5.

3 Toolkit Setup and Main Menu

Toolkit Setup
5.3.1 Tools required:
 A computer at the test bench area (not included)
 USB to RS-232 adaptor
 RS-232 to RJ11 adaptor
 Cable with 2 ends of phone jacks (RJ11 connectors)
 The latest Service Kit Package version

USB to RS-232 RS-232 to RJ11

PC adaptor RJ11 cable
adaptor

Figure 5.2 - Tools required

5.3.2 Copy the latest „Toolkit Pack‟ to your computer. It includes the following, along with
other data files for uploading:

Toolkit Application Service Applications

Shortcut to
Driver for the
Device Manager
USB to RS-232
adaptor

Figure 5.3 – Toolkit Pack

5.3.3 Copy the „Toolkit Pack‟ folder to the „C‟ directory.

5.3.4 Inside the Toolkit Pack, right click on the icon, select the “Send to” option, and
then select “Desktop (create shortcut). This will create a shortcut on your desktop for
easy access.
5.3.5 Install the driver for the USB to RS-232 adaptor by double clicking on the “Setup.exe”
icon in the „USB to Serial Rs-232/CH-340‟ folder in the Toolkit Pack. Click Next until
the setup is complete, and Restart if requested.
5.3.6 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. Wait until the device is recognized (plug and
play), and the drivers are installed.
5.3.7 Double click the Device Manager shortcut, and check under Ports section to see which
COM port the USB is connected (in parenthesis). Remember this port number. Make sure
the COM port is not greater than COM8.
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
Adaptor RS-232 Connector

Figure 5.5
Figure 5.4 USB to RS-232 Adaptor connection
USB connection to PC to RS-232 to RJ11 Adaptor

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 convenience, 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:

Figure 5.8
Communication between
Robomow and the computer
Main Menu
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
5.3.12

Figure 5.9
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 Vie w – „Debug window’ used Only by Friendly Robotics for diagnostic purposes.
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 port in Toolkit that the USB is
connected to (same as the COM port checked in the Device Manager when installed
above). The „Baud Rate’ should be set always to „19200‟ (default). (Figure 5.11).

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
Press the „About Service 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 „Service Toolkit Help’ to enter the online help.

5.4 Toolkit Options
5.4.1 System Vie w
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‟ saved files

Save a file with the
displayed values
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

5.4.1.3 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 Sensors

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).

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

5.4.1.9 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

5.4.1.10 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

Figure 5.25
Drive block

indication for drive hardware over-current.

Figure 5.26
Mow 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.
5.4.2 Tests
The „Tests‟ page enables one to perform tests 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
through the Robomow LCD also.
Press the key of the system you want to test. Follow the Instructions as presented by the pop-
up windows. 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.

5.4.3 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 used 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:
 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). This will
also update the Information tab at the same time.
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.

5.4.5 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:
ESB5000E, ESB5000F, ESB5000G

Software:
RM200 - v5.2
RM400 - v5.4
City110 – v1.1

Base Station:
Figure 5.32
Software version of the base Station Board
Configuration
255 = ESB5002C
34 = ESB5000
27  1.27v

5.4.6 Upload
This option enables to upload a software version from the computer to the Robomow using
the Toolkit application.

5.4.6.1 Choose the „Upload‟ page and press the „Upload Software Version‟
button (Figure 5.33):

Figure 5.33
Upload Software Version

5.4.6.2 Perform reset in Robomow (Figure 5.34) before proceeding to the

software upload 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.
c. Press OK to proceed.
 Figure 5.34
Perform „Reset‟ before software download

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 upload

5.4.6.4 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

5.4.6.5 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).
5.5 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 t he 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.

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
5.5.1.1 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).

5.5.1.2 Bumper
In this display the LCD will display the following information:
*************************************************************************************
1) Left reading 2) left idle threshold 3) left detection threshold 4) state
5) Right reading 6) right idle thres hold 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

5.5.1.3 Front Wheel

In this display the LCD will display the following information:
*************************************************************************************
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

5.5.1.4 Cover
In this display the LCD will display the following information:
 ******************************************************************
*******************
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

5.5.1.5 Charging
In this display the LCD will display the following information:
*************************************************************************************
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 0.2-0.7A
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
5 – 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

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)

5.5.1.6 Temperatures
In this display the LCD will display the following information:
*************************************************************************************
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)

5.5.1.7 Behavior
In this display the LCD will display the following information:
*************************************************************************************
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

5.5.1.8 Drive Motors

In this display the LCD will display the following information:
******************************************************************************
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

5.5.1.9 Mowing Motor

In this display the LCD will display the following information:
**************************************************************************************
1) Current 2) temperature 3) over-c urrent 4) over-current count 1
5) Motor on/off reas on 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
7. Total over-current events in the current operation
8. Over-current counter 2

5.5.1.10 Base
In this display the LCD will display the following information:
**************************************************************************************
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

Calibrate then press GO
Lift mower
then press GO
Figures 2.28 Passed
Front wheel Calibration menu Press GO

5.5.2.2 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
Calibrate then press GO
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

D. Push bumper to 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

Enable 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
25.2 done.
Voltage 25.2V
Calibrate Confirm

Figures 5.37
Voltage Calibration menu

5.5.3 Settings 5.5.3.1 Sensors

Tests
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

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 Sensors
The „Sensors‟ tests menu includes the following tests procedures:

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

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.

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.

5.5.3.1.2 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

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
Front Wheel on the ground -
Front Wheel lifted ^

5.5.3.1.4 Cover Test

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
Cover closed -
Cover lifted ^

5.5.3.1.5 Tilt Test

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
Tilt not detected -
Tilt detected ^

5.5.3.1.6 Rain Sensor Test

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.

5.5.3.2 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

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.

5.5.3.3 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.
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.

5.5.3.4 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
5.6 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 RightPerform 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 liftedPerform 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 onPerform 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
Refer to Flow chart 3.2.10.1
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
Failure Failure
Solution
Number Reason
Check wiring
51 Mow thermistor disconnected
Refer to Flow chart 3.2.3.2
Check wiring
52 Mow motor is disconnected
Refer to Flow chart 3.2.3.2
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
Refer to Flow chart 3.2.3.2
Mow test failed because mow motor was disabled for some
55
reason during the test
Check wiring
61 Left drive thermistor disconnected
Refer to Flow chart 3.2.7.1
Check wiring
62 Right drive thermistor disconnected
Refer to Flow chart 3.2.7.1
Check wiring
63 Left drive motor disconnected
Refer to Flow chart 3.2.7.1
Check wiring
64 Right drive motor disconnected
Refer to Flow chart 3.2.7.1
Check wiring
65 Left drive odometer problem
Refer to Flow chart 3.2.7.1
Check wiring
66 Right drive odometer problem
Refer to Flow chart 3.2.7.1
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
Refer to Flow chart 3.2.7.1
Check wiring
71 Drive test failed because of right drive odometer problem
Refer to Flow chart 3.2.7.1
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
82 Unauthorized software version is used Update the S.W. version