LELY 5.4001.0010.1, Руководство пользователя

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Chapter 4 - page 5
DISCOVERY manual 4
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• Include as many collision points as possible when programming the route. This is very important, because
these are the points where the distance travelled is reset and the counter starts again. This improves the
reliability of the route. The cubicle stalls will be hypothetically subdivided along two axes (length and width).
Collision points have to be included in both directions.
• When travelling straight forward, the deviation after 5 metres can be more than 0.5m.
• Try to use several small routes if possible (e.g. maximum of 16 actions) instead of a single long route. If there
are several routes, small sections of the cubicle stalls can be covered several times a day.
• Always do a gyroscope calibration before setting off on a new route.
• An action (wall following, straight ahead, ultrasound) must be for at least 4 metres and must end facing
straight so that the gyroscope can be reset. A short action that does not go straight can then follow.
• Do not do too many "small actions" in succession; this can cause large cumulative deviations as the
gyroscope counts the angles. You should therefore alternate between shorter and longer routes.
• Make turns of exactly 90 or 180 degrees. Straighten with the manual control if necessary. For other angles,
the barn cleaner has to be pointed in the right direction.
• Use the ultrasound feature (maximum 2 metres)
• The positioning of the charger unit is important. To allow the barn cleaner to park and depart correctly, there
must be 2.5m room in front of the charger unit and 1.5m room behind it.
In short:
• as many long actions as possible
• point it in precisely the right direction
• go straight to your target
• alternate short and long actions
• changing later is not possible
The starting point for a new route is the charger unit. A fixed starting position maximises the degree of certainty
that the route is being programmed correctly.
The "Charger" (Soft3) button can be used to manoeuvre the barn cleaner manually to the charger unit.
The "Start" button (Soft1) reveals the options such as "Wall following L", "Wall following R", "Straight ahead", etc.
After starting a new route, you are taken to a scroll menu containing various action options. For the first function,
only left and right wall following are possible. For subsequent actions, choices from the full menu are available.
The UP/DOWN selection buttons (+ and -) can be used to select an action. Confirm the chosen action with the
button. A screen for the action selected is then shown, containing a number of variables. Variables are indicated
with a "<" symbol. The following actions are possible:
• BACK (Soft1 or Soft2 button) :
Back to the action scroll menu without doing anything.
• If present (Soft2 button) :
Select the variable whose setting is to be changed.
• MANUAL (Soft3 button) :
Manual operation: adjusting the barn cleaner to get a good starting position (direction) - for example to help
it steer through a bend.
• Start/Stop :
Starting: The "Start/Stop" button activates the selected action. Depending on the action, this will proceed
automatically, or Stop or PR must be used to complete the action.
• UP/DOWN selection buttons (+ and -) :
Modify a variable: the UP/DOWN selection buttons (+ and -) can be used to modify the value. If there are