Prova 1

5.
Diagnostics
The Diagnostics section of the Service Guide help to perform diagnostics in case of problems
affecting the operation and to pinpoint about the source of the problem. The diagnostics can be
done directly through the ‘Service’ menu in the Robomow or through the Toolkit software that
gives more detailed information in one screen. The Toolkit and the ‘Service’ menu in Robomow
have a series of self-diagnostic tests that allow it to pinpoint problems or test systems affecting the
operation. By entering the specific system or component test, it will display either a ‘Pass’ or ‘Fail’
message or display a fault code, which is referenced in Section 5.6 to determine the nature of the
problem.
This section closely cross-references with Section 3, Troubleshooting. In Section 3, many of the
troubleshooting flow charts request a specific diagnostic test to be performed. The results of each
of these diagnostic tests are then used to determine the system or component of failure. This section
outlines the procedure for performing these tests as well as an interpretation of the results, found in
the Fault Code Tables, Section 5.6.
Contents
Subject Page
5.1 General test……………………………………………………………. 5-2
5.2 Service Key Procedure………………………………………………... 5-3
5.3 Toolkit Setup and Main Menu……………………………………….. 5-6
5.4 Toolkit Options………………………………………………………... 5-10
5.4.1 System View………………………………………………………….. 5-10
5.4.2 Tests…………….…………………………………………………….. 5-16
5.4.3 Calibrations…………………………………………………………… 5-17
5.4.4 Settings………………………………………………………………... 5-18
5.4.5 Information……………………………………………………………. 5-19
5.4.5 Downloads……………………………………………………………. 5-20
5.5 Service menu options………………………………………………….. 5-24
5.5.1 Settings procedures……………………………………………….…. 5-24
5.5.2 Calibration procedures……………………………………………… 5-29
5.5.3 Testing procedures…………………………………………………... 5-31
5.6 Diagnostics fault codes……………………………………….….…….. 5-35
5.7 Operation Stop Cause Table…………………………………….…..... 5-37
5.8 Battery Voltage Measurement………………………………………... 5-40
5.9 Charging Current Measurement……………………………………... 5-42
5-1
5.1 General Test
The General Test is a basic test that should be performed whenever a technician initiates a
service repair on a Robomow. The test is designed so that most common problems found in normal
operation will be readily apparent. The General Test should be performed regardless of whether any
work was actually performed out on a unit. This ensures a “Duty of Care” to the customer, and will
also serve to insure that all safety systems are working properly prior to a customer using the unit.
The General Test should also be performed after any service routine was performed. This will
insure that the maintenance was performed correctly and that no additional problems were
introduced to the unit during the service routine.
The General Test and certain of the other diagnostics tests need to be performed in a simulated
lawn with the layout as shown below:
Mi
n3
m
(10
ft)
5ft)
(6.
m
n2
Mi
Figure 5.1
Simulated Lawn for General Test
A. Remove batteries fuse from the Robomow and perform a mechanical inspection:
1. Check the operation of the cutting height adjustment.
2. Confirm the front cover chassis, operating panel and gear cover are closed well in its place.
3. Check that the blade is sharp and securely attached.
4. Check the operation of the front wheel by insuring it is free to rotate in all directions.
B. Clean the unit using compressed air; particularly the mowing decks. A damp cloth and a
wooden stick can also be used to remove stubborn dirt and debris. Do not wash with a hose.
C. Insert the batteries fuse and perform the following tests:
1. Check that the operating LED illuminates when the fuse is inserted.
2. Check that the operating panel display and buttons are working properly.
3. Slightly lift the front of the unit and insure that the unit announces the Front Wheel lifted.
Repeat the same test by holding the Front Wheel pressed so it will not activate and lift
Robomow to more than 60 degrees to verify the tilt sensor is activated.
4. Confirm that the bumpers are functioning correctly by pressing them and hear the beeps.
5. Check charging using a Power Supply or through the Base Station.
SAFETY FIRST! Before completing the following tests, insure that

the test area is clear of persons and obstacles. Remove all floor debris
to prevent it from being thrown by the rotating blade. Keep feet and
hands away from the blades and the drive wheels when testing.
5-2
D. Using the Remote Control, drive the Robomow manually forwards, backwards, left and right
and perform the ‘Drive motor test’ under the ‘Service’ menu.
E. Manually activate the mowing motors and perform the ‘Mowing test’ under the ‘Service’ menu.
F. Operate the Robomow automatically in the simulated lawn. Verify it follow the perimeter wire
in edge mode and move in a straight lines when it moves inside the area in Scan mode.
5.2 Service Key
The Service Key is a function in the Robomow software that allows a service technician to
access diagnostics and service functions. These menu functions are not available to the end user.
There are two ways to unlock the service password protection:

§ Formula that calculates the required password code based on a counter that is changed every
2 days and called Service Counter.
§ Master code: ‘01210’
When you are asked to enter the password code the Service Counter is displayed at the right
side of the display inside the brackets. In case of instructing the customer to enter the ‘Service’
menu, it is recommended to use the Service Counter and not the Master code in order to prevent
the user to reenter the ‘Service’ Menu in the future. The table in the next pages shows the code
required for every Service Counter:
5-3
Service Counter and password:
Service Service Service Service Service Service

Counter Password Counter Password Counter Password
0 00000 52 05356 104 21528
1 00001 53 05565 105 21945
2 00006 54 05778 106 22366
3 00015 55 05995 107 22791
4 00028 56 06216 108 23220
5 00045 57 06441 109 23653
6 00066 58 06670 110 24090
7 00091 59 06903 111 24531
8 00120 60 07140 112 24976
9 00153 61 07381 113 25425
10 00190 62 07626 114 25878
11 00231 63 07875 115 26335
12 00276 64 08128 116 26796
13 00325 65 08385 117 27261
14 00378 66 08646 118 27730
15 00435 67 08911 119 28203
16 00496 68 09180 120 28680
17 00561 69 09453 121 29161
18 00630 70 09730 122 29646
19 00703 71 10011 123 30135
20 00780 72 10296 124 30628
21 00861 73 10585 125 31125
22 00946 74 10878 126 31626
23 01035 75 11175 127 32131
24 01128 76 11476 128 32640
25 01225 77 11781 129 33153
26 01326 78 12090 130 33670
27 01431 79 12403 131 34191
28 01540 80 12720 132 34716
29 01653 81 13041 133 35245
30 01770 82 13366 134 35778
31 01891 83 13695 135 36315
32 02016 84 14028 136 36856
33 02145 85 14365 137 37401
34 02278 86 14706 138 37950
35 02415 87 15051 139 38503
36 02556 88 15400 140 39060
37 02701 89 15753 141 39621
38 02850 90 16110 142 40186
39 03003 91 16471 143 40755
40 03160 92 16836 144 41328
41 03321 93 17205 145 41905
42 03486 94 17578 146 42486
43 03655 95 17955 147 43071
44 03828 96 18336 148 43660
45 04005 97 18721 149 44253
46 04186 98 19110 150 44850
47 04371 99 19503 151 45451
48 04560 100 19900 152 46056
49 04753 101 20301 153 46665
50 04950 102 20706 154 47278
51 05151 103 21115 155 47895
5-4
Service Counter and password (con.):
Service Service Service Service

Counter Password Counter Password
156 48516 207 85491
157 49141 208 86320
158 49770 209 87153
159 50403 210 87990
160 51040 211 88831
161 51681 212 89676
162 52326 213 90525
163 52975 214 91378
164 53628 215 92235
165 54285 216 93096
166 54946 217 93961
167 55611 218 94830
168 56280 219 95703
169 56953 220 96580
170 57630 221 97461
171 58311 222 98346
172 58996 223 99235
173 59685 224 00129
174 60378 225 01026
175 61075 226 01927
176 61776 227 02832
177 62481 228 03741
178 63190 229 04654
179 63903 230 05571
180 64620 231 06492
181 65341 232 07417
182 66066 233 08346
183 66795 234 09279
184 67528 235 10216
185 68265 236 11157
186 69006 237 12102
187 69751 238 13051
188 70500 239 14004
189 71253 240 14961
190 72010 241 15922
191 72771 242 16887
192 73536 243 17856
193 74305 244 18829
194 75078 245 19806
195 75855 246 20787
196 76636 247 21772
197 77421 248 22761
198 78210 249 23754
199 79003 250 24751
200 79800 251 25752
201 80601 252 26757
202 81406 253 27766
203 82215 254 28779
204 83028 255 29796
205 83845
206 84666
5-5
5.3 Toolkit Setup and Main Menu
5.3.1 Tools required (Figure 5.2):
§ A computer at the test bench area
§ USB to RS-232 adaptor
§ RS-232 to RJ11 adaptor
§ Cable with 2 ends of phone jacks (RJ11 connectors)
§ Service Kit Package
PC
USB to RS-232 RS-232 to RJ11

adaptor adaptor RJ11 cable
Figure 5.2 - Tools required
5.3.2 Copy the ‘Service Kit Package’ to your computer. It includes the following:
Application for Service application Driver for the USB

software download to RS-232 adaptor
Figure 5.3 – Service Kit Package
5.3.3 Copy the ‘RM_Toolkit’ folder to the ‘C’ directory. The ‘RM_Toolkit’ folder MUST be
copied to the ‘C’ directory to enable software downloads through the Toolkit application.
5.3.4 Double click to open the
5.3.5 Copy the to Desktop.
5.3.6 Install the driver for the USB to RS-232 adaptor following the instructions in Appendix A
(The Driver for the USB installation is in the ‘USB to Serial’ folder’ – in the Service Kit
Package).
5.3.7 Connect the USB to RS-232 adaptor to your PC, when the USB side is connected to the
computer, as shown in Figure 5.4 below.
5.3.8 Connect the USB to RS-232 adaptor to the RS-232 to RJ11 adaptor, as shown in Figure
5.5 below.
RS-232 to RJ11 RS-232 Connector
Adaptor
Figure 5.5
Figure 5.4 USB to RS-232 Adaptor connection
USB connection to PC to RS-232 to RJ11 Adaptor
5-6
5.3.9 Connect the RJ11 cable (phone jack) to the adaptor, as shown in Figure 5.6 and the other
side of the cable to Robomow, as shown in Figure 5.7 (for your convenient, lift the
bumper for easier access to the communication socket in the mower).
Figure 5.6
RJ11 connection to Figure 5.7
Adaptor RJ11 (phone jack) connection to Robomow
5.3.10 The following Figure shows the connections from the computer to the Robomow:
Robomow
JR11
connector
RS-232 RS-232 to RJ11

connection Adaptor
USB to RS-232 Computer

Adaptor USB
connection
Figure 5.8
Communication between
Robomow and the computer
5-7
5.3.11 Double click on the Toolkit icon in the Desktop to open the Toolkit
software. The first page of the Toolkit will be opened, where at the top left side of the
display, the following options are available (Figure 5.9):
Refer to Refer to
5.3.13 5.3.14
Refer to Figure 5.9

5.3.12 Toolkit Toolbar
Refer to Refer to Refer to Refer to Refer to Refer to

5.4.1 5.4.2 5.4.3 5.4.4 5.4.5 5.4.6
5.3.12 View – ‘Debug window’ uses for Friendly Robotics diagnostic only.
5.3.13 Settings – choosing the ‘Settings’ menu will open the following display (Figure 5.10):
Figure 5.10
Settings menu
Choose the ‘Communication settings…’ to set the COM in the PC that the Toolkit box is
connected to (Figure 5.11). The ‘Baud Rate’ should be set always to ‘19200’ (default).
Figure 5.11
Communication
Settings
5.3.14 Help - choosing the ‘Help’ menu will open the following display (Figure 5.12):
Figure 5.12
Help Menu
5-8
Press the ‘About RM Toolkit’ in the ‘Help’ menu to confirm that you are using the most
updated Toolkit software version, as shown in Figure 5.13. (Ask your distributor or
Friendly Robotics for the most updated Toolkit version).
Figure 5.13
About RM Toolkit
Press the ‘RM Toolkit Help’ to enter the online help.
To have an access to the help pages in the website, it is required to enter ‘User name’ and
‘Password’ (Figure 5.14). Please contact your distributor or Friendly Robotics to receive
the ‘User name’ and ‘Password’.
Figure 5.14
About RM Toolkit
5-9
5.4 Toolkit Options
5.4.1 System View
The System View (Figure 5.15) shows the following information in a real time:
- Bumper state and analog readings (refer to paragraph 5.4.1.1)
- Cover analog readings (refer to paragraph 5.4.1.2)
- Rain sensor analog readings (refer to paragraph 5.4.1.3)
- Front Wheel analog readings (refer to paragraph 5.4.1.4)
- Tilt state (refer to paragraph 5.4.1.5)
- Wire sensors information (refer to paragraph 5.4.1.6)
- Remote Control (refer to paragraph 5.4.1.7)
- Push buttons in the operating panel (refer to paragraph 5.4.1.8)
- Battery and Charging (refer to paragraph 5.4.1.9)
- Drive information (refer to paragraph 5.4.1.10)
- Mow information (refer to paragraph 5.4.1.11)
Figure 5.15
System View
‘Open’ / ‘Close’ saved files. Click on the

When ‘Close’ is displayed there is Save a file with the
displayed values ‘Close’ to enable
no communication with the robot communication
and the name of the opened file is with the robot
displayed as shown below:
5 - 10
5.4.1.1 Bumper
The Bumper block shows the bumper state, where there are four options (Figure 5.16):
‘Clear’ if bumper is not detected.
‘Left’ if bumper is pressed from the left side of Robomow.
‘Right’ if bumper is pressed from the right side of Robomow.
‘Front’ if bumper is pressed from the front side of Robomow.
When bumper is detected, the box color is changed to blue.
Figure 5.16
Bumper block
In addition it shows the analog reading of the bumper sensors for the left and right side.
You should check that after the bumper is pressed and released, the analog readings are
changed back to the original readings displayed in the ‘Clear’ state (+/-3). If the
readings are not changed back to the original values, check for dirt or damage in the
bumper, bumper shaft and confirm the screws of the bumper shafts are tighten well.
Note: The analog readings of the right and left sensors should not be the same in the
‘Clear’ state, as the distance of the sensor from the magnet is changed between mowers
and between the sides.
5.4.1.2 Cover
The Cover block shows the cover sensor analog reading (Figure 5.17). When the cover
is lifted the box color is changed to blue. When the cover is closed, the reading should
be max 5 and when it is lifted it is expected to be higher than 130.
Figure 5.17
Cover block
5 - 11
5.4.1.3 Rain Sensor
The Rain sensor block shows the analog reading (Figure 5.18). When the reading goes
down below 25, the mower detects rain. Normal reading during the season should be
27-29.
Figure 5.18
Rain sensor block
5.4.1.4 Front Wheel

The Front Wheel block shows the analog reading of the Drop-off sensor (Figure 5.19).
When the Front Wheel is on the ground, the reading should be max 5 and when the
Front Wheel is lifted it is expected to be higher than130 and the box color is changed to
blue.
Figure 5.19
Front Wheel block
5.4.1.5 Tilt
The Tilt block shows the state of the tilt sensor (Figure 5.20). The tilt sensor is an optic
sensor that detects the situation, which the mower is lifted from the front side in more
than 60 degrees. When tilt is detected, the box color is changed to blue.
Figure 5.20
Front Wheel block
5.4.1.6 Wire
Note: While working through the Toolkit, the communication causes to noise in the
signal, thus it is recommended to test the wire sensors and the signal through the
‘Special display> Sensors> Wire’ and not through the Toolkit.
The Wire block shows the following information (Figure 5.21):
- State - In / Out of the wire sensors referring to the perimeter wire loop.
- Amplitude - strength of the signal –will be higher as the detected signal is stronger.
- Count – digital reading of the sensor readings:
400 – inside the lawn
200 – out of the lawn
0 – no wire signal
- Gain – increasing the signal strength as needed (changed between 0 to 3, where ‘0’ is
for very low increasing and ‘3’ is for the highest increasing).
5 - 12
Figure 5.21
Inside the lawn Out of the lawn No wire signal
5.4.1.7 Remote Control

The Remote Control block shows if it is activated and which button is pressed (Figure
5.22). The box color is changed to blue when there is transmission from the Remote
Control to the mower and the check boxes show, which button is pressed.
Manual drive Manual mow
Figure 5.22
Remote Control block
5.4.1.8 Push Buttons

The Push Buttons block shows if it is activated and which button is pressed (Figure
5.23). The box color is changed to blue when one of the buttons is pressed.
Figure 5.23
Push Buttons block
5 - 13
5.4.1.9 Battery and Charging
The Battery and Charging shows the following information (Figure 5.24):
- Box color is blue when the battery is charged.
- Charging Stage - The charging process is divided into three stages:
Stage 1 (‘4’ is displayed):
Adjust the Charging Power to maintain the max charging current until the battery voltage
reaches 29.4V.
Stage 2 (‘5’ is displayed):
Adjust the Charging Power to maintain a battery voltage of 29.4V.
Stage 3 - Floating (‘6’ is displayed):
Adjust the Charging Power to maintain a battery voltage of 27.2V until charging process
is terminated.
- Charging Voltage –
When using 0.9A Power Supply:
Expected charging voltage in stage 1 – 30.0V (+/-10%)
Expected charging voltage in stage 2 – ~30-37V
Expected charging voltage in stage 3 – ~35-37V
- Charging Current –
This is the actual charging current.
In stage 1 (4) – Max possible charging current.
In stage 2 (5)– Changed to control constant voltage of 29.4V.
In stage 3 (6)– 0-0.12A
- Charging Power –
The Charging Power (PWM) uses to control the parameters in the charging process:
In stage one, Robomow changes the Charging Power (PWM) in order to control the max
charging current.
In stage two, Robomow changes the Charging Power (PWM) in order to control the
batteries voltage to 29.4V.
In stage three, Robomow changes the Charging Power (PWM) in order to control the
batteries voltage to 27.2V. It is expected to be 0-1%.
- Battery Voltage –
Expected batteries voltage in stage 1 (4) – goes up until it reaches 29.4V.
Expected batteries voltage in stage 2 (5) – 29.4V
Expected batteries voltage in stage 3 (6) – 27.2V
- Battery Temperature – battery temperature in Celsius.
- Battery Type – Shows the battery type.
Figure 5.24
Battery and Charging
block
5 - 14
5.4.1.10 Drive
The box shows the following information, where ‘L’ is for the left drive motor and ‘R’
is for the right one (Figure 5.25):
- Box color is blue when the drive is activated.
- Direction – shows the direction (0-359º), where it becomes zero in every ‘GO’ pressing.
- Distance – accumulated distance (cm), where it becomes zero in every ‘GO’ pressing.
- Power - Drive power (%)
- Current - Actual drive motor current.
No load (wheel in the air) – expected current 0.2-0.3A.
Over current threshold (default) – 2.0A.
- Temperature - The drive motor temperature. Drive over-heat threshold – 85Cº
- Speed - The speed in percent from the max possible speed.
- Ticks - The counter of the odometer ticks (turns of the drive motor).
- Over-Current - shows indication for drive hardware over-current.
Figure 5.25
Drive block
5.4.1.11 Mow
The box shows the following information (Figure 5.26):
- Box color is blue when the mow is activated.
- Power – shows the mow power (%).
- Current – shows the actual mowing current (should be around 1.0A in no load).
- Temperature – shows the mow motor temperature. The mow over-heat threshold is 10
minutes above 90Cº or 1 sec 100Cº.
- Over-Current – shows indication for mow hardware over-current.
Figure 5.26
Mow block
5 - 15
5.4.2 Tests
The ‘Tests’ page enables to perform test for the following systems/sensors, as shown in
Figure 5.27 below:
Figure 5.27
Test page
All the tests above are available to be performed directly through the ‘Service> Tests’ menu
in the Robomow LCD too.
Press the key of the system you want to test. The results of the tests (Figure 5.28) will be a
‘Passed’ or ‘Fail’ with a fault code number. Refer to the fault code in Section 5.7 Diagnostics
Fault Codes.
Figure 5.28
Test results
For more details of how to perform the tests procedures refer to section 5.5.3 Tests
Procedures.
5 - 16
5.4.3 Calibrations
The ‘Calibrations’ page enables to perform the calibrations the following systems/sensors,
as shown in Figure 5.29 below:
Figure 5.29
Calibration page
All the calibrations above are available to be performed directly through the ‘Service>
Calibrations’ menu in the Robomow LCD too.
Press the key of the system you want to test and simply follow the instructions displayed in
the Robomow LCD. The results of the tests will be a ‘Passed’ or ‘Fail’ with a fault code
number. Refer to the fault code in Section 5.7 Diagnostics Fault Codes.
For more details of how to perform the calibrations procedures, refer to section 5.5.2
Calibrations Procedures.
5.4.4 Settings
The ‘Settings’ page enable to receive the settings from the robot, to change them in the
computer (if required) and to send back the updated settings to the robot.
This can be use in service mostly when it is required to replace Main Board – this
option enable to keep the settings of the robot (such as Weekly program, entry points, work
time and all the others) before the faulty Min Board is replaced, to replace Main Board to
the new one and to send back the same settings to the Main Board.
The ‘settings’ page is divided into three main sections, where the upper side of the
screen shows the ‘Zones Setup’ settings (user’s level), the left bottom side shows the ‘User
Settings’ (Robomow settings at the user’s level) and the right lower side shows the
‘Service Settings’ (Dealer’s level), as shown in Figure 5.30:
5 - 17
Figure 5.30
Settings page
At the bottom of the screen there are four options:

Receive Setting From Robot – Press ‘Receive Setting From Robot’ and wait until the
display will be updated with the settings from the robot (it may take 40-50 sec).
Send Settings To Robot – Press ‘Send Setting To Robot’ and wait until the progress line
(the green line at the bottom of the display) is full (it may take few sec).
Open / Close – Enables to open a saved file. The file can be opened only when using the
Toolkit software. When a file is open the button is changed to ‘Close’ and there is no
communication with Robomow. Press the ‘Close’ to enable communication.
Save – Enable saving the ‘Settings’ screen as a file. This option is useful in the following:
1. In service when you want to keep the file of the settings so you can use it in the future.
2. When required help from Friendly Robotics in diagnostics of a problem, it is
recommended to attached three files (System View, Settings and Information) as it will
save questions and time in the diagnostics process.
To change the setting, press the sign and choose the required setting.
In case the setting is blocked for change, its window color will be gray – only the white
boxes are available for updating.
All the settings are explained in details in Chapter 2 – Menu Items.
5 - 18
5.4.5 Information
The ‘Information’ page shows the ‘Information’ received from the robot (Figure 5.31).
It displays the same information that is available in the ‘Information’ menu in the mower,
but it is more convenient to see all the information in one page with no need to scroll
between all the screens.
When required help from Friendly Robotics in diagnostics of a problem, it is
recommended to attached three files (System View, Settings and Information) as it will
save questions and time in the diagnostics process.
Figure 5.31
Information page
The ‘Configuration’ is displayed in a different way (figure 5.32) from the way it is
displayed in the ‘Information’ menu in the Robomow itself.
Main Board:
1 – ESB5000E
Software:
1 – RM200 5.2v 25/11/07
2 – RM400 5.4v 25/11/07
Base Station: Figure 5.32

Software version of the base Station Board Configuration
27 à 1.27v
5 - 19
5.4.6 Downloads
This option enables to download software version from the computer to the Robomow
using the Toolkit application. There is another option to download software through the
FTP application (please refer to Appendix A numbers 1 to 21).
5.4.6.1 Choose the ‘Download’ page and press the ‘Download Software Version’ button
(Figure 5.33):
Figure 5.33
Download Software Version
5.4.6.2 Perform reset in Robomow (Figure 5.34) before proceeding to the software
download process by one of the following options:
a. Press the On/ Off button continually for 4 seconds (there is no indication from
Robomow after the reset is done).
b. Remove the batteries fuse from Robomow for 2 seconds and reinsert.
Press OK to proceed.
Figure 5.34
Perform ‘Reset’ before software download
5 - 20
5.4.6.3 Choose the software to be downloaded and press the ‘Open’ button (Figure 5.35).
Figure 5.35
Choose the software you want to download
5.4.6.4 The display in Figure 5.36 will be opened. Press the ‘Browse…’ button.
Figure 5.36
Press ‘Browse’ to find the RM id file
5.4.6.5 Choose the and press the ‘Open’ button (Figure 5.37).
Figure 5.37
Choose the RM.id file
5 - 21
5.4.6.6 The new screen with the ID will be displayed. Presses ‘OK’ to proceed in the
software download process (Figure 5.38).
Figure 5.38
Press ‘Browse’ to find the RM id file
5.4.6.7 Wait until the download process is completed. If the download is completed
successfully, the following screen is displayed (Figure 5.39) with ‘Download
Process: Succeed’ message at the bottom line.
Figure 5.39
Download Process: Success
5 - 22
5.4.6.8 If the download process was completed successfully, you can choose between the
following options:
a. Continue downloading software to other mower; then you need to press again
the , to perform reset and repeat the same process, but
with no need to set again the RM ID. It is required to perform Reset in every
Robomow after the software download is completed.
b. Go out from the ‘Download’ page and change to the other Toolkit options;
5.4.6.9 If the software download process fails, check/ perform the following:
- Perform reset to the Robomow before starting the download process;
- Check connection to the Robomow;
- Check connection to the PC;
- Close and reopen the Toolkit application;
- Confirm communication is enabled (using the ‘System view’ page of the
Toolkit).
5 - 23
5.5 Service Menu Options
The Service menu, while accessed under the User Options screen, is not a customer menu
option. It is only to be used by a trained service technician and requires a specific 5-digit code to be
entered in order to access the sub-menus.
Various settings, calibrations and tests are found under the ‘Service’ menu that may be used by
the technician. Each of these tests is selectable by simply scrolling through the menu. After
completing work in a specific area, perform the test shown in the procedure and then perform the
General Test outlined in Section 5.1. This will insure that the repair has been done properly and
that the unit functions satisfactorily.
The results of some tests will be a pass or fail while others will display a fault code number.
Refer to the fault code in Section 5.6 Diagnostics Fault Codes.
Please follow the instructions for each test carefully. At the end of each test press the ‘STOP’
button to exit. Continual pressing of the ‘STOP’ button will move you up through the menu levels,
until you arrive at the Main Menu.
Too busy, lack of time or do not understand the test fully: At least operate the Robomow on the
test area in automatic mode, to make sure it is fully operational.. The Robomow has built in
warning and indication system that will pop up on the display in Automatic mode in case you
forgot to perform any of the needed calibrations after service.
5.5.1 Settings Procedures

Only the Special Display is cover in this chapter as all the others settings are explained in Chapter 2
– Menu Items. The ‘Special Display’ is the most useful tool for diagnostics.
5.5.1.1 Special display

Choosing the ‘Special display’ option enables to display the relevant parameters to tested
process (such as temp, volt and sensor readings) and to perform detailed diagnostics. After a
specific display is selected use the ‘STOP’ button to toggle between normal and special
display, and the ‘ON/OFF’ button to terminate the special display.
Special displays Sensors Wire sensors

Press GO Press GO Press GO
Charging Bumper
Confirm Press GO
Temperatures Front wheel
Confirm Press GO
Behavior Cover
Confirm Press GO
Drive motors
Confirm
Mowing motor
Confirm
Figure 5.33 Base
Special display menu Confirm
5 - 24
Wire
In this display the LCD will display the following information:
**************************************************************************************
1) Left amplitude 2) left in/out count 3) left gain 4) wire sensor state
5) Right amplitude 6) right in/out count 7) right gain 8) maximal wire gain
**************************************************************************************
1. Left amplitude (Strength of the signal).
2. Left in/out count (400 – in / 200 – out / 0 – no signal).
3. Left Gain (increasing the signal strength as needed).
Wire gain (0-Very Low 1-Low 2-Mid 3-High).
4. Sensors state.
0-Both in 1-Right out 2-Left out 3-Both out
5. Right amplitude (Strength of the signal).
6. Right in/out count (400 – in / 200 – out / 0 – no signal).
7. Right gain (increasing the signal strength as needed).
Wire gain (0-Very Low 1-Low 2-Mid 3-High).
8. Maximal allowed wire gain (3 in Scan / 1 in Edge).
Bumper
*************************************************************************************
1) Left reading 2) left idle threshold 3) left detection threshold 4) state
5) Right reading 6) right idle threshold 7) right detection threshold 8) sensitive bumper
*************************************************************************************
1. Left reading (A/D).
2. Left idle threshold (A/D reading / 10).
3. Left detection threshold (A/D reading / 10).
4. Sensor state
0=clear 1=left 2=right 3=front
5. Right reading (A/D).
6. Right idle threshold (A/D reading / 10).
7. Right detection threshold (A/D reading / 10)
8. Sensitive bumper detection
0=not detected 1=detected
Front Wheel
*************************************************************************************
1) Reading 2) idle threshold 3) detection threshold 4) state
5) 6) 7) 8)
*************************************************************************************
1. Reading (A/D).
2. Idle threshold (A/D reading / 10).
3. Detection threshold (A/D reading / 10).
4. Sensor state
0=on the ground 1=lifted
5 - 25
Cover
*************************************************************************************
1) Reading 2) idle threshold 3) detection threshold 4) state
5) 6) 7) 8)
*************************************************************************************
1. Reading (A/D).
2. Idle threshold (A/D reading / 10).
3. Detection threshold (A/D reading / 10).
4. Sensor state
0=closed 1=lifted
Charging
*************************************************************************************
1) Charging voltage 2) charging current 3) Charging PWM 4) charging stage
5) Battery voltage 6) charger current supply 7) charger source 8) stage 1 time
*************************************************************************************
1. Charging voltage (10mV resolution)
When using 0.9A Power Supply:
Expected charging voltage in stage 1 – 30.0V (+/-10%)
Expected charging voltage in stage 2 – greater than 30.0V
Expected charging voltage in stage 3 – 34-38V
2. Charging current (10mA resolution) –
This is the actual charging current.
Stage 1 - Robomow changes the Charging Power (PWM) in order to control the charging
current to the max.
Stage 2 – charging current is changed between 0.2-07A
Stage 3 – 0-0.12A
3. Charging Power (PWM)
The Charging Power (PWM) uses to control the parameters in the charging process:
In stage one, Robomow changes the Charging Power (PWM) in order to control the
max charging current.
In stage two, Robomow changes the Charging Power (PWM) in order to control the
batteries voltage to 29.4V.
In stage three, Robomow changes the Charging Power (PWM) in order to control the
batteries voltage to 27.2V. It is expected to be 0-1%.
4. Charging stage:
4 – Stage 1
5 – Stage 2
6 – Stage 3 (Floating)
5. Battery voltage (10mV resolution)

Expected batteries voltage in stage 1 – goes up until it reaches 29.4V
Expected batteries voltage in stage 2 – 29.4V
Expected batteries voltage in stage 3 – 27.2V
5 - 26
6. Charger current supply (in 10mA resolution)
The Power Supply current set in the software version.
The defaults set in the software are:
RM400 Base Station – 0.9A
RM400 Winter Charger – 0.3A
RM200 Regular Power Supply – 0.9A
7. Charger source
0=unknown 1=Base station 2=Regular charger
8. First charging stage time (hours)
Temperatures
*************************************************************************************
1) Left drive temperature 2) right drive temperature 3) 4)
5) Row temperature 6) Main board temperature 7) 8)
************************************************************************************
1. Left drive temperature (ºC)
2. Right drive temperature (ºC)
3.
4.
5. Mow temperature (ºC)
6. Main board temperature (ºC)
Behavior
*************************************************************************************
1) Edge distance 2) Last termination event 3) Edge quarters 4) Scan type
5 ) Last turn angle 6) Last leg distance 7) Corner legs number 8) Narrow passage legs number
*************************************************************************************
1. Edge distance (meters)
2. Last termination event (which terminated the head movement during scan)
0 = None
4 = Distance
5 = Time
6 = Wire
7 = Bumper
8 = Front wheel
9 = Drive overcurrent
3. Edge quarters
4. Scan type
1=random 2= parallel
5. Last turn angle during scan (Degrees)
6. Last leg distance during scan in (10cm resolution)
7. Number of corner legs detected
8. Number of narrow passage legs detected
5 - 27
Drive Motors
******************************************************************************
1) Left current 2) left temperature 3) left over-current 4) over-current count
5) Right current 6) right temperature 7) right over-current 8) total over-current events
******************************************************************************
1. Left drive current (10mA resolution)
2. Left drive temperature (ºC)
3. Left hardware drive over-current
0-not detected 1-detected
4. Over-current counter
5. Right drive current (10mA resolution)
6. Right drive temperature (ºC)
7. Right hardware drive over-current
0-not detected 1-detected
8. Total over-current events in the current operation
Mowing Motor
**************************************************************************************
1) Current 2) temperature 3) over-current 4) over-current count 1
5) Motor on/off reason 6) 7) total over-current events 8) over-current count 2
**************************************************************************************
1. Mow current (10mA resolution)
2. Mow temperature (ºC)
3. Hardware mow over-current
(0-not detected 1-detected
4. Over-current counter 1
5. The reason mowing motor is on or off
1 – mow motor is disabled because the mow on/off menu option is set to off
2 – mow motor is halted
3- mow motor is disabled because bumper is detected
4 - mow motor is disabled because front wheel is detected
5 - mow motor is disabled because cover is detected
6 - mow motor is disabled because tilt is detected
7 - mow motor is disabled because robot is during charging
8 – mow motor is disabled because we are during exiting the base due to charging problem
9 – mow motor is disabled because wire sensors are outside the plot for a long time
10 – mow motor is on because we are during automatic operation and mow motor should be on
11 - mow motor is on because we are during manual mowing
12 - mow motor is on because we are during mowing motor stuck test
13 - mow motor is on because we are during mowing test
14 – mow motor is disabled because we are during demo version
15 - mow motor is disabled because we are during final test version
6. Total over-current events in the current operation
7. Over-current counter 2
5 - 28
Base
**************************************************************************************
1) Primary wire 2) Secondary wire 3) 4)
5 ) Base version 6) Grass sensor reading 7) 8)
*************************************************************************************
1. Primary wire reading
0-1 = disconnected
2 = long cable or poor connection
3-7 = good signal
2. Secondary wire reading
0-1 = disconnected
2 = long cable or poor connection
3-7 = good signal
3.
4.
5. Base station board version
6. Grass sensor reading
0-6 = grass sensor reading
7-15 = grass sensor disconnected
5.5.2 Calibrations Procedures

5.5.2.1 Wire Sensors
Wire sensors calibration is the process of teaching the wire sensors their position relative
to the mower as well as to the signal of the perimeter wire.
Wire sensors Turn off signal

Calibrate then press GO
Turn on signal
Figure 5.34 then press GO
Wire sensors Passed
Calibration menu Press GO
This menu is available just for backup, just in case that a problem was happened while
writing to the EEPROM or in case which one of the wire sensor coils is wrapped in the
opposite direction to the default. This process is done in Friendly Robotics and there is no
need to perform it at any time.
5.5.2.2 Front Wheel Calibration

‘Front wheel’ calibration MUST be performed after Factory default (Main Board) is done -
Robomow will instruct you to complete the required steps, as shown below:
Front wheel Place on ground

Lift mower
then press GO
Figures 2.28 Passed
Front wheel Calibration menu Press GO
5 - 29
5.5.2.3 Bumper Calibration
‘Bumper’ calibration MUST be performed after Factory default (Main Board) is done -
Robomow will instruct you step by step to complete the required calibrations, as shown
below:
Bumper Close cover
Lift cover
then press GO
Rotate bumper
then press GO
Press bumper
then press GO
Figure 5.35 Passed
Bumper Calibration menu Press GO
A. Close cover B. Lift cover
C. Rotate bumper
Rotate bumper for both directions

as much you can although it is very
difficult to rotate the joystick and
the rotating strong is very short
5 - 30
D. Press bumper
Press bumper for both directions, once to the right side then to the left
(there is no need to press the joystick forwards or backwards).
Figures 5.36
Bumper Calibration procedure
5.5.2.4 Voltage Calibration

Option to calibrate the batteries voltage. There is no need to perform this calibration at any
time, as it is done in the factory. The battery voltage read by the software should be +/-0.2V
from the reading done through voltmeter – in case the different is higher then a voltage
calibration should be done.
25.2
Voltage 25.2V
Calibrate Confirm
Figures 5.37
Voltage Calibration menu
5.5.3 Tests Procedures
Settings 5.5.3.1 Sensors

Service Calibrations
5.5.3.2 Drive motors
Tests
5.5.3.3 Mowing motor
Figures 5.38 5.5.3.4 Edge termination
Tests menu
5 - 31
5.5.3.1 Sensors
The ‘Sensors’ tests menu includes the following tests procedures:
5.5.3.1.1 Wire sensors

5.5.3.1.2 Bumper
5.5.3.1.3 Front wheel
5.5.3.1 Sensors
5.5.3.1.4 Cover
Figures 5.39 5.5.3.2 Drive motors
5.5.3.1.5 Tilt
Sensors tests menu 5.5.3.3 Mowing motor
5.5.3.1.6 Rain sensor
5.5.3.4 Edge termination
5.5.3.1.1 Wire Sensors Test

The ‘Wire sensors’ tests the operation of the two wire sensors on the mower. This test
contains 2 steps. The first step in with wire signal turned on and the second one is with wire
signal turned off.
Wire sensors Turn on signal

Press GO then press GO
Turn off signal
then press GO
Activate motors?
Confirm
Figures 5.40 Passed
Wire sensors test menu Press GO
Step1
This step should be performed when robot is inside the plot and wire signal is on.
The following message will be displayed to the user ‘Turn on signal – then press GO’
In this test the following is tested:
− Wire signal is detected
− Robot is inside the plot
− Wire readings are ok
Step2
This step should be performed when wire signal is off.
The following message will be displayed to the user ‘Turn off signal – then press GO’
In this test the following is tested:
− Drive motors are turned on in order to see if wire readings abnormal noises are detected
(this is done to make sure that the wiring of the wire system was done correctly).
If test fails failure number will be displayed (Refer to the fault code in Section 5.6
Diagnostics Fault Codes) and if test passes then ‘Passed’ message will be displayed.
5 - 32
5.5.3.1.2 Bumper Test
Press the bumper from different directions. If test fails failure number will be displayed
(Refer to the fault code in Section 5.6 Diagnostics Fault Codes) and if test passes then the
following will be displayed:
Sensor state Display

Bumper not detected -
Sensitive bumper *
Front bumper ^
Left bumper <
Right bumper >
5.5.3.1.3 Front Wheel Test

Diagnostics Fault Codes) and if test passes then the following will be displayed:
Front Wheel on the ground -
Front Wheel lifted ^
5.5.3.1.4 Cover Test

Cover closed -
Cover lifted ^
5.5.3.1.5 Tilt Test

Tilt not detected -
Tilt detected ^
5.5.3.1.6 Rain Sensor Test

5 - 33
5.5.3.2 Drive Motors
This test should be performed when robot is in the air or on a floor and not on the grass where
drive over current can occur.
Figures 5.41
Drive test -
wheel in the air
5.5.3.3 Mowing Motor

Mowing motors is the process of testing the mowing motor system of the mower. It has one
basic level of testing. This test should be performed when robot is not on the grass where
mow over current can occur.
5.5.3.4 Edge Termination

Is used for testing the edge mode in case, which the mower does not complete the edge all
around the perimeter or when the mower does not drive back to the Base Station at the end of
the operation. After this test is selected, operate the mower in Edge mode. At the end of the
edge, the mower will display a ‘Test result: X’, which is the reason for Edge termination in
this performed test.
Here are the optional Edge termination reasons:
1 – Minimal Edge quarters count
2 – Maximal Edge quarters count
3 - No change in edge quarters for a long time, which probably means the robot is get stuck
4 - Required edge distance reached
5 - Base station detected in a none Base zone
6 - Base station detected while looking for an entry point
7 - Required entry point reached
8 - Edge ended because of drive over current
9 - Edge ended because of drop-off
10 – Edge ended because robot is stuck in place
5 - 34
5.6 Diagnostics Fault Codes Table
Failure Failure
Solution
Number Reason
Left Bumper pressed reading is equal or smaller than Left Perform calibration
1
Bumper idle reading Refer to Flow chart 3.2.9.2
Right Bumper pressed reading is equal or smaller than Right Perform calibration
2
Bumper idle reading Refer to Flow chart 3.2.9.2
Difference between Left Bumper pressed reading and Left Perform calibration
3
Bumper idle reading is too small. Refer to Flow chart 3.2.9.2
Difference between Right Bumper pressed reading and Right Perform calibration
4
Bumper idle reading is too small. Refer to Flow chart 3.2.9.2
Left bumper disconnected Check wiring
7
reading < 50 Refer to Flow chart 3.2.9.2
Right bumper disconnected Check wiring
8
reading < 50 Refer to Flow chart 3.2.9.2
Front wheel lifted reading is equal or smaller than Front Perform calibration
12
wheel not lifted reading Refer to Flow chart 3.2.8.1
Difference between Front wheel lifted reading and Front Perform calibration
13
wheel idle reading is too small. Refer to Flow chart 3.2.8.1
Cover lifted reading is equal or smaller than Cover not lifted Perform calibration
22
reading Refer to Flow chart 3.2.9.3
Difference between cover lifted reading cover not lifted Perform calibration
23
reading is too small. Refer to Flow chart 3.2.9.3
31 Bad battery voltage calibration Perform voltage calibration
If auto battery type detection does
32 Unknown battery type not work then constant battery type
setting should be used
Perform calibration
41 Wire signal off reading is higher than wire signal on reading
Refer to Flow chart 3.2.10.1
Difference between wire signal off reading and wire signal on Perform calibration
42
reading is too small. Refer to Flow chart 3.2.10.1
wire reading indicates calibration failed because we detect Perform calibration
43
that in/out readings are bad Refer to Flow chart 3.2.10.1
Wire reading indicates calibration failed because we detect
Perform calibration
44 that robot is not inside the garden during the calibration with
signal on
45 Wire test failed because wire signal is not detected
46 Wire test failed because robot is not inside the plot
Wire test failed because of invalid wire in /out count during
47
the wire signal on test
48 Wire test failed because wire signal is detected
Wire test failed because of valid wire in /out count during the
49
wire signal off test
5 - 35
Failure Failure
Solution
Number Reason
Check wiring
51 Mow thermistor disconnected
Check wiring
52 Mow motor is disconnected
53 Mow test failed because of mow overcurrent detection Refer to Flow chart 3.2.3.2
Check wiring
54 Mow test failed because of mow motor is disconnected
Mow test failed because mow motor was disabled for some
55
reason during the test
Check wiring
61 Left drive thermistor disconnected
Check wiring
62 Right drive thermistor disconnected
Check wiring
63 Left drive motor disconnected
Check wiring
64 Right drive motor disconnected
Check wiring
65 Left drive odometer problem
Check wiring
66 Right drive odometer problem
67 Drive test failed because of drive overcurrent detection Refer to Flow chart 3.2.7.1
Drive test failed because of left drive motor disconnection Check wiring
68
detection Refer to Flow chart 3.2.7.1
Drive test failed because of right drive motor disconnection Check wiring
69
detection Refer to Flow chart 3.2.7.1
Check wiring
70 Drive test failed because of left drive odometer problem
Check wiring
71 Drive test failed because of right drive odometer problem
72 Drive test failed because left drive motor current is too high Refer to Flow chart 3.2.7.1
73 Drive test failed because right drive motor current is too high Refer to Flow chart 3.2.7.1
81 Rain sensor disconnected Check wiring
5 - 36
5.7 Operation Stop Cause Table
Stop
cause Message Description
number
User tries to initiate operation before the one time setup is
1 No message
completed
2 No message STOP button is pressed during automatic operation
3 No message Edge termination test is completed
4 Close cover Cover lift is detected
The base station indicates that primary wire loop is
5 Splice wire
disconnected
The base station indicates that secondary wire loop is
6 Splice wire
disconnected
The base station indicates that primary wire loop
7 Check wire
connection is poor
The base station indicates that secondary wire loop
8 Check wire
connection is poor
9 Rain detected The base station indicates that the grass is wet
Start inside Automatic operation was initiated by the user while robot is
not inside the plot
Or
10
Change wires in plot
connector Wires in plot connector are inverted
No wire signal is detected when automatic operation is
11 No wire signal
initiated
12 No wire signal No wire signal is detected during automatic operation
Replace blade after 200
13 Mowing blade should be replace
hours
Change wires in plot
14 Wires in plot connector are inverted
connector
15 Failure: 32 Battery type is unknown
16 Recharge battery Low battery voltage is detected during automatic operation
Very low battery voltage is detected during automatic
17 Low battery
operation
Remote control communication is detected during
18 No message
automatic operation
19 Time completed Timeout is detected during automatic operation
20 Start elsewhere Drive over-current is detected during automatic operation
Drive over-current is detected during remote control
21 Start elsewhere
operation
22 Check mow height Mow over-current is detected during automatic operation
Mow over-current is detected during remote control
23 Check mow height
operation
24 Rain detected Rain is detected during automatic operation
25 Drive overheat Drive overheat is detected during automatic operation
26 Mow overheat Mow overheat is detected during automatic operation
27 Mow overheat Mow overheat is detected during remote control operation
28 Drive overheat Drive overheat is detected during remote control operation
Robot got off the base station because charging voltage is
29 Check power
not detected
Robot got off the base station because battery temperature
30 High temperature
is too high
5 - 37
Stop
number
Robot got off the base station because battery temperature
31 Low temperature
is too low
Robot got off the base station because charging current is
32 Charging failure
not detected
Stuck in place (if robot is Robot is stuck in place during automatic operation.
inside the plot)
33 Consecutive turn movements are received without any
Cross outside (if robot is
outside the plot) heading movements
34 Start elsewhere Wire escape is detected during automatic operation
35 Base problem Robot failed to connect to the base station for several times
36 Bumper pressed Bumper detected when automatic operation is initiated
Front wheel detected during when automatic operation is
37 Frnt wheel prob
initiated
Front wheel detected for a long time during automatic
38 Frnt wheel prob
operation
Power Supply overheats detected during the charging
39 No message
process.
Delayed operation was stopped because operation was
40 No message
activated during the inactive hours
Remove fuse then check Mow motor is stuck
42
blade
44 No message ON/OFF button is pressed during automatic operation
Robot is stuck in place during automatic operation.
Robot is performing forward legs without receiving any
45 Stuck in place
termination event such as wire or bumper, which means it,
is stuck.
Robot received a bumper event while searching for the
46 Reposition Base Base station during the Base position one time setup
operation
Robot waited in place for too long during the wire position
47 No message
test waiting for the user to continue the test
STOP / ONOFF button is constantly pressed and user is
48 Key pressed
trying to start an automatic operation.
49 Remove fuse before lifting Tilt is detected
Represents Failure number 1 (look under system failures
601 Bumper - calibrate
for more information)
607 Failure: 7
608 Failure: 8
5 - 38
Stop
number
611 Failure: 11
612 Front wheel - calibrate
621 Failure: 21
641 Wire - calibrate
642 Wire - calibrate
651 Failure: 51
652 Failure: 52
661 Failure: 61
662 Failure: 62
663 Failure: 63
664 Failure: 64
665 Failure: 65
666 Failure: 66
681 Rain sensor disconnected
Unintended departure from base station occurred because
801 No message
no charging voltage was detected
802 No message
no charging current was detected
803 No message
battery temperature overheat was detected
804 No message
battery temperature overcool was detected
Manual departure from base station occurred because GO
805 No message
button was pressed
System dead end.
900-901 Error
This should not happen; if it does a software fix is required.
5 - 39
5.8 Battery Voltage Measurement
There are few options to measure the actual batteries voltage (not through the software version):
1. Using special tool (Figure 5.42)
A. Building the tool.
The following parts are required:
ESB5004C RL Manual Power Supply

Communication Board Controller cable cable + plug
Figure 5.42
Special tool for batteries voltage measurement
B. Exposed the wire ends of the Power Supply cable and solder them to the Communication
Boards, as shown in Figure 5.43 below:
The ‘+’ (cable with the white

line) is soldered to pin ‘1’
and the ‘-‘ to pin ‘6’ 1
+
Figure 5. 43
Cable soldering
to the board
C. Connect the RL Manual Controller cable to the Communication Board (Figure 5.44) and the
tool is ready for use.
Figure 5.44
RM Voltage
measurement tool
5 - 40
D. Lift the RM bumper and connect the cable to the communication board in the Robomow, as
shown in Figure 5.45 below:
Figure 5.45
Tool connection to the Robomow
E. Measure the battery voltage of the RM, using voltmeter, as shown in Figure 5.46 below:
Figure 5.46
Measuring the
batteries voltage
2. Through the Charging Contacts (Figure 5.47)

Lift the bumper and measure the voltage on the charging contacts as shown in Figure 5.8 below.
Multiple the measured voltage by 2.73 to receive the batteries voltage.
For example:
The charging contacts voltage in the Figure below is 9.46V.
Batteries voltage = 9.46 [V] x 2.73 = 25.83 [V]
Figure 5.47
Charging contacts voltage
5 - 41
3. Directly on the Batteries contacts (Figure 48)
If the Front Cover Chassis is removed during service, then it is possible to measure the batteries
voltage directly from the batteries, as shown in Figure 5.8 below.
Figure 5.48
Batteries voltage measurement
4. Through the software

The ‘Battery voltage’ can be read in two places in the menu:
1. In the ‘Information’ menu: ‘Information > Battery > Battery voltage’ (Chapter 2 section 3.2).
2. In the ‘Service’ menu: ‘Service > Settings > Special display > Charging’ (Chapter 4.1.1).
5.9 Charging Current Measurement

There are few options to measure the actual batteries voltage (not through the software version):
1. Using special tool (Figure 5.49)
A. Tool Description:
Connection to
Charging
Adaptor
Connection to
Power Supply Multi-meter
plug
Connection to
Power Supply Figure 5.49
PCB0017B Measuring the charging current
5 - 42
B. Preparing the tool:
- Take a Power Supply Plug from a faulty Power Supply and cut about 30cm wire length.
- Remove the wire isolation from both wire ends.
- Identified the positive (‘+’) cable comes from the Power Supply plug à the cable with
the white lines marked along it (Figure 5.50) and solder it to the red cable in the 3 pin
connector (available from Friendly Robotics). It is recommended to use a rubber shrink
or other isolation on the soldering point.
- Connect the two negative (‘-‘) wire ends, from the power supply plug and from the 3-pin
connector, to banana plug using a screwdriver.
- Connect the 3-pin cable to the DC socket (PCB0017 – available from Friendly).
The wire with the

white lines is the ‘+’
Banana plug
Power Supply
plug
Red is the ‘+’
PCB0017B Red is the ‘+’
Figure 5.50
Tool Assembly
C. Charging current measurement –

- Connect the 3-pins connector to PCB0017B
- Connect the DC plug of the tool to the Robomow charging contacts through the
Charging Adaptor.
- Connect the two banana plugs to the ampere-meter.
- Read the charging current from the ampere-meter.
5 - 43

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5.

SAFETY FIRST! Before completing the following tests, insure that

5.2 Service Key

There are two ways to unlock the service password protection:

Service Service Service Service Service Service

Service Service Service Service

USB to RS-232 RS-232 to RJ11

Figure 5.2 - Tools required

Application for Service application Driver for the USB

RS-232 RS-232 to RJ11

USB to RS-232 Computer

Refer to Figure 5.9

Refer to Refer to Refer to Refer to Refer to Refer to

Press the ‘RM Toolkit Help’ to enter the online help.

‘Open’ / ‘Close’ saved files. Click on the

5.4.1.4 Front Wheel

5.4.1.7 Remote Control

Manual drive Manual mow

5.4.1.8 Push Buttons

At the bottom of the screen there are four options:

Base Station: Figure 5.32

5.5.1 Settings Procedures

5.5.1.1 Special display

Special displays Sensors Wire sensors

5. Battery voltage (10mV resolution)

5.5.2 Calibrations Procedures

Wire sensors Turn off signal

5.5.2.2 Front Wheel Calibration

Front wheel Place on ground

A. Close cover B. Lift cover

Rotate bumper for both directions

5.5.2.4 Voltage Calibration

5.5.3 Tests Procedures

Settings 5.5.3.1 Sensors

5.5.3.1.1 Wire sensors

5.5.3.1.1 Wire Sensors Test

Wire sensors Turn on signal

Sensor state Display

5.5.3.1.3 Front Wheel Test

5.5.3.1.4 Cover Test

5.5.3.1.5 Tilt Test

5.5.3.1.6 Rain Sensor Test

5.5.3.3 Mowing Motor

5.5.3.4 Edge Termination

48 Wire test failed because wire signal is detected

ESB5004C RL Manual Power Supply

The ‘+’ (cable with the white

2. Through the Charging Contacts (Figure 5.47)

4. Through the software

5.9 Charging Current Measurement

The wire with the

Red is the ‘+’

PCB0017B Red is the ‘+’

C. Charging current measurement –

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