LELY 5.4001.0010.1, Manual

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Chapter 4 - page 11
DISCOVERY manual 4
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Use the E-link manual control to select the left and right motors (L and R) and then choose a direction of travel
(↑
or
↓).
UI:
An object can be held up near the ultrasound sensor to affect the measurement it gives. Check that the measured
distance increased as the separation between the object and the sensor grows. The maximum distance measured
is about 3000mm.
"Test > Encoder Test" menu item
Check that the pulse such as enc1a etc. are present. As the distance travelled increases, this value should be
incremented.
Use the E-link manual control to select the left and right motors (L and R) and then select a direction of travel
(↑
or
↓);
the barn cleaner should travel in a straight line and the pulse values should be the same.
"Test > Battery Charge" menu item
This menu lets you check the charging current. Manoeuvre the barn cleaner manually to a few metres in front of
the charger unit. Go to the "Test > Battery Charge" menu, then press the "Start" button on the E-link manual control
(the barn cleaner will start to move).
Check the "Delta V" value (this must be between 300 and 450). When it has found the charger unit, the "Charging"
value will change from a 0 to a 1. The "Delta V" value will then increase to a value of above 600.
Battery empty = high "Delta V" value
Battery full = low "Delta V" value (see also
chapter 7 'Troubleshooting' ).
"Test > Ultrasound" menu item
An object can be held up near the ultrasound sensor (mounted under the barn cleaner's cover) to affect the
measurement it gives. Check that the distance measured from the sensor to the object goes up as the actual
distance is increased. The maximum distance measured is about 3000mm.
Check if the ultrasound sensor is responding to any reflections coming from the tracer wheel.
This can be checked for each pulse (pulse measurement 1, 2 and 3). Naturally, no pulses should be observed
(see also
chapter 7 'Troubleshooting' ).
If pulses are observed, you should then reduce the value of what is known as the "Start pulse" (see also chapter
'"Service > Installation 1" menu item"' ) by decrements of 10 until no pulses are recorded any more. The default
value for the start pulse is 500.
Test > Gyroscope" menu item
This menu item is for engineering use only.
"Test > Wall follow" menu item
Select the "Wall follow" submenu and use the E-link manual control to pick a direction of travel
(↑
of
↓).
The wheel that is closest to the wall will run at 80% (see "Speed" info) whereas the opposite one will be at 100%.
This allows the barn cleaner to follow the wall contour. The following information can be read off:
• Dutyc = power
• Speed
• St = distance (mm)
• V = set speed (mm/s)
• L = track the wall on the left
• R = track the wall on the right