Technical Manual Lawn Mower Robot Troubleshooting
Contents
1. Technical Manual Lawn Mower Robot Troubleshooting lt Q m Z 0 CA 1 W I 2 6o b s Io e 2 1 CENTRO SISTEMI LE SOLUZIONI CHE CREANO SUCCESSO 1 Summary PEERS ca Qu tS 2 MERE CUL p 3 3 Troubleshoome Robots with display uuu uu die i decr Bobo tei 3 31 L75 Joy L200 Runner and L300 One robot models 3 3 1 1 Boder sional ISSUES T 7 91 14 General miormatl on s r D D UE 7 21 12 Displayed messages and robot 8 Sella Causes Dus EE 8 3 1 1 4 Border wire impedance Standard values and 11 3 1 1 5 Wire interruption research with interruption finder tool eee 11 3 1 2 Recharging 155168 M 12 3 1 2 1 Recharge process descHIpLOD uou n no T A A A 12 3 1 2 2 JBirors TdehntfICallOTi sienne reb a a a a iaar 13 3 1 2 3 Batteries nominal voltage level LIDINDWm 0 uu u p reri nane ea 16 32 Rob tnmogell 007 Yam l uu u acca aa w 16 A Troubleshooting Robot model L350 7 BLITZ L aaa aaa ri eiie tutus 17 41 Errors identification 17 42 Errors resolutio Com X 19 o Chanbsss xal ora 9002. 3 the lawn has been mowed no lawn present or problems with perimeter wire placement The robot was unable to reach the recharging station Guide wire interrupted or the recharging station is positioned in an area that ts hard to reach No perimeter signal Perimeter wire interrupted or problems with the power supply transmitter unit 2 blinks the robot stopped for safety reasons since it didn t find grass for al long period of time if working without border wire or because it detected to be out of border without any reason if working with border wire It is suggested to verify the goodness of the indication and in case modify the area where the robot showed the problem if necessary If the robot is used with border wire please verify that all the distances provided in the Installation document are respected exscpecially in case of installation on slopes 3 blinks only robot with recharging station installation with guide wire the robot bouncing on the external border of the lawn looking for the guide wire was not able to reach the wire on time It is suggested to verify that guide wire installation is in accordance to all the requirements and suggestions provided within Installation document 4 blinks only robot provided with recharging base installation with border wire the robot does not receive the signal from the border wire Verify the status of border wire interruptions oxidations etc signal transmitt
3. Objects blocking its movement The fault may be in Hitting of a rock Burnt motor Encoder Worn brushes replace the brushes Motherboard Motor wires broken or disconnected due to vibrations of the BLADE As for the motors manufactured before W25 09 we must check the pin as indicated in the picture Pay attention to blade motor wiring The correct wiring is showed in the figure below Wire color is not important but only the connections between motor contacts and connectors are to be considered Contacts on motor have different shape so it is not possible to invert the wiring on the motor FISE Motor connector 24 3 Changes description Revision Changes description 0 First issue of the document 25
4. blade OFF and this can not be caused by normal functioning as above described check that the sensors causing blade turn OFF handle rain inclinometer temperature work well One of the following components is faulty Batteries Motherboard Keyboard Display Flat connecting motherboard to display The failure is caused by one of the following components Keyboard Display Flat connecting display to motherboard Motherboard Follow procedure below to identify the failed component Disconnect the batteries Disconnect the flat connecting motherboard to display board Disconnect the keyboard from the display Connect batteries Ifthe robot turns ON the motherboard is faulty o Otherwise connect the flat connecting the motherboard to the display If the robot turns ON the display is faulty or the wiring is damaged or there is condensation on the wiring Finally if steps above did not replicate the problem Connect the keyboard to the display Robot should turn ON If yes replace the keyboard One of the following devices is faulty Keyboard Display Flat connecting display to motherboard Motherboard It is necessary to replace one at a time the devices above listed in order to identify the cause of the problem Boder signal issues 3 1 1 1 General information The robot needs to measure the signal generated by the border wire always while working while it is working far from the wire while it is working near to t
5. position Transmitter and receiver are set on different channels Verify setup of transmitter and receiver Sinusoidal transmitter set with too low transmission power Verify dip switch setup on transmitter Transmission power shall be at 100 if there are not other near installation or other systems receiving disturbance from the signal on the wire In case of installation with two robots two recharging bases but only one transmitter transmitter set to shut signal transmission down when the robot is inside the base Verify dip switch configuration on transmitter Flowerbeds are delimited with wire installed in clockwise direction If possible verify wire path at the entrance of the flowerbed Flowerbeds installed in the wronf way generally casuse the robot identify the wire about 30 cm before the real position the robot shows an anomalous behavior near to the flowerbed The dimension of the area where the robot shows an anomalous behavior depends on the dimension of the flowerbed big flowerbeds generate distorctions of the magnetic field in far areas from the flowerbed Too long border wire and or missing 48V amplifier code AMBEL00348MVV only sinusoidal signal See technical tables for border wire length specification Verify that border wire length is lower than maximum admissible value and 48V amplifier sinusoidal signal only is used if necessary Charger transmitter rechargi
6. 05 077770 25 2 Connections Robots architecture and devices connections are reported in the Robot architecture document Each device motherboard receiver display etc has a LEN that provides indications about the status of the device The device is correctly working if and only if the LED is blinking 50 period ON and 50 period OFF Note Correct blinking of the LED does not guarantee correct functioning of the device for all its functions So correct blinking of the LED is a necessary condition for proper functioning of the device and therefore of the robot but it is not a sufficient condition 3 Troubleshooing Robots with display 3 1 L75 Joy L200 Runner and L300 One robot models Note The new L75 Joy model has the same architecture of L200 Runner series machines Therefore troubleshooting methods are the same Tables in the following provide troubleshooting information both for errors that are automatically detected by the robot and not automatically detected Description of the errors automatically identified by the robot and showed on the display is provided in italics format in the table below BUS Error Bus Error is showed in case there is a communication error between the motherboard and the slave devices The problem can occur in different modes e During normal functioning the robot shows the message for a few and then it is removed The robot continues working well Th
7. 2 Displayed messages and robot behaviour There are two messages that could be displayed on the display of the robot in case on signal issues They are No signal and Blackout Robot behavior in case of signal issues varies on the basis of the setup of the Blackout parameter on service menu e STOP as soon as the robot looses the border wire signal it stops showing one of the following messages o BLACKOUT SIG04 if it lost the signal during normal functioning while mowing o BLACKOUT SIGO2 if it lost the signl during wire following The rebot will not restart moving if the signal will come back ON RESTART o If the robot looses the signal during normal functioning while mowing it stops with message No Signal If the signal comes back ON the robot synchronizes with the signal by performing a 360 turn and If it is able to turn 360 without finding a bump or the border wire restarts working If it finds a bump or the wire during the 360 turn it stops with BLACKOUT 51603 message o If it looses the signal during wire following it stops with BLACKOUT SIGO2 message What above described can be easily understood in case of real absence temporaneus or persistent of the border wire signal It could be much more difficult to understand robot bahaviour in case of disturbances or attenuations of the signal due to which the signal that is present if not correctly measured by the receiver on the robot In this case the robot prior to s
8. a bump Verify absence of Bump error Disturbance to wheel motors If all the other causes above have been excluded try to replace wheel motors Low Battery Reduced working time with respect to nominal value can be caused by various causes including problems related to the recharging process Reuced working time So verify that the recharging process is performed in the correct way and that the batteries with respect to nominal are in good status Test Battery See paragraph Fel Hittar inte referenskilla one In any case it is first of all suggested to perform the following verifications On user menu turn autosetup OFF and verify if the robot works in accordance with the nominal working time or in accordance with the working schedule set on user menu On user menu turn rain sensor OFF and verify In addition verify that the robot is not in recharging base with wrong RAIN indication Clean and sharpen the blade Check and clean recharging plates and bolts Leave the robot on recharge all the night and verify the first working cycle of the day Verify that blade motor speed is correct test motors or debug during nornmal functioning Robot devices that could decrease working time due to anomalous power consumption are Blade motor Blade When the robot is turned If checksum error is not shwed ON robot setup date Check backup battery on motherboard voltage should be about 3 3V Change battery or the time working t
9. as reached the recharging position So it stops 3 The relay embedded inside the motherboard connects the recharging bolts to the battery and the recharging process starts The plot in the following shows a typical trend of voltage on battery and recharging current 4 At the end of recharging process when the recharging current goes below a certain threshold the relay opens the contacts and the recharging bolts are no more connected to the battery 5 The robot is now ready to start a new working cycle 12 I amp V 0 99898989289892899289828982 B35 99888352 2208835L 2928SB Blue voltage measured by voltmeter embedded in motherboard Purple recharging current Voltage and current trends during recharge are highly dependent on battery conditions Considering that the batteries are at their best conditions and all the elements involved in recharging process are perfectly functioning the trend is highly dependent on charge status of the battery at the beginning of the reachrging process As it is evident looking at the plot above that is related to a condition with discharged batteries at the beginning of recharge the recharging current is high at the beginning of the process and decreases over the time It goes more or less to OA at the end of recharge e voltage on battery and at recharging plates assumes values significantly lower than nominal one 29 3V at the beginning of the process and then it i
10. does not start An additional check for understanding if the problem relates to the motherboard or to the keyboard involves opening the robot assembling the body in reverse with the ON key positioned in the Start connector For safety purposes run the test without the blade If the robot turns on when the Start key is pressed this means that the key is working Has the problem not been solved Spare parts to check Motherboard The robot always stays on The robot occasionally pauses for no reason low batteries lawn moved no grass or error The robot occasionally turns off and when it restarts the batteries are not low Blade motor frequently turns off Reasons Keyboard is defective Robot is charging Motherboard is broken Solutions and checks If connected disconnect the robot from the recharger Disconnect the battery reconnect it and try again Reset the board An additional check for understanding if the problem relates to the motherboard or to the keyboard involves opening the robot assembling the body in reverse with the ON key positioned in the Start connector For safety purposes run the test without the blade If the robot turns on and off when the Start key is pressed then this means that the key is working and the failure should be in the motherboard Has the problem not been solved Spare parts to check Motherboard Keyboard Reasons Keyboard is defective Handles came into co
11. e base bacouse of low battery So in case the robot entered the base and the end of a working cycle ended for other reasons rathen than low battery the value is set to 0 In order to verify that the recharge process is correct and all the items involved in the process are functioning well power supply transmitter recharging base robo recharging circuit batteries it is possible to verify the following the recharging time that depends on robot model and type of batteries installed is in accordance with the nominal value provided in the Robot set up document Both times lower or higher than nominal value are erroneous Voltage between pins 1 and 2 of the power supply circular connector disconnect the connected device is 29 3V 4 0 1V voltage at recharging plates without robot inside the base is 29 3V 0 1V at the beginning of the recharge process the recharge current assumes a value in accordance with the power supply on use o higher than 1 5A for 2 3A power supply code 50_E0009_00 o higher than 4A for power supply code CS_CLG150 30 o higher than 7A for 8A power supply code AMBELPB360 P during the whole recharging process the voltage measured at the following measure points is more or less the same consider 1 V tolerance o between the two recharging plates on recharging base o between the two recharging bolts on power supply o between and poles of bump groups recharging connectors not on L200 Ba
12. e motor Pay attention to blade motor wiring wiring The correct wiring is showed in the figure below Tall grass Bump Error Robot does not identify bumps Safety handle does not work blade is not turned OFF when the handle is touched Clock Error Date and time are not update Checksum Error Wire color is not important but only the connections between motor contacts and connectors are to be considered Contacts on motor have different shape so it is not possible to invert the wiring on the motor CS A0011 02 FISE Motor Encoder cable 6 poles connector Grass is really tall There is some material grass mud etc on the blade or blade motor shaft preventing the motor to correctly turn Damaged blade motor bearing Damaged blade motor encoder Failed motherboard Quando il robot non sente il filo o un urto per 5 minuti prova per 3 volte a girare di 90 e poi si ferma con il messaggio bloccato In genere succede quando il robot rimane sollevato in una buca o se ci sono le ruote lenti Probable causes Verify proper positioning and fixing or the cover Using service menu Test bump verify which is the damaged bump sensor Verify that no springs are damaged inside the bump groups Verify wirings and connections Failed bump board On user menu the safety handle feature is enabled Turn robot OFF and ON and verify Verify handle wiring Verify proper measurement values by using Service menu Safe
13. echarging process 3 2 Robot model L400 Yard 16 4 Troubleshooting Robot model L50 BLITZ 4 1 Errors identification In case there are failures on robot components the ON LED blinks to shovv the cause of the failure as explained in the figure belovv ERROR SIGNALS right motor error left motor error 3 FLASHES gt blade error 4 4 FLASHES tip over error 5 5 FLASHES curb drop off sensor error AS In case the PAUSE LED is blinking slowly Robot in stand by push the START STOP key in order to exit stand by enter PAUSE and so visualize the status of the ON LED and identify the error ATTENTION If when the robot is turned ON the ON and PAUSE LEDs blink alternately the L50 BLITZ robot test has not been performed by using the AmbrogioClient Wiper Client Perform the test as described within the Software update document The same indication test not performed can be obtained by performing the autodetection procedure robot software update of the software installed In this case the Test B is NOT showed as Pass Other possible anomalous conditions are showed by the robot by using the PAUSE LED according to the following figure 17 gt full battery level medium battery level gt low battery level in pause in pause due to low battery Robot in standby Press the START STOP key to display the status of the LEDs
14. electricity systems or cables fence electrical cable active or not active sidewalk wall etc near to the location where the problem occurs Rebember that on statistic menu submenu Blackout there are 3 values related to blackout events The third number indicates how many times the robot stopped since last time statistics were cleared As stated on Robot set up document it is suggested to clear statistics generate a report robot before each time the installation or robot is modified to solve signal issues Only in this way it will be possible to clearly understand the goodness of the implemented modifications Possible cause Verifications and suggestions to solve the issue Charger failed or heat protection condition Verify the 29 3V voltage is present between pins 1 and 2 on cirvular connector Verify the transmitter is ON LED is ON Try to turn charger OFF and turn it ON again after at least 15 minutes and verify In case of frequent failures or frequent charger heat protection function activation modify installation of the charger and transmitter increase distance between charger and transmitter It has to ba considered that for sinusoidal signal the transmitter is the biggest heat source Transmitter failed or internal fuse failed Verify LED status Verify internal fuse status Border wire interrupted both electrical conductors and insulation oxidized not well insulated
15. er power supply and all wirings Verify the compatibility between transmitter and receiver verify whole installation is in accordance with imposed requirements 18 4 2 Errors resolution Robot does not identify border wire Robot does not enter the base Robot is turned OFF Robot shows with LEDs signal problems Robot often changes movement direction without any reason turns blade OFF stops indicating tilt error 4 blinks led ON During normal functioning the robot changes movement direction without any reason does not detect grass detects drop off During L50 BLITZ test the test shows High Frequency Low Frequency Frequency not stable While working The robot recognises late when there is no grass The robot recognises the presence of a slope late Verify that the robot is not installed over the specification lawn dimension maximum border wire length etc Verify compatibility between receiver transmitter software update Perform verification on installation and robot in accordance with all the suggestions above reported for robot of L200 RUNNER series Reason Motherboard with failed inclinometer Damaged blade causing high vibration Solution and verification Perform L50 BLITZ test and verify inclinometer works correctly Try the robot without blade motor Reason Water Damaged missing connections Failed motherboard Solution and verification Clean sensors connectors Ver
16. he impedance of the wire is too high or the insulation to ground is too low it could be helpful to use a tool that allows to identify wire interruption or damaging position See next paragraph 3 1 1 5 Wire interruption research with interruption finder tool The wire interruption finder tool code CS_C0102_R allows the identification of the wire interruption point The tool works only with sinusoidal signal Channel A So if different signals are used TX S1 or sinusoidal channel or C it is necessary to change the transmitter only for interruption research to code 200Z03300A configured on Channel A After first turn ON the tool could remain ON also if it is far from the border wire In this case leave the push button and push it again Operation e Remove the robot from recharging station Set transmitter to 100 transmission power Disconnect the border wire from the black connector on recharging base Turn charger ON Start wire interruption research as described here below o Tool antenna shall be located bery close to the wire 1cm o Follow the wire in clockwise direction starting from still connected end o Push the push button on the tool to verify if the border wire is interrupted in that point 11 o Bring the wire over ground if it is underground to perform the verification This has to be performed approximately every 10m o If the tool turns ON the signal arrives in that point So the border wire is not damaged till
17. he wire during wire following while going back to the base or to secondary areas Each time the robot exits the base at the beginning of a new working cycle it performs the following procedure to search the signal e The robot exits from the base going straight back for about 1 meter e The robot turns about 90 in clockwise direction front of the robot goes inside the perimeter e The robot synchronizes with the signal e At the end of successful synchronization the robot starts the blade and then starts moving If the robot is not able to properly measure or recognize the signal it can have anomalous behaviours and or specific error messages showed on the display No signal Blackout e Irregular movements moving direction inversion rotations without any reason moving speed reduction e Blade shut down not attributable to normal operation or other causes See details in table above Frequent synchronizations 360 turns e Anomalous oscillations right and left with respet to the wire during wire following Signal issues can be cotogorized into 2 main categories resulting in different robot bahaviours and caused by different causes e Absence temporaneus or persistent of border wire signal o Caused by malfunctions or protections of signal transmission devices charger transmitter base border wire or missing connections o Caused by missing main power supply 220Vac 115Vac o Failure to measure the perimeter
18. here is no continuity between the two curb drop off springs Blow air compressed to the protection sponges of the sensors in order to check there is no water Check the grass sensors have not detached from their home The robot does not turn on Reasons Internal fuses are burnt Problems connected to the ON key Batteries are completely flat Solutions and checks Connect the robot to the recharger for a few minutes Check the inside fuses Check the charging level of the battery Disconnect the battery reconnect it and try again Reset the board Open the robot and assemble the body in reverse with the ON key positioned in the Start connector For safety purposes run the test without the blade Obviously the controls will be inverted but this operation allows understanding if the key is broken or if the board is broken Has the problem not been solved Spare parts to check Motherboard Keyboard Battery Cabling The robot turns on but the Start key does Reasons not work and the robot does not start Keyboard is defective Robot is charging Motherboard is broken Solutions and checks If connected disconnect the robot from the recharger Disconnect the battery reconnect it and try again Reset the board Press the Start key is pressed the sound of a disconnecting or connecting relay should be heard If this sound is heard it is likely that the motherboard thinks it is being recharged and therefore the robot
19. how messages on the display that is prior to completely loose signal measurement the robot will start to execute some manoveurs in order to establish again proper measurement both in case of Blackout paramente on service menu setup to STOP or RESTART Tipical manoveurs are for example e Movement speed reduction e Moving direction invertion e Partial rotation Signal related issue can result both in case of Blackout paramenter on service menu setup to STOP and RESTART on only anomalous working without messages showed on the display 3 1 1 3 Causes and resolution In order to understand verify and solve all the issues in a complete and analytic way it is suggested to collect all the information of the following list e robot model software version statistic menu robot report blackout lawn dimension square meter border wire length is 48V amplifier present only for sinusoidal signal border wire impedance ohm transmitter part number and dip switch setting transmitter LED status receiver part number and reception channel dip switch setting for TX S1 signal value on label for sinusoidal signal charger and transmitter location e locations on the lawn where the problem occurs with distance from border wire o does the problem occur always in the same location 8 o does the problem occur near to a flowerbed o How many times does the problem occur Every time the robot goes near to the same location o Is there iron or
20. ify sensors wiring Verify for water absence Verify motors brushes are not worn The problem has not been solved Try to change the following devices Motherboard Motors brushes motors There are magnetic electric fields providing disturbance during test execution border signal neon electrical systems etc Sensors have been touched at the beginning of the test Water on sensors Failed motherboard Solution and verification Turn any border signal OFF Raise the robot from ground and locate over a table possibly not made of steel Locate the robot far from electrical systems Do not touch sensors if not required by the test Verify for water absence The problem has not been solved Try to change the following devices Motherboard Most cases depend on the bad interpretation of the robot working Situations where this behaviour is to be considered as normal Too wet grass While turning and changing direction the sensors sensibility is reduced Undercover of the robot too dirty or wet Reasons Water inside the robot and in the boxes of the grass sensors Not well isolated sensor support While assembling the curb drop off sensors it is necessary to put some silicon to isolate the contact between the springs Solutions and Checks Check the robot working in a not too wet garden and its cover is cleaned Blow air compressed to the protection sponges of the sensors in order to check By using a tester device check t
21. imes complete motherboard is lost E01 E02 E03 The display second line shows the reason of motor error Motor error right wheel CURR Too high current consumption left wheel blade e RPM Motor blocked or unable to measure the speed e WDOG Communication error FAIL Internal motor error probable issue on wiring Probable causes Failed motor Failed encoder Damaged brushes Driver on motherboard Fuse F1 on motherboard Grass or mud on blade or blade motor shaft Wirings Use Test motors service menu to perform accurate tests Use debug to show current consumption on display during normal functioning First of all check wirings and fuses If the problem is still present for blade motor try to replace it in order to understand if the problem is the motor or the motherboard use Test motors to actuate the motor and verify motor turns and the speed is correctly showed For wheel motors 1 Disconnect connectors on motherboard of the motor for which the error is showed and connect in place of the other motor connectors 2 From Test motor menu actuate wheel motors and verify if the motor identified as failed is working or not turning correctly and speed is correctly read a Ifthe motor works the motherboard is failed b Ifthe motor does not work or speed is not measured the motor is failed The other solution easier if spare parts are available is to replace one at a time the components Brushed blad
22. is is just a warning message Nothing has to be done As soon as the robot is turned ON Check fuse F1 If it is not burned it is necessary to disconnect the following devices motors receiver bluetooth alarm o Try to turn robot ON If the error is still present the motherboard or the display are failed o Connect one at a time the devices previously disconnected Try each time to turn the robot ON and verify if the error is showed As soon as the robot exits the base When the robot exits the base it starts the communication with the display If the error is showed in this moment it could be caused by the flat connecting the motherboard to the display or by a failure in the motherboard or display Out of Border Probable causes Fuori perimetro Problems related to correct detection and measurement of the border signal The charger power supply enter temperature protection mode In this case try to increase the distance between the transmitter and the power supply and install them in a more fresh and ventilated area Slope is too high near the border wire Solution could be the installation of clawed wheels set a lower movement speed for robots with this setting available increase the distance between the border wire and the border of the lawn Bump sensors blocked or not functioning Check robot functioning after a bump Check robot functioning with No perimeter setting raised wheels and verify it does not drive back as it detected
23. ncreases The voltage reaches the nominal value at the end of recharging process The trends above are different in case the old battery charger black box instead the new power supply with white box is used In this case the current is more or less constant during the complete recharging period and the voltage increased reaching the nominal value at the end 3 1 2 2 Errors identification Typical errors and anomalous behaviours showed by the robot in case of the recharging process is not optimized are e Failed charge this error is showed in the display of the robot o Failed charge errors are counted in the statistics of the robot are visible on service menu and are reported on robot report o As explained in Robot set up document the statistics do not count as errors missed recharging due to bump of the robot against the recharging base or recharging plates o Only errors for which the recharging process effectively started contact established between recharging plates and bolts and then ended erroneously are counted e The robot enters the base and immediately exits robot is inside the base and shows PAUSE instead of the normal ON RECHARGE message e Anomalous working and recharging times 13 In addition it has to be remembered that the statistics menu and robot report shows the parameter LAST CHARGE TIME that provides the length of the last recharging process This parameter is updated only if the robot entered th
24. ng base not installed in accordance to requirements described in the Installation document Verify that installation meets all requirements Iron or electrical cables active or not active are located inside the perimeter or near to it Try to move the border wire far from those zones If the robot shows problems during wirefollowing try to set on bounce return Source of disturbance electrical gate electrical systems etc located near to the area where the problem occurrs Try to move the border wire far from those zones Other near installations Verify that all requirements related to installation of close perimeters are met channel selections and distance Try to turn OFF perimeters near to the disturbed one and verify for proper functioning In this solve the issues try to reduce transmission power and or increase distance between installations Note if there are problems in specific areas located far from the border wire for which the attenuation of the signal caused by the long distance from the wire is the cause of robot malfunctions other caused have been already excluded it could be useful to increase signal power by the addition of virtual flowerbeds in the interested areas 10 3 1 1 4 Border wire impedance Standard values and measurement Border wire impedance standard correct values are provided in the following table on the basis of border wire length Differe
25. nt values are indicative of wire damaging oxidizing partial or complete interruption Wire length Standard impedance 200m 2 80hm 400m 5 6ohm 600m 8 4ohm e The transmitter has to be OFF while measuring wire impedance turn charger OFF e In order to check border wire only disconnect the wire from the two black and red connectors on recharging base and measure between the two ends it is suggested to do not touch with the hands both the probes of the multimeter and the two ends of the wire e Ifthe transmitter is not embedded inside the recharging base in order to check the total impedance of border wire and recharging base wiring disconnect the white connector on transmitter and measure between the two central pins on plug female connector e In order to check proper wire to ground insulation put one probe in the ground and the other one in contact with both ends of the border wire Verify that the measured ohm value is higher than 850Kohm Leave the perimeter wire connected to the red and black connectors on recharging base and leave the transmitter connected Add a piece of wire between the two black and red connectors If the measured value is lower it means that there are wrong made joints or the wire lost proper insulation Note there is not a simple measurement that allows to verify if the transmitter is properly working or not Therefore it is necessary to check the status of the LED on the transmitter If t
26. ntact with wet objects Solutions and checks Try the robot with another body and then with different Start Pause keys Run only temporarily the robot with the cables of the handles disconnected from the motherboard Of course this test reduces the safety of the product It is not a solution but only a test Reasons Keyboard is defective Battery Solutions and checks Try the robot with another body and then with different Start Pause keys If the problem depends on the battery the test is not simple The robot can be started if the blade is blocked but this is not a simple test to execute The safest procedure is to try the robot with a fully charged battery This does not necessarily mean that there is something wrong with the robot Normal reasons Slope is greater than 30 or slope of 20 is reached too quickly Grass is too tall too much strain on the motor A handle was touched No grass or zone with grass lower than the 6 sensors Cutting blade damaged that creates strong vibrations to the mother board 21 The robot does not turn correctly after doing a U turn and makes too many turns which affect the normal functioning of the robot NB The robot cannot control the direction and therefore it is normal that it continues to turn The motherboard has been disassembled or the wheel motors have been disassembled and afterwards the robot does not detect that there is no grass until the back sensors exit f
27. rom the border Reasons due to defective or worn parts Solutio Blade motor encoder Motor cutting brushes worn Motherboard with faulty handle sensitivity ns and checks Start the robot normally If the modulation functions correctly this should mean that the encoder is functioning Open the robot disconnect the cabling of the handles Retry the robot without this functionality if the problem is resolved contact ZCS Try the robot without the cutting disc If the problem is solved the fault could be in the cutting motor in the worn out brush or in the damaged blade that creates strong vibrations Has the problem not been solved Spare parts to check Motor cutting brushes Motor cutting encoder Cutting motor Motherboard Cutting disc Reasons Loose belt Wheel motor with worn brushes Wheel motor with problems Solutions and checks Check the tightening of the belt If loose tighten the screws of the motor and of the free block by applying a medium Loctite adhesive Check the brushes of the wheel motor After allowing the robot to operate open the body and check the temperature of the wheel motors which must be the same If a motor is a lot hotter this means that it is under too much strain Has the problem not been solved Spare parts to check Wheel motor Mechanical part Motherboard Reasons Solutio The cables or connections of the wheel motor were inverted ms and checks Check that the connec
28. s Robot is provided with same battery type A or B and the correct type is set on service menu In case the robot has more than one battery check robot function with only one battery at a time and verify that o The recharging process is in accordance to the description above o The robot works well obviously with reduced working time In order to verify the status of the batteries perform the battery test as explained in the Software update document For robot models that do not allow to remove the cover and measure both the voltage at recharging bolts and plates and in points internal to the robot it is possible to use the winter recharge adapter code 50_E0011_00 connecting it directly to the recharging bolts of the robot Finally if all the verifications above suggested did not allow to identify the cause of the issue it is necessary to change one at a time all the following items and verify the goodness of the recharging process each time Power supply Rechaging base wiring and plates Recharging wiring part of bump groups on robot Recharging wiring on robot Motherboard Batteries 15 3 1 2 3 Batteries nominal voltage level Lithium Reference voltage levels are provided in the following table Lithium A Lithium B Robot turn OFF value 22 22 Blade turn OFF value 23 5 24 8 Begin of recharge research 24 252 value Charge value 29 3 29 3 Maximum allovved value at 29 9 29 9 the end of r
29. sic Runner X o between and poles of recharging circuit on motherboard o between and poles of betteries connectors on motherboard o between and poles of batteries voltage measured by the voltmeter embedded inside the motherboard and showed on robot display is congruent with the value measured on batteries by using a multimeter recharging plates and recharging bolts are clean and do not show signs of oxidation if necessary clean by using sandpaper If it is necessary to measure the recharging current follow the procedure provide here below 1 2 3 Locate the robot inside the recharging base so only one recharging bolt is in touch with the related recharging plate Set the multimeter for current measure with proper scale On the other side put the probe of the multimeter in touch with the recharging bolt and the other probe in touch with the recharging plate Perform the measurement paying attention that the recharging bolt does not touch the plate 14 In addition check No steps are at the entrance of the recharging base The border wire is correctly installed under and near the base see Installation document it is straight located in the middle of the base All the wiring and connectors of power supply transmitter recharging base recharging plates do not show signs of axidation burns insulation damage Springs on recharging plates provide a good contact between recharging plates and bolt
30. signal due to faults of robot devices receiver coil motherboard e Interference on signal reception by the robot o Signal reception attenuation with respect to nominal levels due to improper installation too long wire too big areas with respect to nominal capability of the robot o Disturbed reception of border wire signal caused by disturbance internal or external to the robot for example motors brushes too ware electrical systems located inside or near to the installation presence of iron inside or near to the installation generating distortions to magnetic field generated by the border wire It is very important to perform during installation and post installation verifications verifications to properly understand if the complete system and installation allow proper working of the robot or not see the document Installation for suggested verifications to be performed If at the end of installation it is evident that the robot is able to properly work in all the areas it will be clear that if problems will occur later in the future they will be caused by alterations to the status of the installation and components Otherwise if nothing has been verified at the end of installation if problems will arise it will be first of all necessary to loose time trying to understand if the issuea can be caused by the correctness of the installation and only after this it will be possible to verify specific devices malfunctions 3 1 1
31. that point o If the tool does not turn ON the interruption is in the section between that point and the last functioning one o In order to be sure about the readings repeat the verification in the two last points ATTENTION In case the tool emits the sound turns ON along the complete perimeter the wire is not completely interrupted In this case connect to ground the end side of the border wire previously disconnected from black connector on recharging base Repeat research Once the interruption has been found connect correctly the border wire to the connectors on recharging station and repair the border wire where it is damaged As suggestion use 3M Scotch 23 3 1 2 Recharging issues 3 1 2 1 Recharge process description Battery recharge process is as described in the following Note the battery charger power supply always provides power to the recharging plates When the robot is not inside the base the voltage shall be at its nominal value of about 29 3V 1 The robot following the wire arrives near to the base measuring the voltage at the recharging bolts by using the voltmeter embedded inside the motherboard the relay embedded in the motherboard that connects together the recharging bolts and the battery has still open contacts 2 When the robot enters the base and the recharging bolts on robot touch the recharging plates on base the voltmeter on robot measures the voltage of the recharging plates and understand it h
32. tions on the board and wheel motor are correct The red cable must be facing upwards as shown in the figure To check the correct functioning it is necessary to turn on the robot and press the Start key The first movement is executed in the direction opposite to the recharging knobs As indicated by the arrow in the figure Problems with reduced operating times Obviously the first evaluation that must be made is based on the life of the battery In case of a new or recent battery carry out the following checks On the Battery there must be the label Li Type A or Li Type B with a version come out later than 2009 04 16 Clean the blade and grass residuals Clean and check the recharging knobs as well as the impedance of the recharging knobs as showed in the picture Recharge the robot all night long and check the first operating cycle Recharge the robot all night long Disconnect the recharging knobs and measure the voltage with a tester on the knobs of the wheels The voltage must be approximately 29 1 29 4Volt Measure the recharging connectors when they are disconnected from the wheel knobs The voltage must be approximately 29 2 29 4Volt The fault may be in Power Supply Unit Battery Recharging cable Motherboard Cutting motor Ohm the ON LED Blade motor error Three flashes of the ON LED Blade motor wiring motor Worn brushes Cable on the wheel motor Motherboard Blocked belt
33. ty handle see Robot set up document Change motherboard The robot shows this error when the setting parameters stored in the memory are not correct Press ENTER when the message is shown In this way the robot will ignore the error and the user can set robot setting date time schedule etc If the message is shown each time the robot is turned ON change the motherboard Sync Error High Battery Blade turned OFF Robot turns OFF after few seconds it is turned ON The robot automatically turns ON as soon as the batteries are connected It is not possible to turn robot OFF Only on robot with sinusoidal signal Probable causes Signal receiver is not correctly connected to the motherboard Connection disconnections are to be performed with robot OFF Fuse F1 on motherboard is failed Receiver is faulty Coating on receiver pins preventing correct contact Clean pins Damaged coil wiring coil or connector side Check connections on connector In case the robot shows too many errors more than 3 in a month it is necessary to check power supply voltage In case it is correct the voltmeter on motherboard is probably failed In this case it is necessary to change the motherboard The robot turns the blade OFF for the following reasons e Safety handle activated Rain sensor activated The robot is raised with inclination higher than 30 High blade motor or driver temperature Lost border signal If the robot turns
34. with respect to ground with bad joints Check LED on transmitter to verify indication of interrupted wire or too high impedance on wire Perform border wire impedance measurement and comparison with nominal values In case of need perform interruption research by using the interruption detector tool see next paragraph Perform a wire to ground insulation measurement see next paragraph Recharging base cabling for border If transmitter is not embedded on recharging base measure total wire interrupted damaged or impedance of border wire and recharging base cabling Measure on oxidized the two central pins of female connector normally connected to the transmitter If transmitter is embedded on recharging base all the cabling are inside the transmitter box So try replacing the transmitter Coil inside the robot is Visually verify the status of coil wiring on both sides Check disconnected or cabling is damaged connector Check that the wiring is located on the proper position Try to replace the coil Failed receiver If present verify the status of the LED on the receiver it should blink regularly Try to replace the receiver Receiver pins do not have good contact with motherboard connector Remove the receiver clean the pins and connect again to motherboard The coil inside the robot is not in the proper position Perform a visual check and in case of need put the coil in the proper
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