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Once the correct zone is displayed, press F1 on the keyboard in
order to activate a return to the station. This operation records the
new work zone for the robot.
Press ON and close the hood. The robot will go to charge and will
start in this zone once the battery is fully charged.
6•4 USER PARAMETERS
For the multizone option, all the user parameters (table below) are
defined for each zone. Each zone (A, B and C) has its own user
parameters (except parameter P005 (robot speed) which is a
global parameter which is identical for all zones).
When the robot chooses a zone to work in, it uses the parameters
linked to this work zone. This means you can configure the
installation really flexibly if you consider that the multizone robot
works in each individual zone in exactly the same way as a single
zone robot using the parameter settings for the zone.
Identification
Significance
(screen)
P000
Signal sensitivity
P001
Length of peripheral wire (x10m)
Maximum distance to follow
P002
trackborder on leaving the station
P003
Trackborder: minimum segment
P004
Trackborder: line
P005
Nominal speed
Minimum distance to follow
P006
trackborder on leaving the station
P007
Sensitivity to signal phase
P008
Signal frequency channel
Distance to follow wire on
P009
leaving station (x1m)
P010
Multizone working time ratio
Refer to chapter 4•5 to find out how to change the parameter settings
using the keyboard.
Only user parameters P008 and P010 have specific details which
are linked to the multi-zone functionality and are described in more
detail below. The other user parameters are the same as for a single
zone robot and are not detailed further in this document.
6•4•1 P008 : FREQUENCY CHANNEL
The robot can synchronise itself on the correct peripheral signal
channel sent via the cable from the station using parameter P008.
For a multizone installation, each zone has its own loop of wire
connected to a specific board in the station, and for each board, the
channel is selected using the red channel selector switch (picture 40).
In order for the multizone installation to work, you need to select
different values (0, 1, 2, 3, 4, 5) for each zone, A, B and C.
Parameter P008 allows you to synchronise the robot relative to the
values programmed in the station.
6• MULTIZONE OPTION
Default
value
30
ETM105
10
(x10m)
0
120
ETM105
1
(x10m)
30
0
3
1
P008 (Zone A) = you have to program the same setting (0, 1, 2,
3, 4 or 5) as the channel selector in the station board which is
connected to the loop around Zone A.
P008 (Zone B) as above with the board connected to loop B.
P008 (Zone C) as above with the board connected to loop C.
6•4•2 P010 : WORKING TIME RATIO
See chapter 6•2•6.
6•5 OPTIONS
Using the user parameters (see chapter 6•4), there are options which
allow the behaviour of the robot to be configured. For a robot with
multizone software, there are two major categories of options:
Global options: these apply to all the zones (A, B and C) and have
a unique value which is valid for each zone and each cycle of work.
They are listed in the table below with their default values: (−) option
not activated, (√) option activated.
Identification
Significance
(screen)
O000
Multi-robots
Return to station
O001
(button F1)
Rest at station
O002
(button F2)
O003
Demo mode
O004
Silent charge
O008
Phase inversion
Change of direction
O009
of cutting heads
O016
Multizone
Keyboard block
O018
(SW 2014)
Zone-specific options: for each zone (A, B and C), you can configure
a different setting for a specific option and the robot's behaviour
during a work cycle in the given zone depends on the settings for the
options in this specific zone.
Identification
Significance
(screen)
Anti-clockwise
O010
return
Return in both
O011
directions
Return in 'U'
O013
shape
Return following
O014
the wire
(SW2014)
Rest time
O015
disabled
O017
Active zone
Refer to chapter 4•5 to find out how to change the parameter settings
using the keyboard.
Only user parameters O8, O15, O16 and O17 have specific
details which are linked to the multi-zone functionality and are
described in more detail below. The other options are the same as
for a single zone robot and are not detailed further in this document.
Options O005, O006, O007 and O012 no longer exist in the latest
version of the software and are not described.
Zone A
Zone B
Zone C
Global: (−)
Global: (−)
Global: (−)
Global: (−)
Global: (√)
Global: (−)
Global: (√)
Global: (−)
Global: (−)
Zone A
Zone B
Zone C
(−)
(−)
(−)
(√)
(√)
(√)
(√)
(√)
(√)
(−)
(−)
(−)
(−)
(−)
(−)
(√)
(√)
(√)
31
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