Left Hand Robotics RT-1000 User manual

USER GUIDE:
RT-1000
Version2020.01.21
INSTALLATION GUIDE:
BASE STATION
Version2017.12.14

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Copyright © 2020, Left Hand Robotics, Inc. All Rights Reserved
Left Hand Robotics, Inc.
1880 Industrial Circle
Suite E
Longmont, CO 80503

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Table of Contents
Copyright 1
Table of Contents 2
Before Starting the Robot 3
Safety Instructions 4
Driving the Robot 5
Starting the Robot
Drive Mode
Xbox Controller Diagram 6
Xbox and Robot Calibration 7
Autonomous Mode 8
Xbox Controller
Record on Robot
LHR Mobile App
Drive to Start
Faults 10
Automatic Faults
Manual Faults
Rescue Tether 11
Attachments 15
Drop Spreader
Broom
Mower Deck
Broom Safety Bar Spring Reinforcement 19
Service and Maintenance 20

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RT-1000 USER GUIDE
The RT-1000 takes recorded Paths, or Mow Fields downloaded from the ROC, and when
deployed within a 20 km (12.4 miles) radius from the Base Station can be assigned to
repetitively perform the tasks the user chooses. The RT-1000 top priorities are safety first and
accuracy using GPS and onboard state of the art Radar, Lidar, Cameras and Sensors which can
detect obstacles.
All the components, Robot Operation Control (ROC), Base Station, Path Collection and Robot
deployed in sequential order are needed to successfully and repeatedly deploy the RT-1000
System.
Before Starting the Robot
Preparation
One Time
•Obtain an invitation to the ROC from your organization’s ROC Account Admin.
•Set up your user account after receiving the invitation to the ROC website.
(https://roc.lefthandrobotics.com).
•Download the Left Hand Robotics App (the mobile version of the ROC) on your iOS or
Android device.
•Login into the LHR App with your ROC account credentials.
•Install, configure, activate and record a successful survey with your Base Station. All Job
Sites need to be within 20km (12.4 miles) of your Base Station.
Note: See the Installation Guide: Base Station for more information on Base Station Installation.

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Each Time
•Understand that operation can be limited by trees, buildings and overhead structures that
block GPS signal, and by limited cellular coverage and Paths with narrow passages.
•Areas with heavy pedestrian and vehicular traffic, have public street crossings and areas
with noise restrictions will hinder operation of the RT-1000 System.
•Create one or more Job Sites on the ROC website for the Paths you intend to collect.
•Have created and edited Paths, Fields or Playlists on the ROC.
Note: See the User Guide: Path Collection Tool or Quick Start Guide: Path Collection Tool for
more information on how to collect and record Paths.
Safety Instructions
The RT-1000 was designed to offer repetitive safe service when operated and maintained
properly. Although hazard control and accident prevention are partially dependent upon the
design and configuration of the vehicle, these factors are also dependent upon the awareness,
concern and proper training of the personnel involved in the operation, transport, maintenance
and storage of the machine. Improper use or maintenance of the machine can result in injury or
death. To reduce the potential for injury, comply with the following safety instructions.
Before Operating
•Review and understand the contents of this User Manual as well as the Path Collection
Tool User Manual. Both can be found at: https://roc.lefthandrobotics.com/support
Become familiar with the controls and know how to stop the vehicle quickly.
•Keep all shields, safety devices and decals in place. If a shield, safety device or decal is
defective, illegible or damaged, repair or replace it before operating the machine. Also
tighten any loose nuts, bolts or screws to ensure machine is in safe operating condition.
•Assure E-Stop switches are functional. Test periodically to ensure safe operation.
•Since fuel used in the RT-1000 is highly flammable, handle it carefully:
oStore fuel in containers specifically designed for this purpose.
oDo not remove fuel tank cap while engine is hot or running.
oDo not smoke while handling fuel.
oFill fuel tank outdoors and only to within an inch of the top of the tank, not the
filler neck. Do not overfill the fuel tank!
oWipe up any spilled fuel.
While Operating
•Stand a safe distance from the machine when starting and operating the unit.
•Do not run engine in a confined area without adequate ventilation. Exhaust fumes are
hazardous and could possibly be lethal.

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•Do not touch engine, exhaust system components, pumps, alternator or radiator while
engine is running or soon after it is stopped. These areas could be hot enough to cause
burns.
•Before leaving the vehicle:
oStop movement of the vehicle.
oLower Attachment.
oShut engine off and wait for all movement to stop.
oPower off Controller.
oTurn off Main Breaker
oDo not park on slopes unless wheels are chocked or blocked.
Driving the Robot
To Start Robot
•Power on the Robot by flipping the power switch, located near the battery, downward.
This will turn on all four headlights and taillights. All four Status Lights will turn on and
the amber Warning Light will flash when powered. This may take a minute or two. The
white LED should remain lit.
•Turn on the Xbox Controller by pressing the Xbox Logo button. This may continue to
flash even while on and connected to the Robot. This is to be expected.
•Press the Engine button on the Xbox controller to turn the engine on.
Drive Mode
•To manually Drive the Robot, press the (B) button. You will hear two loud beeps
warning that the Robot is in Drive. This button toggles the Xbox controller in and out of
Drive. The Xbox Controller will toggle itself out of the Drive after 15 seconds of
inactivity on the Controller. Push (B) again to put it in Drive.
•(B) will take the Robot immediately out of Autonomous and will stop the Robot.

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RT-1000 Xbox Controller Diagram
Quick Descriptions
Xbox Logo –Turns the Xbox controller on, light may continue to blink even once on and
connected. This is to be expected.
Speed –Push up to move the Robot forward. Push downward to move the Robot in reverse. The
Robot does not coast.
Steering –Controls the direction of the Robot from right to left.
Front Attachment –Controls the position of the Front Attachment. Up and down lifts and
lowers both the Broom and the Mower Deck. Left and right pivots the Broom but has no
functionality on the Mower Deck.
Engine –Turns the Robot’s engine on. Make sure the Power switch, near the battery on the
Robot, is switched on and that the Robot’s white Status LED is lit.
Throttle–(X) throttles the engine down and (Y) throttles the engine up. Used to help control
engine acceleration for both attachment control and forward/reverse driving.
Drive–(B) toggles the Robot in and out of Drive. Once in Drive, the Robot can be controlled
manually by the Xbox Controller. Note that after 15 seconds of inactivity, the Robot will return
to Idle. (B) will take the Robot out of autonomous mode and the Robot will immediately stop.

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Run - Once a Path, Field or Playlist is pre-loaded on the Robot, (A) will actively Run the
autonomous program. Hit the (A) button again to take the Robot out of an autonomous program
and to stop the Robot.
Quick Descriptions
RT –When held, RT moves the Broom or Mower Attachment forward while in Drive mode.
RB –Only used for calibration between the Robot and the Xbox Controller. To enter Calibration
Mode, the Robot must be in Drive. Hold the RB button, and while holding RB, press the LB
button.
LT –When held, LT reverses the Broom direction while in Drive mode. There is no
functionality for the Mower Deck.
LB –Dispenses Deicer from the Rear Attachment at a rate of 50%. There is no functionality for
the Mower Deck.
Calibrate Xbox Controller and Robot
Users may experience some drift occasionally from the center position of the Robot during Drive
mode and may need to calibrate the Xbox Controller and the Robot back to its center position.

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Calibration Mode
•To enter Calibration mode, the robot must be in Drive mode. Once in Drive
hold the RB button and, while continuing to hold RB, press the LB button (see
diagram above).
•Once in Calibration mode, use of the LB and RB buttons for Deicer control is
disabled.
•Pressing LB once will result in a bias towards the left, similarly, pressing RB
will result in a bias to the right.
•To calibrate the machine, apply forward velocity and observe the bias of the
robot (to the left or to the right). Counteract that bias by pressing the
corresponding button (LB or RB) to change the bias in the opposite direction.
•Continue to press either LB or RB to straighten out the Robot’s forward drive.
•To exit Calibration mode press (B).
•The calibration values are saved after each button press, and are used whenever
the machine is in Drive mode. These values will remain despite power and software
resets.
•Contact Left Hand Robotics to reset calibration values to the factory condition if you
experience further calibration issues.
Autonomous Mode
To Load a Path or Field
•Before running an autonomous program, a Job Site and a pre-recorded, edited and
downloaded Path or Field must be set up on the ROC.
•The Left Hand Robotics App must be downloaded on to the User’s Smart Device. LHR
does not support the ROC in website form via a Browser.
•Click on the Robot button in the bottom most left corner.
•Choose a Robot from the available list.
•Click on LOAD.
•Choose Grass or Snow or All to see all available Job Sites and Paths.
•Snow Paths will be in all blue and Grass Fields in green.
•Choose a specific Path or Field.
•SELECT PROGRAM for Snow or SELECT FILL for Field.
•For Snow Path, choose how many loops you want the Path to Run.
•Select a User to notify in case of Faults, Obstacles or Path Completion.
•Click SEND TO ROBOT
•Once a Path or Field has been Loaded onto your Robot, press Run on the mobile app.
Pressing Pause will stop the Robot. The LHR App and the Xbox Controller are
interchangeable

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Record on Robot
Experienced Robot drivers can use the Record on Robot option to record Paths using the Robot
itself in place of the PCT. Please note that the Robot is in Manual Drive during this time, so
there is no obstacle detection. Any Robot Actions made by the Robot will not be recorded on
the Path during the Record on Robot. All Robot Actions will need to be added by using the LHR
Mobile App or added later using the ROC website.
•Simply click on your Robot in the LHR Mobile App and then press RECORD. The steps
following are the same as using the PCT.
NOTE - For more information on how to record a Path, please see the Quick Start Guide: Path
Collection Tool (PCT) or User Guide: Path Collection Tool.
Running an Autonomous Program
With the Xbox Controller
•Once the Robot has been driven to the beginning of the loaded Path or Field, the Robot is
powered on, and the engine is started, press the (A) button on the Xbox Controller to
RUN the pre-loaded Path or Field.
•(A) will toggle the Robot out of an autonomous program and will immediately stop the
Robot. There is no coast on the Robot.
•(B) will also toggle the Robot out of Autonomous and into Drive and will immediately
stop the Robot.
Drive to Start
Drive to Start is an advanced manual feature that allows the user to effectively position the Robot
at the start of a Loaded Path. The RT-1000 will calculate the most direct route to the start of the
Loaded Path or Field regardless of what obstacles are in its way. There is no obstacle detection
during this special Drive mode. Users must be aware and in sight of the Path or Field and the
RT-1000.
•Long press and hold the (A) button on the Xbox controller until the Robot drives to the
start of the Loaded Path or Field. You will hear the Robot throttle up before it starts to
Drive.
Faults
A Fault is thrown when there is some reason that the Robot cannot operate in Autonomous
mode. The Fault system tracks the working state of each component of the Robot in real-time
and displays Faults when they fail. Faults will be shown when a Path or Field is loaded to
explain why the Robot has failed to engage or had stopped running in Autonomous mode.

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Fault Types
There are two kinds of Faults. Automatic Faults are Faults that, for the most part, the Robot can
recover from on its own. Manual Faults require intervention from the User before the Robot can
resume an Autonomous program. The following is a list of the most common Faults.
Automatic Faults
OBSTACLE –the Robot sees an obstacle in its path and will stop. If the obstacle moves within
11 seconds, the Fault will resolve on its own. If it does not move, a DEFINITE_OBSTACLE
Fault will be generated, and it will become a Manual Fault.
GPS_NO_FIX –the front GPS is not receiving enough satellite position data. It should resolve
after 30 –60 seconds. If it does not resolve on its own, put the Robot in Drive mode and move it
some distance (or out from under a tree, or from an overhanging building to a spot with clear
sky).
NAV_INITIAL_HEADING_ERROR –the rear GPS is not receiving enough satellite position
data. It should resolve after 30 –60 seconds. If it does not resolve on its own, put the Robot in
Drive mode and move some distance (or out from under a tree, or from an overhanging building
to a spot with clear sky).
ENGINE_OFF –the engine is off and a Path or Field is loaded on the Robot. This is only a
Fault when an Autonomous program is pre-loaded onto the Robot.
FRONT_LIDAR_OFF, REAR_LIDAR_OFF, FRONT_RADAR_OFF–These are generated
when the Robot expects them to be on and they are not. These are generally either an electrical
or mechanical issue.
NO_FUEL, OIL_TEMP, OIL PRESSURE, HYRDRAULIC_FLUID_LEVEL –These are
mechanical warnings of needed service.
Manual Faults
PATH_BOUNDS_EXCEEDED –During Autonomous mode, the Robot is too far off its Path
and cannot recover on its own. The Robot will need to be manually put into Drive mode ((B) on
the Xbox Controller) and driven back to its Path. Push (A) on the Xbox Controller to toggle
back into Autonomous mode.
BROOM_SAFETY_BAR –Obstacle has tripped the safety bar on the Broom. Robot will not
return to Autonomous without a manual override.
DEFINITE_OBSTACLE –A Temporary Obstacle will turn into a Definite Obstacle after 11
seconds if the obstacle hasn’t moved. This Fault will either need a manual override or a user will
need to put the Robot in Drive mode ((B) on the Xbox Controller) and be driven around the
obstacle.

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NOT_NEAR_PATH –The Robot is too far off the pre-programmed Autonomous Path. User will
need to put the Robot in Drive mode ((B) on the Xbox Controller) and turn the Robot to match
the direction and position of the Autonomous Path.
PATH_FOLLOWING_HEADING_ERROR - the Robot is pointed in the opposite direction of
the Path’s direction. Users will need to put the Robot in Drive mode ((B) on the Xbox
Controller) and turn the Robot to match the direction and position on the Autonomous Path.
BROOM_ACTION_FAILURE –the Broom couldn’t physically perform the expected Actions in
the Autonomous Path. Check Broom connections. If it continues to persist, contact Left Hand
Robotics.
If any of these Faults persist, contact [e-mail]
Rescue Tether
The RT-1000 Robot is delivered with a Rescue Tether accessory capable of powering and
moving the Robot in scenarios where the main electronics board is not functional. Use of the
Rescue Tether is ONLY recommended in situations where the machine has ceased operation in a
dangerous situation or where it may have become disabled and poses a hazard or disruption to
regular pedestrian or vehicular traffic.
Rescue Tether Functions
1. Drive Lever - Drives the Robot forward and backward
2. Engine Key Switch - Powers on and off the Robot engine
3. Steering Lever - Steers the Robot left and right
4. Steering Pressure Switch - Enables the pressure valve for steering operation
5. Forward / Reverse Speed Dial - Adjusts the forward and reverse wheel speed
6. Robot Connector 1 - Connects to Robot Power and Valve 2 cable harnesses
7. Robot Connector 2 - Connects to Robot Valve 1 cable harness

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Robot Connections
The Rescue Tether uses three of the Robot cables harnesses that are connected to the
electronics box inside the right service panel (Figure 2 and Figure 3). Power, Valve 1
and Valve 2 connections should be removed from the electronics box and plugged into
the Rescue Tether cables (Figure 4 and Figure 5). The connectors are not keyed so
ensure the labels on the Rescue Tether cable harnesses match the labels on the Robot
connectors (Figure 6). Once the Robot connections have been made the cables can be
plugged into the Rescue Tether (Figure 7).

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Figure 2 –Robot Service Panel Figure 3 –Robot Electronics Control Box
Figure 4 - Power / Valve 1 / Valve 2 Figure 5- Power / Valve 1 / Valve 2
Cables Disconnected From Elec. Box Cables Connected To Rescue Harness
Cables

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Figure 6 - Power / Valve 1 / Valve 2 Figure 7 - Rescue Tether
Harness Cables Are Connected Properly Cable Harness attached to
(Connectors are Labelled) Rescue Tether Box.
(Connector 1 and 2)
Rescue Tether Operation
Robot Power - Once all the Rescue Tether connections are made, switch the power
toggle on, which is located near the battery to the rear of the Robot.
Engine Start - Once the Rescue Tether is connected, and the power is on, the user can
start the engine by turning the Key Switch fully clockwise. Similar to a car ignition, the
first position (as the key is turned) will enable power to the Robot engine. Turing past the
first position will engage the starter for the engine. To turn off the engine, turn the Key
Switch fully counterclockwise.
NOTE: Engine throttle speed will be retained from the previous power down state. If
the engine was last running at high RPM, extra care should be taken when starting
Rescue Tether operation as the machine will still be running at a high RPM.
Steering Left and Right Enable the Steering Pressure Switch (see Figure 1) The switch
should be toggled to the position where it illuminates for steering to be enabled. Once
enabled, the steering lever will turn the Robot to the left and right. The Robot will
maintain the steering position even when the steering lever is release.

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Driving Forward and Reverse - Once the engine is started, the Robot can be driven
freely. Prior to pressing the drive lever, the Speed Control Dial (see Figure 1) should be
turned fully counterclockwise. This will ensure the speed is at the absolute minimum.
When ready to drive, hold the lever in forward or reverse and slowly turn the speed dial
clockwise to start the robot moving. Once moving, the speed can be increased or
decreased by continuing to adjust the dial.
NOTE: The speed control dial typically needs to be rotated about halfway before the
Robot starts to move. The dial should be turned very slowly to find the threshold for
movement.
Attachments
Attaching the Drop Spreader
The Drop Spreader attaches to the rear of the Robot using a hangar rod at the top and 8 carriage
bolts in the mounting holes below the hanger rod.
•Stage the Drop Spreader behind the machine, verify the hanger rod is in place in the top
holes of the Drop Spreader. The rod is shipped inside the fuel tank enclosure wrapped in
a foam sheet.
•Using two people, lift the Drop Spreader at an angle and hook the Drop Spreader rod into
the fork at the top of the rear attachment bracket.
•Let the Drop Spreader swing into place and install the 8 carriage bolts and nuts in the
remaining holes on the attachment bracket
•Attach the rear Drop Spreader riser bracket using included hardware.

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Attaching the Broom
Attaching the Broom is best done with two people. One driving the Robot, and one managing the
attachment itself. When storing the Broom, when not attached to the Robot, tilt the Broom itself
so that the hitch is on the ground, but the bristles are not.
Accessory
Hoses
Pivot
Hoses
Pivot Sensors
Lift Plate

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•Pivot the Broom Attachment channel upwards.
•Drive the Robot slowly forward to insert the Lift Plate into the Channel.
•Place cotter pin into the back of the Channel. NOTE: only one cotter pin is included, and
the same pin is used between Broom and Mower Attachments.
•Turn engine off.
•Attach Pivot Hoses. You must wrench the Hoses onto the connectors until no yellow is
showing.
•Attach Broom Hoses. You must wrench the Hoses onto the connectors until no yellow is
showing.
•Attach black Pivot sensors from Broom onto gray pivot sensors at the top of the hose
connectors on the Robot.
Detach Broom
•Turn Engine off.
•Disconnect all Hoses and Sensors.
•Take cotter pin out of Channel, making sure to keep pin to attach Mower Deck.
•Turn Engine on.
•Back slowly out of the Broom channel.
•Tilt Broom off of bristles and onto Channel to store.
Broom
Hoses
Pivot
Hoses
Pivot Sensors

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Attach Mower Deck
•Turn engine on.
•Drive the Robot slowly forward to insert the Lift Plate into the Channel.
•Place cotter pin into the back of the Channel. NOTE: only one cotter pin is included, and
the same pin is used between Broom and Mower Deck.
•Turn engine off.
•Attach Mower Deck Hoses. You must wrench the Hoses onto the connectors until no
yellow is showing.
Detach Mower Deck
•Turn engine off.
•Disconnect all Hoses.
•Take cotter pin out of Channel, making sure to keep pin to attach Broom.
•Turn engine on.
•Back slowly out of the Mower Deck Channel.
Mower Deck
Hoses

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Broom Safety Bar Spring Reinforcement
“False positive” Broom Safety Bar faults occasionally happen when the Broom Attachment
bounces on rough terrain and it falsely triggers the bar. To prevent this, we recommend the
following corrective actions:
•Adjust the gap between the 2 safety bar proximity switches and the metal
sweeper to be near zero. A business card should encounter some resistance when
slid between the nose of the switch and the sweeper plate.
•Install standard (or cold-weather) cable ties on both Safety Bar support arm
springs. The cable ties help provide support for the springs and greatly aid in
reducing false-positives due to bouncing. If the Safety Bar does encounter an
obstacle, these cable ties will break and the Fault will trigger. At that point, you
would need to replace the cable ties again to reduce the occurrence of false
positives. See the images below for 2 installation examples. The image with the
black cable tie is the PREFERRED approach but the example with the white
cable tie can be used if your cable ties are too large for the hole in the lower
spring mounting bracket.