Yamabiko ECHO Robotics Turfmow 1000 User manual

Turfmow 1000 Technician's Manual
Software version 3.5
Familiarity with the contents of this manual is required before operating the robot.
Turfmow 2000® and Turfmow 1000® are registered trademarks of Yamabiko Europe.
Avenue Lavoisier 35 • 1300 Wavre • Belgium
www.belrobotics.com

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liability whatsoever for any error or omission in the information contained herein and gives no other warranty or undertaking as to its
accuracy.
Yamabiko Europe S.A./N.V. can accept no responsibility for damages, resulting from the operation of the equipment, its accessories
and peripherals, or any related software. Yamabiko Europe S.A./N.V. reserves the right to amend this document at any time without
prior notice.
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access, interference, intrusion, leakage and/or theft of data or information.

Contents
1 What's New...........................................................................................7
2 Introduction.......................................................................................... 8
3 Conventions used in the manual....................................................... 9
4 Turfmow 1000 description................................................................ 10
4.1 The robot.................................................................................................................11
4.2 The charging station............................................................................................... 15
4.3 The station positioning beacon...............................................................................17
5 Sensors............................................................................................... 18
6 How Turfmow 1000 works.................................................................21
6.1 Autonomous mission state......................................................................................22
6.1.1 Work mode.................................................................................................23
6.1.2 Go to charging station mode......................................................................25
6.1.3 Charge mode..............................................................................................29
6.1.4 Wait in charging station mode....................................................................30
6.1.5 Border mode...............................................................................................30
6.1.6 Go zone mode............................................................................................31
6.2 Inactive state...........................................................................................................35
6.3 Service state........................................................................................................... 36
7 Installation.......................................................................................... 38
7.1 The charging station............................................................................................... 39
7.1.1 Criteria determining the position of the charging station............................39
7.1.2 Station return and exit with a positioning beacon...................................... 40
7.1.3 Return to station with a station loop.......................................................... 41
7.1.4 Dimensions associated with the charging station.......................................42
7.1.5 Critical distances for a straight wire...........................................................42
7.1.6 Placement of the charging station..............................................................44
7.1.7 Charging station electronic board.............................................................. 44
7.1.8 Installing a channel board outside of the charging station......................... 46
7.1.9 Installing an inductor in the charging station..............................................46
7.1.10 Selection of charging station type (on the positioning beacon board).......47
7.2 Installing the peripheral wire...................................................................................48
7.2.1 Dealing with obstacles................................................................................52
7.3 Installing multi-fields................................................................................................60
7.4 Installing the positioning beacon.............................................................................63
7.4.1 Installing the positioning board in the charging station...............................64
7.4.2 Installing the positioning board outside of the charging station..................66
7.4.3 Changing the positioning board and components......................................68

7.5 Slopes......................................................................................................................71
7.6 Installing the wheel brushes................................................................................... 72
7.7 Configuration........................................................................................................... 73
7.7.1 Configuration using the wizard...................................................................73
7.7.2 Configuration using the menus.................................................................. 78
7.8 Installation examples...............................................................................................82
7.8.1 Football fields............................................................................................. 82
7.8.2 Mono-field with two start zones..................................................................87
7.8.3 Return to station with a station loop.......................................................... 88
7.8.4 Complex garden and with station loop.......................................................90
8 Using your robot................................................................................93
8.1 Safety measures..................................................................................................... 93
8.2 Safety notices..........................................................................................................94
8.3 The user interface...................................................................................................96
8.3.1 Using the interface.....................................................................................98
8.3.2 The Actions menu......................................................................................99
8.3.3 The Settings menu...................................................................................100
8.3.4 The Service Settings menu......................................................................107
8.4 Technician's menu................................................................................................ 114
8.4.1 Factory reset.............................................................................................114
8.4.2 Infrastructure.............................................................................................115
8.4.3 Mobile connection.....................................................................................120
8.4.4 Demonstration...........................................................................................121
8.4.5 Service......................................................................................................121
8.4.6 Technician settings Advanced parameters...............................................128
8.5 Advanced parameters...........................................................................................128
9 Troubleshooting (Error messages)................................................ 130
9.1 Battery...................................................................................................................131
9.1.1 Battery temperature issue........................................................................131
9.1.2 Battery over voltage................................................................................. 131
9.1.3 Bad battery connection.............................................................................131
9.1.4 Bad battery measure................................................................................132
9.1.5 BMS communication wire is not connected............................................. 132
9.1.6 Shutdown in 2min / inhibit shutdown principal / unblock brakes...............133
9.2 Installation............................................................................................................. 133
9.2.1 No positioning beacon detected...............................................................133
9.2.2 Station contact lost for {0}s!.....................................................................134
9.2.3 Some wires not well configured. Please add at least one parcel to each
wire................................................................................................................134
9.2.4 No charge current; Check contacts and charging station.........................134
9.2.5 The robot has no wire to mow. Please configure at least one wire...........134
9.2.6 The robot has no parcel to mow. Please configure least one parcel........ 135
9.2.7 No peripheral signal!................................................................................ 135
9.2.8 Wrong wire and parcels Configuration.....................................................135
9.2.9 No station contact detected......................................................................135
9.2.10 No station found in any field..................................................................136
9.2.11 Wire Lost during TrackWire !..................................................................136
9.3 Interface.................................................................................................................137
9.3.1 Unlock system : bad pin code..................................................................137
9.4 Operational............................................................................................................137

9.4.1 Unable to find the working area...............................................................137
9.4.2 Station not found while doing border....................................................... 137
9.4.3 Failed to dock to station...........................................................................138
9.4.4 Head {0} is blocked!.................................................................................138
9.4.5 Head {0} did not start!..............................................................................138
9.4.6 Motor blocked when going {0} to {1}mm..................................................139
9.4.7 STOP button issue detected....................................................................139
9.4.8 Unexpected exit zone event.....................................................................139
9.4.9 The {L/R} fuse is blown or the {L/R} motor is not connected....................140
9.4.10 Failed to consistently re-enter the zone.................................................140
9.4.11 SelfTest failed to clear within 15s.......................................................... 140
9.4.12 Unhandled exit zone !.............................................................................140
9.4.13 Waiting for station contact......................................................................141
9.4.14 Wait for 5 Seconds of full contact..........................................................141
9.4.15 Waiting for signal....................................................................................141
9.5 Obstacles...............................................................................................................142
9.5.1 Noise on bumper......................................................................................142
9.5.2 Lift(X) Detected - Front/Rear Left/Right................................................... 142
9.5.3 Too many repetitive collisions!.................................................................142
9.5.4 Unhandled collision event !...................................................................... 143
9.5.5 Sonars issue detected..............................................................................143
9.5.6 Collisions at start-up: {0}..........................................................................143
9.5.7 Collision too close to station ({X}m).........................................................143
9.5.8 DMA Error, on sonars : {0}.......................................................................144
9.5.9 LongCollision ({0}) event detected........................................................... 144
9.5.10 Still in collision ({0})!alarm......................................................................144
9.5.11 Wait for no collision................................................................................145
9.5.12 Did not find the zone due to collision ({0}).............................................145
9.5.13 ManualTask shall not complete: MotorDrive is in safety........................ 145
9.5.14 The wire is currently configured to be ignored.......................................145
9.5.15 Cannot start MotorMow If we are in Alarm/Safety. Check navigation.....145
10 Connecting to robots.....................................................................146
10.1 Remote access via the web server.....................................................................146
10.1.1 Entities, users and robots.......................................................................147
10.1.2 Creating accounts...................................................................................148
10.1.3 Accessing the web server......................................................................152
10.1.4 Using the app.........................................................................................160
11 Service and Maintenance..............................................................162
11.1 Maintenance........................................................................................................162
11.1.1 Maintenance procedures........................................................................163
11.2 Service.................................................................................................................168
11.2.1 Service procedures.................................................................................169
11.2.2 Torque references..................................................................................183
11.2.3 Lift sensor raiser kits..............................................................................186
11.2.4 Peripheral board replacement................................................................187
12 Repair.............................................................................................. 189
12.1 Electric circuitry...................................................................................................189
12.2 Replace sonar.....................................................................................................189

12.3 Bumper................................................................................................................189
12.4 Replace the smartbox.........................................................................................189
12.5 Cutting head........................................................................................................189
12.6 Front wheel and axle.......................................................................................... 189
12.7 Correcting lid closure problems.......................................................................... 189
13 Notices............................................................................................ 192
14 Declaration of conformity............................................................. 193
15 Technical specifications Turfmow 1000...................................... 194
16 Winter service check list...............................................................196
17 Glossary..........................................................................................200
18 Abbreviations..................................................................................203
19 Robot registration details............................................................. 204

Chapter 1 What's New
1 What's New
Release 3.5
- The release number of the manual has been adjusted to match the software version to
which it relates.
Note: This implies that there are no manuals with release numbers 3.2, 3.3 or 3.4
- Update to the troubleshooting section (page 130).
- More information available for the Service (page 121) menu.
- Updates to the portal interface (page 146).
-Winter service check list (page 196).
-Lift sensor raiser kits (page 186)
-Peripheral board replacement (page 187)
Release 3.1
- The contents of the technicians menu (page 114) have been re-organized.
- The contents of the How Turfmow 1000 works (page 21) has been updated to
distinguish between installations that use a positioning beacon and those that use a "return
to station loop".
- In The Actions menu (page 99) there is a new option to start the robot working in a
specific parcel.
- Instructions on Installing an inductor in the charging station (page 46).
Release 3.0
Multi-fields (page 60).
-Return to station with a station loop (page 88)
-Complex garden and with station loop (page 90)
Mono-field with two start zones (page 87)
Correcting lid closure problems (page 189).
Installing the positioning beacon (page 63)
Installing the positioning board in the charging station (page 64)
Installing the positioning board outside of the charging station (page 66)
Changing the positioning board and components (page 68)
LCD settings (page 106)
Advanced parameters (page 128)
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Chapter 2 Introduction
2 Introduction
This manual is intended for technicians responsible for the operation, installation, servicing
and repair of Turfmow 1000.
This manual contains the original instructions.
Technical developments are taking place constantly, so the information contained in this
document is provided as an indication and is in no way contractual. It can be changed at any
moment by Echo EU, without the need for prior announcement. Updated information can be
obtained from the website https://myrobot.echorobotics.com.
Turfmow 1000 has been designed to high safety standards, but residual risks are always
possible and the recommended safety and protective measures must be followed.
Version
This manual refers to:
• Software version 3.5
to see the current software and system versions (page 110)
Contact details
[email protected]
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Chapter 3 Conventions used in the manual
3 Conventions used in the manual
To charge the battery Indicates the start of a procedure to be followed.
blue text (page 9) A link to another section of the manual.
green text (page 9) A link to a word in the glossary.
Use active periods Indicates an option to highlight in the user
interface.
this is less than 5m italic script for emphasis
1An entry in the user interface
Indicates a maintenance operation.
menu entry Sequence of menu selections in the interface.
Infrastructure > Peripheral wires
{ } Indicates a variable parameter value.
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Chapter 4 Turfmow 1000 description
4 Turfmow 1000 description
All the elements of the robot system are shown in the figure below.
This chapter describes all the mechanical characteristics of the robot, the charging station
and the positioning beacon for the robot to locate the charging station.
The peripheral wire is part of the complete installation. For more information see How
Turfmow 1000 works (page 21).
The robot contains a comprehensive set of Sensors (page 18) which ensure its safe and
reliable operation.
A user can exercise direct control over the robot using the User Interface (page 96).
Once a robot is registered on the portal running on a web-server, the robot can send
information to this server, alarms and activities for example, which a user can see by
connecting to the server. Through this server the user can also issue commands to the robot.
For more information see Connecting to robots (page 146).
Figure 1: Components of the mowing system
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Chapter 4 Turfmow 1000 description
4.1 The robot
Turfmow 1000 components
Figure 2: Top view of robot components
(1) STOP button
Hitting this button will stop the robot at any point.
It is also a lid that provides access to the so-called smart box that contains the on
board computer that controls the operation of the robot. A user interface (page 96) is
provided with which to set and modify the robot's operational parameters.
(2) Body
The body houses sensors and covers the mechanical components.
(3) Obstacle detection sonars
Sensors detect an object in the path of the robot. For more information see Obstacle
detection sonars (page 18)
(4) Front wheels
Front wheels.
(5) Bumper
The bumper (page 18) is a pressure sensor which will cause the robot to change
direction when it touches an obstacle.
(6) Rear wheels
The rear wheels are driven and are equipped with brakes to ensure safety on slopes or
when machine is stopped.
(7) Charge contacts
There are two pairs of charge contacts on either side of the robot. They connect with the
charging arms in the charging station.
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Chapter 4 Turfmow 1000 description
Figure 3: Bottom view of robot components
(8) Cutting heads
The robot is fitted with 3 rotating cutting heads. Each cutting head is equipped with three
cutting blades, which are rotated on the head and which cut the grass.
Figure 4: Detail of the cutting head
(A) Bracket
(B) Cable entry
(C) Motor housing
(D) Blade support disc
(E) Anti-friction disc
(F) Cutting blade
(G) Pantograph
If a problem is detected it is possible to disable any number of cutting heads (page
103).
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Chapter 4 Turfmow 1000 description
The cutting blades need to be replaced on a regular basis to ensure optimal mowing
performance.
The height of the cutting head determines the length of grass that is cut. This can be
adapted to match the required conditions. See setting the cutting height (page 105).
(9) Battery
An LFP battery powers Turfmow 1000 whilst mowing. When the battery needs charging
the robot will return to the charging station. See Go to charging station mode (page
25).
Information on the labels on the battery are given in Notices (page 192).
(10) Sealed Electronic box
This contains the electronics and the robot motor.
Note: This should only be opened or manipulated by an authorized technician.
(11) Coil
The robot is equipped with a coil that detects the magnetic field generated by the
peripheral wire. When the robot crosses the peripheral wire, it registers a change in
phase of the signal in the wire, which indicates it is leaving the field. As a consequence it
will change direction in order to return into the field. See Work mode (page 23).
(12) On/Off switch
Switches the robot on or off.
Identification labels
There are two identification labels providing information about the individual robot.
The identification label can be found on the inside of the Stop button lid as shown below.
Figure 5: Identification label under the Stop lid.
A second one, which contains identical information is situated on the sealed electronic
box (component 10 in Figure 3: Bottom view of robot components (page 12)) and is
not normally visible. This ensures that whenever the robot is dismantled, for whatever
reason, the body and smart box containing the interface are correctly matched with the
mechanical components.
Figure 6: Identification label on the chassis
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Chapter 4 Turfmow 1000 description
Options
The wheel brushes are an optional extra that are installed behind the rear wheels to clean
them.
See Installing the wheel brushes (page 72)
Dimensions
Figure 7: Rear view dimensions
Figure 8: Side view dimensions
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Chapter 4 Turfmow 1000 description
Figure 9: Bottom view dimensions
Technical details
For detailed technical specifications see Technical specifications Turfmow 1000 (page 194).
Sound level: The A-weighted emission sound pressure level at the operator position does not
exceed 70 dB(A).
Mass in kilograms: This can be seen on the identification label. See Figure 5: Identification
label under the Stop lid. (page 13).
4.2 The charging station
Figure 10: Components of the charging station
(1) Charge arms.
(2) Base.
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Chapter 4 Turfmow 1000 description
(3) Occupation sensor. This is an optional feature indicating that the charging station is
occupied in charging a robot. This is useful when there are multiple robots in the field.
Figure 11: Rear view of the charging station
(4) LED display which indicates the current state of the station:
•Green - blinking: station is operating normally.
•Red - blinking: no peripheral wire can be detected.
This could be because the wire has been cut or that it is too long.
•Red - steady: indicates a problem.
This could be due to the wire being too short, less than 200m, or there is a problem with
the electronics.
(5) Identification label.
(6) Input for power cable.
(7) Inputs for peripheral cables.
Technical details
Details of the charging station can be seen on the identification label.
Figure 12: Charging station identification label
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Chapter 4 Turfmow 1000 description
Warning: Always unplug the charging station before opening it.
In those situations where there is no plug, remove the fuse from the charging station.
4.3 The station positioning beacon
The station positioning beacon is a device that emits a UWB (Ultra Wide Band) signal, which
is detected by the robot. This enables the robot to locate the charging station to a very high
level of accuracy (<200mm). (See returning to the charging station (page 25).)
The station positioning beacon is normally installed in the charging station, but can be
installed in a separate location. This may be necessary if the detection of the charging station
is not sufficiently accurate due to obstacles or its specific location.
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Chapter 5 Sensors
5 Sensors
Turfmow 1000 is equipped with a comprehensive set of sensors that ensure its safe
operation. These sensors ensure that the robot can detect, and react if an obstacle lies in its
path or if a small object is in danger of being damaged by the cutting blades.
Stop button
The stop button is easily visible, situated on the top of the robot (see Figure 2: Top view of
robot components (page 11)). Hitting it will cause the robot to stop moving and cutting.
The stop button also acts as a lid, which when lifted, provides access to the robot's control
user interface. An instruction must be issued using this control interface in order to restart the
robot.
Obstacle detection sonars
The robot is equipped with a set of 5 sonar sensors to detect obstacles. These sensors
transmit a constant sonar signal (40kHz). When these hit an obstacle the reflected waves are
received by the sensors and the speed of the robot is reduced to 200mm/s (less than 1km/h).
Figure 13: Detection of obstacles by sonar sensors
The robot gently touches the obstacle at low-speed. The robot moves backwards and
chooses a random direction between 60° and 120°.
These sensors can detect objects that are:
• at least 400mm high
• at least 70mm wide (from all angles).
Note: If the surface of the obstacle reflects the sonar waves towards the sky, they
should be covered with large bubble wrap.
Bumper
The bumper is a pressure sensor which senses when the robot touches an obstacle. The
robot will be moving at a slow speed because the sonar detectors will have already detected
the obstacle. When the bumper touches the obstacle, the robot will move backwards and then
rotate through an angle until it can avoid the obstacle.
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Chapter 5 Sensors
Lift and body displacement sensors
Figure 14: Location of the lift sensor attachments
Figure 15: Lift sensors
Lift sensors are attached to the body of the robot at 4 points. If the robot touches a low object
which pushes the bodywork up or if someone tries to lift the body work, the lift sensors will
react. The robot will stop mowing and move backwards. If this movement frees the obstacle
from the body, the robot will perform a manoeuvre to avoid the object and continue mowing.
If not, after 10 seconds the robot will register an alarm and remain in safe mode (stationary)
until the obstacle is removed.
Coil
The induction coil detects the intensity of the magnetic field that is generated within the
peripheral wire. The maximum intensity is located on the wire which causes the robot to stop,
rotate and then continue mowing in a new direction.
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Chapter 5 Sensors
The location of the coil can be seen as item (11) in Figure 3: Bottom view of robot
components (page 12).
Station positioning beacon
The station positioning beacon is a transceiver that emits an Ultra Wide Band (UWB) signal.
A receiver is located in the robot. It provides an accurate mechanism for finding the charging
station (and other locations). It is normally installed within the charging station but can be
located elsewhere.
For more details see Installing the positioning beacon (page 63).
Tilt/Rollover sensor
The tilt sensor detects the angle of the slope on which the robot is mowing. If this angle
exceeds 30° (58%), an alarm will be raised and the robot will stop moving.
The rollover sensor detects whether the robot has been tipped upside down or whether
someone is trying to start the motor when the robot is upside down.
Show
Temperature sensor
The temperature sensor measures the ambient temperature and will prevent the robot from
operating if this temperature is too low. The minimum temperature at which the robot can
operate is set as an operating parameter (page 110).
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