LELY Lely Discovery 90 SW User manual

www.lely.com Lely Industries N.V.
.
Operator Manual
EN - English Original
5.4006.8501.0 B
Lely Discovery 90 SW
Mobile Barn Cleaner

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5.4006.8501.0 B
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Trademarks, Copyright and Disclaimer 3
Trademarks, Copyright and Disclaimer
The registered trademarks of the Lely Group are available at www.Lely.com.
The information given in this publication is provided for information purposes only and does not
constitute an offer for sale. Certain products may not be available in individual countries and products
supplied may differ from those illustrated.
No part of this publication may be copied or published by means of printing, photocopying, microfilm or
any other process whatsoever without prior permission in writing by Lely Holding b.v. Although the
contents of this publication have been compiled with the greatest possible care, Lely cannot accept
liability for any damage that might arise from errors or omissions in this publication.
Copyright © 2021 Lely Industries N.V.
All rights reserved
Lely Industries N.V.
Cornelis van der Lelylaan 1
3147 PB Maassluis
the Netherlands
Phone: [phone]
Fax: [phone]
Website: www.lely.com
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List of Included Amendments 5
List of Included Amendments
Issue Date
(yyyy/mm)
Revision Chapter(s) Remarks
2021/03 BAll Added: Intended use information (see Intended Use
on page 1-1).
Added: General safety information (see General
Safety on page 2-2).
Changed: Layout and figures
Added/changed: Signal icons and safety messages
according to the ANSI standard
Hardware changes: Connection of scraper assembly
(see Replace the Manure Scraper on page 6-15)
PCB box (see Switch On the Machine on page 5-3)
Removed procedure: Tighten the drive chains
Added: EG declaration; Disposal instructions
2015/03 AAll iOS functionality added
Hardware changes are incorporated
2014/06 -All Bluetooth operation added
Pause button added
Operator manual separated
2012/11 All Full revision of the manual
Hardware changes are incorporated
2011/02 Initial issue
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5.4006.8501.0 B
Preface 7
Preface
Manual Contents
This manual contains the information necessary to operate the Lely Discovery 90 SW Mobile Barn Cleaner.
The information in this manual is for operators.
Study and understand this information thoroughly before you operate the machine.
Failure to do so could result in damage to equipment or personal injury. Please
consult your local Lely service provider if you do not understand the information in
this manual, or if you need additional information. Store this manual in a safe place
for future reference.
All information in this manual has been compiled with care. Lely shall not be liable for errors or faults in
this manual. The recommendations are meant to serve as guidelines. All instructions, pictures and
specifications in this manual are based on the latest information that was available at the time of
publication. Your machine may comprise improvements, features or options that are not covered in this
manual.
Applicability
The table below shows the type numbers of the machine for which this manual is applicable.
Model designation
Model Type number
Lely Discovery 90 SW Mobile Barn Cleaner 5.4006.0020.1
Software version
The description, operation and procedures in this manual are based on the software version:
•ADS3840 PCB: DISSv04.08.XX or higher.
•ADS3641 PCB: 1.2.41 or higher.
•Lely Control app Android: 1.2.23 or higher.
•Lely Control app iOS: 1.0.0 or higher.
Standard Torque Loading of Parts
All the nuts, bolts and screws used on the machine are torque tightened to standard torque loadings
applicable to the construction materials used.
If a part has a non-standard torque loading, it is specified in the applicable part of the manual.
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8 Preface
Registration
The type and serial number plate is attached to the upper side of the frame of the machine, under the red
cover. Always include the type and serial number of your machine when you contact your local Lely service
provider or order spare parts.
Figure 1. Type and serial number plate
We suggest that you complete the table below with the type and serial numbers of your machine. This
makes sure that you can easily find the information.
Type number
Serial number
Figure 2. Location of type and serial number plate
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Preface 9
Personnel Requirements
Risk of accident from insufficiently qualified personnel.
Unqualified personnel working on or in the danger zone of the machine can be the
cause of serious injuries and considerable damage to material.
•All activities must only be carried out by qualified personnel.
•Keep unqualified personnel away from the danger zones.
•Only persons who can be expected to carry out their job reliably are authorized as
personnel. Persons whose reactions are impaired, e.g. by drugs, alcohol medications
are not authorized to work with the machine
Maintenance Authorization
Risk of accident from uncertified technicians.
Uncertified technicians doing maintenance on the machine can be the cause of serious
injuries and considerable damage to material.
Only technicians certified by Lely Industries are authorized to do maintenance on the
machine, except for the maintenance done by the operator as indicated in the operator
manual. If people who are not certified by Lely Industries do maintenance on the
machine, the warranty on the machine becomes invalid.
Technician Training
All the technicians certified by Lely Industries have completed an approved training program, and passed
written and practical examinations during and at the end of the training program. The training is given by
Lely International or a specialist from the LSO and includes troubleshooting and corrective maintenance
of the machine
During training, a trainee is permitted to work for up to a maximum of six months under close supervision
of a certified technician. A trainee can do work on the machine only in the presence of a certified
technician.
Contact Number Local Service Provider
We suggest you write the telephone number and email address of your local service provider contact in
the table below. This makes sure you can easily find the information.
Telephone number
email address
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10 Preface
Left, Right, Rear and Front
The positions left, right, rear and front in this manual refer to the machine, as seen in the driving
direction.
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Table of Contents 11
Table of Contents
1 Lely Discovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1 The Lely Discovery 90 SW Mobile Barn Cleaner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Intended Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
2 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Signal Icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.3 Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3.1 GeneralSafety ......................................................................... 2-2
2.3.2 Electrical Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3.3 OperatingSafety ....................................................................... 2-3
2.3.4 Maintenance Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
4 Description and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Component Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Discovery Mobile Barn Cleaner 90 SW Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1.1 Covers ...................................................................... 4-3
4.2.1.2 Cleaning System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.1.3 Driving Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.1.4 Water Supply System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2.1.5 Power System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.1.6 Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.2.2 ChargingStation ....................................................................... 4-8
4.2.3 Water Filling Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.3 User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10
4.3.1 Work ..................................................................................4-11
4.3.1.1 Time Path ON/OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.3.1.2 Manual Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.3.1.3 Manual Driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.3.1.4 Manual Charger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
4.3.2 Routes ................................................................................4-15
4.3.2.1 NewRoute .................................................................4-15
4.3.2.2 Delete Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.3.2.3 TimePath ..................................................................4-20
4.3.2.4 Blockage Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.3.2.5 Route Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4.3.2.6 Speed Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.3.2.7 Speed Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.3.2.8 Beepfreq Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.3.2.9 Copy Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.3.2.10 Modify Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.3.2.11 Wheel Correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.3.2.12 Backup Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
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4.3.2.13 Sprinkler Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.3.3 Test ...................................................................................4-25
4.3.4 Settings ...............................................................................4-26
4.3.4.1 RealTime clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.3.4.2 Language ..................................................................4-26
4.3.4.3 Gyroscope ..................................................................4-26
4.3.4.4 MotorPower ...............................................................4-26
4.3.4.5 Wheel Diameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.3.4.6 BeepLength ...............................................................4-27
4.3.4.7 ResetReport ...............................................................4-27
4.3.4.8 FillWater ...................................................................4-27
4.3.5 Alarms ................................................................................4-27
4.3.6 Service ................................................................................4-27
4.3.7 TestRoute ............................................................................4-28
4.4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-28
4.4.1 Routes, Actions, Manual Routes and Time Paths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
4.4.2 ControlSystem .......................................................................4-29
4.4.2.1 Driving Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.4.2.2 Speed ......................................................................4-30
4.4.2.3 Distance to a Wall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.4.2.4 Direction ...................................................................4-30
4.4.2.5 Obstacles ..................................................................4-34
4.4.3 Power and Water Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
4.4.4 Cleaning ..............................................................................4-35
5 Operating Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Install or update the Lely Control App on your Smartphone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Rename the Machine on the Smartphone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.3 Set the Farmer Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.4 Remove or install the Covers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.5 Switch Off the Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.6 Switch On the Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.7 Start the Lely Control Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.8 Manually drive the Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.9 Drive the Machine to the Charging Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.10 Switch ON or OFF the Water Filling Function (OFF during Wintertime) . . . . . . . . . . . . . . . . . . . . 5-7
5.11 Prepare for Route Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.11.1 Requirements for a good Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.11.2 Example Routes, Barn with Milking Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.11.3 Example Route, Barn with Milking Parlour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.11.4 To pass a Crosswalk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.11.5 TomakeaTurn .......................................................................5-16
5.11.6 To approach the Charging Station from the opposite Direction . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.11.7 To follow a Bend in a Wall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.12 Route Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-19
5.12.1 Program a new Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.12.1.1 Follow a Wall (Left or Right) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-20
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5.12.1.2 GoStraight .................................................................5-22
5.12.1.3 Turn Left or Right . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
5.12.1.4 Follow a Wall or Fence on a Certain Distance (Ultrasound) . . . . . . . . . . . . . . . . . . 5-25
5.12.1.5 Go to the Charging Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.12.1.6 Waiting Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
5.12.2 CopyaRoute .........................................................................5-27
5.12.3 ModifyaRoute .......................................................................5-27
5.12.4 Reset a Modified Route to the Previous Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.12.5 DeleteaRoute ........................................................................5-28
5.12.6 Set or Delete a Manual Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.12.7 SetaTimePath .......................................................................5-29
5.12.8 MakeaBackup ........................................................................5-30
5.12.9 Copy a Backup file from the Smartphone to a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
5.12.10 Copy a Backup file from a PC to the Smartphone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
5.13 Start or Stop the Time Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32
5.14 Start, Stop or Pause a Manual Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32
5.15 Block a Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34
5.16 Set the Speed for a Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34
5.17 Set the Speed for a Particular Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34
6 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Preventive Maintenance Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.3 Maintenance Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.3.1 Clean the Charging Strips and the Charging Electrodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.3.2 Clean the Water Inlet Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3.3 Clean the Water Outlet Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.3.4 CleantheNozzle ....................................................................... 6-8
6.3.5 Clean the Ultrasonic Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.3.6 Clean the Sensing Wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.3.7 Clean the Manure Scraper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.3.8 CleantheCovers ......................................................................6-14
6.3.9 Replace the Manure Scraper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.3.10 Replace the Sliding Disc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
7 Test and Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2.1 Set the Real-Time Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2.2 Set the Display Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2.3 Set the Motor Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2.4 Modify the Beep Frequency for a Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2.5 Modify the Beep Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2.6 Set the Water Fill Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3.1 Analyse the Reliability of a Route . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
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5.4006.8501.0 B
14 Table of Contents
7.3.2 TestaRoute ........................................................................... 7-4
7.3.3 Make sure the Battery is Charged . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.3.4 Make sure the Battery is Charging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.3.5 Make sure the Bluetooth Connection is Reliable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.3.6 Test the Ultrasonic Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
8 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Alarms and reports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2.1 RecoverAlarms ........................................................................ 8-1
8.2.2 Read Alarm Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2.3 ReadaReport ......................................................................... 8-2
8.2.4 AlarmList .............................................................................. 8-3
8.2.5 ReportList ............................................................................8-11
8.2.6 Information Report List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13
8.3 Troubleshooting Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-14
8.3.1 Troubleshooting Table Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14
8.3.2 Troubleshooting Table Charging Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16
8.3.3 Troubleshooting Table iPhone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.4 Recovery Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-19
8.4.1 Reset the Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19
8.4.2 Calibrate the Gyroscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19
8.4.3 Charge the Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-20
9 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
10 EG Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
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5.4006.8501.0 B
Lely Discovery 1-1
1 Lely Discovery
1.1 The Lely Discovery 90 SW Mobile Barn Cleaner
The Lely Discovery 90 SW Mobile Barn Cleaner is a battery-driven vehicle that cleans the floor of a barn. A
nozzle sprays water on the floor before a manure scraper on the bottom of the machine which pushes the
manure through the openings of the slatted floor.
The farmer (operator) uses the Lely Control app on the smartphone to program the route for the
Discovery. Routes can be programmed flexibly. The farmer has the option to do more intensive cleaning of
some areas of the barn during certain hours of the day.
The information in this manual is for operators. The operator uses the information to program and
operate the Discovery. The operator also uses the information to do maintenance.
The operator must read the operating instructions for daily operation and for the setup of routes and
time paths. He must read the test and adjustment section for the setup and for testing the machine and
routes. He must also read the maintenance and troubleshooting sections for preventive and basic
corrective maintenance instructions.
The operator should refer to the description and the operation section for background information. The
operator must also read and understand the safety instructions in section 'Safety'.
1.2 Intended Use
The Lely Discovery 90 SW Mobile Barn Cleaner is designed as an autonomous driving machine to clean the
slatted floor of a barn (= proper use). A manure scraper on the bottom of the machine pushes the manure
through the openings of the slatted floor. Usage going beyond that does not constitute proper use. The
manufacturer is not liable for damage resulting from improper use; the operator only bears the risk.
The Discovery manure robot is intended to operate efficient and safe between cows within an enclosed
space on the stable floor. The implemented safety measures are designed for this application only.
Leaving this designated, enclosed space (e.g. crossing the feed alley to get from one designated space to
another) is not an intended use and therefore not allowed.
Application of the Discovery manure robot in any way other than the intended use is dangerous and can
cause serious injuries or death.
Usage going beyond the above does not constitute proper use. The manufacturer is not liable for damage
resulting from improper use; the operator only bears the risk.
Intended uses also implies that the instructions and rules prescribed by the manufacturer are observed.
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INTENTIONALLY BLANK
5.4006.8501.0 B
1-2 Lely Discovery
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5.4006.8501.0 B
Safety 2-1
2 Safety
2.1 Introduction
The Discovery 90 SW is an automated machine. Therefore it is of the utmost importance to obey all safety
instructions.
2.2 Signal Icons
Note the use of the signal words DANGER, WARNING and CAUTION with the safety messages. The signal
word for each message uses the following guidelines:
Danger
Indicates a hazardous situation which, if not avoided, will result in
death or serious injury.
Warning
Indicates a hazardous situation which, if not avoided, could result in death or serious
injury.
Caution
Indicates a hazardous situation which, if not avoided, could result in minor or moderate
injury.
Notice
Is used to address practices not related to physical injury e.g. property damage.
Tip
Indicates information that may help the reader, but not hazard related.
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5.4006.8501.0 B
2-2 Safety
2.3 Safety Instructions
YOU are responsible for the SAFE operation and maintenance of your machine. YOU must make sure that
you and anyone else who is going to operate, maintain or work in the vicinity of the machine knows all the
related SAFETY information in this manual.
YOU are the key to safety. Good safety practices protect you and the people around you. Make these
practices a working part of your safety program. Make sure that EVERYONE who operates, maintains or
works near the machine obeys the safety precautions. Do not risk injury or death by ignoring good safety
practices.
•Owners must train operators before they operate the machine. This training must be repeated at least
annually.
•The operator must read, understand and obey all safety and operating instructions in the manual.
•A person who has not read and understood all safety and operating instructions is not permitted to
operate the machine.
•Do not modify the equipment in any way. Unauthorized modification may impair the function and/or
safety and could affect the life of the equipment and persons.
•Only use approved spare parts and make sure that they are only installed by authorized technicians.
The hazards in the operating zone and working area pose a risk of fatal injury to
unauthorized persons.
Unauthorized persons who do not satisfy the requirements described herein are not
aware of the hazards in the work area. Unauthorized persons are therefore at risk of
serious or fatal injury.
•Keep unauthorized persons away from the operating zone and work area.
•If in doubt, approach unauthorized persons and ask them to leave the operating
zone and work area.
•Stop work as long as unauthorized persons are within the operating zone and work
area.
2.3.1 General Safety
•When locking up cows in the feed fence (e.g. for clawcare) on a location where the machine can drive
during a route or by accident, the machine must be switched off or taken out of operation to prevent
serious injury of cows! Locked up cows can not get away when the machine approaches.
•Make sure the fencing that prevents the machine from leaving the manure alley is in place and not
damaged or modified.
•No calfs are allowed in the area where the machine is active.
•Separate pregnant cows timely to prevent cows from calving in the regular barn. The Discovery can be
dangerous for newborn calves (injuries and/or pushed into the manure pit).
•When the water filling station is connected to the drinking water system, a header tank must be
installed between the drinking water system and the water filling station to prevent pollution of
potable water by backflow of water with bacterial contamination.
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5.4006.8501.0 B
Safety 2-3
•Read and understand the manual and all safety signs before you connect power supplies to operate,
maintain or adjust the machine.
•Only trained persons are permitted to operate the machine.
•Make sure you know where the pause button of the machine is located for quick access.
•A first-aid kit must be available near the machine. Store in a highly visible place.
•A carbon dioxide or foam fire extinguisher must be available near the machine. Store in a highly visible
place.
•Install all protective covers and guards before you operate the machine.
•When the buzzer is defect, make sure it is being repaired as soon as possible.
•When a part on the machine is broken or missing that may cause a hazardous situation, take the
machine out of operation. Make sure the part is repaired before you put the machine into operation
again.
•Wear the correct protective clothing and equipment.
•Disconnect and isolate the electrical power supply and wait for all moving parts to stop before you
clean or do maintenance on the machine.
•Know the emergency medical center number for your area.
•Contact your nearest Lely service provider if you have any questions.
•Review safety related items with all operators frequently (annually).
2.3.2 Electrical Safety
•Only an authorized electrician must install the electrical power supply for the charging station of the
machine.
•Make sure the electrical grounding of the electrical system and all parts of the charging station of the
machine meet the local rules and regulations.
•Replace any damaged electrical lines, conduits, switches and components immediately.
•Switch the power OFF with the OFF button on the ADS3840 PCB before you start to work on the
system.
•Pull the plug from the socket before you start to work on the charging station.
2.3.3 Operating Safety
Unexpected movement of vehicle.
Risk of personal injury.
Make sure the machine is in your line of sight. Remote operation of the smartphone or
tablet by remote desktop software (such as, but not limited by, Teamviewer) is strictly
forbidden to avoid dangerous situations.
•Read and understand this manual and all safety signs before you connect power supplies to operate,
maintain or adjust the machine.
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5.4006.8501.0 B
2-4 Safety
•Only trained persons are permitted to operate the machine.
•Make sure all covers are installed before you operate the machine.
•Keep hands, feet, hair and clothing away from all moving parts.
•Keep away from all areas with high voltage.
•Keep unauthorized persons, especially small children away from the machine at all times.
•Always be alert for unexpected movement of the cow. Cows can transmit large forces to parts of the
machine.
•Contact your nearest Lely service provider if you have any questions.
•Review safety related items with all operators frequently (annually).
•Make sure the slope of the floor is 6 degrees maximum (10.5 cm per 100 cm).
<
=
Figure 3. Maximum slope
2.3.4 Maintenance Safety
•Read and understand this manual and all safety signs before you connect power supplies to operate,
maintain or adjust the machine.
•Block the cow traffic before you do maintenance. Always be alert for unexpected movement of the
cow.
•Only trained persons are permitted to do corrective maintenance on the machine.
•Disconnect and isolate the electrical power supply to the charging station before you do maintenance
on it.
•Switch OFF all timed actions before you do maintenance on the machine or clean it.
•Keep tools and metal parts away from the battery.
•Do NOT use water to clean the body of the machine.
•Use water and a brush to clean the manure scraper or the ultrasonic sensor of the machine; refer to
the maintenance instructions.
•Install all covers after you finished the maintenance.
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