LELY 5.4001.0010.1, Manual

Page: 47 / 70

Chapter 4 - page 7
DISCOVERY manual 4
D-H002
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The following variables are shown:
• Act.no. : sequence number for the actions in this route
• RunDst : current distance travelled in mm
• Speed1 : left wheel speed in mm/s
• Speed2 : right wheel speed in mm/s
NOTE
• Use the "Straight" option as little as possible. If it really is necessary, for example to get it through a doorway,
make the distance travelled as small as possible. Once through the doorway, continue with left or right wall
following or "Ultrasonic L". Programming it like this will improve the accuracy of the route to be travelled.
There are two ways of stopping:
• PR, collision point : let the barn cleaner bump into the collision point; this point is also stored in the memory.
Try to use as many collision points as possible within the shed. When approaching such a collision, press the
"PR" button. The Discovery is now anticipating a collision point and will move more slowly. If there is a bit of
wheel spin when traversing the route, the barn cleaner will then still keep going until the collision point.
• Start/Stop, stopping manually : a certain distance travelled is stored in memory via this action.
4) Corner R 90 : pre-programmed turn to the right by 90°.
• Positive value = turn right
• Negative value (-) = turn left
1
The following variables are shown in this menu:
• Act.no. : sequence number for the actions in this route
• Corner : angle of turn (variable and adjustable)
• Radius : the radius of the turn (variable and adjustable) that the barn cleaner will make:
0 = on the spot
300 = about one of the drive wheels
600 = a sweeping curve
• Back : the distance (adjustable) that the barn cleaner first goes backwards before making the turn (needed if
the barn cleaner comes up against an obstacle).
• SAVE : stores the given gyroscope value. The direction the barn cleaner is facing must now be correct (adjust
by hand if necessary).
5) Corner L -90 : pre-programmed turn to the left by 90°.
Please refer to point 4 for more information about the variables.
6) Corner R 180 : pre-programmed turn to the right by 180°.
Please refer to point 4 for more information about the variables.
7) Corner L -180 : pre-programmed turn to the left by 180°.
Please refer to point 4 for more information about the variables.
1) Any numerical value may be entered.