Taski swingobot 1650 CE, swingobot 1650 CE UV, duobot 1850 CE, duobot 1850 CE UV User Manual

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www.intellibotrobotics.com

Rev. B: 01/09/17

TASKI SWINGOBOT 1650 CE

TASKI SWINGOBOT 1650 CE UV

USER MANUAL

Original Language Version (ENGLISH)

Attention:

Read and understand these instructions before use.

This manual includes important information about the safe use of this machine. Keep these instructions in an easily accessible location for reference.

1. System Overview

The TASKI Intellibot SWINGOBOT 1650 and TASKI Intellibot

SWINGOBOT 1650 UV are robotic oor scrubbing machines

intended for commercial use. The following is an overview of the machine features.

INTELLIGENT FEATURES

Main Computer Monitors all functions; commands robot

to perform stored cleaning routes

Drive Subsystem

Monitors and controls the robot’s movement and position

Controls Manual and autonomous

Navigation 16 sensors provide a complete,

360-degree view around robot

Front Touch Shield

Full width, ABS, touch-sensitive shield provides immediate braking

Rear Touch Shield

Full width, ABS, touch-sensitive shield provides immediate braking

Security User-specic password protection to

prevent unauthorized use

Safety Systems Sonar obstacle detection, infrared oor

sensors, touch shields, emergency stop button

SOLUTION RECYCLING SYSTEM

Solution Feed Computer-controlled, adjustable ow

rate to center of each brush

Solution Tank Integral 14-gallon (53-liter) molded

high-density polyethylene with easyaccess lid

Recycling System

Four-stage automatic recycling system

lters to 10 micron standard, 1 micron

optional for SWINGOBOT 1650 UV

BRUSHES AND SQUEEGEE

Pads Two counter-rotating 15” drivers and

pads

Brush Head Pads are changeable without removing

head from machine

Scrubbing Width

29" (73.66 cm)

Scrubbing Pressure

100 lbs. (45.36 kg)

Squeegee 32" (81.28 cm), parabolic, self-

centering swing style with plastic end rollers and quick change, four-edge, reversible rubber blade

SECTIONS

1. System Overview ............................................. 1

2. Customer Assistance ...................................... 2

3. Supplies, Parts and Accessories ....................2

4. Intended Use .................................................... 2

5. Personnel Responsibilities ............................. 2

6. General Safety Awareness .............................. 3

7. System Safety Awareness ............................... 4

8. Risk ................................................................... 6

9. Preventing Unsafe Situations ......................... 7

10. Healthcare/UV User and Service Personnel

Warnings ........................................................... 8

11. Machine Overview ............................................ 8

12. Theory of Operation: .....................................10

13. Safety Devices ................................................ 13

14. Safety Circuit Wiring ...................................... 15

15. Batteries .......................................................... 16

16. Charging ......................................................... 17

17. Language Setup ............................................. 18

18. Administrative Setup ..................................... 18

19. System Preferences ....................................... 20

20. Commissioning After Storage ...................... 20

21. Weekly Safety Device Check......................... 20

22. Daily Startup Procedure ................................ 23

23. Review of Work Area ..................................... 24

24. Manual Drive ................................................... 25

25. Manual Cleaning ............................................25

26. Hands Free Cleaning .....................................25

27. Daily Shutdown Procedure ...........................28

28. Maintenance ................................................... 30

29. Replacement Components ............................ 31

30. Storage ............................................................ 31

31. Troubleshooting ............................................. 31

32. Diagnostics ..................................................... 32

33. Sonar Diagnostic ...........................................32

34. Touch Shield Diagnostic ...............................32

35. Floor Sensor Diagnostic ...............................33

36. Gyro Diagnostic .............................................33

37. Gyro Calibration ............................................. 33

38. Network Diagnostic .......................................34

39. WiFi Diagnostic .............................................. 34

40. Memory Diagnostic ........................................ 34

41. Outputs Diagnostic ........................................ 35

42. Flow Diagnostic .............................................35

43. Drive Motor Diagnostic .................................. 35

44. Technical Data ................................................ 36

45. Revisions ........................................................ 37

DRIVE SYSTEM

Drive Motors Two 24 VDC precision motors, built-in

encoders, traction water displacement tread

Vacuum Motor Single 67 CFM vacuum

PRODUCTION

Cleaning Rate Approximately 10,000 sq ft (approx.

929 sq m) per hour (avg.)

BATTERY SYSTEM

Battery Sealed gel cell or AGM deep cycle,

180 AH, 24 VDC output

Run Time Approximately four hours

Optional Exchange Kit

Run time can be doubled with battery exchange kit

Charger Unit 20 amp, 24 VDC output, 115 VAC input

with automatic shutoff

Charge Time: Approximate full charge time minimum

12 hours.

CONSTRUCTION

Frame Powder-coated 5052 aluminum and

stainless steel

Exterior High-density, molded, seamless

polyethylene

Machine Length 48" (121.92 cm)

Machine Width 32" (81.28 cm)

Machine Height 43" (109.22 cm)

Machine Weight 720 lbs. (326.6 kg)

ENVIRONMENT

Temperature 59° to 86° F (15° to 30° C) operation,

-22° to 140° F (-30° to 60° C) storage

Humidity 20% to 75% relative humidity

1.1. Statement of Airborne Noise Emission

This machine does not exceed 75 dB(A) during operation or maintenance.

1.2. Statement of Compliance

This product complies with all applicable European Union Directives and Harmonized standards as of the date of

manufacture. See product ratings label for specic model

and serial number information.

Applicable EU Directives

2006/42/EC 2004/108/EC 1995/5/EC

1.3. Applicable EU Harmonized Standards

EN 60204-1 EN 60335-1 EN 12100

EN 60335-1

EN 60335-2-72 (manual mode operation)

EN 12100 EN 13857 EN 349

EN 14121 EN 55014-1 EN 55014-2

2. Customer Assistance

For questions relating to the operation, maintenance, or

service of this robotic oor scrubber system, please contact:

2.1. Equipment Manufacturer:

Diversey Care Intellibot 12820 West Creek Parkway Suite B

Richmond, Virginia 23238 U.S.A.

Phone (US): 01.888.837.0002

Email: ir-service@sealedair.com

Web: www.intellibotrobotics.com

2.2. European Union Representative:

Diversey Europe Operations B.V.

Maarssenbroeksedijk 2

3542 DN Utrecht, Netherlands

Email: customerservice.nl@sealedair.com

Phone (EU): 31.030.247.6885

3. Supplies, Parts and Accessories

For optimal machine performance, only Diversey Care cleaning solutions approved for use with this machine should be used. To maintain performance, and safety of the machine, personnel, and property, only TASKI Intellibot parts

and accessories should be used to maintain this robotic oor

scrubber system.

Please contact Customer Assistance for any questions regarding the use, maintenance, or service of this robotic

oor scrubbing system

4. Intended Use

This robotic oor scrubbing system is an industrial oor

scrubbing machine intended for interior use in commercial buildings. The machine should only be used for the wet

cleaning of hard commercial oor surfaces.

This machine must be attended by an operator at all times during use. The operator is responsible for the safe operation of this machine and must follow the operating and safety instructions provided in this manual.

5. Personnel Responsibilities

The following Identies personnel requirements for the safe

use of this equipment.

5.1. Manager

It is the manager’s responsibility to ensure that operator(s) and maintenance personnel are properly trained in the

use and maintenance of this robotic oor scrubber system.

Managers must ensure that operator and maintenance personnel are provided with the appropriate supplies and equipment needed to safely operate the machine.

5.2. Operator

A operator refers to a user of this equipment who is properly trained in the use, maintenance, and troubleshooting of this

robotic oor scrubber system. The operator is responsible

for ensuring that maintenance is performed only by trained maintenance personnel.

5.3. Maintenance Personnel

Maintenance personnel must be properly trained to maintain

this robotic oor cleaning equipment. Maintenance includes

replacement of consumables such as water, detergent,

lters, scrubbing pads, and scheduled cleaning of the

machine.

5.4. Service Technician

A service technician refers to a eld engineer who is properly

trained in the use, maintenance, troubleshooting, and service

of this robotic oor scrubber system. A service technician

must have factory service training.

The service technician is responsible for all repairs, upgrades, and accessory installations requested by the customer or mandated by TASKI Intellibot. Service technicians are equipped with proper tools and parts for the

installation, maintenance, and service of this robotic oor

scrubber system.

6. General Safety Awareness

The following section includes important information required

for safe operation of this robotic oor scrubber system.

6.1. User Manual Safety Symbols

The following symbols are used to identify important safety information:

Warning:

Failure to follow this information could result in serious harm to people and/or property.

Caution:

Failure to follow this information could result in damage to the machine and/or property.

Note:

Failure to follow this information could result in malfunction or damage to the machine.

6.2. General Safety Instructions

The following symbols are used to identify important safety information:

This machine may only be used by a trained operator that is physically and mentally capable of maintaining control and safety of the machine. Physical or mental impairment of the user may result in serious injury to people, property, and/or the machine.

In case of damage to safety relevant components such as the Emergency Stop switch, safety interlock, safety touch shields, front door, batter, etc., the machine must be stopped immediately. Repair or replacement

of the damaged component by a qualied

service.

Unauthorized use or modication of this

machine may result in unsafe operating conditions, personal injury, property damage or machine malfunction. Any unauthorized

modication or use contrary to the intended

purpose will result in voiding the machine warranty, CE marking, and applicable safety marks.

Do not use this machine around any

explosive or ammable materials or in any areas where vapors from ammable

materials such as solvents, fuel, oil or dust could ignite.

Do not use this machine to vacuum

ammable, toxic, caustic, or irritating

substances. The machine is not designed for this use and serious injury to persons and damage to property and the machine may result.

Do not use this machine in areas with

high electromagnetic elds (EMF). This

machine uses electronics susceptible

to electromagnetic elds. Use of this

equipment in high EMF areas may result in unintended and uncontrolled operation.

Stairways and doorways must be blocked when the scrubber is used in robotic mode. Failure to block a stairway could result in the machine tumbling down the stairs, resulting in serious property damage, machine damage and injury.

Operators must take note of the surrounding area and be ready to stop the machine in case a hazardous situation. The machine must be stopped if any potentially hazardous situation arises, such as children entering the cleaning area, objects falling in the machine path, stairway blocks are moved, etc. Children should never be allowed to play in or around the cleaning

area while the robotic oor scrubber system

is in operation.

Never use the robotic oor scrubber system

to transport people or materials. Serious injury and property damage may result.

Regularly inspect the battery charger, mains cord, and machine charging cable for damage and replace the cord or charger immediately if any damage is found. Frayed or damaged charging components could

lead to shock or re.

Caution:

This machine is not intended for the application of wax, polishing, carpet cleaning, or the dry vacuuming of dust.

Cleaning of wood or laminate oors is not

recommended. The owner assumes all risk for use on surfaces not designed to be cleaned with commercial scrubbing equipment.

Caution:

This machine is only intended for indoor use in dry areas. Do not use or store this machines outdoors or in damp conditions.

Caution:

This machine uses detergent as part of the scrubbing system. Please read, understand, and follow all manufacturer’s instructions for the safe and effective use of the detergent. Failure to follow the manufacturer’s recommendations, including the use of safety equipment, such as gloves and safety glasses, could result in hazards to people, property, and/or machine malfunction.

Caution:

The machine may only be operated with the top cover closed. Foam or liquid leaking from the sides or top of the machine indicates a malfunction. The machine must be stopped immediately and the malfunction

identied and corrected before the machine

is returned to operation.

Caution:

Always use the parking brake when the machine is unattended.

Caution:

The machine is intended for use on at

surfaces. Operating the machine on a grade exceeding 2% may result in unintended operation. Do not store or transport the system on a grade exceeding 8% or the machine may tip over resulting in injury and/ or damage to the machine.

7. System Safety Awareness

Safety and informational labeling is included on the machine

to remind the operator of specic hazards encountered while operating and maintaining the robotic oor scrubber system. The following is a denition of the machine safety labels.

7.1. Ratings Label

Example machine ratings label:

SWINGOBot 1650-UV

Robotic Floor Scrubber System

Input: 24V , 53.2A, 1280W Weight:

208kg without battery pack

342kg with battery pack

IPX4

September

11609-1105-0001

Diversey Europe Operations B.V. Maarssenbroeksedijk 2 3542 DN Utrecht, Netherlands

www.sealedair.com

This equipment is manufactured by Diversey Inc. (US) and is covered under U.S. Patent #'s 6,580,246, 6,667,592, 9,028,617. Other patents pending. Commercial Use Only.

Figure: 1

The ratings label contains the following information:

1 Model: The model name and description of the

machine.

2 Serial Number: The unique serial number of

this machine. The serial number of the machine should always be noted when customer assistance is needed.

3 Input Ratings: The machine is powered by 24 Volt

DC batteries. For more information on appropriate batteries, see the Battery Safety section of this manual.

Weight: The weight of the machine is important for operation and shipping. Always ensure stability of the operating environment. Always ensure shipping containers and securement is appropriate for a machine of this weight.

4 Manufacturer: Information regarding the

manufacturer and intellectual properties.

5 Informational Labeling:

Refer to this manual for important information regarding operation and safety of this machine.

This machine is powered from a safety extra-low voltage power source and is considered a Class III device when operating in a dry environment.

This machine complies with all relevant safety and health requirements of the applicable EU Directive(s). See the

Declaration of Conformity for the specic

Directives and standards applicable to this machine.

IPX4

This machine was designed and tested to meet the standards for a level 4 protection against liquid ingress.

6 European Union Representative: The

manufacturer’s representative for the European Union.

7 Date of Manufacture: The date of manufacture of

this machine.

7.2. System Warning Labels

The following labels are used to warn and remind the

operator, maintenance, and service personnel of specic

hazards when using the machine:

High Voltage

Warning Label

Input: 24V , 20.0A

Charger Input/Warning

Identiﬁcation Label

Maximum 8% Grade

Warning Label

SwingoBot Rating Label

SWINGOBot 1650-UV

Robotic Floor Scrubber System

Input: 24V , 53.2A, 1280W Weight:

208kg without battery pack

342kg with battery pack

IPX4

September

11608-1105-0001

Diversey Europe Operations B.V. Maarssenbroeksedijk 2 3542 DN Utrecht, Netherlands

www.sealedair.com

This equipment is manufactured by Diversey Inc. (US) and is covered under U.S. Patent #'s 6,580,246, 6,667,592, 9,028,617. Other patents pending. Commercial Use Only.

Figure: 2

This symbol identies the location of the

machine battery charging port. Only gel cell battery chargers should be used with this machine. Do not exceed the maximum 20 Amp charging current.

Hazardous current is present at the machine charging port. Never use any metallic object, such as a screw driver, to

open the charging ap or pry the charging

connector. Never place any object in the charging port other than the charging connector.

The maximum stable angle for storage and transport. Do not store or transport the system on a grade exceeding 8% or the machine may tip over resulting in injury and/ or damage.

7.3. Battery Warning Labels

The following labels are used to warn and remind the

operator, maintenance, and service personnel of specic

hazards associated with the batteries used in this robotic

oor scrubber system:

Figure: 3

This is the attention symbol, warning of hazards to persons and property.

This symbol refers the operator, maintenance, or service personnel to the appropriate manual for important information.

Hazardous current is present at the battery charging port and the battery terminals at all times. Never store anything on top of the batteries. Always use caution when using any metallic object near the batteries.

Protective eye-wear must be worn when working on the batteries.

The batteries contain caustic acid that can cause severe burn or blindness.

The batteries emit ammable/explosive gas. Do not allow sparks, re or ame near the

batteries. Never smoke near the batteries.

Do not remove the battery vent valve. Caustic acid is present inside the batteries.

If exposed to acid, immediately ush with

water and consult medical attention.

Batteries should only be serviced by a trained service technician.

Use only approved gel cell or AGM batteries in this machine.

7.4. Battery Charger Labeling

When a battery charger is used on a battery cart, the charger should be equipped with a cover to prevent accidental spillage of liquid onto the unit.

The cover has the following safety labels:

High Voltage

Warning Label

Charger IP

Rating Label

Figure: 4

Hazardous voltage is present when the charger is plugged into the mains.

Hazardous currents are also present at all times when the charger is connected to the battery.

Cover was designed to meet the standards for a level 4 protection against liquid ingress into the battery charger.

The battery shutdown warning label instructs the user to shut down the machine and wait for the standby button illumination to turn off.

Figure: 5

Before Removing Batteries, hold ~ Standby button, listen for 3 Beeps, which is the computer acknowledging your button push. Computer will turn off 24V circuits & start saving data.

Caution, for the next 30-90 seconds the computer saves data, wait for button light to go "Off" or you will lose the data. If light is still on after 120 Seconds, to prevent damage or injury hit e-stop to assure 24V power is disconnected from battery before breaking connection by pulling on battery handle.

Button goes dark; computer has shut down all power. All power is off; no trickle power is leaking from the battery to any circuit.

8. Risk

Although all reasonable precautions have been taken to ensure the safety of this machine, there are certain foreseen risks that the manager, operator, maintenance and service personnel must address:

8.1. General Risk: Care should be

taken to prevent the following:

Inadequate Training: Operators, maintenance, and service personnel must be properly trained. It is the manager’s responsibility to ensure the machine is not accessible to inadequately trained persons.

Lack of Supervision: The robotic oor

scrubbing system must be supervised at all times. The operator must be able to react to situations that may endanger people or property.

Lack of Stairway Obstruction: When

using the robotic oor scrubbing system

in autonomous mode, all stairways and doorways must be blocked to prevent the unit from proceeding on an unintended path. Stairways must be blocked to prevent the unit from tumbling down the stairs and potentially causing serious damage or injury.

Unt Components: Only components authorized by TASKI Intellibot may be tted to this machine. Use of unt components

may result in serious damage and injury.

Bacterial Growth: Proper cleaning during maintenance and service is required to prevent the growth of bacteria in the robotic

oor scrubber system.

Transportation Incidents: The machine can tip over if subjected to a grade in excess of 8%, resulting in serious damage and injury. When transporting the unit by vehicle, it must be strapped to a supporting structure

capable of securing the full specied weight.

Operating While Damaged: The machine must never be operated while damaged. Damage to the machine may result in unsafe conditions for people and property. A damaged machine must be serviced by a trained service technician before returning to use.

Operating Without Safety Measures: The

machine is designed with specic safety

measures to protect people and property. Damage or defeat of these mechanisms may result in serious injury.

8.2. Operational Risk: Care should be taken to prevent the following while operating the machine:

Entrapment: Avoid situations that could trap an operator between the machine and an object.

Inadvertent Motion: Be aware that gripping the handle can initiate machine motion. Do not grip the handle unless intending to move the machine in manual mode.

Operating on an Incline: The machine can tip over causing damage and injury if operated on an incline.

Parking on Incline: Always apply the parking break to prevent the machine from moving.

Setting Wrong Direction or Speed: Be aware of the direction and speed set in manual mode. Setting the incorrect speed or direction could entrap the operator between the machine and an object.

Unauthorized Use: Never leave the machine unattended.

Brush or Squeegee Entanglement: Use care when lowering the brush or squeegee assemblies. Always ensure adequate clearance from people and objects to prevent entanglement.

Safety System Malfunction: Safety systems need to be checked for proper operation before operating the machine.

Insufcient Braking Distance: Care must

be taken to ensure an appropriate braking distance is maintained at all speeds and slopes.

8.3. Residual Risk: The operator should be aware of the following residual risks when using the machine:

Rotating Mechanism Pinch Hazard:

The robotic oor scrubber system includes

motors and scrubbing brushes with pads. A pinch hazard exists when these mechanisms are raised and lowered. Do not allow access to these areas while the machine is turned on.

Rotating Mechanism Entanglement Hazard: The rotating mechanisms can

entangle clothing or body parts. Do not allow access to these areas while the machine is turned on.

Squeegee Pinch Hazard: The squeegee bar support may cause a pinch hazard when raised. Do not allow access to the squeegee when raising or lowering the mechanism.

Squeegee Grab/Hook Hazard: It is possible for the squeegee to grab or hook

objects projecting from the oor or located

in the plane of the squeegee. The operator must be aware of the operating environment and ensure that the machine is not used around objects or people that could be grabbed by the squeegee mechanism.

Machine Impact Hazard: When in

autonomous mode, the robotic oor

scrubber system uses sonar for locating objects in its path. The sonar system cannot be relied on for safety. It is possible for the sonar to malfunction or for personnel to be located in gaps between sonar sensors, posing an impact hazard. The operator must never allow personnel to located in the autonomous operating area.

Uncontrolled Motion (E-Stop): The machine may pose an impact hazard if the Emergency Stop switched is pressed while on an incline. Always engage the parking brake when the machine is unattended.

Entrapment Hazard: It is possible for an operator to trap themselves between the machine and an object . Care should be taken to avoid tight spaces. In case of emergency, let go of the handle and press the Emergency Stop button.

Warning: Never operate the unit in the presence of unsupervised young children. Their curiosity and reduced mass puts them in danger of severe injury.

9. Preventing Unsafe Situations

The following additional information should be considered

to prevent unsafe situations when using the robotic oor

scrubber system.

9.1. Protective Equipment

The following protective equipment is recommended when dealing with detergents, wash water, waste water, or spills:

Protective eye-wear with side shields.

Protective rubber or neoprene gloves and apron.

Non-slip footwear.

9.2. Operating the Machine

The machine uses water and detergent

during the cleaning process. The oor

immediately behind the machine may be wet and slippery. Non-slip footwear is recommended to prevent falls while operating the machine.

Operators should always wear clothing appropriate for working with a commercial scrubber. Do not wear loose or torn clothing that may get entangled on or in the machine.

9.3. Spilled Clean Water

For water spills, wipe the machine with paper towels and mop the oor as required.

9.4. Spilled Waste Water

Waste water will contain detergents and dirt

from the oor. Protective eye-wear, gloves,

and an apron are recommended.

Rinse the equipment with clean water as required and wipe with paper towels.

Rinse and mop the oor with clean water as

required.

9.5. Spilled Detergent

Always follow the manufacturer’s recommendations for handling the detergent. Detergents can be caustic, protective eye-wear, gloves, and an apron are recommended.

Rinse the equipment with clean water as required and wipe with paper towels.

Rinse and mop the oor with clean water as

required.

9.6. Battery Acid

Consult the battery manufacturer’s recommendations for cleanup. For help with batteries supplied by TASKI Intellibot, please contact Customer Assistance.

10. Healthcare/UV User and Service Personnel

Warnings

Personnel should be made aware of the following hazards:

10.1. UV Hazard

WARNING:

The UV light given off by this unit can cause serious burns to unprotected eyes and skin. Never look directly at an illuminated UV lamp. Never operate the unit with the lamp outside of the UV chamber. Never operate the unit without the rubber boot in place.

10.2. Mercury

UV lamps contain Mercury, a heavy metal. Lamps should be recycled, not disposed of

in a landll. Recyclers accepting uorescent

lamps will typically also accept UV lamps. The Mercury from a broken UV lamp must be recovered and recycled appropriately.

10.3. Puncture and Cutting Hazard

The UV lamp and quartz sleeve are fragile. If they break, pieces will be very sharp and the fragments must be handled only with protective gloves.

10.4. High Voltages

The UV ballast uses and produces hazardous voltages. Caution should be taken when servicing components near the ballast or UV reactor.

The UV ballast is designed for a dry environment only. If the ballast is exposed to water, remove power immediately. Never operate a ballast that has been exposed to water.

Hazardous voltages exist in the UV reactor vessel. Never operate a leaking UV unit. Remove power before inspecting the unit for damage.

11. Machine Overview

The following are basic components of the robotic oor

scrubbing machine:

Figure: 6

1 Sonar Horns

2 Safety Touch Shield

3 Drain Valve and Drain Hose

Figure: 7

4 Front Access Door

5 Electronics Box

Figure: 8

6 Filters

7 Filter Wrench

8 Battery Pack

9 Parking Brake

Figure: 9

10 Emergency Stop Button

11 User Interface

12 Standby Button

13 Touch Control Handlebar

14 Warning Lamp

Figure: 10

15 Scrubber Head

Figure: 11

16 Squeegee Assembly

11.1. SWINGOBOT 1650 CE UV ONLY

Figure: 12

17 UV Sterilizer Power Supply

18 UV Sterilizer Reactor

12. Theory of Operation:

The TASKI Intellibot SWINGOBOT 1650 CE and CE UV

machines are commercial wet oor scrubbing systems

capable of manual and autonomous robotic operation.

Figure: 13

The system utilizes a 14 gallon (53 liter) tank for storing and recycling cleaning solution that is applied to the scrubber head for effective cleaning.

The scrubber head is comprised of two independent motors with brushes and 15-inch pads for wet scrubbing.

Figure: 14

The machine uses a vacuum squeegee system located in front of the rear casters. The squeegee uses a parabolic 32-inch, 4-edge, reversible blade system with a vacuum for pickup and recycling of used cleaning solution.

Figure: 15

The used cleaning solution is returned to the tank, where it is

circulated through a ltration system. Dirt and contaminates

are removed from the cleaning solution and it is recycled for use in scrubbing.–

TASKI Intellibot SWINGOBOT 1650 CE UV systems include an additional UV sterilizer in the water recycling system.

Figure: 16

The sterilization system reduces biological contaminates in the recycled cleaning solution, which reduces the spread of

microorganisms from contaminated oor surfaces.

The system is powered by a 24 Volt, 180 Amp-hour battery pack, providing approximately 4-hours system run time.

An optional battery cart is available for using multiple battery packs, extending system productivity.

Figure: 17

12.1. TASKI Intellibot SWINGOBOT 1650 CE Flow Diagram (Parallel)

BYPASS

VALVE

WATER

VALVE

TANK

FLOW

SENSOR

FILTRATION

VACUUM SQUEEGEE

CYLINDER

SCRUB

CIRCULATION

PUMP

Figure: 18

1 The robotic oor scrubber system utilizes 53-liter tank for storing and recycling cleaning solution.

2 The standard system uses a parallel canister ltration system with two 10 micron lters. Optional lters are

also available.

3 The circulation pump provides ow for the cleaning solution.

4 A ow sensor is used to detect and set an appropriate ow rate for effective scrubbing.

5 Water valves provide ow regulation for wash water or recycling of the cleaning solution.

6 Cleaning solution is distributed directly onto the scrubbing head.

7 When not scrubbing, the cleaning solution is recycled back to the tank and continually ltered.

8 A vacuum system evacuates air from the top of the tank, providing suction for the vacuum squeegee

9 The squeegee system wipes used cleaning solution from the oor and the pickup tube directs the used

solution back to the tank.

12.2. TASKI Intellibot SWINGOBOT 1650 CE UV Flow Diagram (In Series Healthcare Only)

BYPASS

VALVE

WATER

VALVE

TANK

SERIES

FILTRATION

VACUUM SQUEEGEE

SCRUBBER

FLOW

SENSOR

CIRCULATION

PUMP

REACTOR

BALLAST

DC-TO-AC INVERTER

UV POWER SUPPLY

STERALIZER

Figure: 19

1 The robotic oor scrubber system utilizes 53-liter tank for storing and recycling cleaning solution.

2 The UV ltration system utilizes a 10 micron pre-lter and a 1 micron primary lter to eliminate turbidity for

effective UV penetration into the cleaning solution.

3 The circulation pump provides ow for the cleaning solution.

4 The UV sterilization system includes a power supply, UV ballast, UV lamp, and sterilization reactor to

eliminate microorganisms from the recycled cleaning solution.

5 A ow sensor is used to detect and set an appropriate ow rate for effective scrubbing.

6 Water valves provide ow regulation for wash water or recycling of the cleaning solution.

7 Cleaning solution is distributed directly onto the scrubbing head.

8 When not scrubbing, the cleaning solution is recycled back to the tank and continually ltered.

9 A vacuum system evacuates air from the top of the tank, providing suction for the vacuum squeegee

10 The squeegee system wipes used cleaning solution from the oor and the pickup tube directs the used

solution back to the tank.

12.3. Robotic Operation:

The machine uses a number of advanced systems enabling it to clean robotically.

Figure: 20

A system of 16 individual sonar transceivers are used for detecting both short-range and long-range objects to determine the robot’s environment.

A gyroscopic compass is used to determine the robotic heading to follow pre-installed or custom designed cleaning maps.

WiFi and cellular communications are available for reporting system status and remote diagnostics.

13. Safety Devices

The robotic oor scrubber system is equipped with the

following safety devices:

13.1. Emergency Stop Button

The Emergency Stop Button is the red switch located on the top right of the handlebar assembly. Pressing the Emergency Stop Switch will interrupt power to the system. The operator should be prepared to press the Emergency Stop Button at any time to address unintended operation or to avoid a hazardous situation in an emergency.

Figure: 21

1 Emergency Stop Button

13.2. Front Cover Interlock

The front cover interlock is the red magnetic switch located inside the front cover. The front cover interlock switch will interrupt power to the system if the front cover should ever be opened during operation.

Front Cover

(Open Position)

Parking Brake

(Unlocked Position)

Cover Interlock

Switch

Figure: 22

13.3. Parking Brake

The parking brake is located under the machine between the rear casters. The brake is activated by moving it to the left to lock the drive wheels.

Figure: 23

Moving the handle to the right unlocks the brake. The parking brake should be locked whenever the machine is not in use.

13.4. Touch shields

The system is equipped with front and rear touch sensitive panels. If an object bumps into the panels the system will stop.

Figure: 24

1 Front Touch Shield

2 Rear Touch Shield

13.5. Warning Lamp

The system is equipped with a yellow warning lamp. The

lamp ashes to alert people when the unit is operating.

Figure: 25

1 Warning Lamp Light

13.6. Floor Sensors

The robotic oor scrubber system includes four infrared oor sensors located underneath the machine. The sensors measure the distance to the oor at each of the four corners and are used to detect drops in the oor, such as a stairwell.

Figure: 26

1 Infrared Sensor

During robotic operation, the machine monitors this distance and will stop automatically if the distance exceeds a preset number.

13.7. Safety Device Warnings

The operator should be aware of the following warnings regarding the safety devices:

Always set the parking brake when the machine is not running or unattended.

Do not remove or modify the safety devices in any way.

Do not open the front cover unless instructed to do so in this manual

14. Safety Circuit Wiring

70A

BATTERY FUSE

BATTERY BOX

SAFETY

CONTACTOR

FRONT COVER

MAGNETIC INTERLOCK

SAFETY

RELAY

EMERGENCY

STOP BUTTON

MAIN

CONTROLLER

24V

GND

CONTACTOR

STATE

Safety Relay

- 24V

MIRROR

CONTACTS

2111

12 22 32

A1A21 3 5

2 4 6

F6 R50955 Fuse - Blade 30A - 32V Bussmann ATC-30

F5 1300573 Fuse - Blade 4A - 32V Bussmann BK/ATC-4

F2 1300589 Fuse - Blade 1A - 32V Bussmann ATC-1

F1 1300633 Fuse - Blade -

7.5A - 32V Bussmann BK/ATC-7 1/2

F1 1300614 Fuse - Blade 15A - 32V Bussmann BK/ATC-15

CB1 2300129 Circuit Breaker Resettable - 40A Klixon 7851-1340i

LINEAR MOTORS

AND SOLENOID

BRUSH

MOTORS

VACUUM MOTORS

RECYCLE

PUMP

LIGHT

I/O

BOARD

DRIVE

MOTOR

(L)

DRIVE

MOTOR

(R)

Figure: 27

1 A safety contactor is used to safely remove power from all motors and the UV sterilizer system

2 The safety contactor is controlled by a safety relay. The safety relay will open the safety contactor when

either the Emergency Stop Button is pressed or the front cover is opened.

3 The system main controller monitors the status of the safety contactor to alert the operator when the circuit

is tripped.

4 A main battery fuse is provided in the battery box to protect the primary power wiring.

5 Branch fuses are provided to protect the branch wiring to each of the motors and subsystems.

Important:

The components of the safety circuit are essential to the safe operation of the machine. Never tamper with or substitute any safety component, serious damage or injury may result.

15. Batteries

The robotic oor scrubber system utilizes a battery pack

containing 4 six-volt gel cell, or AGM deep cycle batteries. The battery pack is heavy and requires special handling.

Figure: 28

If replacement of the batteries within the battery pack is needed, contact Customer Assistance. Battery replacement can be hazardous and should only be performed by a trained service technician.

Do not attempt to remove the battery pack from the machine unless you are using an approved accessory stand or cart The battery pack weighs 293 lbs (133 kg) and can cause serious injury.

15.1. Battery Safety

Batteries store a signicant amount of energy and emit

explosive gases when charging. Attention, care, and planning should be taken when storing and charging this machine and the battery packs. Review and understand the warnings shown in the battery warning label section and plan in advance for battery storage, charging and accidents.

15.2. Accessory Battery Cart

TASKI Intellibot offers an accessory battery cart that allows for battery pack removal and charging in one station. If a second battery is also purchased, it can be stored on the cart and charged while the machine is in use, allowing for

improved efciency.

Figure: 29

When using a charger on the battery cart, ensure the charger cover is installed to maintain IPX4 protection.

15.3. Removing the Battery Pack

Before removing the battery, ensure the parking brake is set.

Figure: 30

Turn off the system by pressing the green standby switch and waiting until the green light is extinguished before proceeding.

Figure: 31

Before Removing Batteries, hold ~ Standby button, listen for 3 Beeps, which is the computer acknowledging your button push. Computer will turn off 24V circuits & start saving data.

Button goes dark; computer has shut down all power. All power is off; no trickle power is leaking from the battery to any circuit.

Caution:

If the standby button remains illuminated for more than 120 seconds, press the Emergency Stop button before removing the battery pack.

Attach the accessory cart to the machine.

Always lock the wheels on the battery cart to prevent the cart from moving while removing the battery from the machine.

Figure: 32

Depress the battery latch and pull the battery from the system onto the accessory battery cart.

Figure: 33

Attention

Never store the machine with discharged batteries. Otherwise, the batteries will be damaged beyond repair. Be sure to fully charge batteries whenever storing the machine.

16. Charging

The battery pack may be recharged while in the robotic oor

scrubber system.

Only recommended 24 volt gel cell battery charging systems should be used.

Overheating, re, and explosion could result

from improper battery charging.

The charge current should be limited to 20 Amps or less. Do not charge the system with a current higher than 20 Amps or damage could result.

It is typical of a gel cell charger set at 20 Amps to initially overshoot to as much as 30 Amps and then settle back to around 20 Amps. This is acceptable as long as it settles back to 20 Amp within a few seconds.

16.1. Locating the Charger

The location and mounting of the battery charger should be considered before charging the system or battery pack.

Figure: 34

The battery charger connects to the high voltage mains. The charger must be located on a wall, away from wet areas, to avoid a shock hazard.

Caution

To avoid water shorting the charger it should be mounted above tank no less than 12" (31 cm) above, either on a shelf or to the wall per charger manufacturers instructions.

Periodically inspect the mains and charging cables to ensure the integrity of the insulation. Do not use the charger if the insulation is nicked or cracked.

16.2. Charging the System

Before charging the battery, ensure the parking brake is set.

Figure: 35

Turn off the system by following instructions from "Figure: 31" on page 16.

Caution:

If the standby button remains illuminated for more than 120 seconds, press the Emergency Stop button before charging the system.

Caution:

Never remove battery pack while charging. Damage to the electronic controls will likely result!

Locate the system charging port under the rubber ap.

Figure: 36

Plug in the charger and fully charge the batteries.

CHARGER SPECIFICATIONS

MODEL

BATTERY VOLTAGE

CHARGING CURRENT

BATTERY RANGE

(5H) (20H)

CBHF2

24-20

24 V 20 A

120÷195 Ah150÷240

17. Language Setup

The robotic oor scrubber system interface supports

three languages, English, German, and Spanish. Perform the following to select the system interface language:

Turn on the system by pressing the standby button.

Wait approximately 2 minutes until the LOG IN screen is displayed.

••••••

1 2 3

4 5 6

7 809

Press the LOG IN key and enter your administrative password.

The prep guide will appear. Touch the OK button to move to the home screen.

Figure: 37

From the home screen, press the right arrow button to access the system settings menu.

Press the Prefs button to access system preferences.

Press the language button and select English, Spanish, or German.

18. Administrative Setup

The following are instructions for adding operators and setting operator privileges.

Turn on the system by pressing the standby button.

Wait approximately 2 minutes until the LOG IN screen is displayed.

Figure: 38

Conrm "CE" is in lower left of screen as a

software update may have occurred since last use.

If "CE" is not displayed, write down the serial number and software version, shut down the machine and then contact Customer Assistance. Give Customer Assistance this data and ask for further instructions.

••••••

1 2 3

4 5 6

7 809

Press the LOG IN key and enter your administrative password.

The prep guide will appear. Press the OK button to move to the home screen.

Press the Admin button to access the administrator screen.

Figure: 39

1 Press the Add Operator key to add a new system

operator.

2 To edit operator information press the information

key to access the user setting screen.

3 To inactivate an operator, press the inactivate

operator key. This prevents an operator from accessing the machine.

4 To edit or delete an existing operator, press the

operator name.

The following buttons are used to grant or revoke privileges from the user setting screen:

Pressing the manual mode button allows the operator to use the machine in manual mode.

Pressing the robotic mode button allows the operator to use the machine in robotic mode.

Pressing the mapping button allows the operator to create new maps and edit existing maps.

Pressing the reporting button allow s the operator to view machine statistics.

Pressing the administrative privilege button allows the operator to add, modify, or delete other operators.

Pressing the diagnostics button allows the operator to view machine diagnostics.

19. System Preferences

Perform the following to set the WiFi, beeper, language,

measurement system, and water ow rate system

preferences.

Turn on the system by pressing the standby button.

Wait approximately 2 minutes until the LOG IN screen is displayed.

••••••

1 2 3

4 5 6

7 809

Press the LOG IN key and enter your administrative password.

The prep guide will appear. Touch the OK button to move to the home screen.

Figure: 40

From the home screen, press the right arrow button to access the system settings menu.

Press the Prefs button to access system preferences.

Press the WiFi button to congure the

system WiFi. WiFi must be turned on when the Intelli-Track reporting system is in use.

Press the beeper button to set the safety beeper on or off. When set to ‘ON’ the beeper will sound while the machine is running.

Press the language button to select English, Spanish, or German for the system interface.

Press the measurement button to congure

the measurement system to metric or imperial.

Press the water ow button to congure the system ow rate from 1.1 to 2.6 liters per

minute.

Press the OK button to exit the system preference menu.

20. Commissioning After Storage

If the machine has been in storage, the following items must be reviewed:

The robotic oor scrubber system must be

acclimated to the operating environment. Failure to do so can result in condensation inside the machine, shortening the life of critical components. Allow the machine to acclimate one hour for every 9° F (5° C).

Gel cell batteries will lose charge if not maintained while in storage. Ensure the batteries go through a full charge cycle before turning on the system.

21. Weekly Safety Device Check

To ensure the safe operation of this machine, the operator must periodically verify the operation of the system safety devices. The following operational safety device check should be performed on a weekly basis.

If any safety device fails the operational safety device check, the machine must be serviced by a trained service technician. Do not use the system if any safety device is not operating properly.

21.1. Emergency Stop Button Check

Perform the following steps to verify operation of the Emergency Stop button:

Turn on the system by pressing the standby button.

Wait approximately 2 minutes until the LOG IN screen is displayed.

Figure: 41

Press the Emergency Stop button.

Verify that the system alerts the user with three audible beeps and the user interface displays the attention symbol and the words.

Emergency Stop pressed

Twist and release to resume

If the system fails the Emergency Stop button operational check, turn off immediately by pressing and holding the standby button. Do not use the system, it must be repaired by a trained service technician.

If the system passes the operational check, twist the Emergency Stop button counterclockwise to reset and press the OK button on the user interface.

21.2. Front Cover Interlock Check

Perform the following steps to verify operation of the front cover interlock:

Verifying the front cover interlock requires partially opening the front door with the machine turned on. Do not open the door more than ¼ of the full swing. If the interlock fails to operate, personnel may be exposed to hazards within the machine.

Verify that the LOG IN screen is shown on the user interface.

Release the two latches on the front cover and open the door ¼ of the full swing.

Verify that the system alerts the user with three audible beeps and the user interface displays the attention symbol and the words:

Front door open

Close front door to resume

If the interlock operational check fails, press the Emergency Stop button immediately, then turn off the system by pressing and holding the standby button. Do not use the system, it must be repaired by a trained service technician.

If the system passes the operational check, close the front cover and attach both latches, then press the OK button on the user interface.

21.3. Parking Brake Check

Perform the following steps to verify operation of the parking brake:

This procedure requires engaging the drive in manual mode. Only use the slowest forward speed to verify operation of the parking brake. If the parking brake fails, using a higher speed reverse direction could result in damage to the machine, property, or injury to the operator.

Verify that the LOG IN screen is shown on the user interface and log into the system using your operator code.

Touch the Manual clean button on the home screen.

Touch the forward arrow button once to set the slowest speed.

Squeeze the handlebar for one second, then release. Verify that the parking brake is holding and the machine does not drive forward.

Verify the yellow safety light on top of the

machine ashes while the handlebar is

pressed.

If the parking brake operational check fails, press the Emergency Stop button immediately, then turn off the system by pressing and holding the standby button. Do not use the system, it must be repaired by a factory trained service technician.

Turn off the system by pressing and holding the standby button.

21.4. Touch Shield Check

There are two touch shields. The front touch shield is attached to the front cover door. The rear touch shield is attached to the main body of the machine.

Figure: 42

1 Front Touch Shield

2 Rear Touch Shield

Each touch shield is divided into six zones, front, left front, right front, rear, left rear, right rear. Each of the six zones must be tested for operation.

Figure: 43

1 Front Zone

2 Right Front Zone

3 Right Rear Zone

4 Rear Zone

5 Left Rear Zone

6 Left Front Zone

Perform the following steps with the system turned on and the parking brake set.

From the home screen, press the right arrow button to access the system settings menu.

Press the diagnostics key to enter the diagnostics menu.

Press the touch shield button to enter the touch shield diagnostic.

2 3 4

Figure: 44

1 Zone contact indicator

2 Zone indicator (yellow text)

3 Total number of contact detections since machine

installation (white text)

4 Total number of contact detections since

machines last startup or diagnostics where

performed (orange text)

5 Resets total number of contact detections to 0

since machine last startup

6 Return to diagnostics main screen

Record the orange numbers (4) if needed.

Press the reset button to reset the orange number counters to zero.

Press each of the six touch shield zones, applying at least

1.5 lbf (6.7 Newtons) of force.

Review the orange number and verify that the machine recorded each touch.

If the machine does not recognize any of the touch shield zones it is not safe to operate in robotic mode. Turn off the machine by pressing and holding the standby button. Do not use the system, it must be repaired by a factory trained service technician.

Press the reset button to reset the orange number counters to zero.

Press the forward key to return to return to the diagnostics menu.

Press the return key to return to the main menu.

21.5. Floor Sensor Check

There are four infrared sensors that measure the distance

from the machine frame to the oor. The sensor operation is

checked by using the system diagnostics menu.

Perform the following steps with the system turned on and the parking brake set.

From the home screen, press the right arrow button to access the system settings menu.

Press the diagnostics key to enter the diagnostics menu.

Press the oor sensor button to enter the oor sensor diagnostic.

Figure: 45

1 Reports sensor distance in mm

2 Reports sensor voltage in mV

3 Sensor

4 Return to diagnostics main screen

Verify that all four of the sensors report a reasonable

distance to the oor and the “No ground” warning is not

displayed.

It is possible to receive a false “no ground”

warning on black shiny surfaces. If the

oor is causing false readings, move the

machine to a different location to perform the test.

If the machine does not recognize any of the sensors it is not safe to operate In robotic mode. Turn off the machine by pressing and holding the standby button. Do not use the system, it must be repaired by a factory trained service technician.

22. Daily Startup Procedure

The following procedure should be performed daily before operating the robotic oor scrubbing system.

22.1. Set the Parking Brake

Ensure the parking brake is in the locked position by moving the red lever to the left.

Figure: 46

22.2. Power Off

Ensure the machine is turned off.

22.3. Remove Charging Cable

If the system is being charged, disconnect the battery charging cable from the system charging port.

The machine will not turn on with the charger mechanically connected.

22.4. Remove Empty Canisters

Remove both canisters using the supplied wrench.

Figure: 47

1 Cannister Filters

2 Filter Wrench

22.5. Install Clean Filters

Install clean lters and ensure they are seated properly in

each canister.

Filter elements should be replaced every 30 days.

The TASKI Intellibot SWINGOBOT 1650 CE

UV utilizes a series ltration system. The 10-micron pre-lter must be installed in the left canister and the 1-micron primary lter

must be installed in the right canister.

22.6. Install Canisters With Filters

Ensure the black rubber O ring is on the interior lip of each blue canister. Seat the

canister, hand tighten, and use the lter

wrench to provide an additional 1/4 turn.

22.7. Inspect Squeegee

Check the squeegee blades for wear.

Flip worn blades and replace if necessary.

22.8. Inspect and Replace Scrubber Pads

Unlatch and open the front cover. Inspect the scrubber pads. Replace if pads are worn to within 10 mm of brushes.

To replace the pads, rotate the brushes toward the center of the machine to release the brush.

Figure: 48

Replace the pad on the brush. Replace the brush on the head by rotating in the opposite direction.

Inspect pads for wear and replace if necessary. Flip the pads every other day to extend brush life.

Close the front door and secure both latches.

22.9. Fill the Tank

Fill the tank with 14 gallons (53 liters) of cool water.

Diversey recommends using cold water

since hot water will adjust to the oor

temperature as soon as it is in contact with

the oor. Thus there are no advantages to

the using of hot water.

Add recommended cleaning solution to the water in the tank according to the manufacturer’s instructions. Use of protective glasses, gloves, and apron is recommended.

Only use cleaning products recommended by TASKI Intellibot. Use of products containing chlorine, acids, or unsuitable solvents may damage the machine and may be hazardous to the operator.

22.10. System Power Up

Perform the following steps to power up the system.

Turn on the system by pressing the standby button.

Wait approximately 2 minutes until the LOG IN screen is displayed.

Figure: 49

Conrm "CE" is in lower left of screen as a

software update may have occurred since last use.

••••••

1 2 3

4 5 6

7 809

Press the LOG IN key and enter your operator password.

You will be prompted with a series of screens to guide you through machine preparation steps. Touch any of these screens for more information.

Release the parking brake by moving the red lever to the right.

Figure: 50

Press the OK button to begin using the machine.

23. Review of Work Area

Before beginning cleaning, the operator is responsible for reviewing and preparing the work area.

Remove any objects from the oor that

could get caught or be thrown by the scrubber head. Objects entangled or thrown by the scrubber could cause serious property or machine damage and injury.

Block all stairways and doorways when using robotic mode. Failure to block a stairway could result in the machine tumbling down the stairs, resulting in serious property damage, machine damage and injury.

24. Manual Drive

The machine must be manually driven to the cleaning area and placed at the cleaning start location. To manually transport the machine, perform the following:

From the home screen, press the manual clean button

Press the forward or reverse arrow buttons to set the desired speed then squeeze the handlebar to engage the drive system.

Take care when reversing to prevent tripping over object or trapping the operator between the machine and an object.

To prevent accidental movement, the handlebar must be squeezed within 4 seconds of selecting a speed. If the timer has elapsed, select the speed again and squeeze the handle within 4 seconds.

The system uses a gyroscopic inertia sensor to sense operator input for steering. Pull the handlebar left or right and the machine will respond by turning in the appropriate direction.

Release the handlebar to stop.

25. Manual Cleaning

Use the following functions to operate the machine in manual clean mode:

From the home screen, press the manual clean button.

Press the vacuum button to lower the squeegee and turn on the vacuum system.

Press the scrubber button to lower the head and activate the scrubber motors.

Press the forward arrow button to set the desired speed then squeeze the handlebar to engage the drive system.

26. Hands Free Cleaning

Three options are available for hands free cleaning, Spot Clean, Area Clean, and Map Clean.

MODE

WIDTH (MIN) WIDTH(MAX)

END WALL

FT M FT M

Spot Clean

5.58 ft 1.7 m 60 ft 18.3 m NO

Area Clean

5.58 ft 1.7 m 60 ft 18.3 m YES

Spot Clean is used to robotically clean a dened area when

no end wall is present. There must be a left and right wall present for the machine to accurately measure the width of the cleaning area. The machine will clean the area between the side walls to an operator set distance between 20 ft and

196.18 ft (6.1 meters and 60.1 meters.).

Area Clean is used to robotically clean an area when an end wall or obstacle is present. The machine robotically cleans according to any one of twelve selectable built-in cleaning patterns.

Map Clean allows an authorized operator to create a custom cleaning pattern for robotic cleaning.

26.1. Spot Clean

Using the Manual Drive mode, position the machine at the cleaning start location. To enable Spot Clean, perform the following from the home screen:

Press the Spot Clean button and use the (+) and (-) buttons to select a spot cleaning distance from 20 ft and 196.18 ft (6.1 meters

and 60.1 meters.).

Press the GO button and the machine will begin robotic cleaning.

26.2. Area Clean

Area clean uses any of twelve different cleaning patterns with the option of having the machine return to the starting location when the cleaning is complete. For example the following is a Side T Right cleaning pattern:

Figure: 51

The machine starting location is shown as (3). The machine ending location is shown as (4).

Figure: 52

Alternately, the same Side T Right pattern can be chosen with the machine returning to the start location (2)

The following cleaning patterns are available:

Single Area

Single Area Return

Side T Right

Side T Right Return

L Left

L Left Return

Side T Left

Side T Left Return

L Right

L Right Return

Cross Left

Cross Left Return

T Left

T Left Return

Cross Right

Cross Right Return

T Right

T Right Return

U Style Right U Style Right Return

Large Room Large Room Return U Style Left U Style Left Return

Figure: 53

Using the Manual Drive mode, position the machine at the cleaning start location. The machine must be located within 2 ft (61 cm) of start location shown on cleaning pattern.

To enable Area Clean, perform the following from the home screen:

Press the Area Clean button and choose an area cleaning pattern.

Press the GO button and the machine will begin robotic cleaning.

After the GO button is pressed the machine will spend a few moments calculating the cleaning plan before proceeding robotically. The machine will continue to clean until it reached the end of the cleaning pattern.

To interrupt the cleaning pattern, press the PAUSE button.

To resume the cleaning pattern after a pause, press the GO button.

To terminate the cleaning pattern, press the STOP button.

On the rst pass of the cleaning area, the machine is looking

for openings that match the selected pattern. If the openings are not found, the machine will stop.

If the machine nds a partial match, it will clean the area

corresponding to the map and then stop.

26.3. Map Clean

Map Clean utilizes custom cleaning patterns created and downloaded to the machine by authorized operators. To enable Map Clean:

Using the Manual Drive mode, position the machine at the cleaning start location. The machine must be located within 2 ft (61 cm) of the start location shown on the cleaning pattern.

Press the Map Clean button and chose a custom cleaning pattern.

Press the GO button and the machine will begin robotic cleaning.

To interrupt the cleaning pattern, press the PAUSE button.

To resume the cleaning pattern after a pause, press the GO button.

To terminate the cleaning pattern, press the STOP button.

On the rst pass of the cleaning area, the machine is looking

for openings that match the selected pattern. If the openings are not found, the machine will stop.

If the machine nds a partial match, it will clean the area

corresponding to the map and then stop.

27. Daily Shutdown Procedure

After completing cleaning, the following steps should be performed daily:

Use of protective glasses, gloves, and apron is recommended when in contact with waste water or cleaning any element of the system.

27.1. Parking

Use manual drive to position the machine next to the disposal area.

Ensure the scrubber is turned off and the scrubber heads are in the up position.

Ensure the vacuum is off and the squeegee is in the up position.

Place the parking brake in the locked position by moving the red lever to the left.

Figure: 54

Turn off the system by pressing and holding the standby button.

27.2. Drain and Clean the Tank

Before draining the tank, take note of any local or national regulations for disposal. Waste water must be disposed of in a responsible manner, consistent with applicable environmental and safety regulations.

Locate the drain hose, remove the end from the holder and position the drain hose over the disposal area.

Pull the drain valve and drain the waste water into the disposal area.

Clean out debris and sediment from the basket lter and bottom of tank.

Flush the tank with clean water and lose the drain valve.

27.3. Clean the Squeegee:

Clean the squeegee by removing any debris between the squeegee blades.

Check the pickup tube for obstructions.

27.4. Clean Caster Wheels

Inspect and clean the rear caster wheels

Figure: 55

27.5. Remove and Clean Filters

Remove both canisters using the supplied lter wrench.

Remove the lters from the canisters and

replace the canisters on the system and

the lter wrench in it’s holder.

Rinse and dry the lters to prepare for next

use.

28. Maintenance

The following maintenance schedule should be followed for proper machine operation:

MAINTENANCE ITEM DAILY WEEKLY

□ Drain and clean tank X

□ Clean tank basket lter X

□ Remove and clean canister lters X

□ Clean squeegee and pick up area X

□ Inspect pick up tube for obstructions X

□ Inspect squeegee for wear and adjust, ip, or replace as necessary X

□ Clean caster wheels X

□ Inspect pads and brushes for wear. Flip or replace as necessary. X

□ Perform Emergency Stop Button check X

□ Perform front cover interlock check X

□ Perform parking brake and safety light check X

□ Perform touch shield check X

□ Perform the oor sensor check X

□ Replace canister lters X

□ Inspect pickup hose and replace as necessary X

□ Inspect hinges and lubricate as necessary X

□ Apply grease to squeegee pivot bracket X

□ Inspect battery box ball bearings and lubricate if necessary X

□ Clean undercarriage X

28.1. Daily Maintenance Points

• Strainer Basket

Empty large items into the trash and rinse thoroughly.

• Primary Solution Filter

Remove the primary solution lter from the machine. Rinse and gently clean dirt and debris from the lter

using a soft bristle brush.

• Blue Secondary Filters

Remove both blue secondary lters from the back of the machine. Rinse and clean both lters. Allow lters to air dry if possible. Visually inspect the condition of both lters and replace as necessary

• Squeegee Assembly

Disconnect the squeegee assembly from the SWINGOBOT 1650. Rinse the squeegee and wipe clean.

Hair and other debris may hinder results by leaving streaks on the oor. Visually inspect the condition of

the squeegee blades and rotate or replace as necessary. Check the condition of the frame gasket and replace as necessary.

• Pads & Brushes

Remove pads or brushes from the machine. Rinse thoroughly and replace as needed.

• Solution Tank Seals

Clean and visually inspect the solution tank seal.

• Solution Tank

Tank should be drained, rinsed and cleaned at the end of every shift.

29. Replacement Components

TASKI NO. INTELLIBOT SKU ITEM

7523968 049870 Filter - Cotton 10 Micron

7523969 1300165 Filter - Pleated 1 Micron

7523970 1300755 Filter - Cotton 20 Micron 10"

4132145 3300051 Front Blade - Squeegee - Linatex - SS

4132144 3300052 Rear Blade - Squeegee - Linatex - SS

4132108 1300027 Pad 15" Scrubbing Red

N/A 1300066 Pad 15" Scrubbing White

30. Storage

The following items should be taken into consideration when storing the robotic oor scrubbing system.

ENVIRONMENT

Temperature 59° to 86° F (15° to 30° C) operation, -22° to 140° F (-30° to 60° C) storage

Humidity 20% to 75% relative humidity

Attention

Never store the machine with discharged batteries. Otherwise, the batteries will be damaged beyond repair. Be sure to fully charge batteries whenever storing the machine.

31. Troubleshooting

MALFUNCTION POSSIBLE CAUSES TROUBLESHOOTING

Machine without function

Charger plugged into robot • Unplug the charger

Battery pack not engaged • Push battery pack into place

Battery not charged • Load batteries

Leaving water

Water ow set too high

• Go to settings menu; lower water valve setting default

Dirty squeegee

• Wipe squeegee with rag

• Flip or replace squeegee blade (can be

ipped up to 3 times before replacement)

Navigation issues

Sonar faulty • Perform sonar diagnostic, clean sonar

Mechanical drag • Inspect casters

Not cleaning oor surface Brush motor not running

• Reset circuit breaker

• Verify no obstacles are trapped in brush head

Machine pulling to one side when manually driving

Parking brake is not fully disengaged

• Move parking brake lever all the way to the left, then all the way back to the right

If solution fails to correct the problem

• Contact your service partner

32. Diagnostics

The following diagnostics may be performed by operators with diagnostic privileges.

Perform the following steps with the system turned on and the parking brake set.

From the home screen, press the right arrow button to access the system settings menu.

Press the diagnostics key to enter the diagnostics menu.

Press the help button and any of the diagnostics buttons to receive help on that item. Press the help button again to turn off the help text.

Press any of the diagnostics buttons to start the diagnostic. Press the return key to return to the home screen.

The following diagnostics are available:

Sonar: Reports each sonar distance measurement.

Touch shield: Reports information on touch shield contacts.

Floor Sensors: Reports oor sensor

measurements.

Gyro: Reports the compass heading of the machine.

Wireless: Reports the wireless network strength and IP address.

Memory: Reports the amount of computer memory used.

Outputs: Allows temporary control of each motor, actuator, light, and brake.

Flow: Reports the ow rate of cleaning

solution dispensed onto the scrubber head.

Drive Motor: Reports the speed of each drive wheel.

33. Sonar Diagnostic

The sonar diagnostic shows the distance measured in millimeters, by each of the 17 sonar transceivers (numbered 0-16).

Figure: 56

1 Sonar number

2 Detected distance

3 Location on machine

4 Software version

5 Next higher number

6 Next lower number

7 Return to diagnostics

Select the sonar using the up and down keys (5) and (6). The sonar number (1) and the measured distance (2) are shown on the display. A sonar wave animation (3) is used to illustrate the location of the sonar on the machine. If the detected object is outside of the sonar sensor detection

range, the diagnostic will report “—“.

Short range sensors 0-6 and 10-16 can detect a minimum distance of 80 mm and a maximum distance of 9000 mm.

Long range sensors 7 and 10 can detect a minimum distance of 200 mm and a maximum distance of 900 mm.

34. Touch Shield Diagnostic

The touch shield diagnostic utility provides information on total touch shield contacts and allows for the test of each touch shield zone. A touch shield must be pressed with more than 1.5 lb f (6.7 N) force to recognize contact with the zone.

2 3 4

Figure: 57

1 Active zone

2 Zone list

3 Total contacts since installation

4 Contacts since startup

5 Reset contacts since startup

6 Return to diags

The white number shows total contacts with the zone since machine installation. The orange numbers show total contacts since startup. The orange numbers can be reset to zero by using the reset key (5).

35. Floor Sensor Diagnostic

The oor sensor diagnostic provides

information on and allows for testing of the

four infrared oor sensors. The diagnostic

illustrates the location of each sensor and provides the voltage and detected distance

to the oor for that sensor.

Figure: 58

1 Distance to oor

2 Sensor voltage

3 Sensor location

4 Return to diagnostics

If the sensor is located over a drop, such as a downward

stair, the diagnostic will report “No ground” for that sensor.

It is possible to receive a false “no ground” warning on some surfaces. If the oor is causing false readings, move the

machine to a different location to perform the diagnostic.

36. Gyro Diagnostic

The gyro diagnostic requires machine rotation it should only be performed in an open area where the machine can be rotated 360 degrees with room for the operator.

5 7

Figure: 59

1 Current heading: Heading reading in degrees and

hundredths of a degree

2 Scale factor

3 Reset button

4 Clockwise machine rotation

5 Counterclockwise machine rotation

6 Center value

7 Return to diagnostics main screen

36.1. Verifying Gyro Operation

The machine heading is indicated by the compass (1) on the diagnostic display. Zero the heading by pressing the reset key (3).

Pressing the left arrow key (4) will cause the machine to rotate slowly anti-clockwise. The heading will read negative degrees of rotation.

Rest the heading by pressing the reset button (3).

Pressing the right arrow key (6) will cause the machine to rotate slowly clockwise. The heading will read positive degrees of rotation.

Record the ‘’Center’ value reported on the display (6). If the number is less than 3000 or greater than 5000 contact customer assistance.

37. Gyro Calibration

IF a gyro problem is suspected, record the numbers displayed for ‘Scale Factor’ (2) and ‘Center’ (6). Report these values to customer assistance.

Caution:

Do not change any of the gyro calibration parameters unless instructed to do so by a trained service technician. Gyro parameters affect machine performance and stability. Unauthorized changes could result in unexpected machine behavior, resulting in damage or injury.

38. Network Diagnostic

The following provides detail on the network diagnostic:

The network diagnostic is used to review parameters and signal strength for the machine WiFi and cellular network connections.

1 2

Figure: 60

1 Select either WiFi or cellular modem for network

communications

2 Return to diagnostics

Press the selection key (1) to select either WiFi or cellular modem for network communications. The display will change to show parameters and signal strength for the chosen method.

39. WiFi Diagnostic

When using WiFi network communications the network may

be congured with a ‘Managed’ IP address that allows for

connection to an external network or an ‘Ad-Hoc’ IP address for local wireless connection.

Figure: 61

An ‘Ad-Hoc’ IP address should only be used by a trained service technician. The machine should always be

congured using a ‘Managed’ IP address during normal use.

Figure: 62

40. Memory Diagnostic

The memory diagnostic is used to view the current usage of the robotic scrubbing system’s computer memory.

Figure: 63

1 Return to diagnostics

If the diagnostic reports memory usage in excess of 80%, please contact customer assistance.

41. Outputs Diagnostic

The outputs diagnostic is used to aid in system troubleshoot by allowing privileged

operators to turn on specic machine

devices and verify their operation.

2 3

Figure: 64

1 Output on/off button

2 Cycle backward through output screens

3 Cycle forward through output screens

4 Battery voltage display

5 Return to diagnostics main screen

Cycle through the output screens by pressing the next (3)and previous (2) keys. Press the desired output (1) to cycle on or off.

The current battery voltage (4) is displayed during the diagnostic test.

42. Flow Diagnostic

The ow diagnostic allows for testing and

troubleshooting of the pumping system.

Figure: 65

Pressing the up (1) arrow will increase the system ow rate

and start a priming cycle. The cycle may be terminated by pressing the down arrow (2).

Priming may take up to two minutes. A priming failure may indicate an air leak in the plumbing, check for loose canisters or missing o-rings and restart the diagnostic.

Once priming is complete, the measured ow rate should be within 0.03 gpm (0.11 lpm) of the expected ow rate.

43. Drive Motor Diagnostic

The drive motor diagnostic utility provides information used by a trained service technician to calibrate the drive motors.

6 67

Figure: 66

1 Amplier status indicator

2 Encoder counts

3 Speed mm/s

4 Average mm/s

5 Command mm/s

6 Audible alert

7 Anti-drift

8 Step the command speedup

9 Step the command speed down

10 Return to diagnostics main screen

The diagnostic can be used to verify the status of the drive

ampliers by checking the Status lights (1). Green lights indicate the drive amplier is operational, a red light indicates

a fault.

44. Technical Data

MACHINE AMOUNT UNIT AMOUNT UNIT

Working width 29.13 in 74 cm

Suction nozzle width 35.04 in 89 cm

Dimensions (L x W x H)

48.42 x 32.28 x 43.31

123 x 82 x 110

Maximum weight of operational machine 1133.18 lbs 514 kg

Rated voltage 24V DC 24V DC

Rated power, nominal 1248 W 1248 W

Fresh water tank, nominal +/ 5% 14 gal 53 l

Transportation Weight No Batteries 450 lbs 204 kg

Machine weight with traction batteries (transport weight) (no water)

743 lbs 337 kg

Sound pressure level Less than 75 dB(A) Less than 75 dB(A)

Splash water guard IPX4 IPX4

Protection class III III

45. Revisions

Date Section Content Description Rev

01-06-17

"10. Healthcare/UV User and Service Personnel Warnings" on page 8

Text/copy UV/Healthcare Warnings Section Added B

01-06-17 Cover Image Large "Taski" Decal removed from Front Cover of Machine B

Taski swingobot 1650 CE, swingobot 1650 CE UV, duobot 1850 CE, duobot 1850 CE UV User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual