of the Discovery; refer to the maintenance instructions (page 6‑

Install all covers after you finished the maintenance.

•

2.4 Safety Decals

2.4.1 Safety Decal Messages

General safety messages appear in this safety messages section. Specific safety messages are in applicable parts of this manual when potential hazards may occur if the instructions or procedures are not followed.

Rotating Parts - Entanglement Hazard Symbol

Danger of being entangled by rotating parts. Keep hands, loose clothing, and long hair away from moving parts during operation of the Discovery.

The 'Danger of being entangled by rotating parts' decal is located at the inner side of the motor plate of the Discovery.

2.4.2 Maintenance of Safety Decals

Safety decals on the Discovery Mobile Barn Cleaner 90 S display important and useful information that will help you safely operate and maintain the Discovery.

Obey the instructions below to make sure all the decals stay in the correct position and condition.

•

Keep the safety decals clean and legible at all times. Clean the safety decals with soap and water. Do not use mineral spirits, abrasive cleaners or other similar agents that may damage the safety decals

Replace safety decals that are missing or are illegible

•

Safety decals can be purchased from your local Lely service provider.

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2-4 Safety

2.4.3 Installation of Safety Decals

1. Make sure the installation surface is clean and dry.

2. Make sure the temperature of the mounting surface is not less than 5

°C (41 °F).

3. Identify the correct position for the decal before you remove the

backing paper.

Remove a small part of the backing paper.

5. Put the decal in the correct position on the mounting surface and

carefully press the small part of exposed adhesive surface of the decal onto the mounting surface.

6. Slowly remove the backing paper and attach the rest of the decal to

the mounting surface.

7. Puncture small air pockets in the decal with a pin and use the backing

paper to smooth the decal.

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Safety 2-5

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2-6 Safety

3. SPECIFICATIONS

3.1 Barn Cleaner

3.1.1 Dimensions and Weight

Refer to the Diagrams chapter for the complete dimensions of the Discovery.

• Length: 1285 mm (50.59 in)

• Width: 860 mm (33.86 in)

•

Height: 575 mm (22.64 in)

• Weight: 303 kg (668 lbs)

• Sensing ring height: 125 mm (4.92 in)

3.1.2 Battery

• Number of batteries: 1

• Nominal voltage: 12 V

• Capacity: 55 Ah

•

Charging time: 6 hours maximum

• Spare capacity: 120 min

3.1.3 Operation

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3.1.4 Cleaning Capacity

3.1.5 Miscellaneous

• Number of different programmable routes: max 16

• Number of actions per route: max 125

• Number of time-route combinations per time path: max 48

• Maximum duration of a time path: 24 hour

• Travel speed: 10.8 to 18 m/min (display: 180 - 300 mm/sec)

• Max. cleaning capacity: 918 m²/h at 18 m/min

• Suited for all level slatted floors

• Drive: 2 electric motors

• Average power consumption: 0.05 kWh

• Number of wheels: 2

• Detection of the driving direction: gyroscope

• Distance measurement to wall: ultrasonic sensor

• Traveled distance: measured via encoders on the motors.

Specifications 3-1

3.2 Charging Station

3.2.1 Dimensions and Weight

Charging station

• Width: 380 mm (15.0 in)

• Depth: 220 mm (8.7 in)

Height: 1650 - 2050 mm (65.0 - 80.7 in)

•

• Weight (excluding floor column): 40 kg (88 lbs)

Floor column (optional)

• Width: 370 mm (14.6 in)

• Depth: 100 mm (3.9 in)

• Height: 2100 mm (82.7 in)

• Weight: 44 kg (97 lbs)

3.2.2 Battery Charger

• Type: Impulse "L"

• Input voltage: 230 VAC (50 Hz) or 110 VAC (60 Hz)

• Nominal output voltage: 12 VDC

• Max. charge current: 20 A

• Max. power: 295 W

• Weight: 1.7 kg (3.7 lbs)

• Length, excluding battery terminals: 196 mm (7.7 in)

• Width: 150 mm (5.9 in)

• Height: 68 mm (2.7 in).

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3.3 Requirements Smartphone

Use of a tablet is technically possible if it meets the specifications. However, the user interface might not be displayed optimally since it is designed for smartphones.

Android

• Screen resolution 480 x 800 (or higher).

• Android 2.3.x or higher.

Bluetooth version 2.0, 2.1, 3.0, 4.0 dual mode (4.0 single mode is not

• supported).

• Compliance with 1999/5/EC european directive for Radio and Telecommunications Terminal Equipment.

• For software updates a WiFi or 3G network must be available.

• Processor: 1 GHz (or higher).

• Android smartphone must have at least 10 MB free storage.

3-2 Specifications

iOS

• iPhone 4 or higher.

• iOS 6 or higher.*

For software updates a WiFi of 3G network must be available.

•

• iPhone must have at least 10 MB free storage.

* iOS 8 is recommended.

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Specifications 3-3

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3-4 Specifications

4.1 Introduction

4. DESCRIPTION AND

OPERATION

This chapter describes the parts of the Discovery. It also explains how the parts work together to clean the barn floor.

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Figure 2. Main components

KEY:

1. Indicator LEDs (not visible) - 2. Charging station - 3. Discovery vehicle - 4. Sensing

wheel - 5. Manure scraper - 6. Charging strips - 7. Charging electrodes

Description and Operation 4-1

Figure 3. Main components Discovery Mobile Barn Cleaner 90 S Vehicle

KEY:

1. Upper cover - 2. Lower cover - 3. Manure scraper - 4. Concrete frame - 5. Acoustic

warning device - 6. Bluetooth antenna - 7. Pause button - 8. PCB box

4.2 Component Description

4.2.1 Discovery Mobile Barn Cleaner 90 S Vehicle

The Discovery has the following mechanisms and systems:

• Cleaning mechanism

• Driving mechanism

• Power system

• Control system.

4.2.1.1 Covers

The Discovery has a red upper cover with a fastener on the back side. At the front side of the vehicle a rotatable bracket holds the cover. Underneath the red upper cover, the lower cover gives extra protection to the main parts (page 4‑2) of the Discovery.

4.2.1.2 Cleaning Mechanism

A manure scraper installed underneath the Discovery pushes the manure through the openings of the slatted floor (page 4‑2).

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4-2 Description and Operation

4.2.1.3 Driving Mechanism

The driving mechanism has the following parts:

• Two drive motors

• Two chains

Two chain wheels

•

• Two wheels.

The motors, one on the left side and one on the right side, drive the wheels via chains.

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Figure 4. Driving mechanism

KEY:

1. Motor right - 2. Wheel right - 3. Wheel bearing- 4. Chain right - 5. Chain left - 6. Wheel

bearing - 7. Wheel left - 8. Motor left

4.2.1.4 Power System

The Discovery is battery-operated and after each route it returns to the charging station, which is installed at a convenient point in the barn. This charging station also functions as the starting point of each route.

The power system stores and distributes the electrical power for the driving mechanism and the ADS 3840 PCB. The power supply is a single rechargeable 12V traction battery. Charging takes place at the charging station. The power system has the following primary parts:

• Battery

• Charging strips

•

ON/OFF switch

• ADS 3840 PCB.

Description and Operation 4-3

4.2.1.5 Control System

The control system has the following parts:

• ADS 3840 PCB, to control the operation of the Discovery

• Encoders on the drive motors to measure the driven distance

• Ultrasonic sensor to measure the distance to wall or fence

Gyroscope to measure angle differences to keep the right direction.

•

Encoders

Each drive motor has an encoder that counts the rotation of the motor shaft. This information is used to calculate the position of the vehicle.

The encoders send outputs to the ADS 3840 PCB.

Ultrasonic Sensor

The ultrasonic sensor makes sure the Discovery follows the wall or fence at a pre-determined distance.

A foam ring is adhered on the sensor to minimize reflections and to focus the reflected beam.

The sensor gets inputs from and sends outputs to the ADS 3840 PCB.

Gyroscope

The gyroscope measures the turning angle. This information is used to find the correct direction. The gyroscope is installed on the ADS 3840 PCB.

Pause button

A pause button (see figure on page 4‑2) is installed on the Discovery. When the pause button is pushed while the Discovery is in operation, the Discovery goes into pause mode:

• The Discovery stops.

• The LED light in the pause button turns on.

• The operational sound of the Discovery is turned off.

• The user interface on the smartphone displays a question to resume or cancel the route.

When the pause button or the button in the Lely Control app is pushed shortly while the Discovery is in pause mode, the Discovery goes back into work mode:

• The Discovery goes back into operation.

• The LED light in the pause button turns off.

• The operational sound of the Discovery is turned on.

The pause button can be operated remotely with the Lely Control app on the smartphone.

If an alarm occurs, the LED in the pause button blinks. The alarm must be confirmed with the Lely Control app on the smartphone.

5.4002.8501.0 A Lely Control

4-4 Description and Operation

Status of the Discovery LED status of the pause button

Start up Blink

Out of operation. Lely Control app in main tab

menu 'Work'

Out of operation. Lely Control app in other menu Blink

Discovery paused On

Discovery in normal operation Off

Alarm Blink

Acoustic Warning Device

An acoustic warning device alerts persons and cows when the vehicle starts to move, moves or when an alarm occurs.

The beep lengths and beep frequencies of the acoustic warning device are:

Operational state of the Discovery Beep frequency acoustic warning device

Normal operation Once per 2 seconds (default)

An alarm occurred 3 short beeps every minute

The acoustic warning device (page 4‑2) is installed on the Discovery.

Lely Control app

5.4002.8501.0 A Lely Control

The Lely Control app controls and monitors the Discovery and communicates with the management software. The Lely Control app is available in the Google play store (Android) and the Apple app store (iOS).

The user interface of the Lely Control app displays nine buttons that enable the user to give commands and change values in the Discovery. The user interface also shows reports and alarms.

The Lely Control app communicates via bluetooth with the software on the ADS 3840 PCB.

The user interface has the following buttons:

[ ] Execute the command on the display above the applicable soft

• button.

• [START/STOP] starts or stops an action.

[ ] moves the selector up one item or increases a value by one.

•

[ ] moves the selector down one item or decreases a value by one.

•

opens the selected function or the next menu screen.

• [ESC] returns to the previous screen.

•

reduces the speed of the vehicle.

Description and Operation 4-5

4.2.2 Charging Station

Acoustic signal

The Lely Control app gives an acoustic signal when:

• The Discovery is in normal operation

• Settings are saved

The calibration of the gyroscope is finished

•

• Backup is finished (create / restore)

• Programming a route

The Discovery normally starts and ends at the charging station. The Discovery recharges itself at the charging station. The battery charger electrodes are at the front near the bottom of the charging station.

The Discovery can be left permanently connected to the charging station. This keeps the battery in good condition. The ADS3840 PCB continuously examines the voltage of the battery. It is not possible to overcharge the battery.

The charging station has a 20 A electronic battery charger.

The charging station can be installed in the barn in two ways:

• wall-mounted

• floor-mounted.

If it is not possible to install the charging station to the wall, an optional floor column can be supplied.

Battery Charger

The 20 A electronic battery charger has two indicator LEDs on the upper right side. The LEDs are visible through the opening in the red cover. The meaning of the LEDs are:

Status Charging LED

Power LED (green)

(orange)

Mains connected OFF ON

Recharging (>1A) ON ON

Error blinking blinking

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4-6 Description and Operation

4.3 User Interface

The Discovery is operated with a smartphone with an Android or iOS operating system. The smartphone communicates with the software via bluetooth. The main menu on the smart phone has the following items:

•

• Settings

• Alarms

• Service

Work

Routes

Test

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4.3.1 Work

Figure 5. The Lely Control app menu structure

Buttons:

[ ] or [ ] to select a menu item

•

[ ] to confirm an action

•

• [ESC] to go to the previous menu.

The menu 'Work' is used for daily operation of the Discovery. You can operate the Discovery in automatic mode using a time path and in manual mode.

The menu 'Work' has the following submenu's:

• On/Off (to switch the time path On or Off)

• MANUAL ROUTE (to manually start a selected route)

•

MANUAL DRIVING (to manually drive the Discovery)

• MANUAL CHARGER (to drive the Discovery to the charging station, following the wall).

The button [ previous menu. A black dot on the right side of the screen indicates the level. The highest level (On/Off) has for instance a dot on the upper side, the lowest level (MANUAL CHARGER) a dot on the lower side.

] must be used to open next menu, [ESC] to open the

Description and Operation 4-7

Figure 6. Menu Work

The level is indicated by a tab with a black dot on the right side of a display. There are four levels:

• Menu 'Work', indicated by the upper dot

• 'MANUAL ROUTE', indicated by the second dot

'MANUAL DRIVING', indicated by the third dot

•

• 'MANUAL CHARGER', indicated by the fourth dot.

4.3.1.1 Time Path ON/OFF

If the time path is switched ON, the upper pane is grayed out (see the following figure).

Display Description

• Start or stop timed actions which are set in a time path (page 4‑16)

• Display the status:

- Actual time

- ON or OFF

- NextRun: start of the next route

- Route: route number

- Action: action description (visible during route)

- Act.nr: sequence number for the action in this route

- Runnr: run number

- Battery: battery voltage.

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4-8 Description and Operation

Buttons:

• [START/STOP

[ ] to go to the next menu

•

] to start or stop timed actions

• [ESC] to go to the previous menu.

4.3.1.2 Manual Route

Driving manual route is only possible when the time path is switched OFF.

Display Description

• Let the vehicle drive a series of maximum 3 subsequent routes

Buttons:

• [START/STOP

] to start or stop the action

• [ESC] to go to the previous menu

5.4002.8501.0 A Lely Control

[ ] to go to the next menu

•

• Soft button [>] to select the first, second or third route in the series

Button [ ] or [ ] to select the route number

•

Soft button [

•

Soft button [Save] to save the set routes. [ ]

•

Reset] to clear the selected line

4.3.1.3 Manual Driving

Driving manual route is only possible when the time path is switched OFF.

Display Description

• Move the vehicle manually (page 5‑4)

Description and Operation 4-9

Buttons:

• [START/STOP

[ ] to go to the next menu

•

• [ESC] to go to the previous menu

• Soft button [L] to select the left engine. The vehicle turns right when it is manually driven

•

Soft button [R] to select the right engine. The vehicle turns left when it is manually driven

[ ] to select the drive direction.

•

4.3.1.4 Manual Charger

Driving manually to the charger is only possible when the time path is switched OFF.

Display Description

] to start or stop the action

• Let the vehicle automatically drive to the charging station, following the wall (starting within 1 m from the charging station) (page 5‑5)

• The values on the display indicate the battery voltage and the charge current.

4.3.2

Routes

Buttons:

• [START/STOP

[ ] to go to the next menu

•

• [ESC] to go to the previous menu

• Soft buttons [L] and [R] to select the position of the charging station.

The menu 'Routes' is used for programming routes or for test and adjustments.

Menu Routes

] to start or stop the action

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4-10 Description and Operation

Buttons:

[ ] or [ ] to select a menu item

•

[ ] to confirm an action

•

• [ESC] to go to the previous menu.

4.3.2.1 New Route

A new route is built from the following actions:

• 'Wall flw L' or 'Wall flw R'

'Straight'

•

• 'Turn L <--' or 'Turn R -->'

• 'Ultrasound L'

• 'Ultrasound R' (option)

• 'Charger'

• 'Waiting time'.

A route has a maximum of 125 actions (page 4‑22).

Wall Follow L

Tracking along a wall on the left. The motor on the left side runs at 99% and the right motor runs at 100%. The sensing wheel is pushed to the wall.

5.4002.8501.0 A Lely Control

The display shows the following information:

Display Description

• Actionr: sequence number for the action in this route

• RunDst :distance travelled in mm

• Speed1: left wheel speed in mm/s

•

Speed2: right wheel speed in mm/s

Buttons:

• [START/STOP

[ ] to reduce speed when approaching a bump point

•

] to start or stop

• Soft button [MAN] to adjust the position of the vehicle to get a good start position (direction).

The same description applies for following a wall on the right side.

Straight

Drive straight forward, only with the use of the gyroscope to correct the position.

The display shows the following information:

Description and Operation 4-11

Display Description

• Actionr: Sequence number for the action in this route

• RunDst :Distance traveled in mm

• Gyro: Angle value in gyroscope

Speed: Wheel speed in mm/s.

•

Buttons:

• [START/STOP

[ ] to reduce speed when approaching a bump point

•

] to start or stop

• Soft button [MAN] to adjust the position of the vehicle to get a good start position (direction)

Soft button [ ] to change the direction.

•

Turn --> or <-- Turn

Turn right or left. You can choose from 12 standard turns to both right and left. The chosen turn can be adjusted according to the specific situation. The standard curves are:

• Turn right 60 degrees gradually, following wall, maximum cleaning

• Turn right 90 degrees

• Turn right 180 degrees, stop in adjacent lane 80 cm (31 in.) to the right.

• Turn right 5 degrees

• Turn right 25 degrees

• Turn right 180 degrees, stop in adjacent lane 40 cm (16 in.) to the right (clean 50 cm (20 in.) from previous lane).

5.4002.8501.0 A Lely Control

• Turn right 45 degrees

• Turn right 60 degrees

• Turn right 180 degrees, stop in the adjacent lane 20 cm (8 in.) to the right (clean 70 cm (28 in) from the previous lane).

• Make a sharp right turn, maximum cleaning in the corner

• Turn right 90 degrees

• Turn right 180 degrees.

4-12 Description and Operation

• Turn left 60 degrees gradually, following wall, maximum cleaning

• Turn left 90 degrees

• Turn left 180 degrees, stop in adjacent lane 80 cm (31 in.) to the left.

• Turn left 5 degrees

• Turn left 25 degrees

• Turn left 180 degrees, stop in adjacent lane 40 cm (16 in) to the left (clean 50 cm (20 in.) from previous lane).

• Turn left 90 degrees, no wall following

• Turn 180 degrees

• Turn left 180 degrees, stop in adjacent lane 20 cm (8 in) to the left (clean 70 cm (28 in) from the previous lane).

• Make a sharp left turn, maximum cleaning in the corner

• Turn left 90 degrees

• Turn left 180 degrees.

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After selecting an option, the variables of the turn can be adjusted. The display shows the following information:

Display Description

• Actionr: Sequence number for the action in this route

• TurnAngle of the turn, positive value (+) = turn right, negative value (-) = turn left

• Radius: The radius of the turn the vehicle will make: 0 = on the spot, 300 = about one of the drive wheels For instance: a turn of 180 degrees with a radius of 0 is used to clean the same lane again. A turn of 180 degrees with a radius of 300 is used to clean the next lane.

•

Back: The distance (in mm.) the vehicle first goes back before making the turn (needed if the vehicle is near an obstacle).

Description and Operation 4-13

Buttons:

• Soft button [<

Push [ ] or [ ] to adjust the value of the selected variable

•

• [START/STOP

] to select the variable you want to modify

] to start or stop

• Soft button [MAN] to adjust the position of the vehicle.

The same description applies for turning to the left.

Ultrasound L

Tracking along a wall or fence on the left at a certain distance (200 cm, 78.7 in max.). The ultrasonic sensor is used to measure the distance to the wall (page 4‑4).

The display shows the following information:

Display Description

• Actionr: Sequence number for the action in this route

• RunDst : Covered distance (mm)

• UltraDst: Actual distance to the wall (mm) (2000 mm, 78.7 in max)

ULTRADST: Adjustable distance to the wall

• (mm).

Buttons:

[ ] or [ ] to modify the value of the selected variable

•

• [START/STOP

] to start or stop

• Soft button [MAN] to adjust the position of the vehicle.

Charger

Drive the vehicle back to the charging station. The Discovery finds the charging station independently (default = on the left), within a distance of 1.5

- 3 m (5 -10 ft.) (page 5‑21). The vehicles nose must point approximately into the direction of the charging station.

The display shows the following information:

Display Description

• Actionr: sequence number for the action in this route

• RunDst :Covered distance (mm)

• Charger: not applicable

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4-14 Description and Operation

Buttons:

• Soft button [L

] to modify the position of the charging station

• Soft button [[MAN]] to adjust the position of the vehicle

• [START/STOP] to start or stop.

Waiting time

Wait an adjustable time before continuing with the next action in a route (page 5‑22). This action is used in a route through a waiting area. The vehicle stops before entering the area to give cows time to move out.

The display shows the following information:

Display Description

• Actionr: Sequence number for the action in this route

• time : (min): Waiting time (min).

Buttons:

[ ] or [ ] to modify the value of the selected variable

•

• [START/STOP

] to start or stop

5.4002.8501.0 A Lely Control

Soft button [Save ] to save the setting.Buttons:

[ ] or [ ] to modify the value of the selected variable

•

• [START/STOP

] to start or stop

Soft button [Save ] to save the setting.Buttons:

[ ] or [ ] to modify the value of the selected variable

•

• [START/STOP

] to start or stop

• Soft button [Save] to save the setting.

4.3.2.2 Delete Route

This menu is used to delete an existing route (page 5‑24).

The display shows the following information:

Display Description

• List of set routes.

Description and Operation 4-15

Buttons:

[ ] or [ ] to select a route

•

[ ] to confirm.

•

4.3.2.3 Time Path

It is useful to combine routes into a Time path. If the time path is switched ON, the Discovery drives the set routes automatically at the set times each day (page 5‑24). A time path lasts maximum 24 hours. A time path has 48 time-route combinations maximum. A maximum of 16 different routes can be programmed. The time-route combinations of the time path are sorted automatically in time order. The display shows the following information:

Display Description

• Time path; start times of set routes.

Buttons:

[ ] or[ ] to select a route in the time path

•

• Soft button [Del] to delete a route from the time path

• Soft button [New] to add a new route to the time path

Soft button [>] to select the next variable.

•

4.3.2.4 Blockage Route

This menu is used to temporary block one or more routes. If you do not want the vehicle to drive in a particular part of the barn, block the routes that go through that part. Blocked routes will be skipped from the time path.

This option can be used if part of the barn is reconstructed or if a cow is calving.

4.3.2.5 Route Analysis

The menu 'Route analysis' has the following options:

• 'Fail. problty'

• 'Failure analys'.

'Fail. problty' gives a quick overview of the reliability per route. 'Failure analys' gives detailed information and shows per route the action numbers that have a high risk of failure. It also gives an indication of the fault (page 7‑

2).

5.4002.8501.0 A Lely Control

4-16 Description and Operation

Failure Probability per Route

The display 'Fail. problty' displays for each route, numbered from 1 - 16, the probability of a failure on a scale from 0 - 5. In the next figure route 1 has a low risk and route 4 a very high risk.

1-2 Failures/route

1 2 3 4 5 6 7 8

If a routes has a failure probability of more than 2, the risk of failures is too high. This could be due to a number of factors like:

• few bump points

• many so called 'short actions', like 'Straight', 'Turn L <--' or 'Turn R -->' without 'long actions' in between to enable the Discovery

to correct itself

• obstacles.

Buttons:

5.4002.8501.0 A Lely Control

[ ] to open the next screen

•

• [ESC

] to go one level up.

Failure Analysis

The display Failure analysis has 3 tables:

• The table Failure analysis displays per fault category (A - H) the action numbers that causes a risk

• The second table displays the percentage of actions in a route that have bump points (must be more than 20%) and the percentage short actions versus long actions (must be less than 50%)

• The third table displays explanations.

Description and Operation 4-17

Display text Explanation

A Bend in action Very unreliable route due to a combination of

factors (B-H)

B Start-Resetp. angle Angle of more than 20 degrees between the

start and the reset point. This could be due to an angled start point

C Resetp.-End angle Angle of more than 15 degrees between the

reset point and the end point. The vehicle goes in the wrong direction before it reaches the end point. This could be due to an obstacle

D Angle betw. Actions Vehicle has unexpectedly turned after saving

an action, causing the next action to start in a different direction.

E Drift/bend action Vehicle is forced to make a bend during an

action (wall follow or ultrasound drive) less than 1.5 m (4.9 ft.) after the start of the action.

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4-18 Description and Operation

Display text Explanation

F Drift/angled start Vehicle starts angled due to, for instance

angled ending of the previous action

G Angled ending Vehicle ends action angled (>10 degrees)

due to for instance a collision with a cow leg

H Straight > 5 m Deviation caused by driving straight for more

than 5 m (15.4 ft)

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4.3.2.6 Speed Action

This menu is used to set the speed for an action during a route (page 5‑29), for example driving slowly when passing the feed fence or a waiting area

4.3.2.7 Beepfreq Route

This menu is used to set the beep frequency during the driving. The default frequency is every 2 seconds. The frequency can be set for each route separately. The display displays the value per second, so 0.5 equals one peep per two seconds. When the value is set to zero, the beep is switched OFF.

Switch the beep ON if the route passes a

feed fence or a waiting area

. The

cows present in the area are alerted and can move out of the way.

4.3.2.8 Copy Route

The menu 'Copy route' is used to copy a route. The copied route can be modified to make a new route.

Description and Operation 4-19

4.3.2.9 Modify Route

The menu 'Modify route' is used to modify parts of an existing route. Since a route is built of many actions, changing one action influences the rest of the route. Therefore modification is restricted to:

• Modify the run distance

• Modify the angle of a turn

Add waiting time.

•

Examples:

If the Discovery slips during action (page 5‑9) (3), the vehicle will not reach the wall during the next action (4). Instead of following the wall, it will then hit the manger on the cross wall. In that case the run distance of action 3 ('Straight') should be increased.

If, after following a wall, a crosswalk must be passed, the Discovery must first make a small turn to the left (2). Otherwise the vehicle will hit the cross wall on the other side of the crosswalk. If it turns out that, despite the turn, the vehicle hits the wall, the angle of the turn must be increased.

Figure 7. To pass a crosswalk

4.3.2.10 Wheel Correction

If the wheels become worn, the diameter and thus the covered distance per rotation decreases. As a result the driving distance in a route decreases.

The menu 'Wheel corr.' is used to correct the wheel diameter in the software and thus the driving distance.

4.3.2.11 Backup Route

This menu is used to make a backup with the Lely Control app on the smartphone or to restore the information on the ADS 3840 PCB.

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4-20 Description and Operation

4.3.3 Settings

RealTime clock

This menu is used to set the date and time of the Discovery. The correct date setting is also important to search for alert reports on a date.

Date 02-09-12 (dd/mm/yy).

Time 16:53:31 (hh/mm/ss).

Language

This menu is used to modify the language of the user interface.

Gyroscope

This menu is used to recalibrate the gyroscope. The Discovery must not be moved during the calibration.

Motor power

The motor power must be high enough to overcome an unevenness or a slope. Otherwise it must not be too high, because the control system uses the current value to detect an obstacle.

The motor power can be set to:

Average

•

• Low.

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4.3.4 Alarms

Do not modify the motor power without the consent of your local Lely service provider.

Wheel diameter

Specifies the diameter of the wheels. The default diameter is 250 mm.

Do not modify this setting when the wheel diameter is not changed. This affects the route accuracy.

Beep length

This menu is used to set the duration of the beep. The default length is 200 mSec. This setting is for all routes. When the value is set to zero, the beep is switched OFF.

Reset report

This menu resets the service information data.

The Discovery monitors itself continuously and informs you about the situation. The Discovery generates alarms and reports.

Alarm list

The alarm list gives a summary of the alarms received. This list 250 alarms (page 8‑1). Once 250 alarms are stored, the next alarm overwrites the oldest alarm of the list.

stores up to

Description and Operation 4-21

4.3.5 Service

4.4 Operation

Report list

The report list gives a summary of the generated reports (page 8‑10).

Info list

The list gives technical details. It is used by the service technician.

Reset list

To delete all alarm, report and info information.

The menu 'Service' has the following sub menus:

• 'Hour counter' to display the hours in use since the last counter reset.

• 'Version' to display the software version

'Installation1' (password protected)

•

• 'Installation2' (password protected)

• 'Tests service' (password protected).

4.4.1 Routes, Actions, Manual Routes and Time Paths

Actions make a route

The Discovery drives through a barn along a programmed route. A route is build up of actions like 'Wall flw L' or 'Turn L <--'. A route in most cases starts, and always ends at the charging station. Figure 1 shows a part of a route.

Automatic cleaning with a time path

The Discovery cleans the barn each day automatically on the same time if a Time pathis set and switched ON (page 4‑16

Manual cleaning with manual routes

It is useful to enable MANUAL ROUTE. You then can clean a part of the barn whenever you want or program routes from different points in the barn back to the charging station for instance to pick up a lost vehicle.

test a route (page 4‑

5.4002.8501.0 A Lely Control

9). It is also useful to

4-22 Description and Operation

4.4.2 Control System

Figure 8. Actions make a route

KEY:

1. Charging station - 2. Wall flw L - 3. Turn R --> - 4. Straight - 5. Wall flw R

5.4002.8501.0 A Lely Control

The control system keeps the vehicle on the right track.

4.4.2.1 Driving Distance

The encoders on the drive motor measure the number of rotations of the motor shafts. This value is used to calculate the travelled distance. If, due to slip, the actual driving distance is less than calculated, it can only be corrected if the action ends at a bump point (a collision point with a wall). If an expected bump point is not reached, the Discovery continues driving for a limited distance.

The driving distance is corrected in the software, so the next time the Discovery drives a bit further. On the other hand, if a bump point is reached earlier than expected, it is also corrected. These corrections are deleted when you reset the ADS 3840 PCB.

Description and Operation 4-23

Figure 9. Bump points to correct the driving distance

KEY:

1.Bump point - 2. Bump point

4.4.2.2 Speed

The number of revolutions of the motors are also used to calculate the speed. The speed can be set for a route or for an action in a route.

4.4.2.3 Distance to a Wall

The ultrasonic sensor sends a pulsed ultrasound wave at an object and then measures the time for the sound echo to return (page 4‑

4).

4.4.2.4 Direction

At the start of a route, the angle with the wall is 0 degrees. During the route the gyroscope calculates each deviation from a straight line (page 4‑4). This information is used to control the direction of the vehicle. This is especially important during so called 'short actions', when there is no contact with the wall.

Short actions

Short actions are:

• 'Straight'

• 'Turn L <--'

• 'Turn R -->'.

5.4002.8501.0 A Lely Control

Due to a combination of factors like skidding, obstacles or drift from gyroscope, the calculated angle with the wall may differ from the actual angle. This can cause the vehicle to drive in the wrong direction. This is no problem if the control system is able to correct itself during a 'long action'

4-24 Description and Operation

Long actions

Direct wall contact with the sensing wheel or indirect wall contact with the ultrasonic sensor are used to keep the Discovery in the correct direction (page 4‑4

). This is the case during:

• 'Wall flw L'

• 'Wall flw R'

• 'Ultrasound L'.

If these actions continue for more than 10 m (33 ft) they are called 'long actions' because then the vehicle passes the 'reset point' (between 3 to 10 m (9.8 - 33 ft)). At that point the angle is reset to 0 degrees and a beep is sound.

'Long actions' compensate for the deviations caused by 'short actions'. It is therefore very important to program a subsequent 'long action' after a succession of 'short actions'.

In a situation with a succession of 'short actions' ('Straight', 'Turn L <--' and 'Turn R -->') the vehicle can get lost, due to an accumulation of errors. In the figure (page 4‑26), the left part shows a programmed route (example). The right part shows what could happen.

The risk of deviating from the programmed route can be minimized when (page 4‑27):

5.4002.8501.0 A Lely Control

• The Discovery has contact with the wall, barn or feed fence, either direct ('Wall flw L' or 'Wall flw R') or indirect ('Ultrasound L').

• Bump points enable the control system to compare the traveled distance with its own information.

• 'Short actions' are mixed with 'Long actions' to correct the direction.

Description and Operation 4-25

Figure 10. Example situation of short routes resulting in errors; left side: programmed route, right side: resulting route

Number Explanation

1 The vehicle doesn't reach the wall, due to skidding. There is no

bump point to correct this error.

3, 5, 7 Due to deviations in the gyroscope (drift) and/or skidding the

turns are less than 180 degrees.

2, 4, 6 The errors are not corrected while driving straight.

8 The vehicle bumps the cubicle, tries to go on and eventually

gets lost.

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4-26 Description and Operation

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Figure 11. Alternation of short and long actions

Number Explanation

1 The vehicle follows the cubicles on the right side until the wall

(bump point)

2 The vehicle follows the wall on the right side until the feed fence

(bump point), followed by 'Turn L <--'

3 The vehicle follows the wall on the left side ('Ultrasound L'),

until the cubicles (bump point)

4 The vehicle drives back and follows the cubicles on the left side

('Ultrasound L')

5 The vehicle follows the cubicles on the left side with 'Ultrasound

L' followed by 'Straight' until the wall (bump point)

6 The vehicle drives back followed by 'Turn L <--'

7 The vehicle drives 'Straight' until the feed fence (bump point)

followed by 'Turn L <--'

8 The vehicle drives 'Straight' until the start of the cubicles on the

right, then 'Wall flw R', followed by 'Straight' until the bump point

9 The vehicle drives back followed by 'Wall flw R'

Description and Operation 4-27

4.4.2.5 Obstacles

If the Discovery unexpectedly comes across an obstacle, for example the leg of a cow or a pile of manure, the Discovery acts as follows:

• it reverses and tries again (up to 3 times)

• it reverses and makes a 45 degrees turn to the left or right, depending on the previous action (left or right wall tracking/ultrasonic). If it succeeds in passing the obstacle, it returns to the original route and continues to finish the route.

5.4002.8501.0 A Lely Control

4-28 Description and Operation

5. OPERATING INSTRUCTIONS

5.1 Install or Update the Lely Control app on Your Smart Phone

1. On an Android smartphone go to the Google play store, on an iPhone

go to the Apple app store.

Download the Lely Control app.

Install the app.

Wait until the software is correctly installed.

5. The first time you start to control the Discovery with the software on

the smartphone, you must enter a password for the Discovery system. Ask your local Lely service provider for the password.

If there is new software available, a notification is displayed on the icon of the Google play / Apple app store.

5.2 Rename the Discovery on the Smartphone

The device name of the Discovery that is displayed on the smartphone can only be modified by a certified Lely technician.

5.3 Set the farmer password

5.4002.8501.0 A Lely Control

The farmer password must be set by a certified Lely technician.

It is recommended to use the same password for all smartphone controlled machines on a farm.

5.4 Remove or Install the Covers

Preparation

1. Stop the time path to take the Discovery out of operation (page 5‑

27).

Manually drive the Discovery to a clean and quiet location (page 5‑

4).

Operating Instructions 5-1

Removal

1. Unfold the lock pin of the fastener (2).

2. Remove the lock pin (2).

Pull the fastener on the rear (page 5‑2) (1) towards you.

4. Rotate the upper cover (3) towards the front side of the vehicle to

remove the upper cover from the chassis (3).

5. Remove the lower cover from the vehicle (4).

Installation

1. Reinstall the lower cover (4).

2. Put the bracket of the upper cover in the slot at the front side of the of

the Discovery.

3. Lower the upper cover (3) at the rear side.

4. Close the fastener on the rear (1).

5. Install the lock pin (2) on the fastener.

6. Fold the lock pin.

Close-up

1. Manually drive the Discovery to the charging station (page 5‑5).

2. Start the time path to put the Discovery into operation (page 5‑27).

Figure 12. Remove the covers

KEY:

1. Fastener - 2. Lock pin - 3. Upper cover - 4. Lower cover

5.4002.8501.0 A Lely Control

5-2 Operating Instructions

5.5 Switch ON or OFF the Discovery

To switch OFF

Remove the upper cover (page 5‑

Remove the lower cover (page 5‑1).

3. On the PCB box, push the button [OFF] to switch OFF the power.

4. Reinstall the lower cover (page 5‑1).

5. Reinstall the upper cover (page 5‑1).

To switch ON

1. Remove the upper cover (page 5‑1).

2. Remove the lower cover (page 5‑1)

3. On the PCB box, push the button [ON] to switch ON the power.

4. Reinstall the lower cover (page 5‑1).

5. Reinstall the upper cover (page 5‑1).

1).

5.6 Operate Device Specific Software with a Smartphone

Connect the Smartphone

1. Make sure the App is installed on your smartphone.

Make sure the Discovery is in your line of sight before you start the software.

3. Start the software on your smartphone (page 5‑3).

Disconnect the Smartphone

5.4002.8501.0 A Lely Control

1. Stop the software on your smartphone.

5.7 Start the Software on Your Smartphone

Remote Operation of the smartphone or tablet by remote desktop software (such as, but not limited by, Teamviewer) is strictly forbidden to avoid dangerous situations.

Make sure the machine is in your line of sight.

Make sure you are in the vicinity of the Discovery when you want to connect the phone to the machine. If the distance is too big, it will not appear in the list on the smartphone display.

The device name of the Discovery that is displayed on the smartphone can only be modified by a certified Lely technician.

Sometimes the phone must be paired with the Discovery before you can do the procedure below.

Operating Instructions 5-3

The Discovery can not be connected to more than 1 smartphone simultaneously.

On the Smartphone:

1. Start the Lely Control app.

2. If bluetooth was not in operation the following question (or similar)

appears: 'The application tries to switch on bluetooth, continue?'

Push 'Yes'.

4. Push the line: 'Search for devices'. The devices near the smartphone

will be found. If one or more devices are not found, repeat this step.

5. Push the line with the machine you want to operate. A connection will

be made with the selected machine. A green light is displayed in the title when the connection is made. The smartphone shows a set of control buttons and a display that can be used to operate the software. If the smartphone loses connection the green light turns red. Move towards the machine and make the connection again.

Push

7. If the Discovery was switched OFF, Calibrate the gyroscope.

In general the buttons have the following function:

[ ] Execute the command on the display above the applicable soft

• button.

• [START/STOP

] starts or stops an action.

[ ] moves the selector up one item or increases a value by one.

•

[ ] moves the selector down one item or decreases a value by one.

•

• [ESC] returns to the previous screen.

•

opens the selected function or the next menu screen.

reduces the speed of the vehicle.

5.8 Manually Drive the Discovery

1. Stop the time path to take the Discovery out of operation (page 5‑

27).

Push [ ] twice to select the menu 'MANUAL DRIVING'.

3. The message 'SAFETY WARNING. Manual operation is permitted

only with a clear overview of the vehicle. Confirm?' appears on the smartphone display.

4. Confirm if you have a clear overview of the Discovery.

5.4002.8501.0 A Lely Control

5-4 Operating Instructions

5. In the menu 'MANUAL DRIVING', push:

] to select the left engine. The vehicle turns right when it is

• [L manually driven, or

• [R] to select the right engine. The vehicle turns left when it is manually driven, or

• [L] and [R] to go straight on.

Push [ ] to change the direction, if necessary.

7. Push [START/STOP] to start, hold it.

Release [START/STOP] to stop.

Figure 13. Manual driving

5.9 Drive the Discovery to the Charging Station

5.4002.8501.0 A Lely Control

1. Stop the time path to take the Discovery out of operation (page 5‑

27).

Manually drive the Discovery station (page 5‑4).

3. Make sure the front of the vehicle points in the direction of the charging station.

Push [ ] to select the menu 'MANUAL CHARGER'.

5. In the menu 'MANUAL CHARGER', push:

1. [

2. [R] if the charging station is on the right side.

6. Push [START/STOP] to start.

The Discovery approaches the charging station and stops by itself.

L] if the charging station is on the left side

to 1.5 - 3 m (5 -10 ft.) from the charging

Operating Instructions 5-5

Figure 14. Drive to the charging station

KEY:

1. Manual Charger - 2. Manually drive to 1.5 - 3 m from the charging station

5.10 Prepare for Programming

5.10.1 Requirements for a Good Route

Make it possible for the Discovery to correct itself

• Include as many bump points as possible in all directions. If, due to

slipping, the bump point is not reached in time, the Discovery continues until the bump point is reached. This improves the reliability of the route

• Be aware that actions like 'turn' and 'straight' may cause inaccurate

results. Make sure the vehicle cannot get stuck after making a turn or driving straight. Program a 'long action' (wall contact: 'wall follow' or 'ultrasound') after a 'short action' (no wall contact: 'turn' or 'straight') (page 4‑24).

• If the vehicle follows the wall or cubicle row ('wall follow' or 'ultrasound')

and if there is a bend, stop the vehicle, program a turn and go on to follow the wall (page 5‑15).

5.4002.8501.0 A Lely Control

5-6 Operating Instructions

Make it easy for yourself

• Program routes from different positions in the barn back to the charging

station. This will enable you to easily return the vehicle back to the charging station in case it gets lost.

• Make a backup after programming a route

Adapt the route or settings to the herd

• The beep can be modified separate for each route. If the beep length is

set to 0, the beep is switched OFF. If a warning signal is given, the cows have time to move out of the way. However, the sound may equally well disturb other cows (see which settings suit your herd best).

• Set the speed to a lower level for parts of the route or the whole route if

the cows are disturbed (page 5‑29).

5.10.2 Example Routes, Barn with Milking Robot

In the example situation, the barn is divided into 3 areas. The time path has different routes to clean each area:

Route 1

The area behind the cubicles is most extensively polluted (page 5‑8). It should be cleaned each hour at least.

Route 2

5.4002.8501.0 A Lely Control

The walking alley should be cleaned 4 times a day (page 5‑8). Because the area behind the cubicles should be cleaned often, the route combines cleaning the walking area and the area behind the cubicles. It is useful to clean the walking area just before you enter the stall, for instance at 7:00, 12:00, 17:00 and 22:00 hour.

Route 3

The area between the cubicles and the feeding fence should be cleaned no more than 2 times a day, preferably at night (page 5‑8). Cows should not be disturbed when eating.

The following example time path is based on these routes:

Time Route

12:00 2

13:00 1

14:00 1

15:00 1

16:00 1

17:00 2

18:00 1

19:00 1

20:00 1

Operating Instructions 5-7

21:00 1

22:00 2

23:00 1

00:00 1

01:00 3

02:00 1

03:00 1

04:00 2

Figure 15. Route 1, clean all areas behind the cubicles each hour

Figure 16. Route 2, like route 1, but also clean the walking alley, 4 times a day

Figure 17. Route 3, clean the areas between the cubicles and the feed fence, 2 times a day

Each route is built of many actions. The following figure (page 5‑9) shows the actions of route 1 on the left side of the barn, the table below explains each action. Refer to the complete picture for an overview.

5.4002.8501.0 A Lely Control

5-8 Operating Instructions

Figure 18. Example actions (left side)

Number Action Explanation

1 Wall flw L Follow the wall is always the first action, necessary to leave

the charging station.

2 Turn R --> (90 degrees) Standard turn. Make sure the vehicle will not hit the cubicle

5.4002.8501.0 A Lely Control

wall after action 3. Else modify the turn (page 5‑20).

3 Straight Driving straight is the only option because the distance to a

wall is more than 2 meter.

4 Wall flw R Vehicle will turn right until it hits the cubicle floor and will then

follow the cubicle floor.

Although it is easier to clean the left side first, this is not allowed because cows can get hurt, due to the opening for the ultrasonic sensor (page 5‑17).

5 Wall flw R Follow the cubicle floor until the wall (bump point)

6 Turn L <-- (90 degrees, 1000 mm

back)

Standard turn 90 degrees. Modify turn: back 1000 mm before turning.

7 Straight Drive straight until the wall (bump point)

8 Turn R --> (180 degrees) Standard turn R (180 degrees)

9 Straight

10 Turn R --> (90 degrees) Standard turn 90 degrees, modify if the nose of vehicle

doesn't point in the correct direction

11 Straight Straight until the first cubicle on the left side

12 Ultrasound L Ultrasound drive (1100 mm)

Operating Instructions 5-9

The following figure (page 5‑10) shows the actions of route 1 in the middle of the barn, the table below explains each action. Refer to the complete picture for an overview.

Figure 19. Example routes (middle part)

Number Action Explanation

1 Wall flw R Follow the cubicle floor until the end of the cubicle row

2 Turn L <-- (45 degrees)

3 Straight Drive straight

4 Turn R --> (45 degrees)

5 Wall flw L Follow the cubicle floor

6 Turn R --> (45 degrees)

7 Straight Drive straight

8 Turn L <-- (45 degrees)

9 Wall flw R

10 Wall flw R

11 Turn L <-- (10 degrees)

Straight

Move to the left to prevent hitting the wall after crossing over (page 5‑12)

Turn R --> (5 degrees)

12 Straight Drive straight until bump point

13 Turn L <-- (180 degrees) Standard turn, stop in adjacent lane

14 Straight

15 Ultrasound L Ultrasound drive 1100 mm

16 Ultrasound L Ultrasound drive 1100 mm

5.4002.8501.0 A Lely Control

5-10 Operating Instructions

Number Action Explanation

17 Straight Drive straight until bump point

18 Turn L <-- (90 degrees)

19 Wall flw R Follow wall until bump point

20 Turn L <-- (90 degrees) Standard turn, back 500 mm

21 Straight Drive straight until begin of cubicle row

22 Turn R --> (10 degrees)

23 Wall flw R

The following figure shows the actions of route 1 on the right side of the barn, the table below explains each action. Refer to the complete picture for an overview.

5.4002.8501.0 A Lely Control

Figure 20. Example actions (right side)

Number Action Explanation

1 Wall flw R Follow the wall until the end of the cubicle row

2 Straight Drive straight until bump point

3 Turn R --> (90 degrees)

4 Wall flw L

5 Turn R --> (90 degrees)

6 Straight Drive straight until start of a cubicle row

7 Wall flw R

8 Ultrasound L Ultrasound drive 1100 mm until end of the cubicle row

Operating Instructions 5-11

Number Action Explanation

9 Straight Drive straight until bump point

10 Turn L <-- (90 degrees)

11 Wall flw R Follow the wall until bump point

12 Turn L <-- (90 degrees)

13 Wall flw R

5.10.3 Example Route, Barn with Milking Parlour

In a barn with a milking parlour the situation is different from a barn with a milk robot. There is no free cow traffic to the milking parlour. If the cows are milked, a half of the barn is closed and can be cleaned.

Figure 21. Example route, barn with milking parlour

5.10.4 To Pass a Crosswalk

If the Discovery passes a crosswalk between two cubicle rows, the direction must be corrected to avoid hitting the opposite cubicles. The next figure and the corresponding table with action show how to do this.

5.4002.8501.0 A Lely Control

5-12 Operating Instructions

Figure 22. To pass a crosswalk

Number Action Explanation

1 Wall flw R Follow the cubicles row, stop at the end

2 Turn L <-- Turn left, 5 degrees

3 Straight Drive straight until middle of the next cubicle

4 Wall flw R Follow the wall, the vehicle automatically turns to the cubicles

5.10.5 To make a Turn

5.4002.8501.0 A Lely Control

Turn to clean the next (adjacent) lane

When the Discovery approaches a wall and must be turned 180 degrees to clean the next lane, it must:

• Hit the wall (bump point)

• Drive back to enable turning

Turn 180 degrees with a certain radius.

•

You can choose from 4 standard turns, both left and right each with a different radius:

• Go back, turn 180 degrees, stop in the next lane 80 cm (31 in.) to the

right or left (to clean the next lane)

• Go back, turn 180 degrees, stop in the next lane 40 cm (16 in.) to the

right or left (to clean the next lane and also half of the former lane)

• Go back, turn 180 degrees, stop in the next lane 20 cm (8 in.) to the right

or left (to clean the next lane and also three quarter of the former lane)

• Go back, turn 180 degrees, stop in the same lane (to clean the same lane

again).

The next figure shows the options.

Operating Instructions 5-13

KEY:

A. 20 cm (8 in.) - B. 40cm (16 in.) - C. 80 cm (31 in.)

5.10.6 To Approach the Charging Station from the Opposite Direction

5.4002.8501.0 A Lely Control

Figure 23. Approach the charging station

Number Action Explanation

1 Wall flw R Follow the wall on the right side

2 Turn L <-- Turn left

3 Straight Drive straight

4 Turn R --> Turn R 20 degrees

5 Wall flw R Follow the wall on the right side

5-14 Operating Instructions

Number Action Explanation

6 Turn L <-- Turn L 180 degrees

7 Wall flw L Follow the wall until 1.5 - 3 m (5 - 10 ft.) from the charging

station

8 Charger Go to the charging station

5.10.7 To Follow a Bend in a Wall

Figure 24. Follow a bend in a wall

5.4002.8501.0 A Lely Control

Number Action Explanation

1 Wall flw L Wall follow

2 [START/STOP] Stop the wall follow action

3 Wall flw L Wall follow (no turn action needed because the angle < 20

degrees)

4 Turn R --> Turn right, nose in drive direction

5 Wall flw L Wall follow

Operating Instructions 5-15

5.11 Program the Discovery

5.11.1 Program a New Route

Preparation

1. Make sure you understand the requirements for setting up a good route (page 5

2. Plan the route on a piece of paper.

3. Open (page 5‑3) the Lely Control app on the smartphone..

4. Stop the time path to take the Discovery out of operation (page 5‑

27).

Program

In the main menu of the Lely Control app, select 'Routes' and push

1. [ ].

Select the menu 'New route' and push [ ].

3. The message 'SAFETY WARNING. Manual operation is permitted only with a clear overview of the vehicle. Confirm?' appears on the smartphone display.

4. Confirm if you have a clear overview of the Discovery.

‑6).

If the the vehicle is not connected to the charging station, you can push soft button [

5. Push soft button [START].

9. If the vehicle has returned to the charging station within 1-3 m., go to

10. Push soft button [Exit].

11. Push soft button [Yes] to save the new route.

CHARGR] to drive the Discovery to the charging station (page 5‑4).

Read the messages on the display and push [ ] (2×).

Program the first action ('Wall flw L' or 'Wall flw R' (page 5

Program the next action in the route:

• Wall flw L (page 5‑17)

• Wall flw R (page 5‑17)

• Straight

• Turn R --> (page 5‑20)

• Turn L <-- (page 5‑20)

• Ultrasound L (page 5‑22)

• Charger.

the charging station (page 5‑21), Else repeat step 6.

‑17)).

5.4002.8501.0 A Lely Control

Close-up

1. Test the route (page 7‑3).

2. Make a backup of the route.

5-16 Operating Instructions

5.11.1.1 Follow a Wall (Left or Right)

Try to avoid to move past cows on the left side, they may get hurt due to the opening for the ultrasonic sensor (page 5‑18

If the angle between the Discovery and the wall is more than 30 degrees, you must program a 'turn' action first before you program a 'follow wall' action (page 5‑18).

1. If the wall is:

On the left side, select the menu 'Wall flw L' and push [ ]

•

On the right side, select the menu 'Wall flw R' and push [ ].

•

5.4002.8501.0 A Lely Control

Build in as many bump points as possible in

START/STOP] to start.

Push [

all driving directions.

If the Discovery approaches a bump point (approx. 30 cm (12 in)),

push [

Push [

] to smoothly reduce speed.

START/STOP] to stop the Discovery immediately.

The display shows the status ('Manual stop' or 'Bump stop') and the travelled distance (in mm).

Push soft button [Save].

Operating Instructions 5-17

Figure 25. Try to avoid to move past cows on the left side

5.4002.8501.0 A Lely Control

Figure 26. Never make an angled start (>30 degrees)

5-18 Operating Instructions

5.11.1.2 Go Straight

When moving straight forward, the deviation can be more than 10%. Take this into account when you set up a route. If possible, include a bump point after going straight.

Before starting, make sure the Discovery points in the correct direction. Use the ''Straight' option as little as possible. If it really is necessary, for example to get the Discovery through a doorway, make the distance travelled as short as possible. Once through the doorway, continue to follow a wall left or right, or ' Ultrasound L'. This improves the accuracy of the route that is travelled.

Select 'Straight' and push [ ].

2. Push [START/STOP] to start.

If the vehicle approaches the wall from an angle,

1. Push [START/STOP].

2. Turn the vehicle to a right-angled position to the wall (page 5‑

20).

3. Resume driving 'Straight'.

If the Discovery approaches a bump point (approx. 30 cm (12 in)),

4. push [ ] to smoothly reduce speed.

5. Push [START/STOP] to stop the Discovery immediately.

5.4002.8501.0 A Lely Control

The display shows the status ('Manual stop' or 'Bump stop') and the travelled distance (in mm).

Push soft button [MAN] to modify the position.

Push soft button to turn left, or to turn right.

2. Push [ESC

] to confirm and go one level up.

7. Push soft button [Save].

Operating Instructions 5-19

Figure 27. Avoid angled bumping

5.11.1.3 Turn Left or Right

If you want to turn left, select 'Turn L <--' and push [ ].

If you want to turn right, select 'Turn R -->' and push [ ].

Read the message on the display and push [ ].

5.4002.8501.0 A Lely Control

5-20 Operating Instructions

You can choose from 12 standard turns and modify the turn afterwards. Preferably do not make sharp turns in heavy polluted areas (less power).

Push [ ] until the most appropriate standard turn is displayed, or

4. push [ESC] to go to the previous display.

5. Select one of the standard turns with the appropriate soft button (page 4‑13).

If you want to modify the turn, push [ ] or [ ] to select the angle.

7. If you want to drive back before making a turn:

5.4002.8501.0 A Lely Control

1. Push soft button [

Push [ ] or [ ] to select the reverse distance.

>] to select 'Back'.

8. If you want to modify the radius of a turn:

1. Push soft button [

Push [ ] or [ ] to select the radius.

>] to select 'Radius'.

9. Push [START/STOP] to start.

If the made turn is not exactly as planned, modify the position (see the next step). This is above all important if the angle is 90 or 180 degrees left or right.

Push soft button [MAN] to modify the position.

10.

Push soft button to turn left, or to turn right.

2. Push [ESC

] to confirm and go one level up.

11. Push soft button [Save].

5.11.1.4 Go to the Charging Station (Charger)

1. Make sure the Discovery is within 1.5-3 m from the charging station, pointing towards it (page 5‑4).

2. Select the menu 'Charger'.

3. Push soft button [MAN] to modify the position.

Push soft button to turn left, or to turn right.

2. Push [ESC

] to confirm and go one level up.

4. If the charging station is on the right, push soft button [L].

5. Push [START/STOP] to start.

The Discovery approaches the charging station and stops by itself.

Operating Instructions 5-21

5.11.1.5 Follow a Wall or Fence on a Certain Distance (Ultrasound)

Do not program ' Ultrasound L' when the wall is more than 2 meters away.

Select the menu 'Ultrasound L' and push[ ]

2. Read the actual distance to the wall (UltraDst) from the display.

Push [ ] or [ ] to select the required distance to the wall

3. (ULTRADST).

Push [

6. Push [START/STOP] to stop the Discovery immediately.

The display shows the status ('Manual stop' or 'Bump stop') and the travelled distance (in mm).

START/STOP] to start.

If the Discovery approaches a bump point (approx. 30 cm (12 in)),

push [ ] to smoothly reduce speed.

Push soft button [MAN] to modify the position.

Push soft button to turn left, or to turn right.

2. Push [ESC

] to confirm and go one level up.

5.11.2 Copy a Route

5.11.3 Modify a Route

8. Push soft button [Save].

5.11.1.6 Waiting Time

1. Select the menu 'Waiting time'.

Push[ ]or [ ] to select the waiting time.

3. Push soft button [Save].

Open (page 5‑3) the Lely Control app on the smartphone.

2. Stop the time path to take the Discovery out of operation (page 5‑

27).

In the main menu of the Lely Control app, select 'Routes' and push

3. [ ].

Select 'Copy route' and push [ ].

Select the route you want to copy and push [ ].

6. Push soft button [Yes] to confirm.

5.4002.8501.0 A Lely Control

Open (page 5‑3) the Lely Control app on the smartphone.

2. Stop the time path to take the Discovery out of operation (page 5‑

27).

3. Test the route (page 7

5-22 Operating Instructions

‑3).

In the main menu of the Lely Control app, select 'Routes' and push

4. [ ].

Select 'Modify route' and push [ ].

Select the route you want to modify and push [ ].

8. Read the message and make sure to understand it.

Select the action you want to modify and push [ ].

10. If you want to add extra waiting time before the action:

1. Select the action.

Push soft button [New].

Select 'Waiting time' and push [ ].

Modify the waiting time with [ ] or [ ].

11. If you want to modify the driving distance or the turn:

Select the action and push [ ].

2. Select the property you want to modify with soft button [<].

Modify the value of the property with [ ] or [ ].

12. Push [ESC

] to confirm and go one level up.

13. Push soft button [Yes] to confirm.

5.11.4 Reset a modified Route to the previous Version

1. Open (page 5‑3) the Lely Control app on the smartphone.

5.4002.8501.0 A Lely Control

2. Stop the time path to take the Discovery out of operation (page 5‑

27).

In the main menu of the Lely Control app, select 'Routes' and push

3. [ ].

Select 'Modify route' and push [ ].

Select 'Modify reset' and push [ ].

Select the route you want to reset and push [ ].

7. Push soft button [Yes] to confirm.

Operating Instructions 5-23

5.11.5 Delete a Route

1. Open (page 5‑3) the Lely Control app on the smartphone.

2. Stop the time path to take the Discovery out of operation (page 5‑

27).

In the main menu of the Lely Control app, select 'Routes' and push

3. [ ].

Select 'Delete route' and push [ ].

Select the route you want to delete and push [ ].

6. Push soft button [Yes] to confirm.

5.11.6 Set or Delete a Manual Route

Set a manual route to manually drive (a set of) route(s) or to test a route (page 4‑9).

Open (page 5‑3

2. Stop the time path to take the Discovery out of operation (page 5‑

27).

In the main menu of the Lely Control app, select 'Work' and push

3. [ ].

Push [ ] to select the menu MANUAL ROUTE.

Set a Series of Routes

In the menu MANUAL ROUTE, push [ ] to select the series of

1. routes you want to set (A, B, C or D).

2. Push soft button [>] to select the first route in the series.

Push [ ] or [ ] to select the route number (page 4‑10).

4. Repeat step 2 and 3 to select the next route in the series (if applicable).

5. Push soft button [>

6. Push [Save] to save the series of manual routes.

Delete a Manual Route

Push [ ] or [ ] to select the route you want to delete.

2. Push soft button [Reset].

) the Lely Control app on the smartphone.

] twice.

5.4002.8501.0 A Lely Control

5.11.7 Set a Time Path

The Discovery must not drive more than 40% of the total time in a time path. It must spend minimum 60% of the total time charging at the charging station.

5-24 Operating Instructions

To quickly confirm a change while editing a route, push button [ ]. To cancel push button [ESC].

1. Open (page 5‑3) the Lely Control app on the smartphone..

Stop the time path to take the Discovery out of operation (page 5‑

27).

In the main menu of the Lely Control app, select 'Routes' and push

3. [

Select 'Time path' and push [ ].

4. Refer to the time path description (page 4‑16).

5. Push soft button [New].

Push [ ] to select the start time (hour) and push soft button [>].

Push [ ] to select the start time (minutes) and push soft button [>].

Push [ ] to select the route number and push soft button [>].

Push soft button [>] to save the time-route combination. The time-

9. route combination is automatically switched on. To switch of the time-

route combination push [

10. If you want:

• To add another time-route combination to the time path, push soft

button [

New] and repeat steps 5 to 9

• Confirm an go up one level, push [ESC].

5.11.8 Make a Backup

5.4002.8501.0 A Lely Control

11. Push soft button [Yes] to save the new time path (page 4‑16).

Make a backup each time you changed a route or time path or when another smartphone is used. Backups are made on the smartphone.

Make sure to give each backup you make a unique name.

Make sure the phone has a proper connection with the Discovery and has enough storage space available for the backup file.

Stop the time path to take the Discovery out of operation (page 5‑

27).

In the main menu of the Lely Control app, select 'Routes' and push

2. [

Select 'Backup route' and push [ ]. The question 'Backup or restore

3. the current routes and settings? ' appears on the display of the smartphone.

4. Push soft button [Bckup]. The software asks if you want to make a backup on the smartphone.

Operating Instructions 5-25

5. Push soft button [Yes]. The smartphone displays a progress bar of the backup process.

6. Enter the name for the backup file.

7. Push soft button [OK].

Wait until the process ends with a beep.

5.11.9 Copy a Backup file from the Smartphone to a PC

Android

1. Connect the smartphone to a usb port of the PC. Use the data cable of the smartphone to connect.

2. Use the PC to browse to the Lely backup folder on the smartphone.

3. Select the applicable backup file (.bkp).

4. Copy the backup file from the smartphone.

5. Paste the backup file to the pc.

iOS

1. Connect the iPhone to a usb port of the PC. Use the data cable of the iPhone to connect.

2. Open iTunes.

3. Select the iPhone in iTunes.

4. Go to the 'apps' tab.

5. In the File Sharing tab, select the Lely Control app.

6. Select the applicable backup file (.bkp).

7. Click 'Save to...'.

8. Select the location on the PC where you want to save the backup file.

5.4002.8501.0 A Lely Control

5.11.10 Copy a Backup file from a PC to the Smartphone

Android

1. Connect the smartphone to a usb port of the PC. Use the data cable of the smartphone to connect.

2. Use the PC to browse to the location of the backup file (.bkp).

3. Copy the backup file from the PC.

4. Paste the backup file to the Lely backup folder on the smartphone.

iOS

1. Connect the iPhone to a usb port of the PC. Use the data cable of the iPhone to connect.

2. Open iTunes.

3. Select the iPhone in iTunes.

4. Go to the 'apps' tab.

5-26 Operating Instructions

5. In the File Sharing tab, select the Lely Control app.

6. Select the applicable backup file (.bkp).

7. Click 'Add...'.

Save the backup file in the Lely backup folder on the iphone.

5.12 Start or Stop the Time Path

Remote Operation of the smartphone or tablet by remote desktop software (such as, but not limited by, Teamviewer) is strictly forbidden to avoid dangerous situations.

1. Open (page 5‑3) the Lely Control app on the smartphone.

In the main menu of the Lely Control app, select 'Work' and push

2. [ ].

If the pane on the upper side of the menu, that displays the actual time, is grayed out, the time path is ON.

3. Push [START/STOP]. Or

Push the pause button on the Discovery to pause/restart the time path of the Discovery.

5.4002.8501.0 A Lely Control

Figure 28. Start or stop the time path

5.13 Start, Stop or Pause a Manual Route

Remote Operation of the smartphone or tablet by remote desktop software (such as, but not limited by, Teamviewer) is strictly forbidden to avoid dangerous situations.

Operating Instructions 5-27

To start a manual route:

1. Stop the time path to take the Discovery out of operation (page 5‑27

In the main menu of the Lely Control app, select 'Work' and push

2. [ ].

Push [ ] to select the menu 'MANUAL ROUTE'.

Push [ ] to select the series of routes (A, B, C or D).

5. Push [START/STOP].

If you want to switch ON the time path after the manual route, push soft button [Yes], Else push soft button [No].

To pause or stop a manual route:

1. Push [START/STOP] or the pause button on the Discovery.

2. If you want to:

• Stop the route immediately, push soft button [Yes].

• Resume the route, push soft button [No] or the pause button on the

Discovery.

• Pause,

1. Push soft button [Pause].

Push button [ ] to select the number of minutes you want to

pause.

3. Push soft button [OK].

Figure 29. Start a manual route

5.4002.8501.0 A Lely Control

5-28 Operating Instructions

5.14 Block a Route

1. Stop the time path to take the Discovery out of operation (page 5‑27).

In the main menu of the Lely Control app, select 'Routes' and push

[

Select 'Blockage route' and push [ ].

Push [ ] to select the route that you want to block and push [ ].

Push [ ] to block the route (value 1) and push [ESC] to confirm and go one level up.

Blocking a route has no effect on Manual Route (page 5‑27

5.15 Set the Speed for a Route

1. Stop the time path to take the Discovery out of operation (page 5‑27).

In the main menu of the Lely Control app, select 'Routes' and push

2. [ ].

Select 'Speed route' and push [ ].

Select the route that you want to change and push [ ].

Push [ ] or [ ] to modify the speed.

6. Push [ESC

5.16 Set the Speed for a Particular Action

5.4002.8501.0 A Lely Control

1. Stop the time path to take the Discovery out of operation (page 5‑27).

In the main menu of the Lely Control app, select 'Routes' and push

2. [ ].

Select 'Speed action' and push [ ].

] to confirm and go one level up.

Select the route that you want to change and push [ ].

Select the action that you want to change and push [ ].

Push [ ] or [ ] to select the speed for that particular action.

7. Push [ESC

8. Push [Yes] to save the modification.

9. Push [ESC] to confirm and go one level up.

Operating Instructions 5-29

] twice to confirm and go two levels up.

INTENTIONALLY BLANK

5.4002.8501.0 A Lely Control

5-30 Operating Instructions

6. MAINTENANCE

6.1 Introduction

This chapter contains the preventive maintenance schedule and the applicable preventive maintenance procedures for the Discovery. It also contains some basic corrective maintenance procedures.

6.2 Preventive Maintenance Schedule

The following table shows the preventive maintenance schedule for the Discovery. Preventive maintenance must obey local regulations, if applicable.

The frequencies of the tasks shown in the table are the minimum frequencies recommended.

Maintenance Tasks Frequencies

Clean the charging strips (page 6‑

Clean the charging electrodes on the charging station (page 6‑2)

5.4002.8501.0 A Lely Control

Read the report list and perform any indicated maintenance procedure (page 8‑10)

Examine the drive chains and tighten if necessary (page 6‑6)

Make sure the battery is charging (page 7‑4)

Clean the ultrasonic sensor (page 6‑

Replace the manure scraper (page 6‑

6.3 Maintenance Procedures

Block the cow traffic to the Discovery before you do this procedure.

Operating Weeks

Operating Months

1 Tighten new chains again after 2

3 - 6 Replace if broken or cleaning

Note

days

insufficient

Danger of being entangled by rotating parts. Keep hands, loose clothing, and long hair away from moving parts during operation of the Discovery.

Maintenance 6-1

6.3.1 Clean the Charging Strips and the Charging Electrodes

Make sure that after cleaning the charging electrodes slide over the middle of the charging strips when the Discovery parks.

Preparation

1. Disconnect the main power supply to the charging station.

2. Manually drive the Discovery

3. Switch OFF the Discovery (page 5‑3).

Clean

1. Thoroughly clean the charging strips (1,2) of the Discovery with sand paper or a steel brush.

2. Thoroughly clean both electrodes of the charging station (3) with sand paper.

Close-up

1. Connect the charging station to the main power supply.

2. Switch ON the Discovery (page 5‑3).

During the calibration process you must not move the Discovery.

to a clean and quiet location (page 5‑4).

3. Push soft button [Yes] to start the gyroscope calibration process.

4. Wait until a beep is heard (about 10 minutes) to confirm that the calibration is complete.

5. Manually drive the Discovery to the charging station. (page 5‑5)

6. Examine the charging electrodes slide over the middle of the charging strips when you park the Discovery.

7. Start the time path to put the Discovery into operation (page 5‑27).

5.4002.8501.0 A Lely Control

6-2 Maintenance

Figure 30. Clean the charging strips and the charging electrodes

KEY:

1. Charging strips right (upper strip: + , lower strip: -) - 2. Charging strips left (upper strip: + ,

lower strip: -) - 3. Charging electrodes

6.3.2 Clean the Ultrasonic Sensor

Inspect the black foam ring on the ultrasonic sensor after cleaning. Replace the foam ring if it is damaged.

5.4002.8501.0 A Lely Control

6.3.3 Clean the Sensing Wheel

Preparation

1. Manually drive the Discovery to a clean and quiet location (page 5‑4).

Clean

Do not use sharp objects to clean the ultrasonic sensor.

Clean the ultrasonic sensor with a tissue via the ultrasonic sensor

1. opening.

Close-up

1. Manually drive the Discovery to the charging station (page 5‑5).

2. Start the time path to put the Discovery into operation (page 5‑27).

Do not use water to clean the sensing wheel!

Preparation

Manually drive the Discovery to a clean and quiet location (page 5‑4).

Maintenance 6-3

Clean

1. Put the vehicle on its rear.

2. Remove the dirt between the sensing wheel and the nose with a brush.

Remove the dirt between the sensing wheel and the concrete block

3. with a screw driver and a brush.

4. Make sure that the sensing wheel can turn freely.

5. Put the vehicle on its wheels.

Close-up

1. Manually drive the Discovery to the charging station (page 5‑5).

2. Start the time path to put the Discovery into operation (page 5‑27).

Figure 31. Remove the dirt between the sensing wheel and the concrete block

KEY:

1. Sensing wheel - 2. Concrete block

6.3.4 Clean the Manure Scraper

Preparation

Manually drive the Discovery

to a clean and quiet location (page 5‑

5.4002.8501.0 A Lely Control

4).

6-4 Maintenance

Clean

To prevent damage of the electronics, do not clean the manure scraper with a high pressure cleaner!

1. Put the Discovery on its rear to access the manure scraper.

2. Clean the manure scraper with

water and a brush (page 6‑5).

Close-up

1. Clean the ultrasonic sensor (page 6‑3).

2. Manually drive the Discovery to the charging station (page 5‑5).

3. Start the time path to put the Discovery into operation (page 5‑27).

5.4002.8501.0 A Lely Control

Figure 32. Do not clean the manure scraper with a high pressure cleaner

Figure 33. Clean the manure scraper with water and a brush

Maintenance 6-5

6.3.5 Clean the Covers

Preparation

1. Manually drive the Discovery to a clean and quiet location (page 5‑4).

Remove the upper cover and store it in a safe place (page 5‑1).

Clean

Do not spray water on the vehicle.

1. Clean the cover with water and a brush.

Close-up

1. Install the upper cover (page 5‑1).

2. Manually drive the Discovery to the charging station (page 5‑5).

3. Start the time path to put the Discovery into operation (page 5‑27).

6.3.6 Tighten a Chain - short procedure

Danger of being entangled by rotating parts. Keep hands, loose clothing and long hair away from moving parts during operation of the Discovery.

If a chain must be tightened for the third time, the extensive procedure be done to prevent wearing of the chain's bearing points. Only a Lely certified technician is allowed to do the extensive procedure.

If it is unknown how many times a chain has been tightened, the extensive procedure must be done to prevent wearing of the chain's bearing points. Only a Lely certified technician is allowed to do the extensive procedure.

Preparation

Manually drive the Discovery to a clean and quiet location (page 5‑4).

2. Switch off (page 5‑3) the Discovery.

Tighten a chain

1. Loosen the two bolts above the wheel (page 6‑7) (1, 2). Do not remove the two bolts.

2. Put a ring spanner on the bolt in the slot (2).

3. Pull up the ring spanner to tighten the chain (2).

4. Tighten the bolt in the slot (2).

5. Tighten the other bolt (1).

Close-up

must

5.4002.8501.0 A Lely Control

1. Switch on (page 5‑3) the Discovery.

2. Open the Lely Control app on the smartphone.

Push [ ]

6-6 Maintenance

During the calibration process you must not move the Discovery.

4. Push soft button [Yes] to start the gyroscope calibration process.

5. Wait until a beep is heard (about 5 minutes) to confirm that the calibration is complete.

Manually drive the Discovery to the charging station (page 5‑5).

7. Start the time path to put the Discovery into operation (page 5‑27).

5.4002.8501.0 A Lely Control

Figure 34. Tighten a chain - short procedure

6.3.7 Replace the Manure Scraper

Danger of being entangled by rotating parts. Keep hands, loose clothing and long hair away from moving parts during operation of the Discovery.

Preparation

1. Manually drive the Discovery to a clean and quiet location (page 5‑

2. Switch off (page 5‑3) the Discovery.

Removal

1. Lift the front of the Discovery and put the vehicle on its rear.

4).

Maintenance 6-7

Make sure not to lose the bushing located inside the fixation plate and the bolts, washers and nuts through the openings of the slatted floor.

2. Release the bolt (1) that attaches the sliding disk (2) and the top of the fixation plate of the scraper (9) to the nose of the Discovery.

Remove the sliding disk (2).

4. Remove the fixation plate (12) with the old manure scraper (4).

5. Clean the manure scraper.

6. Remove the ten bolts, nuts and washers (6,7,8) that attach the clamping strip (5) and the manure scraper (4) to the fixation plate (12).

7. Remove the clamping strip (5) and the manure scraper (4).

Installation

1. Loosely install the new manure scraper (4) between the fixation plate (12) and the clamping strip (5) with the ten bolts, washers and nuts (6,7,8).

2. Put the fixation plate (12) with the manure scraper (4) on a flat surface.

3. Make sure the manure scraper (4) is installed equally divided between the fixation plate (12) and the clamping strip (5).

4. Tighten all nuts (6). Tighten the nuts at the far ends of the manure scraper a little less to prevent the manure scraper from tearing.

5. Put the bushing (11) back inside the top of the fixation plate (9).

6. Install the sliding disk (2) and the fixation plate (12) with the manure scraper (4) on the nose with the bolt (1) and the self locking nut (3).

7. Make sure the self locking nut still locks. If not, install a new nut.

Close-up

1. Put the Discovery back onto its wheels.

2. Switch on (page 5‑3) the Discovery.

3. Open the Lely Control app on the smartphone.

Push [ ]

During the calibration process you must not move the Discovery.

5. Push soft button [Yes] to start the gyroscope calibration process.

6. Wait until a beep is heard (about 5 minutes) to confirm that the calibration is complete.

Manually drive the Discovery to the charging station (page 5‑5).

8. Start the time path to put the Discovery into operation (page 5‑27).

5.4002.8501.0 A Lely Control

6-8 Maintenance

Figure 35. Replace the manure scraper

KEY:

1. Bolt - 2. Sliding disk - 3. Self locking nut - 4. Manure scraper - 5. Clamping strip - 6. Nut -

7. Washer - 8. Bolt - 9. Top of fixation plate - 10. Slide bearing (2x) - 11. Bushing - 12.

Fixation plate

6.3.8 Replace the Sliding Disc

Preparation

5.4002.8501.0 A Lely Control

1. Manually drive the Discovery to a clean and quiet location (page 5‑

2. Switch off (page 5‑3) the Discovery.

Removal

1. Lift the front of the Discovery and put the vehicle on its rear.

Make sure not to lose the bushing located inside the fixation plate, the bolt and nut through the openings of the slatted floor.

2. Release the bolt (1) that attaches the sliding disk (2) and the fixation plate (3) of the scraper to the nose of the Discovery.

3. Remove the sliding disk (2).

4. Remove the fixation plate (3) with the manure scraper.

Installation

1. Install the fixation plate (3) and the new sliding disk (2) with the bolt (1), the bushing and the nut.

4).

Maintenance 6-9

Close-up

1. Put the Discovery back on its wheels.

2. Switch on (page 5‑

3) the Discovery.

3. Open the Lely Control app on the smartphone.

Push [ ]

During the calibration process you must not move the Discovery.

5. Push soft button [Yes] to start the gyroscope calibration process.

6. Wait until a beep is heard (about 5 minutes) to confirm that the calibration is complete.

Manually drive the Discovery to the charging station (page 5‑5).

8. Start the time path to put the Discovery into operation (page 5‑27).

Figure 36. Replace the sliding disk

KEY:

1. Bolt - 2. Sliding disk - 3. Fixation plate

5.4002.8501.0 A Lely Control

6-10 Maintenance

7. TEST AND ADJUSTMENT

7.1 Introduction

This chapter contains the test- and adjustment procedures for the Discovery Mobile Barn Cleaner 90 S.

Several options shown on the display of the user interface are not relevant for standard test and adjustment procedures, but may be useful for troubleshooting by your service provider.

7.2 Settings

7.2.1 Set the Real-Time Clock

1. Open (page 5‑3) the Lely Control app on the smartphone.

In the main menu select 'Settings' and push [ ].

In the menu 'Settings', select 'RealTime clock' and push [ ].

Push soft button [ ] to select a menu item (page 4‑21).

5.4002.8501.0 A Lely Control

7.2.2 Set the Display Language

The real-time clock has a 24 hour format. For instance 7:00 is not the same as 19:00.

Push [ ] or [ ] to increase or decrease the value of the selected

5. option.

6. Push [ESC

1. Open (page 5‑3) the Lely Control app on the smartphone.

In the main menu of the Lely Control app, select 'Settings' and push

2. [ ].

Select 'Language' and push [ ].

Push [ ] or [ ] to select the display language.

5. Push [ESC

] to confirm and go one level up.

Test and Adjustment 7-1

7.2.3 Set the Motor Power

1. Open (page 5‑3) the Lely Control app on the smartphone.

In the main menu of the Lely Control app, select 'Settings' and push

2. [ ].

Select 'Motor power' and push [ ].

Push [ ] or [ ] to modify the power.

5. Push [ESC] to confirm and go one level up.

7.2.4 Modify the Beep Frequency for a Route

Open (page 5‑3) the Lely Control app on the smartphone.

In the main menu of the Lely Control app, select 'Routes' and push

2. [

Select 'Beepfreq route' and push [ ].

Select the route you want to modify and push [ ].

Push [ ] or [ ] to modify the number of beeps per second.

The standard value 0.5 equals one beep per two seconds.

6. Push [ESC

] to confirm and go one level up.

7.2.5 Modify the Beep Length

1. Open (page 5‑3) the Lely Control app on the smartphone.

In the main menu of the Lely Control app, select 'Settings' and push

2. [ ].

3. Select 'Beep length'.

Push [ ] or [ ] to modify the length (page 4‑21).

The standard value is 200 mSec.

Push [

] to confirm and go one level up.

ESC

7.3 Tests

7.3.1 Analyse the Reliability of a Route

1. Open (page 5‑3) the Lely Control app on the smartphone.

2. Stop the time path to take the Discovery out of operation (page 5‑27).

In the main menu of the Lely Control app, select 'Routes' and push

3. [ ].

5.4002.8501.0 A Lely Control

7-2 Test and Adjustment

To Analyse the Reliability per Route

Select 'Route analysis' and push [ ].

Select 'Fail. problty' and push [ ].

Push [ ] or [ESC] to display routes that are not displayed

3. If a route has a failure probability of more than 2 (page 4‑17),

Make a note of the route number.

4. Push [ESC] to go one level up.

Because a route can not been modified, you have to delete an unreliable route and to make a new one. Before doing so it is good to figure out what is wrong.

To Analyse the Cause of an Unreliable Route

Select 'Failure analys' and push [ ].

Select the noted route number and push [ ].

3. Make a note of the fault categories (A-E) that have an (action) number and note the numbers (page 4‑17

5.4002.8501.0 A Lely Control

7.3.2 Test a Route

Push [ ] and make a note of the fault categories (F-H) that have an

4. (action) number and note the numbers.

5. Make a note of the percentage bump points (page 4‑17).

Make a note of the percentage short routes (page 4‑17).

Push [ ] and look up the explanation of the noted fault categories

7. (A-H).

8. Make sure you understand the explanation of the noted fault categories.

9. Make a test route and find out where the notes risky action numbers appear (page 7‑

3).

10. Delete the route (page 5‑24).

11. Make a new route.

1. Put the route into a manual route.

2. Start the manual route (page 5‑27

3. Find the actions and action numbers on the display of the user interface of the Lely Control app.

4. Make sure the route is correct.

Test and Adjustment 7-3

7.3.3 Make sure the Battery is Loaded

1. Stop the time path to take the Discovery out of operation (page 5‑27).

In the main menu of the Lely Control app, select 'Work' and push

2. [ ].

3. Make sure the battery voltage is more than 12500 mV.

4. If the voltage is less then 12500 mV:

Manually drive the Discovery to the charging station (page 5‑5).

2. Make sure the battery is charging (page 7‑4).

5. Charge the battery for one hour.

Figure 37. Battery voltage

7.3.4 Make sure the Battery is Charging

1. Make sure the Discovery is connected to the charging station.

2. Stop the time path to take the Discovery out of operation (page 5‑27).

In the main menu of the Lely Control app, select 'Work' and push

3. [

]. (three times).

4. Make sure the menu MANUAL CHARGER is displayed.

5. Make sure the charging current is more than 1.0 A.

If the charging current is less than 1.0 A, make sure the orange LED

6. on the charging station is ON (page 4‑6).

7. If not, make sure the main power is connected to the battery charger.

8. If the Discovery is still not charging, make sure the electrodes are connected to the battery charger.

9. If the Discovery is still not charging, clean the charging strips and the electrodes (page 6‑2).

10. If the Discovery is still not charging, make sure all power connection are connected properly.

11. If the Discovery is still not charging, call the local service provider.

5.4002.8501.0 A Lely Control

Figure 38. Charging current

7-4 Test and Adjustment

LELY DISCOVERY 90 S Operator's Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. INTRODUCTION

2.1 Introduction

2.2 Signal Icons

2. SAFETY

2.3 Safety Instructions

2.3.1 General Safety

2.3.2 Electrical Safety

2.3.3 Operating Safety

2.3.4 Maintenance Safety

2.4 Safety Decals

2.4.1 Safety Decal Messages

2.4.2 Maintenance of Safety Decals

2.4.3 Installation of Safety Decals

3. SPECIFICATIONS

3.1 Barn Cleaner

3.1.1 Dimensions and Weight

3.1.2 Battery

3.1.3 Operation

3.1.4 Cleaning Capacity

3.1.5 Miscellaneous

3.2.1 Dimensions and Weight

Charging station

3.2.2 Battery Charger

3.3 Requirements Smartphone

4.1 Introduction

Description and Operation 4-1

4.2 Component Description

4.2.1 Discovery Mobile Barn Cleaner 90 S Vehicle

4.2.2 Charging Station

4.3 User Interface

Work

Routes

4.3.3 Settings

4.3.4 Alarms

4.3.5 Service

4.4 Operation

4.4.1 Routes, Actions, Manual Routes and Time Paths

4.4.2 Control System

5. OPERATING INSTRUCTIONS

5.1 Install or Update the Lely Control app on Your Smart Phone

5.2 Rename the Discovery on the Smartphone

5.3 Set the farmer password

5.4 Remove or Install the Covers

5.5 Switch ON or OFF the Discovery

5.6 Operate Device Specific Software with a Smartphone

5.7 Start the Software on Your Smartphone

5.8 Manually Drive the Discovery

5.9 Drive the Discovery to the Charging Station

5.10 Prepare for Programming

5.10.1 Requirements for a Good Route

5.10.2 Example Routes, Barn with Milking Robot

5.10.3 Example Route, Barn with Milking Parlour

5.10.4 To Pass a Crosswalk

5.10.5 To make a Turn

5.10.6 To Approach the Charging Station from the Opposite Direction

5.10.7 To Follow a Bend in a Wall

5.11 Program the Discovery

5.11.1 Program a New Route

5.11.2 Copy a Route

5.11.3 Modify a Route

5.11.4 Reset a modified Route to the previous Version

5.11.5 Delete a Route

5.11.6 Set or Delete a Manual Route

5.11.7 Set a Time Path

5.11.8 Make a Backup

5.11.9 Copy a Backup file from the Smartphone to a PC

5.11.10 Copy a Backup file from a PC to the Smartphone

5.12 Start or Stop the Time Path

5.13 Start, Stop or Pause a Manual Route

5.14 Block a Route

5.15 Set the Speed for a Route

5.16 Set the Speed for a Particular Action

6. MAINTENANCE

6.1 Introduction

6.2 Preventive Maintenance Schedule

6.3 Maintenance Procedures