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7 – Trackborder
8 – Peripheral wire of field closest to charging station
Wait In Station Mode
The robot will stay in the charging station once the
battery has been charged until:
•
the normal program needs to commence
•
a specific command is issued
Go Zone Mode
In this mode the robot performs a maneuver to leave
the charging station and continue working.
This same maneuver is executed whether the robot is
leaving the drop pit station or a charging station. In the
example shown below, the robot is leaving a charging
station.
The robot will leave the charging station and follow the
station loop wire until it reaches Point A, which is inside
the trackborder of the field nearest the charging
station.
At this point it will turn and follow the trackborder of
this field until it reaches point B, when it will turn into
the zone to work. The distance traveled long the track-
border and the angle at which the robot turns into the
field are set as installation parameters.
2
1 – Charging station
2 – Station loop wire
3 – Trackborder
4 – Peripheral wire
NOTE: The robot will move along the trackborder of the
field closest to the station until it reaches an outer field.
1
4
A
3
It will then follow the trackborder in this field before
turning into it to start working.
Go Zone Mode describes the maneuvers the robot
makes to leave the charging station and start collecting
balls.
4.4.3 Inactive Modes
There are four inactive modes: Alarm Mode, Standby
Mode, Self Test Mode, and OFF Mode.
Alarm Mode
When the robot encounters a problem it will register
an alarm and enter the inactive mode. When the cause
for the alarm has been corrected, the user can manu-
ally clear the alarm and the robot will then enter the
Standby mode. If no intervention takes place, the robot
will turn off and enter the OFF mode.
Standby Mode
The robot will enter the Standby mode if:
•
the autonomous mission has been stopped due
to an external command
•
an alarm situation has been corrected and the
alarm cleared by manual intervention
•
it is manually switched ON
Self Test Mode
Whenever the robot has been in the Standby Mode it
will perform a self test to check the integrity of the
entire
system
mechanics and software). When the result of the self
test is successful, it will resume the autonomous
working state. If the result of the self test is not
successful, it will register an alarm.
OFF Mode
The robot will be in the OFF mode when:
•
it has been manually switched OFF
B
•
an alarm situation has not been corrected after a
certain period of time
S
YSTEM
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OW THE
(including
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C
OMPONENTS
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OBOT
ORKS
sensors,
9
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