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User Guide
Drive Motor Diagnostic
This diagnostic shows the speed of each of the drive wheels. It may be used when calibrating
the drive amplifiers. The machine may be propped up so that the drive wheels are off the
ground, but can also be used with the wheels on the ground, which requires the use of the
handlebar to turn the wheels.
A
H
G
D
The green Status dots "A" on either side will turn red if the amplifier on that side has a fault
status or if the fuse is blown.
The up "B" and down "C" buttons step the Command speed through: -400, -300, -200, -100, -75,
-50, -25, 0, 25, 50, 75, 100, 200, 300, 400 mm/s. The machine cleans at 400 mm/s.
When the Command speed "D" is set to 0, Anti-drift "E" on (yellow button) keeps the two wheels
at the same position. Turn off Anti-drift by touching the button to see how much each wheel
continues to spin even when commanded to not move, which is useful for calibrating the drive
amplifiers.
Touching either of the Audible buttons "F" the machine will beep faster as the Average speed
"G" for that side gets closer to the Command speed. The beeps stop if the speeds are within
2mm/s. This is also useful for calibrating the drive amplifiers.
If Encoder counts "H" vary wildly, there may be a problem with the drive wheel encoders.
To exit the diagnostic and return to the Diagnostics main screen, touch return "I."
36
E
F
F
B
C
I
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