ECHO Robotics TM-1000 User manual
i
Chapter:1ImportantInformation...........................1
Administrative Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Service and Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
FCC Declarations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
California Proposition 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Chapter:2SafetyInformation..............................1
Safety Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Chapter:3TheoryofOperation.............................2
Chapter:4SystemComponents.............................3
Robot Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Charging Station Components . . . . . . . . . . . . . . . . . . . . . . . . 6
Chapter:5HowtheRobotWorks............................6
Autonomous Mission State . . . . . . . . . . . . . . . . . . . . . . . . . 6
Inactive Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Service State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter:6WireInstallation.............................. 10
Types of Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Station Loop Wire Installation . . . . . . . . . . . . . . . . . . . . . . . .10
Station Loop Wire Inside of Peripheral Wire . . . . . . . . . . . . . . . .11
Station Loop Wire Installation - Multiple Robots . . . . . . . . . . . . . .11
Peripheral Wire Installation . . . . . . . . . . . . . . . . . . . . . . . . .12
Multiple Peripheral Wire Installation . . . . . . . . . . . . . . . . . . . .13
Sites Containing Narrow Straits . . . . . . . . . . . . . . . . . . . . . . .14
Sites With Long Lanes . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Islands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Pseudo-Islands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Obstacles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Sloped Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Station Loop/Peripheral Wire Configuration-Single Field Installation . .17
Multi-Field Peripheral Wire Installation . . . . . . . . . . . . . . . . . . .18
Wire Configuration - Multi-Field Installation . . . . . . . . . . . . . . . .20
Configuration Examples . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Chapter:7UsingtheRobot.............................. 27
Safety Measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
Actions Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Settings Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Service Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
ii
Technician's Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
Connecting to Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Chapter:8Maintenance................................ 53
Maintenance Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
Winter Service Check List . . . . . . . . . . . . . . . . . . . . . . . . . .53
General Inspection and Cleaning . . . . . . . . . . . . . . . . . . . . . .55
Chapter:9ServiceProcedures............................ 58
Sonar Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
Bumper Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
Front Lift Cushion Replacement . . . . . . . . . . . . . . . . . . . . . . .59
Rear Lift Cushion Replacement . . . . . . . . . . . . . . . . . . . . . . .60
Front Wheel Replacement . . . . . . . . . . . . . . . . . . . . . . . . . .60
Rear Wheel Replacement . . . . . . . . . . . . . . . . . . . . . . . . . .60
Gear Motor Replacement . . . . . . . . . . . . . . . . . . . . . . . . . .60
Cutting Motor Cable Replacement . . . . . . . . . . . . . . . . . . . . .62
Battery Service and Installation . . . . . . . . . . . . . . . . . . . . . . .62
Correcting Stop Button Lid Closure Problems . . . . . . . . . . . . . . .63
Chapter:10 RobotAccessories............................. 65
Wheel Brush Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Groomer Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
Chapter:11 TorqueReferences............................. 65
Mower Body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .66
Cutting Height . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .67
Electrical Box, Battery, and Housing . . . . . . . . . . . . . . . . . . . . .68
Lift Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69
Wheels, Motor and Gear Box . . . . . . . . . . . . . . . . . . . . . . . .70
Cutting Head . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
Electrical Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .72
Main Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
Main Bars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .74
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
Cover and Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
Gear Motor, Cutting Head, and Front Wheel . . . . . . . . . . . . . . . .78
Chapter:12 Specifications............................... 79
Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Cutting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Weight and Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . .79
iii
Software and Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . .79
Intelligence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .79
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80
IMPORTANT INFORMATION
ADMINISTRATIVE SUPPORT
1
1 Important Information
©2019 ECHO Incorporated. All Rights Reserved.
This manual, or parts thereof, may not be reproduced
in any form, by any method, for any purpose.
ECHO has taken reasonable care in compiling this docu-
ment, however ECHO accepts no liability whatsoever
for any error or omission in the information contained
herein and gives no other warranty or undertaking as
to its accuracy.
ECHO can accept no responsibility for damages,
resulting from the use of the operating software. In
addition, we refer to the conditions of use specified in
the license contract. ECHO reserves the right to amend
this document at any time without prior notice.
ECHO and its affiliates are not liable for damages or
losses related to such security breaches, any unautho-
rized access, interference, intrusion, leakage and/or
theft of data or information.
This manual contains the original instructions. Informa-
tion contained in this manual is provided as an indica-
tion and is in no way contractual. It can be changed by
ECHO, without the need for prior announcement.
Obtain updated information at: myrobot.echoro-
botics.com.
The robot has been designed to high safety standards.
Risk is always possible. Read and understand all Safety
Information.
This manual refers to Generation 2.0 series of robots
with software version 4.0.
1.1 Administrative Support
1.2 Service and Parts
Only use an authorized Authorized ECHO Robotics
Dealer for service procedures.
Genuine ECHO Robotics parts and are available only
from an Authorized ECHO Robotics Dealer. Always
supply a model and serial number when purchasing
parts and assemblies.
www.echorobotics.com
1.3 FCC Declarations
This equipment has been tested and found to comply with
the limits/or a Class A digital device, pursuant to part 15 of
the FCC Rules. These limits are designed to provide
reasonable protection against harmful interference when
the equipment is operated in a commercial environment.
This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accor-
dance with the instruction manual, may cause harmful
interference to radio communications. Operation of this
equipment in a residential area is likely to cause harmful
interference in which case the user will be required to
correct the interference at their own expense.
1.4 California Proposition 65
DANGER
!
Cancer and Reproductive Harm
www.P65Warnings.ca.gov
2 Safety Information
Throughout this manual and on the product itself, you
will find safety alerts and helpful, informational
messages preceded by symbols or key words. The
following is an explanation of those symbols and key
words and what they mean to you.
Circle and Slash Symbol: This symbol means the specific
action shown is prohibited.
Ignoring this symbol can result in damage to
property and serious or fatal injury.
DANGER
!
The safety alert symbol accompanied by the word
“DANGER” calls attention to an act or condition which
WILL lead to serious personal injury or death if not
avoided.
WARNING
!
The safety alert symbol accompanied by the word
“WARNING” calls attention to an act or condition which
CAN lead to serious personal injury or death if not
avoided.
CAUTION
!
The safety alert symbol accompanied by the word “CAUTION”
calls attention to an act or condition which may lead to minor
or moderate personal injury if not avoided.
2
THEORY OF OPERATION
SAFETY SYMBOLS
NOTICE
The enclosed message provides information necessary
for the protection of the unit.
2.1 Safety Symbols
3 Theory of Operation
The robot works in a random pattern. A peripheral wire
buried in the ground defines the working area.
The charging station energizes the peripheral wire. An
electro magnetic signal is generated within the working
area. The signal is positive (+)inside the wire and nega-
tive(–) outside the wire
The robot senses the magnetic signal.
When the robot senses the location of the peripheral
wire, it stops, turns back into the field, and continues
working.
The robot is equipped with obstacle detection sensors.
When the robot detects an obstacle it will slow down,
contact the obstacle, then perform a maneuver to
avoid it.
When the battery of the robot needs to be charged, the
robot will stop, move toward the peripheral wire, then
follow a trackborder back to the station loop wire.
When the robot detects the station loop wire, it follows
it to the charging station. The station loop wire guides
the robot into and out of the charging station.
Safety and Information Label
Caution: The robot can be dangerous if
misused.
Never place hands or feet under the
robot while operating.
Beware of projectiles. Keep a safe
distance.
Keep animals away from the robot.
Water cleaning with high pressure jet
systems can cause damage.
The robot is protected by an access
code.
Read the technical manual before using
the robot.
Always stop the robot and wait for the
cutting blades to stop before handling
the robot.
Always keep a safe distance from the
robot while handling.
Do not ride the robot.
Keep bystanders away from the robot.
Protective gloves must be worn when
handling the robot, especially the
cutting system.
The robot is equipped with an
anti-theft system.
1 – Robot
2 – Mowing area
3 – Peripheral wire
4 – Charging station
5 – Obstacle
6 – Station loop wire
7 – Trackborder
4
1
5
7 3 2
5
6
SYSTEM COMPONENTS
ROBOT COMPONENTS
3
4 System Components
4.1 Robot Components
This section describes the basic components of the
robot.
NOTE: The serial and model number labels are located
under the stop button lid.
4.1.1 Component Identification
1 – Charging station
2 – Robot
3 – Internet portal
4 – End user
3
1
2
4
1 – Stop button - Press to stop the robot.
Smartbox - A graphical user interface used to set
configuration parameters
2 – FCC label (lift stop button lid to view)
3 – Serial number label (lift stop button lid to view)
4 – Cover
5 – Sonar sensors - Detects object in the path of the robot.
6 – Front wheel
7 – Bumper - A pressure sensor which will cause the robot to
change direction when it touches an obstacle.
8 – Rear wheel
9 – Charge contact- Connects to the charging arm on the charging
station.
10 – Cutting heads - Equipped with three cutting blades.
11 – Li-Ion (Lithium Ion) battery - Supplies power to the robot.
12 – Electrical box - Contains the electronics and the gear drive
motors.
13 – Disc safety guard - A protective guard which inhibits contact
with the cutting heads.
14 – Coil - Detects the magnetic field generated by the peripheral
wires.
15 – Power switch
12
3
7
9
10
1
4
5
86
7
14
6
13
8
12 15
11
68
9
4
SYSTEM COMPONENTS
ROBOT COMPONENTS
4.1.2 STOP Button
The stop button is located on the top of the robot.
Press, or lift it, to stop the robot.
4.1.3 The Smartbox
The smartbox is used to set configuration parameters,
it is located under the stop button lid.
The LCD Screen
4.1.4 Sonar Sensors
Five sonar sensors transmit a sonar signal of 40 kHz.
The sensors allow the robot to detect and react to
obstacles.
Sensors detect obstacles with minimum height of
15.7 in. (400 mm), and a minimum width of 2.0 in.
(50 mm).
When the signal hits an obstacle, it is reflected back to
the sensors. The speed of the robot is reduced to less
than 0.5 mph (0.2 m/s).
1 – Stop button
1 – Numeric buttons - Press to select menu choices and enter
numeric values.
2 – LED screen - Displays the current information.
3 – LED - Indicates the smartbox is switched ON.
4 – ON button - Press to turn the smartbox ON.
5 – Navigation buttons - Press to highlight menu options.
6 – Back button - Press to exit a menu and return to previous
level.
7 – Accept button - Press to accept an operation or setting.
8 – Service menu button - Press to access the service menu.
9 – Settings menu button - Press to access the settings menu and
define operational settings.
10 – Actions menu button - Press to access the actions menu.
1
31 2
6
8
0
4 5
7 9
X
4
1 2 3
5
6
10 9 8 7
1 – Name - The name of the robot.
2 – WiFi / Mobile connection - Indicates the robot is connected as
a WiFi client. When blinking, it is trying to connect. When steady,
it is connected.
3 – WiFi access point - Indicates the robot is connected.
4 – GPS - Indicates the robot can detect at least four satellites and
that it knows its current location. If blinking, it indicates the robot
can not detect enough satellites.
5 – Battery charge level - Percentage of battery charge.
6 – Message - Shows the current status of the robot (also displays
error messages).
7 – Time and date (24-hour clock only).
1 – Sensor location
2 – Sensor assembly
1 3 2 4 5
6
7
шϮϬŝŶ
;ϱϬŵŵͿ
шϭϱϳŝŶ
;ϰϬϬŵŵͿ
Ϯ
ϭϭϭ
ϭϭ
SYSTEM COMPONENTS
ROBOT COMPONENTS
5
When the bumper contacts an object, the robot will
touch the object, stop, move backwards, and by
default, turn between 60° and 120°, then continue
moving forward.
4.1.5 Lift Sensors
Each lift sensor is attached to the body and the chassis
of the robot. The two sensors on the front are lift
sensors, the two sensors on the rear are a combination
of lift and body displacement sensors.
If the body is lifted upwards, all functions will stop, and
the robot will remain stationary. If the body is moved
horizontally, the robot will, stop, move backwards, and
by default, turn between 60° and 120°, then continue
moving forward.
4.1.6 Coil
Detects the intensity of the magnetic field that is gener-
ated by the peripheral wire.
4.1.7 Tilt / Rollover / and Temperature Sensors
These sensors are located on the main circuit board
inside of the electrical box.
The tilt sensor detects the angle of the slope on which
the robot is working. If this angle exceeds 30° (58%), an
alarm will be raised and the robot will stop moving.
The rollover sensor detects if the robot has been tipped
upside down, or whether someone is trying to start the
robot when it is upside down.
The temperature sensor measures the ambient
outdoor temperature and will prevent the robot from
operating if this temperature is too low. The minimum
temperature is set as an operating parameter.
1 – Lift sensor attachment point
2 – Front lift sensor assembly
3 – Rear lift sensor assembly
1
1
1
1
3
3
2
2
2 3
6
HOW THE ROBOT WORKS
CHARGING STATION COMPONENTS
4.1.8 Cutting Head
4.2 Charging Station Components
5 How the Robot Works
The robot works in a number of operational states.
Within these states the robot is programmed to
operate in a number of modes.
5.1 Autonomous Mission State
The robot performs programmed instructions when in
the Autonomous Mission State.
NOTE: Programmed instructions can be over-ridden by
instructions activated from the smartbox.
5.1.1 Go Zone Mode
Go Zone Mode describes the maneuvers the robot
makes to leave the charging station and start working.
One Field With Station Loop
This configuration contains one peripheral wire and
one station loop wire.
When the robot leaves the charging station it follows
the station loop wire until it reaches Point A. This is a
1 – Bracket unit
2 – Cable gland
3 – Motor case
4 – Blade disc
5 – Anti friction disc
6 – Cutting blade
7 – Lower stay
8 – Upper stay
1 – Enclosure top
2 – Dust cover
3 – Charging arm
4 – Enclosure base
5 – Input panel
6 – Serial number location
12
5
3
4
6
7
8
4
6
1
5
2
3
Operational State Description
Autonomous
Mission State
The robot operates in cycles
in which it works, or charges
the battery.
Inactive State
The robot can enter an
inactive state if there is a
condition that causes the
Autonomous Mission State to
stop. The robot will return to
the autonomous mission state
when the problem has been
resolved or when a specific
command has been issued.
Service State
Initiate this state to access the
Demonstration and
Maintenance Test modes.
Autonomous
Mission Modes Robot Function
Go Zone Mode Performs a set of maneuvers
before entering the work mode.
Work Mode Mows the grass in a random
pattern.
Go to charging
station Mode Returns to the charging station.
Charge Mode Connects to the charging station
and charges the battery.
Wait In Station
Mode Remains at the charging station.
HOW THE ROBOT WORKS
AUTONOMOUS MISSION STATE
7
predefined distance along the field peripheral wire. At
Point A, the robot will follow the trackborder of the
field until it reaches Point B. At Point B, the robot will
turn into the field and start working. The distance trav-
eled along the trackborder and the angle at which the
robot turns into the field, are specified in the StartZone
parameters for the field.
Two Fields With Station Loop
This configuration contains a peripheral wire for each
field and one station loop wire.
Before leaving the charging station the robot will deter-
mine which field to start working in. This will depend on
the defined working schedule for each field. If the
schedule dictates that a specific field must be worked
at this time, the robot will start working in that field.
If there are no schedule constraints, the robot will
choose the field based on the percentage values. Over
a period of time the robot ensures that it starts in each
field according the defined proportions.
When the robot leaves the charging station it follows
the station loop wire until it reaches Point A. At Point A,
the robot will turn and follow the trackborder of Field
1, until it reaches Point B. Point B is where the two
fields overlap.
When the robot is in Field 2, it will travel for a certain
distance along the Field 2 trackborder until it reaches
Point C. At Point C, the robot will turn into the field and
start working. The distance traveled along the Field 2
trackborder, and the angle at which the robot turns
into Field 2, are specified in the StartZone parameters
for Field 2.
AB
1 – Field 1 trackborder
2 – Field 2 trackborder
C
B
A
2
1
8
HOW THE ROBOT WORKS
AUTONOMOUS MISSION STATE
5.1.2 Work Mode
The robot randomly works inside the peripheral wire at
a normal speed of 2.2 mph (1.0 m/s).
When the robot approaches the peripheral wire it
slows down and passes over the wire. The coil senses a
change in phase. This causes the robot to stop, move in
reverse, turn through a defined angle, then continue in
a new direction.
When the robot contacts an obstacle it will maneuver
away from it.
5.1.3 Go To Charging Station Mode
When working, the robot checks the current conditions
and its programmed instructions. Examples are:
• the battery needs to be charged
• programmed working time has ended (for
multi-field installations, this corresponds to the
schedule for the field which the robot is currently
working)
• a remote command has been issued
As a result of the condition or programmed instruction,
the robot will return to the charging station and enter
the charge mode.
One Field With Station Loop
At Point A, the robot returns to the charging station. It
moves towards the peripheral wire and follows the
trackborder until it reaches Point B. Next, the robot
follows the station loop wire until it docks at the
charging station.
Two Fields With Station Loop
At Point A, the robot returns to the charging station. It
moves towards the Field 2 peripheral wire and follows
the Field 2 trackborder until it reaches Point B. This is
the area where both fields overlap. It then follows the
Field 1 trackborder until it reaches Point C. This is
where the Field 1 peripheral wire and station loop wire
1 – Peripheral wire
1
60° - 120°
1 – Trackborder
2 – Peripheral wire
A
B
12
HOW THE ROBOT WORKS
INACTIVE MODES
9
overlap. Next, the robot follows the station loop wire
until it docks at the charging station.
5.1.4 Charge Mode
In Charge Mode the robot will dock and remain in the
charging station until the battery is fully charged.
The next operations that will be performed depend on
programming and external conditions.
The robot will remain at the charging station if:
• rest periods have been scheduled
• it has been programmed to stay in the station
• the temperature is too low
Otherwise, it will continue with the scheduled
program.
The robot will remain at the charging station once the
battery has been charged until:
• the normal program needs to commence
• a specific command is issued
5.1.5 Wait In Charging Station Mode
The robot will stay in the charging station once the
battery has been charged until the normal program
needs to commence, or a specific command issued.
5.1.6 Demonstration Mode
CAUTION
!
OPERATIONAL HAZARD
The robot will ignore the electromagnetic field gen-
erated by the peripheral wire when operating in
demonstration mode.
• Do not leave the robot unsupervised when it is
operating in demonstration mode.
5.2 Inactive Modes
There are four inactive modes: Alarm Mode, Standby
Mode, Self Test Mode, and OFF Mode.
5.2.1 Alarm Mode
When the robot encounters a problem it will register
an alarm and enter the inactive mode. When the cause
for the alarm has been corrected, the user can manu-
ally clear the alarm and the robot will then enter the
Standby mode. If no intervention takes place, the robot
will turn off and enter the OFF mode.
5.2.2 Standby Mode
The robot will enter the Standby mode if:
• the autonomous mission has been stopped due
to an external command
• an alarm situation has been corrected and the
alarm cleared by manual intervention
• it is manually switched ON
5.2.3 Self Test Mode
Whenever the robot has been in the Standby Mode it
will perform a self test to check the integrity of the
entire system (including electronics, sensors,
mechanics and software). When the result of the self
test is successful, it will resume the autonomous
working state. If the result of the self test is not
successful, it will register an alarm.
5.2.4 OFF Mode
The robot will be in the OFF mode when:
• it has been manually switched OFF
• an alarm situation has not been corrected after a
certain period of time
5.3 Service State
Initiate this state to access the Demonstration and
Maintenance Test modes.
1 – Field 2 / Field 2 peripheral wire
2 – Field 2 trackborder
3 – Field 1 trackborder
A
B
1
C
2
3
10
WIRE INSTALLATION
TYPES OF WIRE
5.3.1 Maintenance Test
A set of maintenance tests are available from the Tech-
nicians Settings menu.
6 Wire Installation
Avoid standing water, holes and ruts, and obstacles
when installing wire.
To avoid standing water (and damp areas):
• install drains
• stake the area
• use islands or pseudo-islands
To correctly prepare holes and ruts:
• drain all water
• fill with topsoil
• plant grass seed
To avoid obstacles
• install islands
• install pseudo-islands
6.1 Types of Wire
Connect a total of one station loop and two peripheral
wires to a single charging station.
• Each field is defined by a peripheral wire that
starts and ends at the charging station.
• Each peripheral wire is assigned to a different
signal channel in the charging station.
• The charging station must contain one signal
channel board for every peripheral wire
required.
• The area inside of each peripheral wire is defined
as a field. Each peripheral wire must overlap with
its neighboring one.
• Each pair of wires which overlap must be desig-
nated as neighboring fields.
6.2 Station Loop Wire
Installation
The station loop wire can be installed completely inside
of the field (Figure A), or partially inside of the field
(Figure B). The wire must extend a minimum of 13 ± 1.6
ft. (4.0 ± 0.5 m) into the field.
The distance between the center of the charging
station and the end of the station loop wire is 8.2 ft.
(2.5 m) minimum.
Name Function
Station Loop Wire Guides the robot back to its
charging station.
Peripheral Wire Defines the working area.
1 – Station loop wire
2 – Charging station
2
1
2
1
A
B
ϴϮŌ
(2.5 m)
ϭϯцϭϲŌ
(4 ± 0.5 m)
ϴϮŌ
(2.5 m)
ϴϮŌ
(2.5 m)
ϭϯцϭϲŌ
(4 ± 0.5 m)
ϴϮŌ
(2.5 m)
WIRE INSTALLATION
STATION LOOP WIRE INSIDE OF PERIPHERAL WIRE
11
6.3 Station Loop Wire Inside of
Peripheral Wire
If the station loop wire must be located inside of the
peripheral wire, and multiple robots are being used,
install the peripheral wire as shown in the following
figure. This installation ensures that robots will not
collide with each other, or with the charging station.
6.4 Station Loop Wire
Installation - Multiple Robots
The following figure shows required dimensions. Use
this installation for a working robot to avoid hitting a
robot at the charging station and stop ball-collecting
robots from entering and exiting the station loop at the
same time.
1 – Station loop wire
2 – Peripheral wire
3 – Charging station
2
ZϴϮŌ
(2.5 m)
1
ϲϲŌ
(2.0 m)
3
ϭϭϱŌ
(3.5 m)
1 – Station loop wire
2 – Peripheral wire
1
2
ϲϲŌ
(2 m)
шϵϴŌ
;шϯϬŵͿ
12
WIRE INSTALLATION
PERIPHERAL WIRE INSTALLATION
6.5 Peripheral Wire Installation
IMPORTANT: Only use peripheral wire which is
supplied by ECHO Inc.
Each end of a peripheral wire is connected to the
charging station.
Install the peripheral wire in a clockwise direction
around the field. Do not cross or form loops with the
peripheral wire.
Minimum peripheral wire length is 656 ft. (200 m). If
this minimum length is not possible, install Inductive
Coil, P/N M114000040.
Maximum peripheral wire length is 3937 ft. (1,200 m).
Use a second charging station when:
• total length of the peripheral wire (including
islands and pseudo-islands) exceeds 3,281 ft.
(1,000 m)
• more than five obstacles are on the trackborder
6.5.1 Peripheral Wire Installation
Dimensions
Peripheral wire installation angles must be greater
than or equal to 90°, with a radius greater than or equal
to 3.3 ft. (1.0 m).
The peripheral wire needs to take obstacles into
account. Some obstacles can be detected by the sonar
sensors on the robot, others require specific placement
of the peripheral wire, or the use of islands or
pseudo-islands.
6.5.2 Peripheral Wire Installation Next to
Landscaping
NOTE: The dimensional values shown apply when the
“Wire crossing distance” parameter is at the default
setting of 20 in. (510 mm).
Rough grass that does not need to be mowed:
1 – Peripheral wire
2 – Charging station
3 – Recommended length incoming side
4 – Recommended length outgoing side
5 – Obstacle free zone
6 – Trackborder
ϭϲϰŌ
(5.0 m)
ϭϲϰŌ
(5.0 m)
ϯϵϰŌ
(12.0 m)
28.3 in.
(720 mm)
2
1
34
5
6
1 – Peripheral wire
1 – Rough grass
2 – Peripheral wire
шϯϯŌ
;шϭŵͿ
шϵϬΣ
ϭϭ
1
2
20 in.
(510 mm)
WIRE INSTALLATION
MULTIPLE PERIPHERAL WIRE INSTALLATION
13
Raised hard landscaping:
Hard landscaping level with grass:
NOTE: A path that crosses the field to be mowed should
be level with the grass.
Lawn-level planting (e.g. flower bed).
6.6 Multiple Peripheral Wire
Installation
An installation may require multiple peripheral wires.
Each working area is defined by a peripheral wire that
starts and ends at a charging station. Each peripheral
wire contains a single parcel.
Each parcel must overlap with a neighboring parcel.
Each pair of wires or parcels which overlap must be
designated as neighboring parcels.
Multi-Field Installation
Wire 1 /Field 1 is the station loop. When in this field the
robot will follow the wire to dock at the charging
station.
Wire 2/Field 2 is a neighbor of Wire 1/Field 1. Wire
3/Field 3 is a neighbor of Wire 2/ Field 2.
The proportion of time that the robot spends working
in Fields 2 and 3 can determined by the percentage
values assigned to the corresponding fields through the
robot's working schedule. For Wire 1/Field 1 the
percentage can be set to 0.
The start and finish sides of the peripheral wire must lie
next to each other when they enter the charging
station. Install the start and finish sides of the periph-
eral wire for one field around the other field. The
distance between the peripheral wires for each field
must be greater than or equal to 23.6 in. (600 mm).
1 – Terrace / Path / Wall
2 – Peripheral wire
3 – Area not mowed
1 – Terrace / Path
2 – Peripheral wire
1 – Flower bed
2 – Peripheral wire
3 – Area not mowed
13
2
29.5 in.
(750 mm)
9.5 in.
(240 mm)
1
2
11.8 in.
(300 mm)
2
1
3
29.5 in.
(750 mm)
3.5 in.
(90 mm)
1 – Field 1
2 – Field 2
3 – Start and finish side of Field 1 peripheral wire
4 – Start and finish side of Field 2 peripheral wire
шϮϯϲŝŶ
;шϲϬϬŵŵͿ
Ϯ1
ϯ4
14
WIRE INSTALLATION
SITES CONTAINING NARROW STRAITS
6.7 Sites Containing Narrow
Straits
These sites require specific installation of the periph-
eral wire.
The required minimum width of the strait, depends on
the length of the strait. If this minimum width is not
available when the robot is in Zone B, it will not be able
to pass through the strait and return to the charging
station. In this case, installation of an additional
charging station in Zone B is required.
The table below presents the minimum distance
between wires required to enable the robot to follow
its trackborder from Zone B through the strait and
return to the charging station in Zone A.
6.8 Sites With Long Lanes
A long lane represents an area where a minimum
distance for the installation of the peripheral wire is
required. If this minimum distance is not met, the robot
may not be able to detect the peripheral wire.
If the peripheral wire is not detected, the robot cannot
return to the charging station to charge its battery.
If the length of the lane is less than 49.2 ft. (15 m), then
the minimum distance between the peripheral wire
must be greater than 32.8 ft. (10 m).
6.9 Islands
Create an island when an obstacle is more than:
• 16.4 ft. (5.0 m) from the peripheral wire
• 49.2 ft. (15.0 m) from the charging station
• 16.4 ft. (5.0 m) from another island or
pseudo-island
Install the peripheral wire around an obstacle to create
an island. A maximum of five islands can be installed.
Requirements for an island:
• install the peripheral wire in a counterclockwise
direction around an object
• place the approach and return sides of the
peripheral wire directly next to each other (do
1 – Narrow strait
2 – Peripheral wire
3 – Minimum distance between peripheral wire
4 – Length of strait
Length of the strait
Minimum distance
between peripheral
wires
3.3 ft. (1.0 m) 13.1 ft. (4.0 m)
3.3 - 16.4 ft. (1.0 - 5.0 m) 14.7 ft. (4.5 m)
16.4 - 49.2 ft. (5.0 - 15.0 m) 16.4 ft. (5.0 m)
2
Zone A
Zone B
3
1
4
1 – Lane
2 – Peripheral wire
3 – Minimum distance between peripheral wire
2
1
3
WIRE INSTALLATION
PSEUDO-ISLANDS
15
not cross or twist the wire) secure with tie straps
at 4.0 in. (10o mm) increments
6.10 Pseudo-Islands
Create a pseudo-island when an obstacle is less than:
• 16.4 ft. (5.0 m) from the peripheral wire
• 49.2 ft. (15.0 m) from the charging station
• 16.4 ft. (5.0 m) from another island or
pseudo-island
Install the peripheral wire around an obstacle to create
a pseudo-island.
Installation requirements for a pseudo-island:
• counterclockwise direction around an object
• allow a fixed distance of 15.7 - 23.6 in.
(400 - 600 mm) between the approach and
return sides
• do not cross or twist the approach and return
side of the peripheral wire
6.11 Obstacles
Obstacles are objects that the robot must avoid. Exam-
ples are:
• trees, flower beds
• swing sets, climbing frames, trampolines
• sidewalks, walking paths, terraces
• ponds, swimming pools
On a golf course installation, examples are:
• distance markers and flags
• Target ball nets
• bunkers
• water hazards
Some obstacles are detected by the sonar sensors on
the robot. Other obstacles require the installation of
the peripheral wire to create an island, or a
pseudo-island.
If an island is created, the robot will not approach the
obstacle. The robot will move across the peripheral
wire to avoid the obstacle.
1 – Obstacle
2 – Direction to install peripheral wire
3 – Peripheral wire
4 – Movement of robot
5 – Tie strap locations
x x x x
2
5
3
4
1
4.0 in.
(100 mm)
1 – Obstacle
2 – Direction to install peripheral wire (and movement of robot)
3 – Peripheral wire
4 – Fixed distance between approach and return sides
2
3
4
1
15.7 - 23.6 in.
(400 - 600 mm)
16
WIRE INSTALLATION
OBSTACLES
If a pseudo-island is created, the robot will approach
the obstacle, and then maneuver around it.
6.11.1 Water Obstacle
NOTICE
WATER AMPLIFIES THE ELECTROMAG-
NETIC SIGNAL OF THE PERIPHERAL
WIRE
The robot is attracted towards higher signal levels.
Failure to correctly avoid a water obstacle can re-
sult in submersion of the robot.
• Use an island or a pseudo-island to avoid a wa-
ter obstacle.
Install the peripheral wire a minimum distance of
5.3 ft. (1.6 m) from the edge of the water. Increase this
distance if the ground slopes towards the water, is slip-
pery, or can become wet or flooded.
If meeting the minimum distance of 5.3 ft. (1.6 m) is not
possible, install a physical barrier around the water.
Install the charging station a minimum of 49.2 ft. (15 m)
from the edge of the water.
Two possible installations for the charging station are
shown in the following figure.
NOTE: The robot should return to the charging station
from the direction away from the water.
If the charging station is located at Point A, program the
robot to return to it in a clockwise direction.
If the charging station is located at Point B, program the
robot to return to it in a counterclockwise direction.
6.11.2 Obstacles Near the Boundary to be
Mowed
If an obstacle is less than 3.3 ft. (1.0 m) from the
boundary, install the peripheral wire around the
obstacle. If the distance between the obstacle and the
boundary is greater than 3.3 ft. (1.0 m), but less than
16.4 ft. (5.0 m), install a pseudo-island.
1 – Peripheral wire
2 – Charging station
AB
1
2 2
хϱϯŌ
(>1.6 m)
хϰϵϮŌ
(>15.0 m)
хϰϵϮŌ
(>15.0 m)
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