LELY Lely Discovery 90 SW Page 14 Operator'S Manual Download

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5.4006.8501.0

Table of Contents

7.3.2

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7.3.3

Make sure the Battery is Charged

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7.3.4

Make sure the Battery is Charging

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7.3.5

Make sure the Bluetooth Connection is Reliable

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7.3.6

Test the Ultrasonic Sensor

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Troubleshooting

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8.1

Introduction

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8.2

Alarms and reports

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8.2.1

Recover Alarms

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8.2.2

Read Alarm Messages

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8.2.3

Read a Report

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8.2.4

Alarm List

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8.2.5

Report List

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8.2.6

Information Report List

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8.3

Troubleshooting Tables

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8.3.1

Troubleshooting Table Vehicle

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8.3.2

Troubleshooting Table Charging Station

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8.3.3

Troubleshooting Table iPhone

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8.4

Recovery Procedures

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8.4.1

Reset the Control System

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8.4.2

Calibrate the Gyroscope

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8.4.3

Charge the Machine

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Disposal

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EG Declaration of Conformity

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in n o vato rs in ag ric u ltu re

Summary of Contents for Lely Discovery 90 SW

Page 1: ...www lely com LelyIndustriesN V Operator Manual EN English Original 5 4006 8501 0 B Lely Discovery 90 SW Mobile Barn Cleaner ...

Page 2: ...INTENTIONALLY BLANK 5 4006 8501 0 B innovators in agriculture ...

Page 3: ...o 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 ...

Page 4: ...INTENTIONALLY BLANK 5 4006 8501 0 B 4 Trademarks Copyright and Disclaimer innovators in agriculture ...

Page 5: ... 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 A All iOS functionality added Hardware changes are incorporated 2014 06 All Bluetooth operation added Pause button added Operator manual...

Page 6: ...INTENTIONALLY BLANK 5 4006 8501 0 B 6 List of Included Amendments innovators in agriculture ...

Page 7: ... 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...

Page 8: ... 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 innovators in agriculture ...

Page 9: ...e 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 t...

Page 10: ...5 4006 8501 0 B 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 innovators in agriculture ...

Page 11: ... 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 Charging Station 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 New Rou...

Page 12: ... 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 dur...

Page 13: ... 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 Clean the Nozzle 6 8 6 3 5 Clean the Ultrasonic Sensor 6 10 6 3 6 Clean the Sensi...

Page 14: ...cover Alarms 8 1 8 2 2 Read Alarm Messages 8 1 8 2 3 Read a Report 8 2 8 2 4 Alarm List 8 3 8 2 5 Report List 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 Gy...

Page 15: ...e 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 s...

Page 16: ...INTENTIONALLY BLANK 5 4006 8501 0 B 1 2 Lely Discovery innovators in agriculture ...

Page 17: ...he 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 pro...

Page 18: ...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 a...

Page 19: ...aintenance 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 elect...

Page 20: ... 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 pow...

Page 21: ...nations per time path 48 Max duration of a time path 24 hours Drive on thresholds and level differences 10 mm 0 4 in Cleaning capacity Max cleaning capacity 918 m h at 18 m min Navigation sensors Detection of the driving direction Gyroscope Distance measurement to wall Ultrasonic sensor Travelled distance Measured via encoders on the motors Drive mechanism 2 electric motors each motor driving one ...

Page 22: ...al output voltage 12 VDC Max charge current 20 A Max power 295 W Electrical properties battery charger blue Type Impulse II L Input voltage 220 240 VAC 50 60 Hz Nominal output voltage 12 VDC Max charge current 20 A Max power 400 W Specifications Water Filling Station Dimensions and weight Water filling station Width 406 mm 16 0 in Height 282 mm 11 1 in Depth 231 mm 9 1 in Weight 11 kg 24 3 lb Dime...

Page 23: ...eans to be used to prevent the pollution of potable water inside premises and the general requirements of protection devices to avoid pollution by backflow Requirements Smartphone Android Android 4 0 3 or higher Screen resolution 480 x 800 or higher Processor 1 GHz or higher Bluetooth version 2 1 or higher EDR Compliance with 1999 5 EC european directive for Radio and Telecommunications Terminal E...

Page 24: ...5 4006 8501 0 B 3 4 Specifications 3 1 Dimensions A B C D Figure 4 Machine dimensions KEY A 860 mm 33 86 in B 575 mm 22 64 in C 1362 mm 53 6 in D 102 mm 4 02 in innovators in agriculture ...

Page 25: ...5 4006 8501 0 B Specifications 3 5 A B C B000128 004 Figure 5 Dimension charging station KEY A 1650 2050 mm 65 0 80 7 in B 380 mm 15 0 in C 220 mm 8 7 in innovators in agriculture ...

Page 26: ...cations A B C B000128 006 Figure 6 Dimensions water filling station KEY A 28 2 cm 11 1 in B 23 1 cm 9 01 in C 10 6 cm 16 0 in A B C B000128 008 Figure 7 Header tank optional KEY A Height B Width C Depth innovators in agriculture ...

Page 27: ...explains how the parts work together to clean the barn floor Figure 8 Main components Lely Discovery 90 SW Mobile Barn Cleaner KEY 1 or 1a View hole for indicator LEDs 2 Charging station 3 Charging electrodes 4 Discovery vehicle 5 Upper cover 6 Header tank optional 7 Water filling station 8 Manure scraper 9 Sensing wheel innovators in agriculture ...

Page 28: ...Water inlet 5 Manure scraper 6 Ultrasonic sensor 7 Water sprayer 8 Bluetooth antenna 9 Lower cover 10 Upper cover 4 2 Component Description 4 2 1 Discovery Mobile Barn Cleaner 90 SW Vehicle The machine has the following mechanisms and systems Cleaning mechanism Driving mechanism Power system Control system innovators in agriculture ...

Page 29: ...o the main components of the machine 4 2 1 2 Cleaning System A manure scraper 5 see figure 9 on page 4 2 installed underneath the machine pushes the manure through the openings of the slatted floor 4 2 1 3 Driving Mechanism The driving mechanism has the following parts Two drive motors Two chains Two chain wheels Two wheels The motors one on the left side and one on the right side drive the wheels...

Page 30: ...er tank Pump pumps the water from the water tank to the nozzle Switched on only during a route Nozzle The water tank is balanced installed on the concrete block and has a capacity of 30 liter enough for one route Figure 11 Water supply KEY 1 Water tank 2 Non return valve 3 Water filter inlet 4 Water inlet 5 Water spray nozzle 6 Water pump 7 Water filter outlet 8 Water sensor innovators in agricult...

Page 31: ...o keep the right direction The water sensor detects when the water tank is full The temperature sensor measures the temperature in the barn for frost protection Encoders Each drive motor has an encoder that counts the rotation of the motor shaft This information is used to calculate the position of the vehicle The encoders send outputs to the ADS 3840 PCB Ultrasonic Sensor The ultrasonic sensor ma...

Page 32: ...the machine is turned off The user interface on the smartphone displays a question to resume or cancel the route When the pause button or the button in the Lely Control app is pushed shortly while the machine is in pause mode the machine goes back into work mode The machine goes back into operation The LED light in the pause button turns off The operational sound of the machine is turned on The pa...

Page 33: ...larm Blink Acoustic Warning Device An acoustic warning device alerts persons and cows when the vehicle starts to move moves or when an alarm occurs The beep lengths and beep frequencies of the acoustic warning device are Operational state of the machine Beep frequency acoustic warning device Normal operation Once per 2 seconds default An alarm occurred 3 short beeps every minute The acoustic warni...

Page 34: ... screen returns to the previous screen Reduces the speed of the vehicle Acoustic signal The Lely Control app gives an acoustic signal when The machine is in normal operation Settings are saved The calibration of the gyroscope is finished Backup is finished create restore Programming a route 4 2 2 Charging Station The machine normally starts and ends at the charging station The machine recharges it...

Page 35: ...rging 1A ON ON Error blinking blinking 4 2 3 Water Filling Station The machine refills itself at the water filling station 7 see figure 8 on page 4 1 The water filling station has Mechanically operated shut off valve Water outlet 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 t...

Page 36: ...der tank 4 3 User Interface The machine is operated with a smartphone with an Android or iOS operating system The smartphone communicates with the software via bluetooth The main menu on the smart phone has the following items Work Routes Test Settings Alarms Service innovators in agriculture ...

Page 37: ...enu Work has the following submenus On Off to switch the time path On or Off MANUAL ROUTE to manually start a selected route MANUAL DRIVING to manually drive the machine MANUAL CHARGER to drive the machine to the charging station following the wall The button must be used to open the next menu to open the previous menu A black dot on the right side of the screen indicates the level The highest lev...

Page 38: ... of a display There are four levels Menu Work indicated by the upper dot MANUAL ROUTE indicated by the second dot MANUAL DRIVING indicated by the third dot MANUAL CHARGER indicated by the fourth dot 4 3 1 1 Time Path ON OFF If the time path is switched On the upper pane is greyed out see the following figure innovators in agriculture ...

Page 39: ... Act nr sequence number for the action in this route Runnr run number Battery battery voltage Buttons to start or stop timed actions to go to the next menu to go to the previous menu With the pause button 1 see figure 12 on page 4 6 on the machine you can also start or stop timed actions 4 3 1 2 Manual Route Driving manual route is only possible when the time path is switched Off Display Descripti...

Page 40: ... time path is switched Off Display Description Move the vehicle manually see Manually drive the Machine on page 5 6 Buttons to start or stop the action to go to the next menu to go to the previous menu Soft button L to select the left motor The vehicle turns right when you start the manual drive action with the button Soft button to select the drive direction Soft button R to select the right moto...

Page 41: ... battery voltage and the charge current Buttons to start or stop the action to go to the next menu to go to the previous menu Soft buttons L and R to select the position of the charging station 4 3 2 Routes The menu Routes is used for programming routes or for test and adjustments Buttons or to select a menu item to confirm an action to go to the previous menu 4 3 2 1 New Route New Route A new rou...

Page 42: ...he motor on the left side runs at 99 and the right motor runs at 100 The sensing wheel is pushed to the wall The display shows the following information Display Description Actionr sequence number for the action in this route RunDst distance travelled in mm Speed1 left wheel speed in mm s Speed2 right wheel speed in mm s Buttons to start or stop the action to reduce speed when approaching a bump p...

Page 43: ... and left The chosen turn can be adjusted according to the specific situation The standard curves are Display Description Turn right 60 degrees gradually following wall maximum cleaning Turn right 90 degrees Turn right 180 degrees stop in adjacent lane 80 cm 31 in to the right Turn right 5 degrees Turn right 25 degrees Turn right 180 degrees stop in adjacent lane 40 cm 16 in to the right clean 50 ...

Page 44: ...ft 180 degrees Adjust the Turn After selecting an option the variables of the turn can be adjusted The display shows the following information Display Description Actionr Sequence number for the action in this route Turn Angle of the turn positive value turn right negative value turn left Radius The radius of the turn the vehicle will make 0 on the spot 300 about one of the drive wheels For instan...

Page 45: ...e mm UltraDst Actual distance to the wall mm 2000 mm 78 7 in max ULTRADST Adjustable distance to the wall mm Buttons or to adjust the value of the selected variable to start or stop Soft button MAN to adjust the position of the vehicle Charger Drive the vehicle back to the charging station The machine finds the charging station independently default on the left within a distance of 1 5 3 m 5 10 ft...

Page 46: ...e the setting 4 3 2 2 Delete Route This menu is used to delete an existing route see Delete a Route on page 5 28 The display shows the following information Display Description List of set routes Buttons or to select a route to confirm 4 3 2 3 Time Path It is useful to combine routes into a time path If the time path is switched ON the machine drives the set routes automatically at the set times e...

Page 47: ...his option can be used if a part of the barn is reconstructed or if a cow is calving 4 3 2 5 Route Analysis The menu Route analysis has the following options Fail problty Failure analys Fail problty gives a quick overview of the reliability per route Failure analys gives detailed information and shows per route the action numbers that have a high risk of failure It also gives an indication of the ...

Page 48: ...ions in a route that have bump points must be more than 20 and the percentage short actions versus long actions must be less than 50 The third table displays explanations Table 1 display Failure analysis Display text Explanation A Bend in action Very unreliable route due to a combination of factors B H B Start Resetp angle Angle of more than 20 degrees between the start and the reset point This co...

Page 49: ...stance a collision with a cow leg H Straight 5 m Deviation caused by driving straight for more than 5 m 15 4 ft 4 3 2 6 Speed Route This menu is used to set the speed for a route The maximum speed is 300 mm sec which is approximately 18 m min During programming the speed is 300 mm sec during operation the speed is default 180 mm sec 10 8 m min You can adjust the speed for each particular route 4 3...

Page 50: ...fy route is used to modify parts of an existing route Since a route is built of many actions changing one action influences the rest of the route Therefore modification is restricted to Modify the run distance Modify the angle of a turn Add waiting time Examples If the machine slips during action 3 see figure 16 on page 4 25 the vehicle will not reach the wall during the next action 4 Instead of f...

Page 51: ...used to correct the wheel diameter in the software and thus the driving distance see Wheel Diameter on page 4 26 4 3 2 12 Backup Route This menu is used to make a backup with the Lely Control app on the smartphone or to restore the information on the ADS3840 PCB 4 3 2 13 Sprinkler Route The menu Sprinkle route is used to set the water sprinkler On or Off per route 4 3 3 Test The menu Test is used ...

Page 52: ... gyroscope The machine must not be moved during the calibration 4 3 4 4 Motor Power The motor power must be high enough to overcome an unevenness or a slope Otherwise it must not be too high because the control system uses the current value to detect an obstacle The motor power can be set to Average Low Do not modify the motor power without the consent of your local Lely service provider 4 3 4 5 W...

Page 53: ...rn without the use of water for example during periods of frost When the setting is off the machine skips a visit to the water filling station and continues the route immediately 4 3 5 Alarms The machine monitors itself continuously and informs you about the situation The machine generates alarms and reports Alarm list The alarm list gives a summary of the alarms received This list stores up to 25...

Page 54: ...ute in most cases starts and always ends at the charging station see figure 17 on page 4 29 Automatic Cleaning with a Time Path The machine cleans the barn each day automatically on the same time if a time path is set and switched On see Time Path on page 4 20 Manual Cleaning with Manual Routes It is useful to enable MANUAL ROUTE You then can clean a part of the barn whenever you want or test a ro...

Page 55: ...is used to calculate the travelled distance If due to slip the actual driving distance is less than calculated it can only be corrected if the action ends at a bump point a collision point with a wall If an expected bump point is not reached the machine continues driving for a limited distance The driving distance is corrected in the software so the next time the machine drives a bit further On th...

Page 56: ...of a route the angle with the wall is 0 degrees During the route the gyroscope calculates each deviation from a straight line This information is used to control the direction of the vehicle This is especially important during so called short actions when there is no contact with the wall Short actions Short actions are Straight Turn L Turn R Due to a combination of factors like skidding obstacles...

Page 57: ...nd Long actions compensate for the deviations caused by short actions It is therefore very important to program a subsequent long action after a succession of short actions In a situation with a succession of short actions Straight Turn L and Turn R the vehicle can get lost due to an accumulation of errors see figure 19 on page 4 32 The risk of deviating from the programmed route can be minimized ...

Page 58: ...mber Explanation 1 The vehicle doesn t reach the wall due to skidding There is no bump point to correct this error 3 5 7 Due to deviations in the gyroscope drift and or skidding the turns are less than 180 degrees 2 4 6 The errors are not corrected while driving straight 8 The vehicle bumps the cubicle tries to go on and eventually gets lost innovators in agriculture ...

Page 59: ... where cows are eating followed by Turn L 3 The vehicle follows the wall on the left side Ultrasound L until the cubicles bump point 4 The vehicle drives back and follows the cubicles on the left side Ultrasound L 5 The vehicle follows the cubicles on the left side with Ultrasound L followed by Straight until the wall bump point 6 The vehicle drives back followed by Turn L 7 The vehicle drives Str...

Page 60: ... and continues to finish the route 4 4 3 Power and Water Supply At the end of a route the machine drives to the charging station It stays there until the start of the next route Each time the machine starts a route it first drives to the water filling station 1 see figure 21 on page 4 35 The water inlet tube enters the funnel shaped water supply tube and opens the mechanically operated shut off va...

Page 61: ... 35 Figure 21 Start of a route 4 4 4 Cleaning The nozzle sprays water just in front of the manure scraper to soften the manure The manure scraper pushes the manure over the slatted floor until it falls through the gaps innovators in agriculture ...

Page 62: ...INTENTIONALLY BLANK 5 4006 8501 0 B 4 36 Description and Operation innovators in agriculture ...

Page 63: ... the software on the iPhone 1 You must pair the machine in the bluetooth list of devices on the iPhone and enter the password 0000 2 Check in the list of Bluetooth devices if the machine is connected tap once to connect if it is not connected In case of problems with connection to your iPhone see the troubleshoot table see Troubleshooting Table iPhone on page 8 18 If there is new software availabl...

Page 64: ...wer cover 1 Loosen the bolt 1 on the upper side of the upper cover 3 2 Rotate A the upper cover 3 towards the front side of the vehicle to remove the upper cover from the chassis 4 3 Only if necessary remove B the lower cover 6 from the vehicle Installation 1 Reinstall the lower cover 6 2 Put the bracket of the upper cover in the slot at the front side of the of the machine 4 3 Lower the upper cov...

Page 65: ...upper and lower cover see Remove or install the Covers on page 5 2 KEY 1 PCB box 2 On Off button 3 On the PCB box push the button OFF 2 to switch off the power 4 Install the covers see Remove or install the Covers on page 5 2 5 6 Switch On the Machine Unexpected cow movement Risk of being crushed or trampled Block the cow traffic 1 Remove the upper and lower cover see Remove or install the Covers ...

Page 66: ...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 Make sure you are in the vicinity of the machine when you want to connect the phone to the machine If the distance is too big it will not appear in the list on the smartphone display The device name of the machine that is di...

Page 67: ...with the selected machine A green light is displayed in the title when the connection is made The smartphone shows a set of control buttons and a display that can be used to operate the software If the smartphone loses connection the green light turns red Move towards the machine and make the connection again 6 Push 7 If the machine was switched off calibrate the gyroscope see Calibrate the Gyrosc...

Page 68: ...e turns left when it is manually driven or L and R both motors to go straight forward or backward 6 Push to change the direction if necessary 7 Push to start hold it 8 Release to stop Figure 24 Manual driving 5 9 Drive the Machine to the Charging Station 1 Stop the time path to take the machine out of operation see Start or Stop the Time Path on page 5 32 2 Manually drive the machine to the chargi...

Page 69: ...ndustries N V will not take any liability for damage due to frost 1 If a header tank is present Switch off the water supply to the header tank If no header tank is present Switch off the water supply to the water filling station 2 Push against the water outlet of the water filling station until the tank is empty and if present also the header tank must be empty 3 Let the machine drive routes while...

Page 70: ...different positions in the barn back to the charging station This will enable you to easily return the vehicle back to the charging station in case it gets lost Make a backup after programming a route Adapt the route or settings to the herd The beep can be modified separate for each route If the beep length is set to 0 the beep is switched Off If a warning signal is given the cows have time to mov...

Page 71: ...time must be less than 40 of the total time so charging time is 60 or more of the total time If the routes in these 3 examples take less then 24 minutes to drive the time path can be set based on these 3 routes To see how to set a time path see Set a Time Path on page 5 29 Also keep in mind that after ending the first route after midnight the machine will charge until the batteries are completely ...

Page 72: ...a day Figure 28 Route 3 clean the areas between the cubicles and the feed fence 2 times a day Each route is built of many actions The following figure shows the actions of route 1 on the left side of the barn the table below explains each action Refer to the complete picture for an overview innovators in agriculture ...

Page 73: ...aight Driving straight is the only option because the distance to a wall is more than 2 meter 4 Wall flw R Vehicle will turn right until it hits the cubicle floor and will then follow the cubicle floor Although it is easier to clean the left side first this is not allowed because cows can get hurt due to the opening for the ultrasonic sensor 5 Wall flw R Follow the cubicle floor until the wall bum...

Page 74: ...d turn 90 degrees modify if the nose of vehicle doesn t point in the correct direction 11 Straight Straight until the first cubicle on the left side 12 Ultrasound L Ultrasound drive 1100 mm The following figure shows the actions of route 1 in the middle of the barn the table below explains each action Refer to the complete picture for an overview Figure 30 Example routes middle part innovators in ...

Page 75: ... after crossing over 12 Straight Drive straight until bump point 13 Turn L 180 degrees Standard turn stop in adjacent lane 14 Straight 15 Ultrasound L Ultrasound drive 1100 mm 16 Ultrasound L Ultrasound drive 1100 mm 17 Straight Drive straight until bump point 18 Turn L 90 degrees 19 Wall flw R Follow wall until bump point 20 Turn L Standard turn back 500 mm 21 Straight Drive straight until begin ...

Page 76: ... 2 Straight Drive straight until bump point 3 Turn R 90 degrees 4 Wall flw L 5 Turn R 90 degrees 6 Straight Drive straight until start of a cubicle row 7 Wall flw R 8 Ultrasound L Ultrasound drive 1100 mm until end of the cubicle row 9 Straight Drive straight until bump point 10 Turn L 90 degrees 11 Wall flw R Follow the wall until bump point innovators in agriculture ...

Page 77: ... robot There is no free cow traffic to the milking parlour If the cows are milked a half of the barn is closed and can be cleaned Figure 32 Example route barn with milking parlour 5 11 4 To pass a Crosswalk If the machine passes a crosswalk between two cubicle rows the direction must be corrected to avoid hitting the opposite cubicles The next figure and the corresponding table with actions show h...

Page 78: ...ll bump point Drive back to enable turning Turn 180 degrees with a certain radius You can choose from 4 standard turns both left and right each with a different radius Go back turn 180 degrees stop in the next lane 80 cm 31 in to the right or left to clean the next lane Go back turn 180 degrees stop in the next lane 40 cm 16 in to the right or left to clean the next lane and also half of the forme...

Page 79: ...16 in C 80 cm 31 in 5 11 6 To approach the Charging Station from the opposite Direction Figure 34 Approach the charging station Number Action Explanation 1 Wall flw R Follow the wall on the right side 2 Turn L Turn left 3 Straight Drive straight innovators in agriculture ...

Page 80: ...l 1 5 3 m 5 10 ft from the charging station 8 Charger Go to the charging station 5 11 7 To follow a Bend in a Wall Figure 35 Follow a bend in a wall Number Action Explanation 1 Wall flw L Wall follow 2 START STOP Stop the wall follow action 3 Wall flw L Wall follow no turn action needed because the angle 20 degrees 4 Turn R Turn right nose in drive direction 5 Wall flw L Wall follow innovators in ...

Page 81: ...t or Stop the Time Path on page 5 32 Program 1 In the main menu of the Lely Control app select Routes and push 2 Select the menu New route and push If the machine is not connected to the charging station you can push soft button CHARGR to drive the machine to the charging station see Drive the Machine to the Charging Station on page 5 6 3 The message SAFETY WARNING Manual operation is permitted on...

Page 82: ...e 5 26 10 Push soft button EXIT 11 Push soft button Yes to save the new route Close up 1 Test the route see Test a Route on page 7 4 2 Make a backup of the route see Make a Backup on page 5 30 5 12 1 1 Follow a Wall Left or Right Try to avoid to move past cows on the left side they may get hurt due to the opening for the ultrasonic sensor see figure 36 on page 5 21 If the angle between the machine...

Page 83: ...he machine approaches a bump point approx 30 cm 12 in 1 Push to smoothly reduce speed 2 Push to stop the machine immediately The display shows the status Manual stop or Bump stop and the travelled distance in mm 4 Push soft button Save Figure 36 Try to avoid to move past cows on the left side innovators in agriculture ...

Page 84: ...nt after going straight Before starting make sure the machine points in the correct direction Use the Straight option as little as possible If it really is necessary for example to get the machine through a doorway make the distance travelled as short as possible Once through the doorway continue to follow a wall left or right or Ultrasound L This improves the accuracy of the route that is travell...

Page 85: ...riving Straight 4 If the machine approaches a bump point approx 30 cm 12 in push to smoothly reduce speed 5 Push to stop the machine immediately The display shows the status Manual stop or Bump stop and the travelled distance in mm 6 Push soft button MAN to modify the position 1 Push soft button to turn left or to turn right 2 Push to confirm and go one level up 7 Push soft button Save innovators ...

Page 86: ...can choose from 12 standard turns see Turn Right or Left on page 4 17 and modify the turn afterwards Preferably do not make sharp turns in heavy polluted areas less power 4 Push until the most appropriate standard turn is displayed or push to go to the pervious display 5 Select one of the standard turns with the appropriate soft button see Turn Right or Left on page 4 17 6 If you want to modify th...

Page 87: ...s left or right 10 Push soft button MAN to modify the position 1 Push soft button to turn left or to turn right 2 Push to confirm and go one level up 11 Push soft button Save 5 12 1 4 Follow a Wall or Fence on a Certain Distance Ultrasound Do not program Ultrasound L when the wall is more than 2 meters away 1 Select the menu Ultrasound L and push 2 Read the actual distance to the wall UltraDst fro...

Page 88: ... is within 1 5 3 m from the charging station and points towards it see Manually drive the Machine on page 5 6 2 Select the menu Charger 3 Push soft button MAN to modify the position 1 Push soft button to turn left or to turn right 2 Push to confirm and go one level up 4 If the charging station is on the right push soft button L 5 Push to start The machine approaches the charging station and stops ...

Page 89: ...r Stop the Time Path on page 5 32 3 Test the route see Test a Route on page 7 4 4 In the main menu of the Lely Control app select Routes and push 5 Select Modify route and push 6 Select Modify route and push 7 Select the route you want to modify and push 8 Read the message and make sure to understand it 9 Select the action you want to modify and push 10 If you want to add extra waiting time before...

Page 90: ...Push soft button Yes to confirm 5 12 5 Delete a Route 1 Start the Lely Control Application see page 5 4 2 Stop the time path to take the machine out of operation see Start or Stop the Time Path on page 5 32 3 In the main menu of the Lely Control app select Routes and push 4 Select Delete route and push 5 Select the route you want to delete and push 6 Push soft button Yes to confirm 5 12 6 Set or D...

Page 91: ...al routes Delete a Manual Route 1 Push or to select the route you want to delete 2 Push soft button Reset 5 12 7 Set a Time Path The machine must not drive more than 40 of the total time in a time path It must spend minimum 60 of the total time charging at the charging station To quickly confirm a change while editing a route push button To cancel push button 1 Start the Lely Control Application s...

Page 92: ... Path on page 4 20 5 12 8 Make a Backup Make a backup each time you changed a route or time path or when another smartphone is used Backups are made on the smartphone Make sure to give each backup you make a unique name Make sure the phone has a proper connection with the machine and has enough storage space available for the backup file 1 Stop the time path to take the machine out of operation se...

Page 93: ...unes 4 Go to the apps tab 5 In the File Sharing tab select the Lely Control app 6 Select the applicable backup file bkp 7 Click Save to 8 Select the location on the PC where you want to save the backup file 5 12 10 Copy a Backup file from a PC to the Smartphone Android 1 Connect the smartphone to a usb port of the PC Use the data cable of the smartphone to connect 2 Use the PC to browse to the loc...

Page 94: ...ee page 5 4 2 In the main menu of the Lely Control app select Work and push If the pane on the upper side of the menu that displays the actual time is grayed out the time path is On 3 Push or 4 Push the pause button on the machine to pause restart the time path of the machine Figure 39 Start or stop the time path 5 14 Start Stop or Pause a Manual Route Unexpected movement of vehicle Risk of person...

Page 95: ... B C or D 5 Push 6 If you want to switch ON the time path after the manual route push soft button Yes else push soft button No To Pause or Stop a Manual Route 1 Push or the pause button on the machine 2 If you want to Stop the route immediately push soft button Yes Resume the route push soft button No or the pause button on the machine Pause 1 Push soft button Pause 2 Push button to select the num...

Page 96: ...1 Stop the time path to take the machine out of operation see Start or Stop the Time Path on page 5 32 2 In the main menu of the Lely Control app select Routes and push 3 Select Speed route and push 4 Select the route you want to change and push 5 Push or to modify the speed 6 Push to confirm and go one level up 5 17 Set the Speed for a Particular Action 1 Stop the time path to take the machine ou...

Page 97: ...5 4006 8501 0 B Operating Instructions 5 35 7 Push twice to confirm and go two levels up 8 Push Yes to save the modification 9 Push to confirm and go one level up innovators in agriculture ...

Page 98: ...INTENTIONALLY BLANK 5 4006 8501 0 B 5 36 Operating Instructions innovators in agriculture ...

Page 99: ...equencies of the tasks shown in the table are the minimum frequencies recommended Maintenance Tasks Frequencies Operating Weeks Operating Months Note Clean the Charging Strips and the Charging Electrodes see page 6 2 1 Clean the Water Inlet Filter see page 6 4 2 Clean the Water Outlet Filter see page 6 5 2 Clean the Nozzle see page 6 8 2 Read the report list and do any indicated maintenance proced...

Page 100: ...er supply to the charging station 2 Manually drive the machine to a clean and quiet location see Manually drive the Machine on page 5 6 3 Switch Off the Machine see page 5 3 Clean Unexpected cow movement Risk of being crushed or trampled Block the cow traffic 1 Thoroughly clean the charging strips 1 2 see figure 41 on page 6 3 of the machine with sand paper or a steel brush 2 Thoroughly clean both...

Page 101: ...chine on page 5 3 During the calibration process you must not move the Discovery 3 Push soft button Yes to start the gyroscope calibration process 4 Wait until a beep is heard about 10 minutes to confirm that the calibration is complete 5 Drive the Machine to the Charging Station see page 5 6 6 Examine if the charging electrodes slide over the middle of the charging strips when you park the machin...

Page 102: ... see Manually drive the Machine on page 5 6 Unexpected cow movement Risk of being crushed or trampled Block the cow traffic 2 Remove the upper cover see Remove or install the Covers on page 5 2 Clean Figure 42 Clean the water inlet filter KEY 1 Water inlet filter 2 Filter 3 Seal 4 Cap 1 Turn the cap 4 counter clockwise to remove it from the filter housing 2 Remove the filter 2 from the filter hous...

Page 103: ...page 5 6 3 Start the time path see Start or Stop the Time Path on page 5 32 6 3 3 Clean the Water Outlet Filter Preparation 1 Manually drive the machine to a clean and quiet location see Manually drive the Machine on page 5 6 Unexpected cow movement Risk of being crushed or trampled Block the cow traffic 2 Remove the upper cover see Remove or install the Covers on page 5 2 innovators in agricultur...

Page 104: ...5 4006 8501 0 B 6 6 Maintenance Clean Figure 43 Clean the water outlet filter KEY 1 Tube coupling from pump 2 Tube coupling to spray nozzle 3 Water outlet filter innovators in agriculture ...

Page 105: ... assembly under a water tap Let water flow through the tube filter assembly against the flow direction If necessary use warm water and a non aggressive cleaning detergent 4 Connect the tubes of the tube filter assembly to the pump 1 and the throughput to the spray nozzle 2 Make sure the flow direction is correct to the spray nozzle Close up 1 Install the upper cover see Remove or install the Cover...

Page 106: ... 1 Manually drive the machine to a clean and quiet location see Manually drive the Machine on page 5 6 Unexpected cow movement Risk of being crushed or trampled Block the cow traffic Heavy parts Risk of personal injury Use suitable lifting or tilting equipment 2 Use a suitable lifting or tilting tool to lift the front of the machine and put the vehicle on its rear innovators in agriculture ...

Page 107: ... the sensing wheel and the manure scraper 2 Remove the nozzle 1 from its base with a spanner 3 Clean the nozzle 4 Install the nozzle on its base 1 Make sure to position the line in the nozzle horizontally 1 see figure 46 on page 6 10 2 Make sure the nozzle sprays in the direction of the floor innovators in agriculture ...

Page 108: ... sprinkler and push and check if the nozzle sprays correct 3 Drive the Machine to the Charging Station see page 5 6 4 Start the time path see Start or Stop the Time Path on page 5 32 6 3 5 Clean the Ultrasonic Sensor Inspect the black foam ring on the ultrasonic sensor after cleaning Replace the foam ring if it is damaged Preparation 1 Manually drive the machine to a clean and quiet location see M...

Page 109: ...asonic sensor 1 Clean the ultrasonic sensor 1 with a tissue via the ultrasonic sensor opening Close up 1 Manually drive the machine to the charging station see Drive the Machine to the Charging Station on page 5 6 2 Start the time path to put the machine into operation see Start or Stop the Time Path on page 5 32 6 3 6 Clean the Sensing Wheel Do not use water to clean the sensing wheel innovators ...

Page 110: ...ilting tool to lift the front of the machine and put the vehicle on its rear see figure 48 on page 6 12 2 Remove the dirt between the sensing wheel and the nose with a brush 3 Remove the dirt between the sensing wheel and the concrete block with a screw driver and a brush 4 Make sure that the sensing wheel can turn freely 5 Use a suitable lifting or tilting tool to put the machine back onto its wh...

Page 111: ...see Manually drive the Machine on page 5 6 Clean Unexpected cow movement Risk of being crushed or trampled Block the cow traffic Heavy parts Risk of personal injury Use suitable lifting or tilting equipment 1 Use a suitable lifting or tilting tool to lift the front of the machine and put the vehicle on its rear To prevent damage of the electronics do not clean the manure scraper with a high pressu...

Page 112: ...aper 3 Manually drive the machine to the charging station see Drive the Machine to the Charging Station on page 5 6 4 Start the time path to put the machine into operation see Start or Stop the Time Path on page 5 32 6 3 8 Clean the Covers Preparation Unexpected cow movement Risk of being crushed or trampled Block the cow traffic 1 Manually drive the machine to a clean and quiet location see Manua...

Page 113: ...hine to a clean and quiet location see Manually drive the Machine on page 5 6 2 Switch Off the Machine see page 5 3 Removal Unexpected cow movement Risk of being crushed or trampled Block the cow traffic Heavy parts Risk of personal injury Use suitable lifting or tilting equipment 1 Use a suitable lifting or tilting tool to lift the front of the machine and put the vehicle on its rear Make sure no...

Page 114: ... 8 to the fixation plate 9 Installation 1 Loosely install the new manure scraper 8 see figure 52 on page 6 16 between the fixation plate 9 and the clamping strip 7 with the ten bolts washers and nuts 2 Put the fixation plate 9 with the manure scraper 8 on a flat surface 3 Make sure the manure scraper 8 is installed equally divided between the fixation plate 9 and the clamping strip 7 4 Tighten all...

Page 115: ...the Machine to the Charging Station see page 5 6 8 Start the time path to put the machine into operation see Start or Stop the Time Path on page 5 32 6 3 10 Replace the Sliding Disc Preparation 1 Manually drive the machine to a clean and quiet location see Manually drive the Machine on page 5 6 2 Switch Off the Machine see page 5 3 Replace Unexpected cow movement Risk of being crushed or trampled ...

Page 116: ...On the Machine see page 5 3 3 Open the Lely Control app on the smartphone 4 Push During the calibration process you must not move the machine 5 Push soft button Yes to start the gyroscope calibration process 6 Wait until a beep is heard about 5 minutes to confirm that the calibration is complete 7 Manually drive the machine to the charging station see Drive the Machine to the Charging Station on p...

Page 117: ...ely Control Application see page 5 4 2 In the main menu select Settings and push 3 In the menu Settings select RealTime clock and push 4 Push soft button see RealTime clock on page 4 26 The real time clock has a 24 hour format For instance 7 00 is not the same as 19 00 5 Push or to increase or decrease the value of the selected option 6 Push to confirm and go one level up 7 2 2 Set the Display Lan...

Page 118: ...Start the Lely Control Application see page 5 4 2 In the main menu select Routes and push 3 Select Beepfreq route and push 4 Select the route you want to modify and push 5 Push or to modify the number of beeps per second The standard value 0 5 equals one beep per two seconds 6 Push to confirm and go one level up 7 2 5 Modify the Beep Length 1 Start the Lely Control Application see page 5 4 2 In th...

Page 119: ...nction On or Off see Fill Water on page 4 27 Close up 1 Push to confirm and go one level up 7 3 Tests 7 3 1 Analyse the Reliability of a Route 1 Start the Lely Control Application see page 5 4 2 Stop the time path to take the machine out of operation see Start or Stop the Time Path on page 5 32 3 In the main menu of the Lely Control app select Routes and push To Analyse the Reliability per Route 1...

Page 120: ...s 5 Make a note of the percentage bump points 6 Make a note of the percentage short routes 7 Push and look up the explanation of the noted fault categories A H 8 Make sure you understand the explanation of the noted fault categories 9 Make a test route and find out where the notes risky action numbers appear see Test a Route on page 7 4 10 Delete the route see Delete a Route on page 5 28 11 Make a...

Page 121: ...yed Figure 55 Charging current 6 Make sure the charging current is more than 10 A 7 If the charging current is less than 1 0 A make sure the orange LED on the charging station is ON see Charging Station on page 4 8 8 If not make sure the main power is connected to the battery charger 9 If the machine is still not charging make sure the electrodes are connected to the battery charger 10 If the mach...

Page 122: ...r and the wall 3 In the main menu of the Lely Control app select Test and push 4 Select Ultrasound and push 5 If the ultrasonic sensor is on the left push soft button L else push R 6 Make sure the machine is between you and the wall Make sure not to interrupt the sensing beam while turning the wheel 7 Monitor the display of the user interface while you turn the sensing wheel 8 Make sure the Pulse ...

Page 123: ... values are 0 1 Put an object exactly 1 m 1 1 yrd from the ultrasonic sensor 2 Make sure the Pulse 1 mm and Filter mm show 1000 mm Else call your local service provider Close up 1 Drive the Machine to the Charging Station see page 5 6 2 Start the time path to put the machine into operation see Start or Stop the Time Path on page 5 32 innovators in agriculture ...

Page 124: ...INTENTIONALLY BLANK 5 4006 8501 0 B 7 8 Test and Adjustment innovators in agriculture ...

Page 125: ...e 8 11 The system also displays information about the operation of the machine see Information Report List on page 8 13 8 2 1 Recover Alarms When the machine is in normal operation and a critical alarm occurs The machine stops An alarm message is displayed on the smartphone The LED in the pause button on the machine blinks An alarm sounds To recover the critical alarm 1 Push any key on the smartph...

Page 126: ...ge 8 3 6 Do the recovery procedure described in the alarm list 8 2 3 Read a Report 1 Start the Lely Control Application see page 5 4 2 Stop the time path to take the machine out of operation see Start or Stop the Time Path on page 5 32 3 In the main menu of the Lely Control app select Alarms and push 4 Select Report list and push Table 3 Report list No Date Time Alarm 1 4 1 20 10 6 2 4 1 21 31 15 ...

Page 127: ...our local service provider 2 DOUBLE_ACTION Software failure 1 Call your local Lely service provider 3 DIS_OFF_RANGE Discovery lost searching bump point Slip reduce wall bump force motor power No bump point found 1 Calibrate the gyroscope see Calibrate the Gyroscope on page 8 19 2 Test the route see Test a Route on page 7 4 3 If the problem remains 1 Do a route analysis see Analyse the Reliability ...

Page 128: ...sis see Analyse the Reliability of a Route on page 7 3 2 Modify the routes that are unreliable see Modify a Route on page 5 27 1 If the machine is blocked at a different place calibrate the gyroscop see Calibrate the Gyroscope on page 8 19 7 DISCOV_LOST Discovery deviates from correct directn obstacle gyro drifting bend in action Slip reduce wall bump force motor power While turning the vehicle di...

Page 129: ...see Manually drive the Machine on page 5 6 4 Make sure the Battery is Charging see page 7 5 5 If the machine is still not charging call your local service provider 10 STARTUP Alarm appears with every startup of the machine For information only 11 ROUTE MEMORY Route memory is full Delete a route Route memory has reached the maximum of 16 different routes 1 Delete a route prior to programming a new ...

Page 130: ...rging Check charge LEDs on charger and clean charge strips Battery not full despite charging 1 Clean the Charging Strips and the Charging Electrodes see page 6 2 2 Manually drive the machine to the charging station see Manually drive the Machine on page 5 6 3 Make sure the Battery is Charging see page 7 5 4 If the problem remains call your local Lely service provider 19 DOUBLE TIME Similar points ...

Page 131: ...m remains decrease the motor power 23 HEAVY DRIVE Discovery drives hard The machine has difficulties driving the route If the alarm is repeated more that 5 times per week 1 Make sure there are no obstacles 2 Make sure the barn bedding has no long hay 3 If the problem remains 1 Do a route analysis see Analyse the Reliability of a Route on page 7 3 2 Modify the routes that are unreliable see Modify ...

Page 132: ...your local Lely service provider 33 FULL CHARGING Not enough charging time between routes The machine must recharge fully during nighttime 1 Modify the routes see Modify a Route on page 5 27 2 Make sure the time period between the routes is long enough to fully recharge the battery 35 BATT ERROR Battery recharge failed too low charging current Bad contact with battery charger due to dirt and or co...

Page 133: ...off to protect the battery 1 Clean the Charging Strips and the Charging Electrodes see page 6 2 2 Make sure the Battery is Charging see page 7 5 3 Charge the machine 49 BATTERY_CABLE Loader error Check cable connections 1 Manually drive the machine to a clean and quiet location see Manually drive the Machine on page 5 6 2 Make sure the charging wires are connected correctly to the battery 50 DIREC...

Page 134: ...e provider 59 GYRO_TIMEOUT 1 Call your local Lely service provider 60 61 64GYRO_BIAS 1 2 5 1 Call your local Lely service provider 65 Gyroscope type does not match output signal Reset PCB 1 Switch Off the Machine see page 5 3 and wait at least 10 seconds 2 Switch On the Machine see page 5 3 3 If the problem remains call your local Lely service provider 66 Gyro heater current is not 0 1 Call your l...

Page 135: ...vice provider 8 2 5 Report List The table below gives the report numbers and any actions to be taken Report code and report Description Procedure 2 Left chain is slack Check chain tension 1 Call your local Lely service provider 3 Right chain is slack Check chain tension 1 Call your local Lely service provider 4 Left tire has a smaller diameter Route less reliable 1 Call your local Lely service pro...

Page 136: ...he PCB box 14 Battery is overloaded too many times See battery yield and check battery and capacity Vehicle drives back 20 cm automatically to protect the battery 1 Call your local Lely service provider 15 Battery power too low to start route charge first 1 Clean the Charging Strips and the Charging Electrodes see page 6 2 2 Charge the Machine see page 8 20 16 Battery power too low to start route ...

Page 137: ...deviate check drift 1 Calibrate the Gyroscope see page 8 19 2 If the problem remains 1 Do a route analysis see Analyse the Reliability of a Route on page 7 3 2 Modify the routes that are unreliable see Modify a Route on page 5 27 8 2 6 Information Report List The table below gives the reports that are not recorded and any actions to be taken Description Explanation Time path contains drive time Th...

Page 138: ...ysis on page 4 22 ERROR Distance correction on exist routes check on skid during drive The control system has corrected the drive distance because the expected bump point was not reached in time This could be due to skidding Refer to Control System Direction ERROR Action with bends Gyroscope drifting Route is not reliable The driving direction is not reliable This could be due to a drifting gyrosc...

Page 139: ...connected Connect the power supply Other Call your local Lely service provider The machine drives more shaky than before The chains are not tightened correctly Call your local Lely service provider The wheel bearing is worn out Call your local Lely service provider Machine swings The gyroscope is drifting Calibrate the gyroscop see Calibrate the Gyroscope on page 8 19 The ultrasonic sensor does no...

Page 140: ...The backup process of the routes does not function The software version of the smartphone is not correct Make sure the software version on the smartphone is correct If the version is not correct update the smartphone software Machine is not starting a route The time path is not correct Make sure the time path is correct see Set a Time Path on page 5 29 The battery is low or not charged Drive the M...

Page 141: ...w seconds rest Internal temperature is higher than 85 degrees C 185 degrees F Remove plug from the mains Connect plug and retry after one hour Green and Yellow LED together blink 7 times followed by a few seconds rest Current too high 20 A Remove short circuit else Call your local Lely service provider innovators in agriculture ...

Page 142: ...achine in the bluetooth list of devices on the iPhone and enter the password 0000 4 Check in the list of Bluetooth devices if the machine is connected tap once to connect if it is not connected The iPhone displayes no connection after tapping the machine in the Bluetooth list 1 If the device does not connect switch the Bluetooth on the iPhone Off and On 2 Now you can pair the machine in the blueto...

Page 143: ...hine on page 5 6 3 Remove the upper cover see Remove or install the Covers on page 5 2 4 Remove the lower cover 5 On the PCB box push button Off 6 On the PCB box push button On 7 Calibrate the gyroscope see Calibrate the Gyroscope on page 8 19 8 Manually drive the machine to the charging station see Manually drive the Machine on page 5 6 8 4 2 Calibrate the Gyroscope 1 Start the Lely Control Appli...

Page 144: ...you hear a beep sound approximately 5 minutes 8 4 3 Charge the Machine 1 Drive the Machine to the Charging Station see page 5 6 2 Make sure the machine is charging orange and green LEDs are ON see Charging Station on page 4 8 3 Let the machine be charged for one hour minimum innovators in agriculture ...

Page 145: ...and must be done only by qualified recycling organizations All components must be disposed in compliance with the local rules and regulations Lubricants and fluids must be disposed correctly to prevent pollution of the environment Read the safety data sheets of the used lubricants and fluids for correct disposal All lubricants and fluids must be disposed in compliance with the local rules and regu...

Page 146: ...INTENTIONALLY BLANK 5 4006 8501 0 B 9 2 Disposal innovators in agriculture ...

Page 147: ...5 4006 8501 0 B EG Declaration of Conformity 10 1 10 EG Declaration of Conformity innovators in agriculture ...

Page 148: ...INTENTIONALLY BLANK 5 4006 8501 0 B 10 2 EG Declaration of Conformity innovators in agriculture ...

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Page 150: ...www lely com CornelisFvanFderFLelylaanF1 NL 3147FPB FMaassluis Tel 31F 0 88F F12F28F221 Fax 31F 0 88F F12F28F222 Lely Industries N V ...

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LELY Lely Discovery 90 SW, Operator'S Manual

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