Page 1 Lely Discovery 90 SW Mobile Barn Cleaner Operator Manual EN - English Original 5.4006.8501.0 B Lely Industries N.V. www.lely.com...
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Page 3 No part of this publication may be copied or published by means of printing, photocopying, microfilm or any other process whatsoever without prior permission in writing by Lely Holding b.v. Although the contents of this publication have been compiled with the greatest possible care, Lely cannot accept liability for any damage that might arise from errors or omissions in this publication.
Page 4 in n o vato rs in ag ric u ltu re INTENTIONALLY BLANK Trademarks, Copyright and Disclaimer...
Page 5 in n o vato rs in ag ric u ltu re List of Included Amendments Issue Date Revision Chapter(s) Remarks (yyyy/mm) 2021/03 Added: Intended use information (see Intended Use on page 1-1). Added: General safety information (see General Safety on page 2-2). Changed: Layout and figures Added/changed: Signal icons and safety messages according to the ANSI standard...
Page 6 in n o vato rs in ag ric u ltu re INTENTIONALLY BLANK List of Included Amendments...
Page 7 Store this manual in a safe place for future reference. All information in this manual has been compiled with care. Lely shall not be liable for errors or faults in this manual. The recommendations are meant to serve as guidelines. All instructions, pictures and specifications in this manual are based on the latest information that was available at the time of publication.
Page 8 The type and serial number plate is attached to the upper side of the frame of the machine, under the red cover. Always include the type and serial number of your machine when you contact your local Lely service provider or order spare parts.
Page 9 Technician Training All the technicians certified by Lely Industries have completed an approved training program, and passed written and practical examinations during and at the end of the training program. The training is given by...
Page 10 in n o vato rs in ag ric u ltu re Left, Right, Rear and Front The positions left, right, rear and front in this manual refer to the machine, as seen in the driving direction. Preface...
Page 11: Table Of Contents
..................1-1 The Lely Discovery 90 SW Mobile Barn Cleaner .
Page 12 Start the Lely Control Application ........
Page 13 in n o vato rs in ag ric u ltu re 5.12.1.2 Go Straight ..............5-22 5.12.1.3 Turn Left or Right .
Page 14 in n o vato rs in ag ric u ltu re 7.3.2 Test a Route ................7-4 7.3.3 Make sure the Battery is Charged .
Page 15: Lely Discovery
The Lely Discovery 90 SW Mobile Barn Cleaner The Lely Discovery 90 SW Mobile Barn Cleaner is a battery-driven vehicle that cleans the floor of a barn. A nozzle sprays water on the floor before a manure scraper on the bottom of the machine which pushes the manure through the openings of the slatted floor.
Page 16 INTENTIONALLY BLANK Lely Discovery...
Page 17: Safety
in n o vato rs in ag ric u ltu re Safety Introduction The Discovery 90 SW is an automated machine. Therefore it is of the utmost importance to obey all safety instructions. Signal Icons Note the use of the signal words DANGER, WARNING and CAUTION with the safety messages. The signal word for each message uses the following guidelines: Danger Indicates a hazardous situation which, if not avoided, will result in...
Page 18: Safety Instructions
in n o vato rs in ag ric u ltu re Safety Instructions YOU are responsible for the SAFE operation and maintenance of your machine. YOU must make sure that you and anyone else who is going to operate, maintain or work in the vicinity of the machine knows all the related SAFETY information in this manual.
Page 19: Electrical Safety
• clean or do maintenance on the machine. Know the emergency medical center number for your area. • Contact your nearest Lely service provider if you have any questions. • Review safety related items with all operators frequently (annually). •...
Page 20: Maintenance Safety
• Always be alert for unexpected movement of the cow. Cows can transmit large forces to parts of the machine. Contact your nearest Lely service provider if you have any questions. • • Review safety related items with all operators frequently (annually).
Page 21: Specifications
in n o vato rs in ag ric u ltu re Specifications Specifications Vehicle Dimensions and Weight. Length: 1362 mm (53.60 in). • Width: 860 mm (33.86 in). • Height: 575 mm (22.64 in). • Weight: 340 kg (750 lb). •...
Page 22 in n o vato rs in ag ric u ltu re Specifications Charging station Dimensions and weight. Width: 380 mm (15.0 in). • Depth: 220 mm (8.7 in). • Height: 1650 - 2050 mm (65.0 - 80.7 in). • Weight(excluding floor column): 40 kg (88 lb). •...
Page 23 in n o vato rs in ag ric u ltu re Specifications Water Filling Station Water Requirements. Max. water inlet pressure filling station: 5 bar (73 psi). • Max. water inlet pressure header tank: 3 bar (43.5 psi). • Min. required water flow for filling the machine: 2.3 l/min (0.61 gal/ •...
Page 24: Dimensions
in n o vato rs in ag ric u ltu re Dimensions Figure 4. Machine dimensions KEY: A: 860 mm (33.86 in) B: 575 mm (22.64 in) C: 1362 mm (53.6 in) D: 102 mm (4.02 in) Specifications...
Page 25 in n o vato rs in ag ric u ltu re B000128-004 Figure 5. Dimension charging station KEY: A: 1650 - 2050 mm (65.0 - 80.7 in.) B: 380 mm (15.0 in.) C: 220 mm (8.7 in.) Specifications...
Page 26 in n o vato rs in ag ric u ltu re B000128-006 Figure 6. Dimensions water filling station KEY: A: 28.2 cm (11.1 in) B: 23.1 cm (9.01 in) C: 10.6 cm (16.0 in) B000128-008 Figure 7. Header tank (optional) KEY: A: Height B: Width...
Page 27: Description And Operation
Figure 8. Main components Lely Discovery 90 SW Mobile Barn Cleaner KEY: 1. or 1a. View hole for indicator LEDs - 2. Charging station - 3. Charging electrodes - 4. Discovery vehicle - 5. Upper cover - 6.
Page 28: Component Description
in n o vato rs in ag ric u ltu re Figure 9. Main components Vehicle KEY: 1. Water tank - 2. PCB box - 3. Concrete block/frame - 4. Water inlet - 5. Manure scraper - 6. Ultrasonic sensor - 7. Water sprayer - 8.
Page 29: Covers
in n o vato rs in ag ric u ltu re 4.2.1.1 Covers The machine has a red upper cover (10) (see figure 9 on page 4-2) with a bolt to fasten it on the back side. At the front side of the machine a rotatable bracket holds the cover. Underneath the red upper cover, the lower cover (9) gives extra protection to the main components of the machine.
Page 30: Water Supply System
in n o vato rs in ag ric u ltu re 4.2.1.4 Water Supply System The nozzle on the front sprays water on the manure to soften the manure. The water supply system has: Water inlet. • Water filter. • Water tank.
Page 31: Power System
in n o vato rs in ag ric u ltu re 4.2.1.5 Power System The machine is battery-operated and after each route it returns to the charging station, which is installed at a convenient point in the barn. The charging station also functions as the starting point of each route. The power system stores and distributes the electrical power for the driving mechanism and the ADS 3840 PCB.
Page 32 The user interface on the smartphone displays a question to resume or cancel the route. When the pause button or the button in the Lely Control app is pushed shortly while the machine is in pause mode, the machine goes back into work mode: The machine goes back into operation.
Page 33 Status of the machine LED status of the pause button Start up Blink Out of operation. Lely Control app in main tab menu Work Out of operation. Lely Control app in other menu Blink Machine paused...
Page 34: Charging Station
The Lely Control app controls and monitors the machine and communicates with the management software. The Lely Control app is available in the Google play store (Android) and the Apple app store (iOS).
Page 35: Water Filling Station
in n o vato rs in ag ric u ltu re Battery Charger (Blue) The 20 A electronic battery charger has two indicator LEDs on the upper right side. The LEDs are visible through the opening in the red cover. The meaning of the LEDs are: Status Charging LED (orange) Power LED (green)
Page 36: User Interface
in n o vato rs in ag ric u ltu re Figure 13. Symbolic representation of the header tank User Interface The machine is operated with a smartphone with an Android or iOS operating system. The smartphone communicates with the software via bluetooth. The main menu on the smart phone has the following items: Work •...
Page 37: Work
Figure 14. The Lely Control app menu structure Buttons • to select a menu item. to confirm an action. • to go to the previous menu. • 4.3.1 Work The menu Work is used for daily operation of the machine.
Page 38: Time Path On/Off
in n o vato rs in ag ric u ltu re Figure 15. Menu Work The level is indicated by a tab with a black dot on the right side of a display. There are four levels: Menu Work, indicated by the upper dot. •...
Page 39: Manual Route
in n o vato rs in ag ric u ltu re Display Description Start or stop timed actions which are set in a time pat (see Time Path • on page 4-20). Display the status: • • Actual time. On or Off. •...
Page 40: Manual Driving
in n o vato rs in ag ric u ltu re Buttons to start or stop the action. • to go to the previous menu. • to go to the next menu. • Soft button Reset to clear the selected line. •...
Page 41: Manual Charger
in n o vato rs in ag ric u ltu re 4.3.1.4 Manual Charger Driving manually to the charger is only possible when the time path is switched Off. Display Description Let the vehicle automatically drive to the charging station, following •...
Page 42 in n o vato rs in ag ric u ltu re Ultrasound R (option). • Charger. • Waiting time. • A route has a maximum of 125 actions. Water Filling Drive from the charging station to the water filling station. After water filling the machine drives back (adjustable) before it is ready for the next action.
Page 43 in n o vato rs in ag ric u ltu re Display Description Actionr: Sequence number for the action in this route. • RunDst: Distance traveled in mm. • Gyro: Angle value in gyroscope. • Speed: Wheel speed in mm/s. •...
Page 44 in n o vato rs in ag ric u ltu re Display Description Turn left 60 degrees gradually, following wall, maximum cleaning. • Turn left 90 degrees. • Turn left 180 degrees, stop in adjacent lane 80 cm (31 in) to the left. •...
Page 45 in n o vato rs in ag ric u ltu re to start or stop. • Soft button MAN to adjust the position of the vehicle. • The same description applies for turning to the left. Ultrasound L Tracking along a wall or fence on the left at a certain distance (200 cm, 78.7 in max.). The ultrasonic sensor is used to measure the distance to the wall.
Page 46: Delete Route
in n o vato rs in ag ric u ltu re Waiting Time Wait an adjustable time before continuing with the next action in a route (see Waiting Time on page 5-26). This action is used in a route through a waiting area. The vehicle stops before entering the area to give cows time to move out.
Page 47: Blockage Route
in n o vato rs in ag ric u ltu re Display Description Time path; start times of set routes. • Buttons to select a route in the time path. • Soft button Del to delete a route from the time path. •...
Page 48 in n o vato rs in ag ric u ltu re If a routes has a failure probability of more than 2, the risk of failures is too high. This could be due to a number of factors like: • Few bump points.
Page 49: Speed Route
in n o vato rs in ag ric u ltu re Table 1 display Failure analysis (cont'd.) Display text Explanation Drift/bend action. Vehicle is forced to make a bend during an action (wall follow or ultrasound drive) less than 1.5 m (4.9 ft.) after the start of the action.
Page 50: Beepfreq Route
in n o vato rs in ag ric u ltu re 4.3.2.8 Beepfreq Route This menu is used to set the beep frequency during the driving. The default frequency is every 2 seconds. The frequency can be set for each route separately. The display displays the value per second, so 0.5 equals one peep per two seconds.
Page 51: 4.3.2.11 Wheel Correction
The menu Wheel corr. is used to correct the wheel diameter in the software and thus the driving distance (see Wheel Diameter on page 4-26). 4.3.2.12 Backup Route This menu is used to make a backup with the Lely Control app on the smartphone or to restore the information on the ADS3840 PCB. 4.3.2.13 Sprinkler Route The menu Sprinkle route is used to set the water sprinkler On or Off per route.
Page 52: Settings
Average. • Low. • Do not modify the motor power without the consent of your local Lely service provider. 4.3.4.5 Wheel Diameter Specifies the diameter of the wheels. The default diameter is 250 mm. Do not modify this setting when the wheel diameter is not changed. This affects the route accuracy.
Page 53: Beep Length
in n o vato rs in ag ric u ltu re 4.3.4.6 Beep Length This menu is used to set the duration of the beep. The default length is 200 mSec. This setting is for all routes. When the value is set to zero, the beep is switched OFF. 4.3.4.7 Reset Report This menu resets the service information data.
Page 54: Test Route
in n o vato rs in ag ric u ltu re Tests service (password protected). • 4.3.7 Test Route The test procedure Test route is used to test a selected route. Operation 4.4.1 Routes, Actions, Manual Routes and Time Paths Actions Make a Route The machine drives through a barn along a programmed route.
Page 55: Control System
in n o vato rs in ag ric u ltu re 9-9600-2761-0 Figure 17. Actions make a route KEY: 1. Charging station - 2. Wall flw L - 3. Turn R –> - 4. Straight - 5. Wall flw R 4.4.2 Control System The control system keeps the vehicle on the right track.
Page 56: Speed
in n o vato rs in ag ric u ltu re Figure 18. Bump points to correct the driving distance KEY: 1. Bump point - 2. Bump point 4.4.2.2 Speed The number of revolutions of the motors are also used to calculate the speed. The speed can be set for a route or for an action in a route.
Page 57 in n o vato rs in ag ric u ltu re Long actions Direct wall contact with the sensing wheel or indirect wall contact with the ultrasonic sensor are used to keep the machine in the correct direction. This is the case during: Fill water •...
Page 58 in n o vato rs in ag ric u ltu re Figure 19. Example situation of short routes resulting in errors; left side: programmed route, right side: resulting route Number Explanation The vehicle doesn't reach the wall, due to skidding. There is no bump point to correct this error.
Page 59 in n o vato rs in ag ric u ltu re 9-9600-2758-0 Figure 20. Alternation of short and long actions Number Explanation The vehicle follows the cubicles on the right side until the wall (bump point). The vehicle follows the wall on the right side up to a certain distance from where cows are eating, followed by Turn L <–.
Page 60: Obstacles
in n o vato rs in ag ric u ltu re Number Explanation The vehicle drives Straight until the start of the cubicles on the right, then Wall flw R, followed by Straight until the bump point. The vehicle drives back followed by Wall flw R. 4.4.2.5 Obstacles If the machine unexpectedly comes across an obstacle, for example the leg of a cow or a pile of manure,...
Page 61: Cleaning
in n o vato rs in ag ric u ltu re Figure 21. Start of a route 4.4.4 Cleaning The nozzle sprays water just in front of the manure scraper to soften the manure. The manure scraper pushes the manure over the slatted floor until it falls through the gaps. Description and Operation 4-35...
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Page 63: Operating Instructions
The first time you start to control the machine with the software on the Android smartphone, you must enter a password. Ask your local Lely service provider for the password. The first time you start to control the machine with the software on the iPhone: You must pair the machine in the bluetooth list of devices on the iPhone and enter the password 0000.
Page 64: Remove Or Install The Covers
in n o vato rs in ag ric u ltu re It is recommended to use the same password for all smartphone controlled machines on a farm. Remove or install the Covers Preparation Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32).
Page 65: Switch Off The Machine
in n o vato rs in ag ric u ltu re Switch Off the Machine Make sure the machine is not connected to the charger, if necessary drive the machine away from the charger (see Manually drive the Machine on page 5-6). Remove the upper and lower cover (see Remove or install the Covers on page 5-2).
Page 66: Start The Lely Control Application
If the distance is too big, it will not appear in the list on the smartphone display. The device name of the machine that is displayed on the smartphone can only be modified by a certified Lely technician. Operating Instructions...
Page 67 The machine can not be connected to more than 1 smartphone simultaneously. On the smartphone: Start the Lely Control app. If bluetooth was not in operation the following question (or similar) appears: The application tries to switch on bluetooth, continue? Push Yes.
Page 68: Manually Drive The Machine
in n o vato rs in ag ric u ltu re Manually drive the Machine Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). Push twice to select the menu MANUAL DRIVING. The message SAFETY WARNING.
Page 69: Switch On Or Off The Water Filling Function (Off During Wintertime)
The water filling function must be switched Off and the header tank (if present) and the water tank must be drained before the environmental temperature drops below freezing point. Lely Industries N.V. will not take any liability for damage due to frost.
Page 70: Prepare For Route Programming
in n o vato rs in ag ric u ltu re 5.11 Prepare for Route Programming 5.11.1 Requirements for a good Route Be aware of the intended use before programming the Discovery (See chapter Intended Use). Make it possible for the machine to correct itself Include as many bump points as possible in all directions.
Page 71 in n o vato rs in ag ric u ltu re Route 2 The walking alley should be cleaned 4 to 6 times a day (see figure 27 on page 5-10). Because the area behind the cubicles should be cleaned often, the route combines cleaning the walking area and the area behind the cubicles.
Page 72 in n o vato rs in ag ric u ltu re Figure 27. Route 2, like route 1 but also clean the walking alley, 4 times a day Figure 28. Route 3, clean the areas between the cubicles and the feed fence, 2 times a day Each route is built of many actions.
Page 73 in n o vato rs in ag ric u ltu re Figure 29. Example actions (left side) Number Action Explanation Wall flw L Follow the wall is always the first action, necessary to leave the charging station. Turn R –> (90 degrees) Standard turn. Make sure the vehicle will not hit the cubicle wall after action 3.
Page 74 in n o vato rs in ag ric u ltu re Number Action Explanation Straight Drive straight until the wall (bump point). Turn R –> (180 Standard turn R (180 degrees). degrees) Straight Turn R –> (90 degrees) Standard turn 90 degrees, modify if the nose of vehicle doesn't point in the correct direction.
Page 75 in n o vato rs in ag ric u ltu re Number Action Explanation Wall flw R Follow the cubicle floor until the end of the cubicle row. Turn L <– (45 degrees) Straight Drive straight. Turn R –> (45 degrees) Wall flw L Follow the cubicle floor Turn R –>...
Page 76 in n o vato rs in ag ric u ltu re Figure 31. Example actions (right side) Number Action Explanation Wall flw R Follow the wall until the end of the cubicle row. Straight Drive straight until bump point. Turn R –> (90 degrees) Wall flw L Turn R –>...
Page 77: Example Route, Barn With Milking Parlour
in n o vato rs in ag ric u ltu re Number Action Explanation Turn L <– (90 degrees) Wall flw R 5.11.3 Example Route, Barn with Milking Parlour In a barn with a milking parlour the situation is different from a barn with a milking robot. There is no free cow traffic to the milking parlour.
Page 78: To Make A Turn
in n o vato rs in ag ric u ltu re Figure 33. To pass a crosswalk Number Action Explanation Wall flw R Follow the cubicles row, stop at the end. Turn L <– Turn left, 5 degrees. Straight Drive straight until middle of the next cubicle. Wall flw R Follow the wall, the machine automatically turns to the cubicles.
Page 79: To Approach The Charging Station From The Opposite Direction
in n o vato rs in ag ric u ltu re KEY: A: 20 cm (8 in) B: 40 cm (16 in) C: 80 cm (31 in) 5.11.6 To approach the Charging Station from the opposite Direction Figure 34. Approach the charging station Number Action Explanation...
Page 80: To Follow A Bend In A Wall
in n o vato rs in ag ric u ltu re Number Action Explanation Turn R –> Turn right 20 degrees. Wall flw R Follow the wall on the right side. Turn L <– Turn L 180 degrees. Wall flw L Follow the wall until 1.5 - 3 m (5 - 10 ft.) from the charging station.
Page 81: Route Programming
Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). Program In the main menu of the Lely Control app, select Routes and push Select the menu New route and push If the machine is not connected to the charging station, you can push soft button CHARGR to drive the machine to the charging station (see Drive the Machine to the Charging Station on page 5-6).
Page 82: Follow A Wall (Left Or Right)
in n o vato rs in ag ric u ltu re Program the actions in the route: Fill water • Wall flw L (see Follow a Wall (Left or Right) on page 5-20). • Wall flw R. • Straight. • Turn R –>...
Page 83 in n o vato rs in ag ric u ltu re Build in as many bump points as possible in all driving directions. If the machine approaches a bump point (approx. 30 cm (12 in)): Push to smoothly reduce speed. Push to stop the machine immediately.
Page 84: 5.12.1.2 Go Straight
in n o vato rs in ag ric u ltu re Figure 37. Never make an angled start (>30 degrees) 5.12.1.2 Go Straight When moving straight forward, the deviation can be more than 10%. Take this into account when you set up a route. If possible, include a bump point after going straight. Before starting, make sure the machine points in the correct direction.
Page 85 in n o vato rs in ag ric u ltu re Push to start. If the vehicle approaches the wall from an angle: Push Turn the vehicle to a right-angled position to the wall (see figure 38 on page 5-24). Resume driving Straight.
Page 86: 5.12.1.3 Turn Left Or Right
in n o vato rs in ag ric u ltu re 9-9600-2746-0 Figure 38. Avoid angled bumping 5.12.1.3 Turn Left or Right If you want to turn left, select Turn L <– and push If you want to turn left, select Turn R –> and push Read the message on the display and push You can choose from 12 standard turns (see Turn Right or Left on page 4-17) and modify the turn afterwards.
Page 87: Follow A Wall Or Fence On A Certain Distance (Ultrasound)
in n o vato rs in ag ric u ltu re If you want to drive back before making a turn: Push soft button > to select Back. Push to select the reverse distance. If you want to modify the radius of a turn: Push soft button >...
Page 88: 5.12.1.5 Go To The Charging Station
in n o vato rs in ag ric u ltu re The display shows the status (Manual stop or Bump stop) and the travelled distance (in mm). Push soft button MAN to modify the position. Push soft button to turn left, or to turn right.
Page 89: Copy A Route
Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). In the main menu of the Lely Control app, select Routes and push Select Copy route and push...
Page 90: Reset A Modified Route To The Previous Version
Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). In the main menu of the Lely Control app, select Routes and push Select Modify route and push...
Page 91: Set A Time Path
In the main menu of the Lely Control app, select Work and push Push to select the menu MANUAL ROUTE. Set a Series of Routes In the menu MANUAL ROUTE, push to select the series of routes you want to set (A, B, C or D).
Page 92: Make A Backup
Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). In the main menu of the Lely Control app, select Routes and push Select Backup route and push .
Page 93: Copy A Backup File From The Smartphone To A Pc
Android Connect the smartphone to a usb port of the PC. Use the data cable of the smartphone to connect. Use the PC to browse to the Lely backup folder on the smartphone. Select the applicable backup file (.bkp). Copy the backup file from the smartphone.
Page 94: Start Or Stop The Time Path
Start the Lely Control Application (see page 5-4). In the main menu of the Lely Control app, select Work and push If the pane on the upper side of the menu, that displays the actual time, is grayed out, the time path is On.
Page 95 To Start a Manual Route Stop the time path to take the machine out of operationStart or Stop the Time Path (see page 5-32). In the main menu of the Lely Control app, select Work and push Push to select the menu MANUAL ROUTE.
Page 96: Block A Route
Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). In the main menu of the Lely Control app, select Routes and push Select Blockage route and push...
Page 97 in n o vato rs in ag ric u ltu re Push twice to confirm and go two levels up. Push Yes to save the modification. Push to confirm and go one level up. Operating Instructions 5-35...
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Page 99: Maintenance
in n o vato rs in ag ric u ltu re Maintenance Introduction This chapter contains the preventive maintenance schedule and the applicable preventive maintenance procedures for the Discovery. It also contains some basic corrective maintenance procedures. Preventive Maintenance Schedule The following table shows the preventive maintenance schedule for the machine.
Page 100: Maintenance Procedures
in n o vato rs in ag ric u ltu re Maintenance Procedures 6.3.1 Clean the Charging Strips and the Charging Electrodes Make sure that after cleaning the charging electrodes slide over the middle of the charging strips when the machine parks. Preparation Disconnect the main power supply to the charging station.
Page 101 in n o vato rs in ag ric u ltu re Figure 41. Clean the charging strips and the charging electrodes KEY: 1. Charging strips right (upper strip: + , lower strip: -) - 2. Charging strips left (upper strip: + , lower strip: -) - 3. Charging electrodes Close-up Connect the charging station to the main power supply.
Page 102: Clean The Water Inlet Filter
in n o vato rs in ag ric u ltu re 6.3.2 Clean the Water Inlet Filter Make sure to reinstall the water inlet filter properly after cleaning to avoid water damage. Make sure not to lose the rubber seal (2) that is installed inside the cap. Preparation Manually drive the machine to a clean and quiet location (see Manually drive the Machine on page 5- Unexpected cow movement.
Page 103: Clean The Water Outlet Filter
in n o vato rs in ag ric u ltu re Install the cap on the filter housing. Close-up Install the upper cover (see Remove or install the Covers on page 5-2). Drive the Machine to the Charging Station (see page 5-6). Start the time path (see Start or Stop the Time Path on page 5-32).
Page 104 in n o vato rs in ag ric u ltu re Clean Figure 43. Clean the water outlet filter KEY: 1. Tube coupling from pump - 2. Tube coupling to spray nozzle - 3. Water outlet filter Maintenance...
Page 105 in n o vato rs in ag ric u ltu re Disconnect the filter tubes from the pump (1) (see figure 43 on page 6-6) and the throughput to the spray nozzle (2). To release a tube: Push the blue collar of the push-in fitting down (A). Pull the tube out of the fitting (B).
Page 106: Clean The Nozzle
in n o vato rs in ag ric u ltu re 6.3.4 Clean the Nozzle Avoid water running into the electronics and do not use water to remove manure from the sensing wheel and the manure scraper! Preparation Manually drive the machine to a clean and quiet location (see Manually drive the Machine on page 5- Unexpected cow movement.
Page 107 in n o vato rs in ag ric u ltu re Clean Figure 45. Clean the nozzle KEY: 1. Nozzle - 2. Coupling nut Remove all manure from the sensing wheel and the manure scraper. Remove the nozzle (1) from its base with a spanner. Clean the nozzle.
Page 108: Clean The Ultrasonic Sensor
in n o vato rs in ag ric u ltu re Figure 46. Horizontally positioned nozzle KEY: 1. Nozzle Close-up Use a suitable lifting or tilting tool to put the machine back onto its wheels. Test the spraying as follows: In the main menu select Test and push Select Test sprinkler and push and check if the nozzle sprays correct.
Page 109: Clean The Sensing Wheel
in n o vato rs in ag ric u ltu re Clean Unexpected cow movement. Risk of being crushed or trampled. Block the cow traffic. Do not use sharp objects to clean the ultrasonic sensor. Clean the ultrasonic sensor (1) with a tissue via the ultrasonic sensor opening.
Page 110 in n o vato rs in ag ric u ltu re Preparation Manually drive the machine to a clean and quiet location (see Manually drive the Machine on page 5- Clean Unexpected cow movement. Risk of being crushed or trampled. Block the cow traffic.
Page 111: Clean The Manure Scraper
in n o vato rs in ag ric u ltu re Close-up Manually drive the machine to the charging station (see Drive the Machine to the Charging Station on page 5-6). Start the time path to put the machine into operation (see figure 39 on page 5-32). 6.3.7 Clean the Manure Scraper Preparation...
Page 112: Clean The Covers
in n o vato rs in ag ric u ltu re Figure 49. Do not clean the manure scraper with a Figure 50. Clean the manure scraper with water and high pressure cleaner a brush Close-up Use a suitable lifting or tilting tool to put the machine back onto its wheels. Clean the ultrasonic sensor with a tissue if it got dirty during cleaning of the manure scraper.
Page 113: Replace The Manure Scraper
in n o vato rs in ag ric u ltu re Close-up Manually drive the machine to the charging station (see Drive the Machine to the Charging Station on page 5-6). Start the time path to put the machine into operation (see Start or Stop the Time Path on page 5-32). 6.3.9 Replace the Manure Scraper Preparation...
Page 114 in n o vato rs in ag ric u ltu re Remove the locking pin (1) and pin (2) and remove the scraper assembly (3) from the machine. Clean the manure scraper. Figure 51. Remove the scraper assembly KEY: 1. Locking pin - 2. Pin - 3. Scraper assembly Remove the ten bolts (4), nuts (6) and washers (5) that attach the clamping strip (7) and the manure scraper (8) to the fixation plate (9).
Page 115: Replace The Sliding Disc
Use a suitable lifting or tilting tool to put the machine back onto its wheels. Switch On the Machine (see page 5-3). Start the Lely Control Application (see page 5-4). Push During the calibration process you must not move the machine.
Page 116 Use a suitable lifting or tilting tool to put the machine back onto its wheels. Switch On the Machine (see page 5-3). Open the Lely Control app on the smartphone. Push During the calibration process you must not move the machine.
Page 117: Test And Adjustment
Settings 7.2.1 Set the Real-Time Clock Start the Lely Control Application (see page 5-4). In the main menu select Settings and push In the menu Settings select RealTime clock and push Push soft button (see RealTime clock on page 4-26) The real-time clock has a 24 hour format.
Page 118: Set The Motor Power
Push to confirm and go one level up. 7.2.3 Set the Motor Power Start the Lely Control Application (see page 5-4). In the main menu select Settings and push Select Motor power and push Push to modify the power.
Page 119: Set The Water Fill Settings
Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). In the main menu of the Lely Control app, select Routes and push To Analyse the Reliability per Route Select Route analysis and push Select Fail.
Page 120: Test A Route
Put the route into a manual route. Start the manual route (see Start, Stop or Pause a Manual Route on page 5-32). Find the actions and action numbers on the display of the user interface of the Lely Control app. Make sure the route is correct.
Page 121: Make Sure The Battery Is Charging
Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5-32). In the main menu of the Lely Control app, select Work and push (three times). Read the safety message and confirm if you have a clear view on the machine.
Page 122: Test The Ultrasonic Sensor
Machine on page 5-6). Make sure no object is between the ultrasonic sensor and the wall. In the main menu of the Lely Control app, select Test and push Select Ultrasound and push If the ultrasonic sensor is on the left, push soft button L, else push Make sure the machine is between you and the wall.
Page 123 Repeat the steps 7 and 8. If the values are not 0, call your local Lely service provider. If the pulse and filter values are 0: Put an object exactly 1 m. (1.1 yrd) from the ultrasonic sensor.
Page 124 in n o vato rs in ag ric u ltu re INTENTIONALLY BLANK Test and Adjustment...
Page 125: Troubleshooting
Start the Lely Control Application (see page 5-4). Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). In the main menu of the Lely Control app, select Alarms and push Troubleshooting...
Page 126: Read A Report
Stop the time path to take the machine out of operation (see Start or Stop the Time Path on page 5- 32). In the main menu of the Lely Control app, select Alarms and push Select Report list and push Table 3.
Page 127: Alarm List
Charging on page 7-5). If the machine is still not charging, call your local service provider. 2 DOUBLE_ACTION • Software failure. Call your local Lely service provider. 3 DIS_OFF_RANGE No bump point found. Calibrate the gyroscope (see • Discovery lost -> searching...
Page 128 in n o vato rs in ag ric u ltu re Alarm code and message Description / cause Recovery procedure If the problem remains: Do a route analysis (see Analyse the Reliability of a Route on page 7-3). Modify the routes that are unreliable (see Modify a Route on page 5-27).
Page 129 Reliability of a Route on page 7-3). Modify the routes that are unreliable (see Modify a Route on page 5-27). If the problem remains, call your local Lely service provider. 8 TURN ERROR More than 360 degree Calibrate the Gyroscope (see page •...
Page 130 Replace the Manure Scraper on page 6-15). Test a Route (see page 7-4). If the problem remains, call your local Lely service provider. 14 EXTRA CHARGE1 Voltage is too low, the machine recharges for an extra hour. For information only.
Page 131 Modify the routes that are unreliable (see Modify a Route on page 5-27). 24 Flash error!! Call your local Lely service provider. 25 SHORT-CIR. 1R Call your local Lely service provider. 26 SHORT-CIR. 2R Call your local Lely service provider.
Page 132 Make sure there are no worn parts (manure scraper, sliding disk). If the alarm is repeated more than 5 times a week, call your local Lely service provider. 33 FULL CHARGING Not enough charging time Modify the routes (see Modify a •...
Page 133 Make sure the Battery is Charging • Discovery beeps for 1 hour. (see page 7-5). Charge the machine. 44 BATT_FATAL_ER Call your local Lely service provider. 45 GYRO_TYPE Call your local Lely service provider. 47 GYRO_AUTOSTOP Automatic gyro • Recalibrate the gyroscope in...
Page 134 55 BACKUP ERROR2 • No backup on the Make a Backup. Smartphone. 56 Short-circuit brush Call your local Lely service provider. motors! 57 GYRO_SPI Call your local Lely service provider. 58 GYRO_I_INSTAB Call your local Lely service provider. 59 GYRO_TIMEOUT Call your local Lely service provider.
Page 135: Report List
Make sure the machine does not skid. 7 Ultrasonic sensor gives too many reflec Clean the Ultrasonic Sensor (see page 6-10) and the Check startpulse sensing wheel. Clean ultrason sensor Clean sensing wheel If the problem remains, call your local Lely service provider. Troubleshooting 8-11...
Page 136 Clean the Ultrasonic Sensor (see page 6-10) and the Check startpulse sensing wheel. Clean ultrason sensor Clean sensing wheel If the problem remains, call your local Lely service provider. 9 Left motor drives harder than the right Call your local Lely service provider. motor -> check the drive 10 Right motor drives harder than the left Call your local Lely service provider.
Page 137: Information Report List
Check startpulse Clean ultrason sensor Test the Ultrasonic Sensor (see page 7-6). Clean sensing wheel If the problem remains, call your local Lely service provider. 61 Bad signal of ultrasonic sensor-> clean: Clean the Ultrasonic Sensor (see page 6-10) and the - ultrasonic sensor sensing wheel.
Page 138: Troubleshooting Tables
Symptom Possible cause Action The smartphone does The farmer password is Ask the Lely service provider for the password, see not connect to the not set on the Install or update the Lely Control App on your machine / connection smartphone.
Page 139 Switch On the Machine (see page 5-3). OFF. The distance between Move the smartphone towards the machine and try the smartphone and the to connect (see Start the Lely Control Application on machine is too big page 5-4). The vehicle does not Machine is switched Switch On the Machine (see page 5-3).
Page 140: Troubleshooting Table Charging Station
Adjust the motor power to a lower level (see Set the stop at a bump point. than before. Motor Power on page 7-2). Other. Call your local Lely service provider. Bad route. Modify a Route (see page 5-27). Machine does not fill Water filling function...
Page 141 85 degrees C (185 degrees Connect plug and retry after one seconds rest. hour. Green and Yellow LED together Current too high (>20 A). Remove short-circuit, else: Call blink 7 times, followed by a few your local Lely service provider. seconds rest. Troubleshooting 8-17...
Page 142: Troubleshooting Table Iphone
in n o vato rs in ag ric u ltu re 8.3.3 Troubleshooting Table iPhone Symptom Possible cause Action iPhone does not connect to the Not logged off correctly the last On the iPhone go to Settings machine software time after you finished to >...
Page 143: Recovery Procedures
Recovery Procedures 8.4.1 Reset the Control System Start the Lely Control Application (see page 5-4). Manually drive the machine away from the charging station (see Manually drive the Machine on page 5-6). Remove the upper cover (see Remove or install the Covers on page 5-2) .
Page 144: Charge The Machine
in n o vato rs in ag ric u ltu re Do not move the machine. Push soft button Yes and wait until you hear a beep sound (approximately 5 minutes). 8.4.3 Charge the Machine Drive the Machine to the Charging Station (see page 5-6). Make sure the machine is charging (orange and green LEDs are ON (see Charging Station on page 4-8).
Page 145: Disposal
Lubricants and fluids must be disposed correctly to prevent pollution of the environment. Read the safety data sheets of the used lubricants and fluids for correct disposal. All lubricants and fluids must be disposed in compliance with the local rules and regulations. Contact your local authority or local Lely service provider for further details. Disposal...
Page 146 in n o vato rs in ag ric u ltu re INTENTIONALLY BLANK Disposal...
Page 147: Eg Declaration Of Conformity
in n o vato rs in ag ric u ltu re EG Declaration of Conformity EG Declaration of Conformity 10-1...
Page 148 in n o vato rs in ag ric u ltu re INTENTIONALLY BLANK 10-2 EG Declaration of Conformity...
Page 150 Lely Industries N.V. CornelisFvanFderFLelylaanF1 NL-3147FPB FMaassluis Tel +31F(0)88F-F12F28F221 Fax +31F(0)88F-F12F28F222 www.lely.com...

LELY Discovery 90 SW Operator's Manual

1 Lely Discovery

2 Safety

3 Specifications

4 Description and Operation

5 Operating Instructions

6 Maintenance

7 Test and Adjustment

8 Troubleshooting

9 Disposal

10 EG Declaration of Conformity

Quick Links

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