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S
C
YSTEM
OMPONENTS
H
R
W
OW THE
OBOT
ORKS
4.4.4 Go Zone Mode
Go Zone Mode describes the maneuvers the robot
makes to leave the charging station and start working.
One Field With Station Loop
This configuration contains one peripheral wire and
one station loop wire.
When the robot leaves the charging station it follows
the station loop wire until it reaches Point A. This is a
predefined distance along the field peripheral wire. At
Point A, the robot will follow the trackborder of the
field until it reaches Point B. At Point B, the robot will
turn into the field and start working. The distance trav-
eled along the trackborder and the angle at which the
robot turns into the field, are specified in the StartZone
parameters for the field.
Two Fields With Station Loop
This configuration contains a peripheral wire for each
field and one station loop wire.
Before leaving the charging station the robot will deter-
mine which field to start working in. This will depend on
the defined working schedule for each field. If the
schedule dictates that a specific field must be worked
at this time, the robot will startworking in that field.
10
A
B
If there are no schedule constraints, the robot will
choose the field based on the percentage values. Over
a period of time the robot ensures that it starts in each
field according the defined proportions.
When the robot leaves the charging station it follows
the station loop wire until it reaches Point A. At Point A,
the robot will turn and follow the trackborder of Field
1, until it reaches Point B. Point B is where the two
fields overlap.
When the robot is in Field 2, it will travel for a certain
distance along the Field 2 trackborder until it reaches
Point C. At Point C, the robot will turn into the field and
start working. The distance traveled along the Field 2
trackborder, and the angle at which the robot turns
into Field 2, are specified in the StartZone parameters
for Field 2.
A
1
B
Field 1 trackborder
Field 2 trackborder
4.4.5 Service State
Initiate this state to access the Demonstration and
Maintenance Test modes.
Maintenance Test
A set of maintenance tests are available from the Tech-
nicians Settings menu.
C
2
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