Nilfisk-Advance Advance Liberty SC50 Series Service Manual

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Liberty SC50

Service Manual

Model Numbers:

56104500

56104501

Liberty SC50 X20D (Disc)

Liberty SC50 X20R (Rev)

1/19 Revised 8/2022 Form No. 56043177

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Troubleshooting

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Summary of Contents for Nilfisk-Advance Advance Liberty SC50 Series

Page 1 Liberty SC50 Service Manual Model Numbers: 56104500 Liberty SC50 X20D (Disc) 56104501 Liberty SC50 X20R (Rev) Language 1/19 Revised 8/2022 Form No. 56043177...
Page 2: Table Of Contents
Service Manual – Liberty SC50 Contents Contents 03 - General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8 General Machine Description Service Manual Purpose and Application Other Reference Manuals and Information Sources...
Page 3: Drive Controller Error Code Index
Service Manual – Liberty SC50 Contents Authorizing User Keys Deauthorizing User Keys Service Menu A1 Main Machine Controller A2 Power Module A3 Drive Controller A4 Steering Controller A5 Autonomy A8 Battery Charger B1 Li-Ion Battery Menu Output Test Panel Test Factory Resets Options Menu Configuration Menu...
Page 4 Service Manual – Liberty SC50 Contents 3D Vision Sensor (Camera) Calibration 2D Mapping (Sensor) Laser Calibration 2D Mapping Sensor Level Check and Adjust Left Safety Sensor Level Check and Adjust Checking Laser Level Right Safety Sensor Level Check and Adjustment Right Safety Sensor - Check Maximum Laser Height Safety Sensor Rotational Position Check (Right and Left) Safety Sensor Rotational Position Adjustment...
Page 5 Service Manual – Liberty SC50 Contents 20 - Wheel System - Traction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Functional Description Wheel Drive Controller Drive Control...
Page 6 Service Manual – Liberty SC50 Contents Maintenance And Adjustments Battery Charging Profile (Algorithm) Setting Troubleshooting General Electrical Troubleshooting Back-Probing Connector Voltages Testing Cables Connector Probe Kit Battery Charger Error Codes Lithium-Ion Battery Error Codes Machine-Level Codes (10-1xx) Upper-Level Codes (10-2xx) Lower-Level Codes (0x##) Finding LL-Codes Removal and Installation...
Page 7 Service Manual – Liberty SC50 Contents 30 - Solution System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315 Functional Description Circuit Description Detergent Pump...
Page 8: 03 - General Information
• Hydrometer • Battery load tester for checking batteries • Set of torque wrenches These tools are also available from Nilfisk-Advance, Inc.: • Curtis 1311 hand held programmer, p/n 56409441, • Vacuum water lift gauge, p/n 56205281. • Drive Position Encoder Calibration Cable p/n 56122727...
Page 9: Conventions
Service Manual – Liberty SC50 03 - General Information Conventions All references to right, left, front and rear in this manual are as seen from the Operator’s position. Revision History Date Revisions January 2019 Initial publication December 2019 Multiple updates May 2020 Updates related to UI improvements included in MMC firmware revision 4.0 Further updated related to MMC firmware revision 4.0...
Page 10: Safety
Service Manual – Liberty SC50 03 - General Information Safety Symbols It is important for you to read and understand this manual. The information it contains relates to protecting your safety and preventing problems. The symbols below are used to help you recognize this information. DANGER: Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury.
Page 11: Property Damage Messages
Service Manual – Liberty SC50 03 - General Information Property Damage Messages − Storage and operation temperature must be above 32°F (0°C) and a humidity between 30% and 95%, non-condensing. − Before use, all doors and hoods should be properly latched. −...
Page 12: Lifting Or Transporting The Machine
Service Manual – Liberty SC50 03 - General Information Lifting or Transporting the Machine CAUTION: Never work under a machine without safety stands or blocks to support the machine. − Drain the recovery and solution tanks to prevent sloshing water from unbalancing the machine.
Page 13: Moving A Disabled Machine
Service Manual – Liberty SC50 03 - General Information Moving a Disabled Machine If the machine is not functioning and needs to be moved, it will be necessary to override the Brake electromechanical brake on the wheel drive motor. Release The brake is an active-off type of brake, which means that the brake is always engaged unless the machine is commanding movement from the drive motor.
Page 14: Specifications
Service Manual – Liberty SC50 03 - General Information Specifications General Specifications Liberty SC50 Liberty SC50 Parameter Units (X20D) (X20R) Model No. 56104500 56104501 Voltage, Batteries Battery Capacity (max) Protection Grade IPX3 IPX3 Sound Pressure Level IEC 60335-2-72: 2002 dB(A)/20μPa Amend.
Page 15: Overall Dimensions
Service Manual – Liberty SC50 03 - General Information Overall Dimensions 54.0 1371 34.3 53.0 1347 30.1 30.6 13.4 16.7 30.1 53.0 1347 23.0...
Page 16: Fastener Torque Specifications
Service Manual – Liberty SC50 03 - General Information Fastener Torque Specifications Size Plated Steel Stainless Steel 42 in.-lb. [4.75 N-m] 28 in.-lb. [3.17 N-m] 100 in.-lb. [11.3 N-m] 67 in.-lb. [7.57 N-m] 1/4“ 17 ft.-lb. [23.05 N-m] 11 ft.-lb. [14.91 N-m] 5/16”...
Page 17: Maintenance Procedure References
Service Manual – Liberty SC50 03 - General Information Maintenance Procedure References • Squeegee Blade Replacement described on page 339. • Cleaning the Solution Filter described on page 318. • Clean and Inspect the Solution Solenoid described on page 319. •...
Page 18: Preventive Maintenance Checklist - Liberty Sc50
Service Manual – Liberty SC50 Preventive Maintenance Checklist — Liberty SC50 Customer Information Machine Information Customer Model Address Applicable Options Serial No. Current Service Date Last Known Service Date Pre-Inspection Checklist Task Description Interval Status Technical Service Review current TSBs for machine applicability, Completed 4/yr Bulletins (TSB)
Page 19 Service Manual – Liberty SC50 Preventive Maintenance Checklist — Liberty SC50 Routine Maintenance Tasks and Inspections Task Description Interval Status General Machine Inspect the general condition of the machine for Completed 4/yr Condition evidence of collision, abuse, cleanliness. Needs Service •...
Page 20 Service Manual – Liberty SC50 Preventive Maintenance Checklist — Liberty SC50 Drive System Tasks and Inspections Task Description Interval Status Drive Operation Inspect and observe the drive system Completed 4/yr components for proper operation and condition. Needs Service • Inspect the drive wheel for damage or impacted debris. •...
Page 21 Service Manual – Liberty SC50 Preventive Maintenance Checklist — Liberty SC50 Solution System Tasks and Inspections Task Description Interval Status Leaks Inspect the solution hoses and components for Completed 4/yr leaks. Needs Service Pump and solenoid Operate the solution system and observe the Completed solution flow for proper operation, and listen to 4/yr...
Page 22 Service Manual – Liberty SC50 Preventive Maintenance Checklist — Liberty SC50 Autonomy System Tasks and Inspections System Description Interval Status Clean the Using a slightly dampened microfiber cloth, clean the Completed Autonomy optical sensor lenses. Inspect the lenses for scratches or Needs Service 4/yr damage.
Page 23 Service Manual – Liberty SC50 Preventive Maintenance Checklist — Liberty SC50 Autonomy System Operational Checks System Description Interval Status Safety Sensor Verify that autonomous playback stops when an Completed Function and obstacle is detected. 4/yr Needs Service Communication This operational test confirms that both safety sensors are functioning and communicating with the Autonomy controller.
Page 24: Major Machine Components
Service Manual – Liberty SC50 03 - General Information Major Machine Components Main Machine Controller Hood Recovery Tank Autonomous Controller Battery Electrical Solution Tank Squeegee Assembly Disc Scrub Deck Rev Scrub Deck...
Page 25: 04 - Control System
Service Manual – Liberty SC50 04 - Control System Functional Description The easiest way to understand the Liberty system is to divide it into its various controllers or modules. Each subsystem performs specific tasks, but also communicate with one another to create a unified control system.
Page 26 Service Manual – Liberty SC50 04 - Control System Main Machine Solution Solenoid Controller CAN-0 Solution Pump Battery LED Status Bar Charger Interlock Charger Speaker Detergent Pump E-Stop Operator Presence Sw Actuator Pos 1&2 Recovery Float Switch Flow Sensor iButton CAN-0 Optional Telematics Optional Li-Ion Battery...
Page 27: Onboard Charger
Service Manual – Liberty SC50 04 - Control System Onboard Charger The onboard charger communicates with the Main Machine Controller on CANBus-0 to receive battery-type information, and convey battery status. The charger also has an interlock circuit input to the main control board which disables all machine functions whenever the charger is plugged into facility power.
Page 28: Wheel Drive Controller
Service Manual – Liberty SC50 04 - Control System Wheel Drive Controller The wheel drive controller operates and monitors the wheel motor. It generates a reversible Pulse Width Modulated (PWM) power control to the wheel motor. The drive controller receives its control power from the KSI relay, which is controlled by the Main Machine Controller.
Page 29: Main Machine Controller
Service Manual – Liberty SC50 04 - Control System Main Machine Controller As the name implies, the Main Machine Controller (MMC or Main Machine Controller) is the primary controller for the system. The MMC functions as the primary interface for the operator, and directly or indirectly controls the functions of the machine.
Page 30: Control Panel
Service Manual – Liberty SC50 04 - Control System Control Panel The control panel is an integral component with the Main Machine Controller circuit board. The control panel contains an LCD display, SmartKey reader for the keyswitch, E-Stop, speed potentiometer, and a series of membrane switches for operator control.
Page 31: Can Bus Communication
Service Manual – Liberty SC50 04 - Control System CAN Bus Communication CAN Bus communication was originally created for the automotive industry to allow distributed modules (Nodes) throughout the vehicle to communicate with each other over a single serial channel without any single Node being the Master of the communication channel.
Page 32: Can Bus Information
Service Manual – Liberty SC50 04 - Control System CAN Bus Information All CAN Bus messages are either to or from the main machine controller. The table below provides a simplified summary of some of the types of information passed between each module and the main machine controller.
Page 33: Component Locations
Service Manual – Liberty SC50 04 - Control System Component Locations Main Machine Controller Autonomy Module Power Module Drive Module Main Ground Lug Electrical...
Page 34: Main Machine Controller Menus
Service Manual – Liberty SC50 04 - Control System Main Machine Controller Menus The Main Machine Controller is programmable for machine specific functions and configurations through a text menu system. Various parts of the menu system are hidden, depending on the user level access: User, Supervisor, Technician.
Page 35: Menu Outline
Service Manual – Liberty SC50 04 - Control System Menu Outline Autonomous Cleaning Options Start Plan Language Scan Location Tag Scrub with UVGI Delete This Plan Scrub Max Delete Tag # Solution (Mode) Solution In Rev Warning Beep Robot Beep Other Sounds Manual Light Keys...
Page 36 Service Manual – Liberty SC50 04 - Control System A1 Main Controller J1-1 B+ Volts A2 Power Module J1-3 Main Relay M2 (Scrub) PWM Req % J1-4 Solution Pump A3 Drive Controller M2 (Scrub) PWM Out % J1-10 Emergency SW M2 (Scrub) Amps Speed x kph x mph J1-11 OBC Interlock...
Page 37: Hours Menu
Service Manual – Liberty SC50 04 - Control System Hours Menu Hours The hours menu displays the amount of time the machine has been active in each of the listed categories. The On Time represents On Time 0035.60 the total time that the machine has been powered up, regardless Drive Time 0012.1 whether it was active or sitting neutral.
Page 38: Service Menu
Service Manual – Liberty SC50 04 - Control System Service Menu The Service menu provides access to diagnostic tools for troubleshooting the machine. Except for the Panel Test, each of these entries brings up a submenu for the applicable system module or function. To aid in navigating this information, these submenus are hyperlinked below: Menu Name •...
Page 39: A2 Power Module
Service Manual – Liberty SC50 04 - Control System Float Switch (Recovery): This is the float switch in the recovery tank that closes when the tank is full. Solution Flow: This displays the flow rate from the solution meter in mL/Min. Actuator Switch 1 and 2: These are the inputs from deck A1 Main Control actuator’s internal position switches that signify the deck height for...
Page 40: A4 Steering Controller
Service Manual – Liberty SC50 04 - Control System Steering Ready: This is an interlock signal from the steering module to disable the drive system unless the steering module is prepared for travel. E-Stop: This represents the E-stop switch. A value of “1” indicates the E-stop switch is not pushed down. Auto-OK: This is a signal from the autonomous module that serves as a drive system interlock, to disable the drive system on command from the autonomous system.
Page 41: A8 Battery Charger
Service Manual – Liberty SC50 04 - Control System represents approximately 75mm of wheel travel, but the exact value will vary with tire diameter. There will be 408 counts per wheel rotation. To verify the function of the encoders, reset both left and right counts, move the machine forward in a straight line, refresh the counts, and then compare the two counts.
Page 42: B1 Li-Ion Battery Menu
Service Manual – Liberty SC50 04 - Control System B1 Li-Ion Battery Menu The first 5 rows of the lithium-ion battery menu provides details about the battery pack as a whole. The remaining menu rows, which are indented one space, provide details about the individual battery modules, and as a result, are submenus themselves to list data for each battery.
Page 43 Service Manual – Liberty SC50 04 - Control System Module Specific Sub-menus 1-3 of 3 Active Faults Active Faults: (and) Fault History: These two entries are similar, except one lists the 1: S/N 501530 number of active faults for each module, and the other lists past 2: S/N 501541 faults for each module.
Page 44: Output Test
Service Manual – Liberty SC50 04 - Control System ‘Min/Max Cell Temps Min/Max Cell Temps: This lists the current high and low battery cell temperatures within each module. There are multiple sensors 1-3 of 3 Min/Max Temp … within each module, so just the minimum and maximum are given. S/N 501530: 21.6 / 22.1 S/N 500565:...
Page 45: Panel Test
Service Manual – Liberty SC50 04 - Control System Panel Test The Panel Test screen provides a means to verify the functionality of all of the control panel buttons, LEDs, and display pixels. The display shows a graphical representation of all of the control panel buttons. When you depress a button, its representation on the screen highlights to show the press was detected.
Page 46: Options Menu
Service Manual – Liberty SC50 04 - Control System Options Menu The options menu screens permit a supervisor-level access key to customize the machine to suit the needs of the customer. Parameter Options (*=default) Notes • English* Menu display language Language •...
Page 47 Service Manual – Liberty SC50 04 - Control System Parameter Options (*=default) Notes Fwd Speed Max (%) • Min 50 Maximum forward speed as • Max 100* percentage of maximum available • Step 10 speed in manual mode • min = 50% Maximum forward speed allowed Record Speed Max (%) •...
Page 48 Service Manual – Liberty SC50 04 - Control System Parameter Options (*=default) Notes Show Charging Lights? • Yes* LED status bar will display a visual • No indication of the batteries level of charge while batteries are being charged (see page 51) Allow Auto Resume •...
Page 49: Configuration Menu
Service Manual – Liberty SC50 04 - Control System Configuration Menu The configuration menu is available only at the service technician access level. This permits the machine To be configured based on installed options and equipment. Parameter Options (*=default) Notes Deck (Type) •...
Page 50: Maintenance And Adjustments
Service Manual – Liberty SC50 04 - Control System Maintenance And Adjustments MMC Firmware Update via USB Obtain the firmware file and place a copy in the root directory (Not in a folder) of a USB memory stick. Remove the control panel and temporarily plug in the USB port harness PN 56116601 to the X173 USB connector.
Page 51: Troubleshooting
Service Manual – Liberty SC50 04 - Control System Troubleshooting Refer to the Troubleshooting section of the Electrical Chapter on page 233 for general troubleshooting information and procedures. Any error codes initiated by any module will be sent to the Main Machine Controller via the CAN Bus, and shown on the display and recorded to the log.
Page 52: Error Code Index
Service Manual – Liberty SC50 04 - Control System Error Code Index 1-001 K1 KSI Rly Coil Open ......54 1-002 K1 KSI Rly Coil Short.
Page 53 Service Manual – Liberty SC50 04 - Control System 2-025 M5 Vacuum Motor Open ......75 2-027 M7 Actuator Motor Open .
Page 54: Main Machine Controller (E2) Error Codes
Service Manual – Liberty SC50 04 - Control System Main Machine Controller (E2) Error Codes 1-001 K1 KSI Rly Coil Open (K1 KSI Relay Open) The controller has detected that the KSI relay is not responding Description to a closure command. The controller has commanded the KSI relay to close, but 24 When Monitored volts is not detected at the output contacts.
Page 55 Service Manual – Liberty SC50 04 - Control System 1-002 K1 KSI Rly Coil Short The controller has detected a short circuit to the KSI relay coil. Description When Monitored Setting The amp draw exceeds 5 amps Always Conditions Short in the relay coil. Short to battery in the control line. Possible Causes Initial Action None...
Page 56 Service Manual – Liberty SC50 04 - Control System 1-003 K1 KSI Contact Weld The controller has detected that the KSI relay output power is active after the Description controller has de-energized the relay coil. Power is detected at contacts J1-20 and J1-21 when the KSI When Monitored Setting relay is not commanded to be energized.
Page 57 Service Manual – Liberty SC50 04 - Control System 1-010 CAN Bus 0 CAN bus 0 is in bus-off state Description Main Machine Controller has no response from any other When Monitored Setting controller on CAN0 Bus Always Conditions CAN0 wires open or shorted Possible Causes Reboot the machine Initial Action...
Page 58 Service Manual – Liberty SC50 04 - Control System 1-101 M10 Solu Pump Short M10 Solution Pump Shorted Description When Monitored Setting Amp Draw is higher than 5 Amps Always Conditions • Shorted Solution Pump Possible Causes • Control wire shorted to power Initial Action None Troubleshooting Steps...
Page 59 Service Manual – Liberty SC50 04 - Control System 1-106 M8 Det Pump Short Detergent pump 1 - too much current Description When Monitored Setting Amp Draw is higher than 2 Amps Always Conditions • Shorted Pump (solenoid) Winding M8 Possible Causes •...
Page 60 Service Manual – Liberty SC50 04 - Control System 1-202 M5 Vac Mtr Overload M5 Vacuum Motor Overload Description The Vacuum motor current reported over the CAN Bus When Monitored from the Power Module is monitored by the Main Machine Setting Always Controller.
Page 61 Service Manual – Liberty SC50 04 - Control System 1-401 Low Battery 1-402 Abort Low Battery General low battery fault and/or abort autoscrub for low battery Description When Monitored Setting Always Conditions • Low Battery Possible Causes • Loose/corroded connections See below Initial Action Troubleshooting Steps...
Page 62 Service Manual – Liberty SC50 04 - Control System 1-403 ABORT Out of Water Abort autoscrub due to out of water Description When Monitored Setting Solution flow meter not reporting flow. Conditions Auto scrub • Plugged filter • Faulty solution solenoid Possible Causes •...
Page 63 Service Manual – Liberty SC50 04 - Control System 1-403 ABORT Out of Water (continued) Troubleshooting Steps (continued) c. With the solution pump still commanded to be active, check the voltage between contacts J1-4 and J1-20 at the Main Machine Controller. –...
Page 64 Service Manual – Liberty SC50 04 - Control System 1-404 ABORT Tank Full Abort autoscrub due to recovery tank full Description When Monitored Setting Sensor circuit closes Always Conditions • Tank full Possible Causes • Open circuit Empty recovery tank Initial Action Troubleshooting Steps 1.
Page 65 Service Manual – Liberty SC50 04 - Control System 1-406 ABORT No Heartbeat 1-409 No Heartbeat Abort autoscrub (1-406) due to no can bus heartbeat Description When Monitored Setting No CAN Bus activity detected Always Conditions Possible Causes Diagnose all other CAN communication errors Initial Action Troubleshooting Steps 1-407...
Page 66 Service Manual – Liberty SC50 04 - Control System 1-408 ABORT Charging Abort autoscrub due to battery charging Description 24 volts is present at the charger interlock input to the Main When Monitored Setting Machine Controller. Always Conditions • Faulty charger Possible Causes •...
Page 67 Service Manual – Liberty SC50 04 - Control System 1-560 EEPROM Config Fault 1-561 EEPROM Options 1-562 EEPROM Sys Values 1-563 EEPROM Fault Log 1-564 EEPROM User Key List 1-565 EEPROM Impact Log 1-566 EEPROM Impact Locked 1-567 EEPROM Signatures 1-568 Image Checksum Unable to read EEPROM values - using default values...
Page 68 Service Manual – Liberty SC50 04 - Control System 1-052 Lost Comm-A2 Pwr Mod 1-053 Lost Comm-A3 Drive 1-054 Lost Comm-A4 Steering Continued from Previous Page 1-055 Lost Comm-A5 Auto 1-058 Lost Comm-A8 Charger 1-005 Lost Comm-B1 Battery CAN Bus communication loss to the respective module(s). Description Troubleshooting Steps (Continued) 1.
Page 69 Service Manual – Liberty SC50 04 - Control System 1-800 Charging failure: didn’t charge The charger is reporting a complete AGM charge, but charging not complete. Description The charger reported charging was complete, but the battery When Monitored Setting voltage remained below the AGM reset voltage of 25.40V Always Conditions •...
Page 70 Service Manual – Liberty SC50 04 - Control System 1-901 Strg Cntrl packet loss 1-902 Drv Cntrl packet loss 1-903 Strg queue congestion 1-904 Drive queue congestion 1-905 Rbt Spam Cmd Over-run 1-901 Losing some messages from the Steering Controller 1-902 Losing some messages from the Drive Controller 1-903 Steering Controller sending too many messages Description...
Page 71: Power Module (A2) Error Codes
Service Manual – Liberty SC50 04 - Control System Power Module (A2) Error Codes Power module error codes will be displayed on the main display. However, the error number is also flashed on the two-color status LED on the module itself. The status LED has 2 colors; red and yellow. The red LED will flash out which digit of the code is coming next, and the yellow LED will flash out the value of that digit.
Page 72 Service Manual – Liberty SC50 04 - Control System 2-012 K2 Overload Excessive current to the K2 relay coil. Description When Monitored Setting Relay coil current exceeded 2 amps. Always Conditions Degraded relay coil. Complete failure likely. Possible Causes Replace the K2 relay Initial Action Troubleshooting Steps 2-013...
Page 73 Service Manual – Liberty SC50 04 - Control System 2-014 K2 Contact Open K2 Power Module contactor did not close Description The power module did not detect power at the B+ lug when When Monitored Setting the K2 relay was commanded to close. Always Conditions •...
Page 74 Service Manual – Liberty SC50 04 - Control System 2-016 Undervoltage Warning 2-018 Undervoltage Cutoff Insufficient voltage present at Power Module power supply Description When Monitored Setting Voltage below 18 volts. Always Conditions Loose or corroded connection Possible Causes Initial Action None Troubleshooting Steps Isolate the cause by systematically checking voltages back to the battery.
Page 75 Service Manual – Liberty SC50 04 - Control System 2-024 M4 UVGI Open The UVGI ballast is open circuit. Description The power module has detected no current on the M4 output When Monitored Setting lug. Always Conditions • Faulty wiring Possible Causes •...
Page 76 Service Manual – Liberty SC50 04 - Control System 2-027 M7 Actuator Motor Open The power module has detected an open circuit in the deck actuator circuit. Description The power module examines the circuit for voltage drop, which When Monitored Setting should be near 0 volts when the motor is not commanded to Bootup...
Page 77 Service Manual – Liberty SC50 04 - Control System 2-034 M4 UVGI Overload M4 UVGI Overload Description The power module has detected current above 80 amps in the When Monitored Setting UGVI circuit, but less than a short circuit amperage. Always Conditions Because the overcurrent condition is higher than the F7 fuse capacity, it is likely a...
Page 78 Service Manual – Liberty SC50 04 - Control System 2-041 M1 Scrub Motor Overcurrent 2-042 M2 Scrub Motor Overcurrent The power module has detected scrub motor current has exceeded the limitations of Description the power module. The power module detected current above 160 amps to the When Monitored Setting brush motor.
Page 79 Service Manual – Liberty SC50 04 - Control System 2-045 M5 Vacuum Motor Overcurrent The power module has detected vacuum motor current above 160 amps, which Description exceeds the limitations of the power module. When Monitored Setting Same Always Conditions Because the overcurrent condition has reached the maximum permissible amperage Possible Causes of the power module, it is likely that the motor or control wiring is shorted.
Page 80 Service Manual – Liberty SC50 04 - Control System 2-047 M7 Deck Act Mtr Overcurrent The power module has detected deck actuator motor current above 25 amps, which Description exceeds the limitations of the power module. When Monitored Setting Same Always Conditions •...
Page 81 Service Manual – Liberty SC50 04 - Control System 2-061 M1 Current Sensor Fault 2-062 M2 Current Sensor Fault 2-063 M3 Current Sensor Fault 2-064 M4 Current Sensor Fault 2-065 M5 Current Sensor Fault Power module current sensor fault. Description The power module has detected unexpected results for the When Monitored Setting...
Page 82 Service Manual – Liberty SC50 04 - Control System 2-071 M1 Scrub Motor Overload Trip 2-072 M2 Scrub Motor Overload Trip M2 Scrub Motor Overload Trip Description The brush motor uses both the M1 and M2 outputs. So When Monitored these errors should be reported together.
Page 83 Service Manual – Liberty SC50 04 - Control System 2-077 M7 Deck Act Mtr Stall M7 deck lift actuator motor overload. Description The power module has detected excessive current in the deck When Monitored Setting lift actuator, but less than short circuit amperage. Always Conditions •...
Page 84 Service Manual – Liberty SC50 04 - Control System 2-083 CAN Bus Fault Internal CAN bus error Description When Monitored Setting Always Conditions Possible Causes Reboot the machine. If the error doesn’t clear, replace the power module. Initial Action Troubleshooting Steps 2-084 Internal Comm Timeout Internal master did not receive slave controller message in timeout period...
Page 85 Service Manual – Liberty SC50 04 - Control System 2-086 Over Temp Cutback Internal temperature exceeded cutback temperature - output current will be reduced Description When Monitored Setting Always Conditions Possible Causes Shut down the machine and let it cool. If the error persists, replace the power Initial Action module.
Page 86 Service Manual – Liberty SC50 04 - Control System 2-088 K2 Coil Open Main contactor coil not detected Description When Monitored Setting Same Always Conditions • Disconnected K2 relay coil Possible Causes • Faulty relay Initial Action None Troubleshooting Steps 1.
Page 87 Service Manual – Liberty SC50 04 - Control System 2-096 Parameter Change Invalid parameter change Description When Monitored Setting Always Conditions Possible Causes Reboot the machine Initial Action Troubleshooting Steps 2-098 M7 Act Out Current Sensor Current sensor has invalid value Description When Monitored Setting...
Page 88 Service Manual – Liberty SC50 04 - Control System 2-103 K2 Coil Short K2 Power Module contactor coil is shorted Description When Monitored Setting Always Conditions Possible Causes Initial Action Troubleshooting Steps 1. Disconnect the Brown wire from the K2 relay coil. 2.
Page 89: Removal And Installation
Service Manual – Liberty SC50 04 - Control System Removal and Installation Control Panel/Main Machine Controller The MMC and the operator’s control panel display are integral components to one another and cannot be separated. CAUTION: The control board is always receiving power, even when the machine is off.
Page 90: Specifications
Service Manual – Liberty SC50 04 - Control System Specifications Sample Shop Voltage Measurements The following tables contain some “real world” shop voltage measurements to help you recognize what “normal” looks like. • Unless otherwise noted, all voltage readings are referenced to the main ground lug in the electrical bay. •...
Page 91 Service Manual – Liberty SC50 04 - Control System Main Machine Controller J1 Connector Pin# Wire Color Function Condition Value Inactive, Ref to GND 12.4V Too fast for Active Ref to GND voltmeter. W290 GRN-BLK Detergent Pump Bi-Directional Out Inactive, Ref 16 to 17 Momentary Active, Ref 16 to 17 increase...
Page 92 Service Manual – Liberty SC50 04 - Control System Main Machine Controller J2 Connector Pin# Wire Color Function Condition Value Light off 0.008V W439 WHT-BLU Light Strip Clock Out Light on any mode 0.13V Inactive (transport 4.9V position) W262 RED-BRN Deck Actuator Position 1 In Active (below vacuum 0.007V...
Page 93: Motor Amp Draw Measurements
Service Manual – Liberty SC50 04 - Control System Motor Amp Draw measurements All motor amp draw measurements were done with no load (free running) using the Service/Output Test function and reading the amperage reported on the control panel display. Motor Condition Amperage (On Display)
Page 94 Service Manual – Liberty SC50 04 - Control System Device Resistance - Ohms Comments Termination Resistor - Power 238.3 Module CAN 1 Termination Resistor - Drive Open Controller CAN 1 Termination Resistor - Steering Controller CAN 1 Termination Resistor - Autonomous 120.1 Controller CAN 0...
Page 95: 05 - Autonomous System
Service Manual – Liberty SC50 05 - Autonomous System Functional Description Even though the components of the autonomous system are integrated throughout the machine, the function of the autonomous system is relatively isolated from the rest of the machine. With a couple of safety system exceptions, all communication to and from the autonomous system passes through the Main Machine Controller (MMC) on its own dedicated CAN Bus.
Page 96: Led Status Bar
Service Manual – Liberty SC50 05 - Autonomous System LED Status Bar The LED strip lights on the front of the machine serve to notify people near the machine of the machine’s presence and status. However, this is not just a simple strip of LED elements. The strip is made up of individual “Smart LED”...
Page 97: Iot (Communication) Module
Service Manual – Liberty SC50 05 - Autonomous System IOT (Communication) Module The IOT module is a wireless data communication system for the connectivity of devices without direct human interaction. This provides connectivity of the SC50 to support systems via the internet. The IOT module uses cellular transmission to download system updates, and also to communicate machine status to a central repository.
Page 98: 3D Vision Sensor
Service Manual – Liberty SC50 05 - Autonomous System 3D Vision Sensor The Multisense 3D Vision Sensor is a stereoscopic camera for imaging and ranging of the machine’s environment. Like a standard 2D camera, the 3D Vision Sensor provides an optical picture of what it sees, but it also includes distance data for the objects it identifies.
Page 99: Drop-Off Sensors
Service Manual – Liberty SC50 05 - Autonomous System Drop-Off Sensors There are 4 drop off sensors at the front corners Display of the machine. These sensors are laser distance sensors, and detect drop-offs in floor elevation as the distance increases. A pulsed laser beam is emitted from the sensor, which reflects off the object to be measured (the floor), and returns back to the sensor’s receiver.
Page 100 Service Manual – Liberty SC50 05 - Autonomous System Components and Functions of the Mapping Sensor At the core of the sensor is a semiconductor laser Diverging emitter. This produces a focused beam of infrared Lens laser light at a wavelength of 850 nanometers. This Combining beam passes through a semiconductor “shutter,”...
Page 101 Service Manual – Liberty SC50 05 - Autonomous System After the laser beam leaves the sensor, it bounces off objects in its path. This reflected light passes back through the protective cover and strikes the face of the rotating mirror. Because the speed of light is so fast (2.99x10 m/s), the mirror has not appreciably moved since the beam left the sensor.
Page 102: Safety Sensors (Lasers)
Service Manual – Liberty SC50 05 - Autonomous System The data reported to the Autonomous system is 90˚ in the form of polar coordinates up to a 25 meter 170mm distance. Each reflected beam is reported as a @132˚ distance and an angular position. However, the 100mm coordinate origin is oriented parallel to the front @70˚...
Page 103: Area Address Selection
Service Manual – Liberty SC50 05 - Autonomous System Area Address Selection Area Addresses The most common data transmission scheme we encounter in the machine is Area called serial data. This is where a sequence of data bits are transmitted across a single pair of wires, one after the other.
Page 104: Outputs And Led Indicators
Service Manual – Liberty SC50 05 - Autonomous System Outputs and LED Indicators Protection Not Used The front of the sensor has several status indicators Zone (always green) which may be helpful during diagnostics. These Warning Rear Wheel Seen provide visual information related to the electrical Zone 1 (always orange) outputs from the sensor to the Autonomy module.
Page 105: Component Locations
Service Manual – Liberty SC50 05 - Autonomous System Component Locations Autonomous Main Controller Machine Controller Connector Connector Vision Sensor IOT Module TrackClean Drive Controller Main Ground Lug...
Page 106: Maintenance And Adjustment
Service Manual – Liberty SC50 05 - Autonomous System Maintenance and Adjustment Wheel Encoder Gap Use this procedure to troubleshoot wheel encoder errors and dropouts, and to check/adjust the wheel encoder gap. Remove the Operator Platform described on page 261. Slightly raise the rear of the machine, just enough to permit the real wheels to turn freely.
Page 107: Drive Wheel Angle Sensor Centering
Service Manual – Liberty SC50 05 - Autonomous System Drive Wheel Angle Sensor Centering The steering controller calculates the drive wheel position based on the number of revolutions the motor’s rotor has made and the gear ratio between the motor and the drive wheel (including the steering chain). This is sufficient for human/manual control, but is not sufficient for autonomous operation.
Page 108: Drop-Off Sensor Calibration
Service Manual – Liberty SC50 05 - Autonomous System Drop-off Sensor Calibration Perform whenever a drop-off sensor has been replaced, if the mounting bracket is replaced or has been disturbed or if there is an unexplainable safety system fault code. Move the machine to an area with a flat floor, which remains flat from the rear wheels of the machine and forward to include all 4 laser dots from the dropoff sensors shining on the floor.
Page 109: 3D Vision Sensor (Camera) Calibration
Service Manual – Liberty SC50 05 - Autonomous System 3D Vision Sensor (Camera) Calibration This calibration is an alignment of what the 3D vision sensor sees and what the 2D mapping sensor sees. It must be performed whenever either of the sensors has been replaced or their position has been disturbed. Move the machine to an area with an inside corner at 90 degrees (as shown).
Page 110: 2D Mapping (Sensor) Laser Calibration
Service Manual – Liberty SC50 05 - Autonomous System 2D Mapping (Sensor) Laser Calibration This item may exist in the menu of some software versions, but it is not used. 2D Mapping Sensor Level Check and Adjust Checking Laser Level For proper operation, the laser must be accurately leveled with respect to the machine.
Page 111 Service Manual – Liberty SC50 05 - Autonomous System To make the adjustments easier, the height measurement locations should be approximately in line with the adjustment screws, as shown below. In this manner, for example, if measurement location (BB) is low, then it directly translates to raising adjustment screw (B).
Page 112 Service Manual – Liberty SC50 05 - Autonomous System Adjusting Laser Level Before making adjustments, use the 17mm (11/16”) gauge block to verify/set each of the 3 adjustment screws to their neutral position. a. Loosen the 3 jamb nuts (A) at the bottom of the laser adjustment screws.
Page 113: Left Safety Sensor Level Check And Adjust
Service Manual – Liberty SC50 05 - Autonomous System Left Safety Sensor Level Check and Adjust Checking Laser Level For proper operation, the laser must be accurately leveled with respect to the machine. This is accomplished by placing the machine on a flat floor surface, and measuring the height of the laser beam at 3 positions around the machine.
Page 114 Service Manual – Liberty SC50 05 - Autonomous System Mark the measurement positions (BB), (CC), (DD) on the floor at 2 meters from the sensor . • To make the adjustments easier, the height measurement locations should be approximately in line with the adjustment screws (B, C, D), as shown below.
Page 115 Service Manual – Liberty SC50 05 - Autonomous System Adjusting Laser Level Before making adjustments, use the 10 mm (3/8”) gauge block to verify/set each of the 3 adjustment screws to their neutral position. a. Loosen the 3 jamb nuts (A) at the bottom of the laser adjustment screws.
Page 116: Right Safety Sensor Level Check And Adjustment
Service Manual – Liberty SC50 05 - Autonomous System Right Safety Sensor Level Check and Adjustment Checking Laser Level For proper operation, the laser must be accurately leveled with respect to the machine. This is accomplished by placing the machine on a flat floor surface, and measuring the height of the laser beam at 3 positions around the machine.
Page 117 Service Manual – Liberty SC50 05 - Autonomous System Mark the measurement positions (BB), (CC), (DD) on the floor at 2 meters from the sensor. • To make the adjustments easier, the height measurement locations should be approximately in line with the adjustment screws (B, C, D), as shown below.
Page 118 Service Manual – Liberty SC50 05 - Autonomous System Adjusting Laser Level Before making adjustments, use the 10 mm (3/8”) gauge block to verify/set each of the 3 adjustment screws to their neutral position. a. Loosen the 3 jamb nuts (A) at the bottom of the laser adjustment screws.
Page 119: Right Safety Sensor - Check Maximum Laser Height
Service Manual – Liberty SC50 05 - Autonomous System Right Safety Sensor - Check Maximum Laser Height The right safety sensor laser beam height must be no higher than 190 mm when measured at the center line of the rear wheel axle. If the beam is too high, the sensor bracket must be moved to a lower position on the solution tank.
Page 120 Service Manual – Liberty SC50 05 - Autonomous System Remove the two anti-tip pads and 4 bolts which secure the metal plate under the front bumper, then remove the plate. Bolt Bolt Anti-Tip Anti-Tip Bolt Bolt 10. Remove the two bolts which attach the front bumper to the solution tank. There is one on each side. Bolt Bolt Left Side...
Page 121: Safety Sensor Rotational Position Check (Right And Left)
Service Manual – Liberty SC50 05 - Autonomous System Safety Sensor Rotational Position Check (Right and Left) Turn the steering wheel toward the straight ahead position. Place the laser detector stand (from laser kit 56122718) against the applicable rear wheel with the stand in the narrow direction (D)at the center line of the axle.
Page 122: Safety Sensor Rotational Position Adjustment
Service Manual – Liberty SC50 05 - Autonomous System Safety Sensor Rotational Position Adjustment Because the safety sensors utilize pre-programmed zones to determine where they should be scanning as the machine Warning 2 travels, it is important that they be oriented correctly with Warning 1 respect to the machine.
Page 123 Service Manual – Liberty SC50 05 - Autonomous System Place the laser detector stand (from laser kit 56122718) against the applicable rear wheel with the stand in the narrow direction (D)at the center line of the axle. Note: For these next steps, keep your body and tools away from the sensor laser when observing the LED status to prevent false triggering of the LEDs.
Page 124 Service Manual – Liberty SC50 05 - Autonomous System Slowly turn the adjustment screw (B) clockwise until the Warning 1 LED turns off and the OSSD 1/2 LED illuminates green, and then another 1/2-turn. Left Side Right Side Warning 1 = Off OSSD 1/2 = Green Rotate the laser detector stand to the wide position (E), and verify that the Warning 1 LED illuminates orange and the OSSD 1/2 illuminates red.
Page 125: Autonomous Controller And Main Machine Controller Software Update
Service Manual – Liberty SC50 05 - Autonomous System Remove the laser detector stand, and verify that the Warning 2 LED illuminates orange, Warning 1 LED is off. (both OSSD 1/2 and 3/4 LEDs illuminate green). • That is, Warning 1 sees the stand in the wide position, but not the narrow position, and Warning 2 always detects the rear wheel.
Page 126: Downloading And Installing Software Updates
Service Manual – Liberty SC50 05 - Autonomous System Downloading and Installing software updates Power on the machine into the supervisor mode using the yellow key or into the service mode. Make sure the machine has Internet access. Press the information button to access the main menu. Select SOFTWARE UPDATE “Software Update.”...
Page 127: Autonomous System Safety Testing
Service Manual – Liberty SC50 05 - Autonomous System Autonomous System Safety Testing Testing the autonomous safety system validates that the safety sensors and drop-off sensors are functioning and that the autonomous controller responds to their inputs correctly. Perform these tests whenever a drop- off sensor is replaced or a safety sensor is replaced or adjusted.
Page 128 Service Manual – Liberty SC50 05 - Autonomous System Move the mirror A5 Autonomy to the Left Front Dropoff Side Left position. 5013 Dropoff Front Left Confirm that the Dropoff Front Right Left Front sensor Dropoff Side Right is reporting a high value.
Page 129: Dynamic Floor Drop-Off Simulation
Service Manual – Liberty SC50 05 - Autonomous System Dynamic Floor Drop-off Simulation This procedure confirms that all 4 of the drop-off sensors will trigger the machine to stop when a simulated drop-off condition exists. It also confirms that the machine will stop within a prescribed distance when travelling at speed.
Page 130 Service Manual – Liberty SC50 05 - Autonomous System Double check that “#60” is displayed, and then press the “i” button to select the command. • The only feedback that Command 60 has been executed is that the “#60” highlights briefly, as shown. •...
Page 131 Service Manual – Liberty SC50 05 - Autonomous System Stopping Distance Performance Test This portion of the test is a continuation of the previous, and All 4 positions are shown for clarity. Only confirms that the machine comes to a complete stop within a 1 needs to be marked.
Page 132: Safety (Laser) Sensor Performance Tests
Service Manual – Liberty SC50 05 - Autonomous System Safety (Laser) Sensor Performance Tests Whenever a safety sensor is replaced and/or adjusted, it is necessary to verify that the sensors are working properly and that the machine stops when a safety sensor reports an obstacle to the Autonomy Controller. This is done by placing the machine in a special operational mode along with using cylinder shaped “obstacles”...
Page 133: Stay-Put Test
Service Manual – Liberty SC50 05 - Autonomous System Stay-Put Test This first test is completed in normal autonomous mode, and confirms that the machine will not move when its forward path is blocked at the start of autonomous playback. Return the machine to the beginning of the path you recorded above.
Page 134 Service Manual – Liberty SC50 05 - Autonomous System CAUTION: This section of the procedure requires disabling a portion of the Autonomous System Obstacle Avoidance Function. The 3D Vision and 2D Mapping sensors will not be used for obstacle avoidance and the “feel around function” will also be disabled. The machine will halt only if an obstacle is detected by the Left or Right Safety Lasers or a dropoff condition is detected.
Page 135: Forward Low Speed Stop
Service Manual – Liberty SC50 05 - Autonomous System Forward Low Speed Stop • Use the same copycat plan you recorded for the high speed stop test. • You will need the small target cylinder. • Make sure Command 60 is still active. (Refer to the high speed test).
Page 136 Service Manual – Liberty SC50 05 - Autonomous System If there is room, continue with the path. Otherwise move the machine back to the beginning of the path and restart. Place the large target cylinder approximately 1 meter (3 feet) in front of the machine, perpendicular to, and toward the right edge of the machine.
Page 137 Service Manual – Liberty SC50 05 - Autonomous System 15. If there is room, continue with the path. Otherwise move the machine back to the beginning of the path and restart. 16. Place the large target cylinder approximately 1 meter (3 feet) in front of the machine, parallel to, and toward the right edge of the machine.
Page 138 Service Manual – Liberty SC50 05 - Autonomous System 22. Move the machine back to the beginning of the path. 23. Place the large target cylinder approximately 1 meter (3 feet) in front of the machine, oblique to, and toward the right edge of the machine.
Page 139: Right Turning Low Speed Stop
Service Manual – Liberty SC50 05 - Autonomous System Right Turning Low Speed Stop This tests confirms that the machine will stop when turning into an object along the right side the machine. • You will need an open space with at least 1 meter in front of the machine, and at least 2 meters to either side of the machine.
Page 140: Left Turning Low Speed Stop
Service Manual – Liberty SC50 05 - Autonomous System Move the large target cylinder to the right side of the machine where the rear of the squeegee will be when the machine continues its turn. If the machine doesn’t automatically resume playback, press the play button to resume.
Page 141 Service Manual – Liberty SC50 05 - Autonomous System Move the large target cylinder to the left side of the machine where the squeegee roller will be when the machine continues its turn. If the machine doesn’t automatically resume playback, press the play button to resume.
Page 142: Troubleshooting
Service Manual – Liberty SC50 05 - Autonomous System Troubleshooting Troubleshooting Flow Chart Record and Customer has identi- Technician has playback another ed an autonomous veri ed the Start plan in another operation concern customer’s concern area of the building Is issue Clean all optical resolved by...
Page 143: Sensor Input Validation Testing
Service Manual – Liberty SC50 05 - Autonomous System Sensor Input Validation Testing During the course of routine troubleshooting, it may be necessary to confirm that various sensors are operating correctly, and/or providing valid results to the Autonomous Controller. The following validation procedures are intended to be quick-checks of the sensor systems, without the need to perform complete diagnostic or calibration procedures.
Page 144: Safety Sensors (Left And Right)
Service Manual – Liberty SC50 05 - Autonomous System Method B: Using the Service Menu Power on the machine with service mode access, and wait for the autonomous system to boot up. A5 Autonomy Steering Angle Enter the service menu and navigate to A5 Autonomy, “Check Steering Angle.“...
Page 145: Vision Sensor (Camera)
Service Manual – Liberty SC50 05 - Autonomous System 3D Vision Sensor (Camera) Because there is no outward interface, validating the 3D vision sensor is Object seen by limited to confirming that the Autonomy Controller is receiving valid data. camera, but above In it’s simplest form, reading a location tag will validate the communication mapping laser to the Autonomy Controller.
Page 146: Drop-Off Sensors
Service Manual – Liberty SC50 05 - Autonomous System Drop-Off Sensors Each of the drop-off sensors provides a data stream to the Autonomy Controller of measured distances from the floor. This data is also present on the LCD display of each sensor.
Page 147: Rear Wheel Encoders
Service Manual – Liberty SC50 05 - Autonomous System Rear Wheel Encoders Note: Make sure the rear wheels are cleaned daily. Debris adhering to the outside of the wheel can affect the rolling circumference of the wheel and cause encoder errors. Use the service menu data to validate that the rear wheel encoder input counts are equivalent when traveling in a straight line.
Page 148: Safety Sensor Error Codes
Service Manual – Liberty SC50 05 - Autonomous System Safety Sensor Error Codes The safety sensors cannot report errors back to either the Autonomous Controller nor the Main Machine Controller. Instead, the error codes are displayed on the 7-segment display in the form of hexadecimal numbers.
Page 149: Autonomous System Error Code Reference
Service Manual – Liberty SC50 05 - Autonomous System Safety Sensor LED Error Codes Code Description Diagnostics 95-9A OSSD diagnostic error Check all 4 OSSD lines for either short circuit or open circuit. A8-AC EDM1 input connection error EDM2 input connection error Functions not used.
Page 150: Removal And Installation
Service Manual – Liberty SC50 05 - Autonomous System Removal and Installation Autonomy Module Disconnect the main battery connector. Remove the 4 screws (C) that secure the autonomy cover (B) over the autonomy bay (A), and remove the cover. Disconnect all electrical connectors from the Autonomy module according to the table and figures (see next page).
Page 151 Service Manual – Liberty SC50 05 - Autonomous System Remove the two screws (D) that secure the WIFI autonomy module to the autonomy bay platform. Lift the upper end of the autonomy module, and slide the module toward the steering wheel to ETH2 release it from the lower mounting tabs.
Page 152: 3D Vision Sensor
Service Manual – Liberty SC50 05 - Autonomous System 3D Vision Sensor Disconnect the main battery connector. Remove the 4 screws (C) that secure the autonomy cover (B) over the autonomy bay (A), and remove the cover. Disconnect the Ethernet electrical connector (IE) and power electrical connector (IP) from the back of the camera (D).
Page 153 Service Manual – Liberty SC50 05 - Autonomous System Install the New 3D Vision Sensor Install the camera (D) and bezel (E), and loosely secure them with the four screws (F), washers (G), and lock washers (H). With the camera installed snug enough to hold position, but still loose enough that you can reposition it, temporarily place the autonomy cover (B) over the autonomy bay...
Page 154: 2D Mapping Sensor
Service Manual – Liberty SC50 05 - Autonomous System 2D Mapping Sensor Disconnect the main battery connector for safety any time you are working near the drive system. Remove the 4 screws (B) and washers (C) that secure the front nose (A) to the recovery tank, and remove the front nose.
Page 155 Service Manual – Liberty SC50 05 - Autonomous System Install the New 2D Mapping Sensor Install the new laser to the leveling plate. Reassemble the leveling plate and laser platform bracket (K) using the adjustment screws and compression springs, but leave the jam nuts off at this time.
Page 156: Left Safety Sensor
Service Manual – Liberty SC50 05 - Autonomous System Left Safety Sensor Note: After reinstallation, rotation and level adjustments you must perform the Dynamic Safety System Test Of Safety Sensors. Remove the 4 screws and washers that secure the front nose to the recovery tank, and remove the front nose.
Page 157: Right Safety Sensor
Service Manual – Liberty SC50 05 - Autonomous System Right Safety Sensor Note: After reinstallation, rotation and level adjustments you must perform the Dynamic Safety System Test Of Safety Sensors. Remove the 4 screws and washers that secure the front nose to the recovery tank, and remove the front nose.
Page 158: Drop-Off Sensors
Service Manual – Liberty SC50 05 - Autonomous System Drop-off Sensors Disconnect the main battery connector for safety any time you are working near the drive system. Remove the 4 screws (B) and washers (C) that secure the front nose (A) to the recovery tank, and remove the front nose.
Page 159: Drive Wheel Angle Sensor
Service Manual – Liberty SC50 05 - Autonomous System Drive Wheel Angle Sensor Disconnect the main battery connector for safety any time you are working near the drive system. Remove the 4 screws (B) and washers (C) that secure the front nose (A) to the recovery tank, and remove the front nose.
Page 160 Service Manual – Liberty SC50 05 - Autonomous System Replacement Procedure At your discretion, you may connect the encoder connector (F) to the encoder at any time during the procedure. However, the 6-pin rectangular connector (X288) will need to be disconnected during the centering procedure performed below.
Page 161: Specifications
Service Manual – Liberty SC50 05 - Autonomous System Specifications Sample Shop Voltage Measurements The following tables contain some “real world” shop voltage measurements to help you recognize what “normal” looks like. • Unless otherwise noted, all voltage readings are referenced to the main ground lug in the electrical bay. •...
Page 162 Service Manual – Liberty SC50 05 - Autonomous System Autonomous Controller J6 Connector Pin# Wire Color Function Condition Value Open 24.2V W320 Wheel Encoder, Left B1 Closed 0.16V Moving 12.2V W315 Sensor Ground, Left Wheel Encoder 0.088V Active, OK 24.2V W298 BLU/VIO AUTO OK...
Page 163 Service Manual – Liberty SC50 05 - Autonomous System Autonomous Controller J11 Connector Pin# Wire Color Function Condition Value Rear LH Drop-off Sensor signal Front LH Drop-off Sensor signal Sensing Floor 1.035V Front RH Drop-off Sensor signal Blocked with hand 0.660V Rear RH Drop-off Sensor signal Not used...
Page 164: Special Tools
Service Manual – Liberty SC50 05 - Autonomous System Special Tools Drive Position Encoder Calibration Cable p/n 56122727 Laser Alignment Kit p/n 56122718 Stand Covers Detector Gauge Blocks Target Cylinders Small p/n 56122722 Large p/n 56122723 Small Target Cylinder Cylinder Cylinder Cylinder Cylinder...
Page 165: 10-Chassis System
Service Manual – Liberty SC50 10-Chassis System Functional Description The Chassis is a welded steel framework that provides the backbone structure on which the rest of the machine components are mounted. The chassis itself doesn’t require any specific maintenance, but is discussed here simply to describe mounting dependencies.
Page 166: Removal And Installation
Service Manual – Liberty SC50 10-Chassis System Removal and Installation Tipping the Machine This is a prerequisite procedure for laying the machine on its side in order to better access components on the underside of the machine. Shut down the machine and disconnect the main battery disconnect in the electrical bay.
Page 167 Service Manual – Liberty SC50 10-Chassis System Lift the 4 batteries out of the battery bay and set them aside. If the subsequent procedure will require access to any component at the front of the machine, make sure to remove the front nose before tipping the machine.
Page 168: 20 - Wheel System - Traction
Service Manual – Liberty SC50 20 - Wheel System - Traction Functional Description The machine is propelled by the forward drive wheel, which is chain-driven from Steering the drive motor, which contains a right- Controller angle gear box. The drive motor operates Steering at 24 volts, PWM-DC (PWM is Pulse Width Motor...
Page 169: Wheel Drive Controller
Service Manual – Liberty SC50 20 - Wheel System - Traction Wheel Drive Controller The primary purpose of the wheel drive controller is to control the speed and direction of the wheel motor while monitoring its performance. Control power for the module comes from the KSI relay, which is controlled by the Main Machine Controller.
Page 170: Drive Control
Service Manual – Liberty SC50 20 - Wheel System - Traction Drive Control CURTIS 1229 WHEELDRIVE CONTROLLER RELAY, SPST YEL/BLU K3 CONTROL - 20 BLU/ORN KSI - 8 BLU/ORN EM BRAKE GRA/ORN BRAKE OUT - 4 RED/GRN J4-19 GRN/BLU OPERATOR PRESENT ENABLE TRACTION MOTOR...
Page 171: Component Locations
Service Manual – Liberty SC50 20 - Wheel System - Traction Component Locations The diagram below shows the primary component locations related to the drive system. Drive Controller Steering Controller Relay Steering Spindle Brake Release Go Pedal Operator Presence Drive Motor Drive Chain...
Page 172: Maintenance And Adjustment
Service Manual – Liberty SC50 20 - Wheel System - Traction Maintenance and Adjustment Wheel Motor Brushes The wheel motor contains four carbon brushes. These make electrical contact to the rotating commutator on the motor’s rotor, and will wear with time. All four brushes must be replaced together. Remove the Drive Wheel Motor described on page 196.
Page 173: Drive Chain Maintenance And Adjustment
Service Manual – Liberty SC50 20 - Wheel System - Traction Drive Chain Maintenance and Adjustment This is a general followup procedure for servicing the chain either independently, or as conclusion to other procedures. Clip Chain Removal In most other procedures, the chain is removed when one of the sprockets is removed.
Page 174: Troubleshooting
Service Manual – Liberty SC50 20 - Wheel System - Traction Troubleshooting Terminology Voltage measurements are always taken between two points. The first point is the location of interest, and the second point is the reference point. These designations are irrespective of polarity, and the reference point may be at a higher voltage than the test point.
Page 175 Service Manual – Liberty SC50 20 - Wheel System - Traction Drive Controller Error Code Index 3-001 Excess M1 Drv Whl Mtr Current ..... . . 176 3-002 Internal Clock Failure .
Page 176: Drive Controller Error Codes
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-099 Low Voltage ........192 3-101 User Fault Estop .
Page 177: Internal Clock Failure
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-002 Internal Clock Failure The controller has detected an error with the internal clock. Description When Monitored Setting Always Conditions Faulty drive controller Possible Causes Reboot the machine. If the error persists, replace the drive controller. Initial Action Troubleshooting Steps 3-009...
Page 178: Driver 1Or2 Ovrcrnt
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-010 Driver 1or2 Ovrcrnt The drive controller detected excessive current to the brake solenoid. Description When Monitored Setting Same Always Conditions • Faulty brake solenoid Possible Causes • Short circuit in wiring Initial Action Troubleshooting Steps 1.
Page 179: Emrgcy Reverse Fault
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-012 Emrgcy Reverse Fault False Error. This function is not used.. Description When Monitored Setting Same Always Conditions Possible Causes Internal error Reboot the machine. If the error persists, replace the drive controller. Initial Action Troubleshooting Steps 3-013...
Page 180: K3 Contact Not Closing
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-015 K3 Contact Not Closing K3 relay failed in the open condition. Description No voltage detected at the B+ input lug when the K3 relay coil When Monitored Setting was commanded to close.
Page 181: M1/M2 Outputs Shorted
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-016 M1/M2 Outputs Shorted Drive wheel motor shorted Description The drive controller has detected excessive current to the When Monitored Setting drive wheel motor. Always Conditions • Faulty drive motor Possible Causes •...
Page 182: Lost Comm-A1 Mn Cntrlr
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-019 Lost Comm-A1 Mn Cntrlr Can message timeout. Description When Monitored Setting No CAN messages received within the timeout period. Always Conditions Possible Causes Initial Action Troubleshooting Steps...
Page 183: A3 Supervisor Comm
Service Manual – Liberty SC50 20 - Wheel System - Traction Supervisor Related Error Note Range Normal 3-020 A3 Supervisor Comm Note 1 3-021 A3 Supervisor Watchdog Note 1 J4-13 0 to 5.0 Volts 5.0 V 3-022 Go Pedal (POT 1) Fault Note 3 J4-14 0 to 5.0 Volts...
Page 184: External Supply Fault
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-034 External Supply Fault The combined current from the internal 5V and 17V power supplies is out of range. Description When Monitored Setting Same Always Conditions • Short in the speed limit pot circuit Possible Causes •...
Page 185: Brake Driver On
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-037 Brake Driver On The EM brake driver failed to turn off. Description Internal error. The drive controller detected the EM brake When Monitored Setting driver failed to turn off when commanded. Always Conditions Faulty drive controller...
Page 186: Pot 3 Fault
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-043 Pot 3 Fault False Error. Potentiometer 3 input is not used for this machine. Description When Monitored Setting Unexpected voltage on J4-7 Always Conditions Possible Causes Initial Action Troubleshooting Steps Examine the J4 connector for faults.
Page 187: Very High Cntrlr Temp
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-053 Very High Cntrlr Temp The controller internal temperature has exceeded maximum permitted. Description When Monitored Setting Internal temperature has exceeded 95 °C Always Conditions • High ambient temperature •...
Page 188: Driver3 Fault
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-071 Driver3 Fault 3-072 Driver3 Overcurrent 3-073 Driver4 Fault 3-074 Driver4 Overcurrent 3-075 Driver5 Fault 3-076 Driver5 Overcurrent 3-077 Driver6 Fault 3-078 Driver6 Overcurrent 3-079 Correlation Fault False errors. These errors relate to outputs that are not used by this machine. Description When Monitored Setting...
Page 189: Parameter Change
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-081 Parameter Change Drive parameter changed. Restart required. Description When Monitored Setting Always Conditions Possible Causes Reboot the machine Initial Action Troubleshooting Steps 3-082 A3 NV Memory Fault Controller non-volatile Memory Fault Description When Monitored Setting...
Page 190: M1 Drive Motor Open
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-092 M1 Drive Motor Open The traction motor circuit is open Description The drive controller has detected no current to the traction When Monitored Setting motor when commanded to operate. Always Conditions •...
Page 191: High Voltage
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-094 High Voltage Battery voltage too high Description When Monitored Setting Always Conditions Possible Causes Make sure the battery charger is not plugged in. Initial Action Troubleshooting Steps 3-095 Low Temperature Cutback Drive controller temperature is low.
Page 192: A3 Drv Cntrl Temp High
Service Manual – Liberty SC50 20 - Wheel System - Traction 3-097 A3 Drv Cntrl Temp High A3 Wheel Drive Controller Temperature Is High Description When Monitored Setting Always Conditions • Temperature above overtemp threshold. • Excessive load on vehicle. Possible Causes •...
Page 193 Service Manual – Liberty SC50 20 - Wheel System - Traction 3-101 User Fault Estop Programmed fault condition. Not used. Description When Monitored Setting Always Conditions Possible Causes Initial Action Troubleshooting Steps 3-102 User Fault Severe Programmed fault condition. Not used. Description When Monitored Setting...
Page 194: Removal And Installation
Service Manual – Liberty SC50 20 - Wheel System - Traction Removal and Installation Drive Assembly This procedure is a prerequisite procedure for gaining easier access to some of the drive components. Drain both the recovery and solution tanks. Remove the 4 screws and washers that secure the front nose to the recovery tank, and remove the front nose.
Page 195 Service Manual – Liberty SC50 20 - Wheel System - Traction 13. Loosen the 4 screws that secure the steering hub to the steering housing. • The far-left screw in the image to the right is below the solution tank. You may choose to loosen that screw as much as possible before tipping the machine on its side.
Page 196: Drive Wheel Motor
Service Manual – Liberty SC50 20 - Wheel System - Traction Drive Wheel Motor Remove the 4 screws and washers that secure the front nose to the recovery tank, and remove the front nose. Disconnect the main battery connector. Chock the rear wheels to prevent the machine from moving.
Page 197: Drive Wheel And Wheel Bearings
Service Manual – Liberty SC50 20 - Wheel System - Traction Drive Wheel and Wheel Bearings Remove the 4 screws and washers that secure the front nose to the recovery tank, and remove the front nose. Disconnect the main battery connector. Chock the rear wheels of the machine.
Page 198 Service Manual – Liberty SC50 20 - Wheel System - Traction Loosen the two setscrews on the drive sprocket (A), and remove the sprocket and drive chain. Take care not to lose the woodruff key (F). Remove the axle bolt (K) and washer (J) from the end of the axle. Remove the four Nuts (E), washers (D), and carriage bolts (B) that secure the two flanged bearings (C) to the wheel frame, and lower the wheel and axle out of the frame.
Page 199: Specifications
Service Manual – Liberty SC50 20 - Wheel System - Traction Specifications Sample Shop Voltage Measurements The following tables contain some “real world” shop voltage measurements to help you recognize what “normal” looks like. • Unless otherwise noted, all voltage readings are referenced to the main ground lug in the electrical bay. •...
Page 200 Service Manual – Liberty SC50 20 - Wheel System - Traction Drive Controller J4 Connector Pin# Wire Color Function Condition Value Open, Not Depressed 0.006V W410 GRN-BLU Operator Presence In Closed, Depressed 25.06V Active (Step on machine) 1.1V W291 YEL-BLU K3 Relay Coil Out Inactive (Step off 25.0V...
Page 201: 22 - Steering System
Service Manual – Liberty SC50 22 - Steering System Functional Description The Liberty SC50 uses a steer-by-wire system; meaning that there is no mechanical Steering Controller linkage between the steering wheel and the drive wheel. A Rotary Hall Effect Steering Wheel Position Sensor (voltage-source Steering Motor...
Page 202: Steering Controller
Service Manual – Liberty SC50 22 - Steering System Steering Controller The steering controller is integrated directly into the steering actuator motor, and is visible as an aluminum heatsink on the side of the motor. The steering controller receives unswitched battery power through a 15 amp circuit breaker for its drive power, but control power comes from the KSI output that is controlled by the Main Machine Controller.
Page 203 Service Manual – Liberty SC50 22 - Steering System Main Machine Controller Steering Position Sensor Steering Controller Steering OK Steering Home Sensor Motor Power Wheel Drive Controller...
Page 204: Steering Actuator
Service Manual – Liberty SC50 22 - Steering System Steering Actuator As mentioned, the steering actuator and steering controller are integral components of one another. The steering actuator consists of a remotely commutated, 3-phase, permanent magnet, brushless DC motor. The output of this motor passes into a 2-stage planetary gearset for speed reduction and increased torque.
Page 205: Maintenance And Adjustment
Service Manual – Liberty SC50 22 - Steering System Maintenance and Adjustment Steering Spindle Bearings The steering spindle bearings need to be periodically inspected and repacked with grease. The bearings should be inspected for signs of wear, but as long as they remain well greased and properly adjusted, wear should be minimal.
Page 206 Service Manual – Liberty SC50 22 - Steering System Clean the bearing cone, and inspect for damage or wear in the rollers. If a solvent is used, make sure it is completely dry before repacking the grease. If the shaft bearing or bearing race need to be replaced, used an appropriate bearing puller.
Page 207: Steering Chain Maintenance And Adjustment
Service Manual – Liberty SC50 22 - Steering System Steering Chain Maintenance and Adjustment This is a general followup procedure for servicing the steering chain either independently, or as conclusion to other procedures. Chain Removal If the chain needs to be removed from the steering disk, the master link in the chain can be removed and the chain separated.
Page 208: Drive Wheel Angle Sensor Centering
Service Manual – Liberty SC50 22 - Steering System Drive Wheel Angle Sensor Centering The steering controller calculates the drive wheel position based on the number of revolutions the motor’s rotor has made and the gear ratio between the motor and the drive wheel (including the steering chain). This is sufficient for human/manual control, but is not sufficient for autonomous operation.
Page 209: Troubleshooting
Service Manual – Liberty SC50 22 - Steering System Troubleshooting Terminology Voltage measurements are always taken between two points. The first point is the location of interest, and the second point is the reference point. These designations are irrespective of polarity, and the reference point may be at a higher voltage than the test point.
Page 210: Steering Controller Error Codes
Service Manual – Liberty SC50 22 - Steering System Steering Controller Error Codes 4-001 Analog Inputs Fault Both analog inputs are out of range. Description When Monitored Setting Both analog inputs exceed 5.5 volts. Always Conditions The two analog inputs are not related, so the most likely cause is a damaged harness with multiple short circuits to a higher voltage source.
Page 211 Service Manual – Liberty SC50 22 - Steering System 4-002 Supply Voltage Low The steering controller’s internal power stage DC Link voltage is low. Description When Monitored Setting The internal bus voltage is below 12 volts. Always Conditions • Loose or corroded power connection to the steering controller. Possible Causes •...
Page 212 Service Manual – Liberty SC50 22 - Steering System 4-004 A4 High Temp Limit The steering controller temperature is too high. Description When Monitored Setting The power stage of the steering controller has exceeded 85 °C Always Conditions • Steering obstruction or binding. Possible Causes •...
Page 213 Service Manual – Liberty SC50 22 - Steering System 4-006 Internal Cntrlr Short Short circuit in the steering internal power stage Description When Monitored Setting Always Conditions • Faulty steering controller Possible Causes • Faulty steering motor Initial Action Troubleshooting Steps 1.
Page 214 Service Manual – Liberty SC50 22 - Steering System 4-008 Motor Position Sensor The motor commutator sensors are reporting an illegal value. Description The three commutator sensors are showing all high or all low When Monitored Setting outputs. Always Conditions •...
Page 215 Service Manual – Liberty SC50 22 - Steering System 4-009 5V Output Shorted J5-4 The internal 5-volt power supply voltage is out of range. Description The steering controller has detected that its internal 5-volt When Monitored Setting power supply is below 4.5V or above 5.5V Always Conditions •...
Page 216 Service Manual – Liberty SC50 22 - Steering System 4-010 12V Out Shorted J5-3 The internal 12 volt power supply is out of range. Description The internal 12-volt power supply was detected to be either When Monitored Setting below 9.8 volts or above 13.5 volts. Always Conditions •...
Page 217 Service Manual – Liberty SC50 22 - Steering System 4-011 S8 Home Pos Sw Open No reference switch is connected to the Steer servo. Description When Monitored Setting Sampled reference current less than 100 µA Always Conditions • Steering controller misconfigured. Possible Causes •...
Page 218 Service Manual – Liberty SC50 22 - Steering System 4-012 Home Pos Not Found Wheel home position not found. Description During initialization, the wheel home sensor did not transition When Monitored Setting from either opened or closed when expected. Always Conditions •...
Page 219 Service Manual – Liberty SC50 22 - Steering System 4-013 Command mode error 4-014 CAN Communication Flt Invalid command from the main machine controller. Description The steering controller received a command that was not valid When Monitored Setting for the current operational state. Always Conditions •...
Page 220 Service Manual – Liberty SC50 22 - Steering System 4-021 A4 Amps Exceeds Limit The steering motor amperage exceeded hardware limits. Steering function disabled. Description When Monitored Setting Same Always Conditions • Motor failure Possible Causes • Obstruction to steering movement. Initial Action Troubleshooting Steps 1.
Page 221 Service Manual – Liberty SC50 22 - Steering System 4-023 Encoder Error False error. The steering controller believes the position feedback encoder is faulty, Description but this function is not used. When Monitored Setting Always Conditions • Faulty steering controller module. Possible Causes Reboot the machine.
Page 222 Service Manual – Liberty SC50 22 - Steering System 4-025 Steer Control Temp Hot Steering controller temperature is high. Description The temperature of the power stage of the steering controller When Monitored Setting exceeds 68°C, but has not yet reached the limit of 85°C Always Conditions Steering obstruction or motor failure...
Page 223 Service Manual – Liberty SC50 22 - Steering System 4-029 Strg Sensor Shrt to 5V The steering controller has detected that analog inputs 0 and 1 are shorted. Description When Monitored Setting The analog inputs are tracking with one another. Always Conditions Possible Causes...
Page 224 Service Manual – Liberty SC50 22 - Steering System 4-031 Steering Wheel Sensor The steering position sensor (steering wheel) input is out of range. Description The analog input-0 (J5-5) value is above or below the software When Monitored Setting setting limits. Always Conditions •...
Page 225: Removal And Installation
Service Manual – Liberty SC50 22 - Steering System Removal and Installation Steering Sensor Removing the steering sensor is fairly straightforward. When replacing the senor, it is important to make sure the shaft-flat on the sensor is aligned with the setscrew location on the steering shaft.
Page 226: Steering Controller And Actuator
Service Manual – Liberty SC50 22 - Steering System Steering Controller and Actuator Disconnect the main battery connector to protect the electronics. Remove the 4 screws and washers that secure the front nose to the recovery tank, and remove the front nose. Using a 6-mm hex key, remove the cap screw that secures the chain retainer to Chain...
Page 227 Service Manual – Liberty SC50 22 - Steering System Remove the three mounting screws, washers, Mounting and spacers that secure the steering module Screw (3) to the steering frame, and remove the module. Standoffs After assembly, tension the steering chain as described in “Steering Chain Maintenance and Adjustment”...
Page 228: Specifications
Service Manual – Liberty SC50 22 - Steering System Specifications Sample Shop Voltage Measurements The following tables contain some “real world” shop voltage measurements to help you recognize what “normal” looks like. • Unless otherwise noted, all voltage readings are referenced to the main ground lug in the electrical bay. •...
Page 229: 24 - Electrical System
Service Manual – Liberty SC50 24 - Electrical System Functional Description The Liberty SC50 is predominantly a distributed network of intelligent controllers. The electrical system describes those support aspects for the distributed controllers. This includes power and power control components, as well as the electrical backbone of the machine, including the main schematics and wiring harness diagrams.
Page 230: Ksi Relay
Service Manual – Liberty SC50 24 - Electrical System KSI Relay The name “KSI” originates from the acronym for Key Control Switch Input, and can be considered to carry that same Panel function, even though it is not directly controlled by a key switch on the Liberty machine.
Page 231: E-Stop Switch
Service Manual – Liberty SC50 24 - Electrical System E-Stop Switch The E-stop switch is a normally closed switch, which means the function is active when the circuit is open or broken. It operates this way because it is a safety circuit, and is intended to “fail” in the active-mode if a wire were to be cut, as opposed to disabling the function, or preventing the activation of an E-stop condition if a wire is loose or broken.
Page 232: Ultraviolet Germicidal Irradiation (Uvgi) Option
Service Manual – Liberty SC50 24 - Electrical System Ultraviolet Germicidal Irradiation (UVGI) Option The machine may be equipped with an Ultraviolet Germicidal Irradiation (UVGI) system. This consists off an electronic ballast mounted above the operator’s platform, a lamp housing mounting frame below the operator’s platform, and the ultraviolet lamp holder below the operator’s platform.
Page 233: Component Locations
Service Manual – Liberty SC50 24 - Electrical System Component Locations Battery Circuit Disconnect Breakers K3 Relay K2 Relay E-Stop KSI Relay Battery DC/DC Converter Main 100A Fuse Ground Lug Battery Charger Thermistor...
Page 234: Maintenance And Adjustments
Service Manual – Liberty SC50 24 - Electrical System Maintenance And Adjustments Battery Charging Profile (Algorithm) Setting Profile Parameters T105 constant power dv/dt Quick Tip To check or change the battery charging Trojan 30XHS profile, in the Delta-Q IC650 battery Deka 8G31 Gel charger do the following: J305 constant power dVdt...
Page 235: Troubleshooting
Service Manual – Liberty SC50 24 - Electrical System Troubleshooting General Electrical Troubleshooting Diagnosing machine failures commonly involves testing electrical components and tracing electrical circuits as they pass throughout the machine. This section is intended to provide you with the general information necessary to identify an electrical circuit from a schematic, and physically trace it and test it within the machine itself, as well as common steps necessary to test the electrical components making up that circuit.
Page 236: Testing Cables
Service Manual – Liberty SC50 24 - Electrical System It is important that the seal not be damaged, as the connector may then Rubber Seal corrode over time. Standard voltmeter probes are too Contact T-Pin large to slip past the seal without damaging it.
Page 237: Connector Probe Kit
Service Manual – Liberty SC50 24 - Electrical System Connector Probe Kit To make it easier to connect a multimeter to the small contacts in connectors, you can make a simple test probe kit. The probes are fabricated using a mating contact and a lead wire.
Page 238: Battery Charger Error Codes
Service Manual – Liberty SC50 24 - Electrical System Battery Charger Error Codes 8-E001 High battery voltage Battery voltage too high. Description When Monitored Setting The battery voltage is higher than the software setting. Charging Conditions Possible Causes Initial Action Troubleshooting Steps •...
Page 239 Service Manual – Liberty SC50 24 - Electrical System 8-E003 Charge timed out Description When Monitored Setting Charging Conditions Possible Causes Initial Action Troubleshooting Steps • Charger output reduced due to high temperatures. Operate at lower ambient temperature. • Charger output reduced due to low AC voltages. Check AC voltage. •...
Page 240 Service Manual – Liberty SC50 24 - Electrical System 8-E007 Bat. Ah limit reached Charge amp-hour Limit reached. Algorithm dependent. Description When Monitored Setting Charging Conditions Possible Causes Initial Action Troubleshooting Steps • Charger output reduced due to high temperatures. Operate at lower ambient temperature •...
Page 241 Service Manual – Liberty SC50 24 - Electrical System 8-E013 Bat. not taking current The battery is not taking a charge. Description When Monitored Setting Charging Conditions High resistance connection Possible Causes Initial Action Troubleshooting Steps • This error will automatically clear once the charger is reset by cycling DC or AC. 8-016 Software upgrade fail 8-018...
Page 242 Service Manual – Liberty SC50 24 - Electrical System 8-019 Software Rev Incorrect Hardware build does not support software version Description When Monitored Setting Updating Conditions The charger hardware does not support the new software version trying to be Possible Causes programmed.
Page 243 Service Manual – Liberty SC50 24 - Electrical System 8-E022 Low battery voltage Low battery voltage while charging. Algorithm dependent – typically 0.1V/cell Description When Monitored Setting Charging Conditions Possible Causes Initial Action Troubleshooting Steps • Another device may be drawing current from the battery. •...
Page 244 Service Manual – Liberty SC50 24 - Electrical System 8-E025 AC voltage dipped The AC voltage is too low. Description When Monitored Setting AC voltage has dipped below 80 VAC 3 times in 30 seconds Charging Conditions Possible Causes Initial Action Troubleshooting Steps 8-026 USB Script Failed...
Page 245 Service Manual – Liberty SC50 24 - Electrical System 8-E028 Incompatible algo Algorithm error Description When Monitored Setting Charging Conditions Possible Causes Initial Action Troubleshooting Steps • Update charger software, continue to use existing algorithm or select a different charging algorithm that is compatible.
Page 246 Service Manual – Liberty SC50 24 - Electrical System 8-E031 ADC Vref out of range The Vref for the ADC measurements has triggered an alarm Description When Monitored Setting Charging Conditions Possible Causes Initial Action Troubleshooting Steps 1. Disconnect AC input and battery for 30 seconds. 2.
Page 247 Service Manual – Liberty SC50 24 - Electrical System 8-E037 CANdownload failure CAN Open reprogramming failed Description When Monitored Setting Bootup Conditions Possible Causes Reboot the machine. Initial Action Troubleshooting Steps 8-E038 Fan failure 8-E040 Fan voltage low False Error. This charger model does not have a fan. Description When Monitored Setting...
Page 248: Lithium-Ion Battery Error Codes
Service Manual – Liberty SC50 24 - Electrical System Lithium-Ion Battery Error Codes Machine-Level Codes (10-1xx) The level-100 error codes are generated by the Main Machine Controller based on reading a warning registry from the Battery Management System. These do not have the associated lower-level codes, which are discussed below.
Page 249 Service Manual – Liberty SC50 24 - Electrical System 10-203 Charge current short . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 0x15 Short-circuit current during charging 10-204 Discharge current short .
Page 250 Service Manual – Liberty SC50 24 - Electrical System 10-100 Low battery voltage The battery pack voltage is approaching minimum threshold. Description Possible Causes Troubleshooting Steps • Charge the batteries 10-101 Low reserve capacity SOC 10-102 Reserve capacity SOC The battery pack State of Charge is approaching, or at, minimum reserve capacity. Description Possible Causes...
Page 251 Service Manual – Liberty SC50 24 - Electrical System 10-112 Set deactivation enable 10-114 Set node ID process enable The battery pack is initiating a shutdown or startup process. Description Possible Causes Troubleshooting Steps 10-115 Unknown warning The battery pack has set an uncategorized warning flag. Description Possible Causes...
Page 252 Service Manual – Liberty SC50 24 - Electrical System 10-203 Charge current short LED Behavior Short-circuit current during charging Description Reporting Others Related Solid Red Solid Grn 0x15 Short-circuit current during charging LL-Codes Setting • The charge current for a module exceeds 320 Ampere for more than 100 µS. Conditions Possible Faulty battery charger...
Page 253 Service Manual – Liberty SC50 24 - Electrical System 10-205 Battery pack max SPN LED Behavior Module over voltage Description Reporting Others Related Solid Red Solid Grn 0x0d Module over voltage LL-Codes A 24-volt module exceeds 31.5 Volts Setting A 36-volt module exceeds 45 volts Conditions Possible Faulty charger...
Page 254 Service Manual – Liberty SC50 24 - Electrical System 10-207 Charge FET fault LED Behavior Charge FET is shorted. . Description Reporting Others Related Flash Red Solid Red 0x36 Charge FET is shorted. . LL-Codes The affected module is unable to open its charge FET to disconnect power from the Setting positive terminal Conditions...
Page 255 Service Manual – Liberty SC50 24 - Electrical System 10-209 Discharge max current LED Behavior Over current during discharging Description Reporting Others Solid Red Solid Grn 0x1a Over current during discharging Related Solid Red Solid Grn 0x1b Over current during discharging LL-Codes Flash Red Solid Grn 0x34...
Page 256 Service Manual – Liberty SC50 24 - Electrical System 10-211 Overcharge alarm LED Behavior Cell over-voltage during charge Description Reporting Others Solid Red Solid Red 0x08 Cell over voltage during charge Related Flash Red Solid Grn LL-Codes 0x2a A value close to limit of the ADC is measured. 0x08 The voltage in any cell block exceeds 4.25 Volts for more than 3 seconds.
Page 257 Service Manual – Liberty SC50 24 - Electrical System 10-213 Over/Under discharge temperature LED Behavior A cell or charge FET is out of temperature range during discharge. Description Reporting Others Solid Red Solid Red 0x04 Cell over temperature during Discharging Related Solid Red Solid Red...
Page 258 Service Manual – Liberty SC50 24 - Electrical System 10-214 Module defective LED Behavior Internal module problem. Description Reporting Others Flash Red Solid Grn 0x0a Cell voltage too low Solid Red Solid Grn 0x0f Module voltage differs from sum of cell voltages. Related Solid Red Solid Grn...
Page 259 Service Manual – Liberty SC50 24 - Electrical System 10-215 Unknown Error LED Behavior Internal module error Description Reporting Others Solid Red Solid Grn 0x38 Discharge Error Lock (0x04, 0x05, 0x06) Flash Red Solid Grn 0x3c 24-volt supply below limit Related LL-Codes Flash Red Solid Grn...
Page 260 Service Manual – Liberty SC50 24 - Electrical System Uncategorized Errors LED Behavior No Upper Level Code is reported for these LL-Codes. Description Reporting Others Solid Red Solid Grn 0x0b Severe Cell imbalance within a module Flash Red Solid Grn 0x1d Difference of current measurement Flash Red Solid Grn...
Page 261: Removal And Installation
Service Manual – Liberty SC50 24 - Electrical System Removal and Installation Operator Platform Removal of the operator platform is a prerequisite procedure for accessing sensors and components below the platform. Disconnect the recovery hose (A) from the squeegee. Pry up the screw cap from the two screws (B) on the sides of the platform, and remove the screws, washers, and cap retainers.
Page 262: Platform Switches
Service Manual – Liberty SC50 24 - Electrical System Platform Switches There are two micro switches inside the operator’s platform for machine control. The Operator Present switch is below the larger pedal, and the Go switch is below the smaller pedal. Remove the Operator Platform described on page...
Page 263: Batteries (Lead-Acid)
Service Manual – Liberty SC50 24 - Electrical System Batteries (Lead-Acid) CAUTION: It is important to unplug the main disconnect before removing battery cables to avoid power spikes to the control modules that otherwise are always receiving power. Shut down the machine, wait at least 15 seconds after Battery Disconnect the dropoff sensors turn off, and disconnect the main...
Page 264: Batteries (Lithium Ion)
Service Manual – Liberty SC50 24 - Electrical System Batteries (Lithium Ion) CAUTION: The power-down and disconnection sequence is critical to the health of the machine’s controllers and also the Lithium Ion batteries themselves. Note the following: − Make sure the Autonomous controller is powered down before turning off or disconnecting the batteries (see Step −...
Page 265 Service Manual – Liberty SC50 24 - Electrical System Disconnect all of the data cables from the batteries. Negative • Even if only one battery is being replaced, the Positive support frames must be removed, which requires Data all cables to be removed. •...
Page 266 Service Manual – Liberty SC50 24 - Electrical System 10. As necessary, remove the screws (L) and “Dogbone” connectors (K) that tie adjacent batteries to one another. 11. As necessary, lift the battery(ies) out of the battery box using the lifting handle (M). Battery Placement •...
Page 267: Battery Charger
Service Manual – Liberty SC50 24 - Electrical System Battery Charger The battery charger is located below the main chassis just behind the scrub deck. CAUTION: Risk of arc-flash burns. The battery terminals at the charger are on unfused wires from the battery.
Page 268: Wiring Diagrams
Service Manual – Liberty SC50 24 - Electrical System Wiring Diagrams Understanding the Features of the Electrical Circuit Diagram The style of the electrical circuit diagram is a hybrid of drawing types, borrowing various features from different schematic styles, such as ladder diagrams, net diagrams, and block diagrams. Owing to its history as a ladder diagram, power rails are typically represented (V) TO 2A1 as vertical lines to the left and right of the diagram.
Page 269 Service Manual – Liberty SC50 24 - Electrical System Device Labeling All of the components within the diagram carry various labels intended to assist in identifying those items in the actual machine, or to reference them to other drawings. Device Numbers (Names): Each device is given its own unique identifier.
Page 270: Using The Wiring Harness Diagram
Service Manual – Liberty SC50 24 - Electrical System In addition to the identifier, the tag also contains coordinate information to help you locate the mating tag faster. So the first tag contains the coordinates of the second tag, and the second tag contains the coordinates of the first tag.
Page 271: Connector Numbers
Service Manual – Liberty SC50 24 - Electrical System Connector Numbers Every harness connector throughout the system is given a unique connector ID SOLUTION SOLENOID number. The ID numbers can be used to locate the connector in the machine and to look up pin assignments in the “Electrical Connector Pin-Out Assignments”...
Page 272: Electrical Circuit Diagram
Service Manual – Liberty SC50 24 - Electrical System Electrical Circuit Diagram Drawing 56125010, Rev. A Sheet 1, Main Machine Controller...
Page 273: Sheet 2, Power Module
Service Manual – Liberty SC50 24 - Electrical System Sheet 2, Power Module...
Page 274: Sheet 3, Drive Controller
Service Manual – Liberty SC50 24 - Electrical System Sheet 3, Drive Controller...
Page 275: Sheet 4, Steering Controller
Service Manual – Liberty SC50 24 - Electrical System Sheet 4, Steering Controller...
Page 276: Sheet 5, Autonomy Controller
Service Manual – Liberty SC50 24 - Electrical System Sheet 5, Autonomy Controller...
Page 277: Sheet 6, Autonomy Breakout Box
Service Manual – Liberty SC50 24 - Electrical System Sheet 6, Autonomy Breakout Box BLK/WHT CAN H WHT/BLU CAN L...
Page 278: Sheet 7, Uvgi Option, Generation 2
Service Manual – Liberty SC50 24 - Electrical System Sheet 7, UVGI Option, Generation 2...
Page 279: Sheet 8, Uvgi Option, Generation 3
Service Manual – Liberty SC50 24 - Electrical System Sheet 8, UVGI Option, Generation 3...
Page 280: Sheet 9, Battery Connection Options
Service Manual – Liberty SC50 24 - Electrical System Sheet 9, Battery Connection Options...
Page 281: Wiring Harness Diagrams
Service Manual – Liberty SC50 24 - Electrical System Wiring Harness Diagrams 56104984, Rev F, for Legacy Models BLK,8,W073 BLK,10,W072 X185 YEL-BRN,16,W158 GRY,16,W105 X186 BLK,14,FUSE_WIRE2 [6,H] [7,B] X263 RED,14,W421 BLU-GRN,14,W419 X264 [7,D] [4,G] RED,8,W069 BLK,8,W073 X142 GRN-BLK,18,W290 ORN-GRY,18,W289 X141 [6,D] [4,F] GRY,18,W287 BLU-ORG,18,W288...
Page 282 Service Manual – Liberty SC50 24 - Electrical System 56104984, Rev F, Sheet 2 RED,12,W005 RED,6,W003 BLK,6,W004 BLK,12,W006 X249 GRY,16,W106 BLK,18,W403 GRY-BLK,16,W163 BLK,18,W404 X250 YEL,20,W393,TWISTED PAIR BLU-RED,18,W299 BRN-GRN,18,W282 BRN-BLU,18,W388 GRY,18,W340 BLK,16,W345 BLU-RED,16,W251 TO BATTERY CHARGER INTERLOCK ORN-GRN,18,W505 GRN,20,W396,TWISTED PAIR VIO-GRN,18,W341 ORN-YEL,18,W506 BLK,18,W390 BLK,16,W344...
Page 283 Service Manual – Liberty SC50 24 - Electrical System 56104984, Rev F, Sheet 3 YEL-BRN,18,W451 BLK,18,W322 GRY,18,W310 BLU-VIO,18,W298 BLU,22,W501 BLU-BRN,18,W319 BLK,18,W320 ORN-GRN,18,W505 BRN-BLU,18,W314 GRN-YEL,18,W318 YEL-GRN,18,W313 GRN,18,W518 SHIELD,20,W502 YEL,20,W311,TWISTED PAIR YEL,20,W401,TWISTED PAIR GRN,20,W399,TWISTED PAIR GRN,20,W312,TWISTED PAIR X205 RED-GRN,10,W301 RED-GRN,10,W702 YEL-BLK,10,W303 YEL-BLK,10,W302 YEL-GRN,18,W313 BRN-BLU,18,W314 ORN-GRN,18,W061...
Page 284 Service Manual – Liberty SC50 24 - Electrical System 56104984, Rev F, Sheet 4 BLK-WHT,18,W567 BLK,18,W568 ORG,18,W569 WHT-BLU,18,W570 BLU,18,W571...
Page 285 Service Manual – Liberty SC50 24 - Electrical System 56104984, Rev F, Sheet 5...
Page 286: 56104911, Rev B, For Focus Release Models
Service Manual – Liberty SC50 24 - Electrical System 56104911, Rev. B, for Focus Release Models RED,6,W468 BLK,8,W073 BLK,10,W072 X185 GRY,16,W105 X186 BLK,14,WF7-2 [6,H] X263 [7,B] RED,14,W421 BLU-GRN,14,W419 X264 [4,G] [7,D] RED,8,W069 BLK,8,W073 X142 GRN-BLK,18,W290 ORN-GRY,18,W289 X141 BLK,16,WRT01-1 VIO,18,W441 BLK,18,W417 BLK,16,WRT01-2 [6,D] [4,F]...
Page 287 Service Manual – Liberty SC50 24 - Electrical System 56104911, Rev. B, Sheet 2...
Page 288 Service Manual – Liberty SC50 24 - Electrical System 56104911, Rev. B, Sheet 3...
Page 289 Service Manual – Liberty SC50 24 - Electrical System 56104911, Rev. B, Sheet 4...
Page 290 Service Manual – Liberty SC50 24 - Electrical System 56104911, Rev. B, Sheet 5...
Page 291: 3D Harness Diagrams
Service Manual – Liberty SC50 24 - Electrical System 3D Harness Diagrams The following diagrams show the main electrical harness, autonomy harness, and connectors within the machine. This can be used in conjunction with the “Electrical Connector Pin-Out Assignments” on page to identify where connectors are located and how they appear.
Page 292: Main Harness, Main Machine Controller
Service Manual – Liberty SC50 24 - Electrical System Main Harness, Main Machine Controller X210 5 Amp 15 Amp Speed Pot 5 Amp X231 Speaker X173 USB X287 CANBus J2 Main Li-Ion CANBus Controller X137 iButton X279 E-Stop A2 Prog. F2 3 Amp Relay J1 Main...
Page 293: Main Harness, Electrical Bay
Service Manual – Liberty SC50 24 - Electrical System Main Harness, Electrical Bay F7 20 Amp Relay UVGI F3 30 Amp Vacuum X187 LED Main Ground Light Bar Relay Detergent Pump J3 Power Module J4 Drive F5 15 Amp Controller Deck Lift F6 40 Amp J5 Steering...
Page 294: Main Harness, Lower Electrical Bay
Service Manual – Liberty SC50 24 - Electrical System Main Harness, Lower Electrical Bay X288 Drive Position X190 Deck X193 Steering Actuator Home Main Chassis Ground X242/X243 Em-Brake X203/X204 Drive Motor Drive Motor Harness X205 Drive Motor X244 Em-Brake...
Page 295: Main Harness, Scrub Deck
Service Manual – Liberty SC50 24 - Electrical System Main Harness, Scrub Deck X271 Solution X128 Scrub Pump Motor X191 Flow Sensor X78 Solution Solenoid Main Harness, Rear Platform Vacuum Float Motor Switch X157 Vac Motor X189 UVGI Data X280 X194 Float SW Charger...
Page 296: Autonomy Cables, Autonomy Bay
Service Manual – Liberty SC50 24 - Electrical System Autonomy Cables, Autonomy Bay 3D Camera Antenna 1 & 2 Power J8 Mapping 3D Camera Laser Ethernet ETH2 Mapping Laser J7 3D Camera GBIT 3D Camera ETH3 RH Safety Laser J11 Breakout...
Page 297: Autonomy Cables, Mapping And Safety Lasers
Service Manual – Liberty SC50 24 - Electrical System Autonomy Cables, Mapping and Safety Lasers ETH3 RH Safety Laser J8 Mapping J11 Breakout Laser ETH2 Mapping Laser J12 Breakout J13 LH Safety Laser J14 RH Safety Laser J9 Mapping ETH RH Laser Safety Laser ETH Mapping...
Page 298: Autonomy Cables, Dropoff Sensors
Service Manual – Liberty SC50 24 - Electrical System Autonomy Cables, Dropoff Sensors J16 Left Front Dropoff J15 Left Rear Dropoff J17 Right Front Dropoff J18 Right J12 Breakout Rear Dropoff...
Page 299: Electrical Connector Pin-Out Assignments
Service Manual – Liberty SC50 24 - Electrical System Electrical Connector Pin-Out Assignments The machine uses a wide variety of electrical connectors, which vary depending on amperage passed, moisture encountered, and number of conductors present. Diagnosing machine problems, frequently involves examining the physical condition of the connectors, as well as the electrical signals passing through them.
Page 300 Service Manual – Liberty SC50 24 - Electrical System Main Machine Controller 770680-4 770680-1 and 770680-4 are nearly the Pin# Wire Color Function same, except they have different keying W473 CAN0 H to prevent mis-connection. W472 CAN0 L W261 RED-BLK (Future) Water Sensor+ W185 Smart Key B-...
Page 301 Service Manual – Liberty SC50 24 - Electrical System Power Module 776273-1 Pin# Wire Color Function W265 ORN-GRY Deck Actuator Out 1 +/- W019 K2 Relay Coil Out W395 CAN1 L W392 CAN1 H W354 BLK-PNK Curtis Prog +15V Out W264 BLU-GRY Deck Actuator Out 2 +/-...
Page 302 Service Manual – Liberty SC50 24 - Electrical System Drive Controller 770680-1 Pin# Wire Color Function W256 CAN1 H W257 CAN1 L W130 E-Stop In W061 ORN-GRN EM Brake Out W378 VIO-BLK Speed Pot Gnd Out W059 KSI In W305 BLU-BLK Curtis Prog Tx W299...
Page 303 Service Manual – Liberty SC50 24 - Electrical System Steering Controller 963217-1 Pin# Wire Color Function W393 CAN1 H W299 BLU-RED Steering Ready (PWM) Out W389 BRN-GRN +5V Sensor Supply Out W388 BRN-BLU Steering Angle Sensor In W340 KSI In W345 Battery- W251...
Page 304 Service Manual – Liberty SC50 24 - Electrical System Autonomy Controller 770680-1 Pin# Wire Color Function W400 CAN0 L W398 CAN0 H W499 +24V Sensor Supply Out W500 Drive Position Sensor In W519 Chassis Ground (Not Battery) W313 YEL-GRN Left Wheel Encoder A W318 GRN-YEL Right Wheel Encoder A...
Page 305 Service Manual – Liberty SC50 24 - Electrical System J11/J12 Autonomy Breakout Box 776164-1 Pin# Wire Color Function W671 +24V W672 W673 Area Address A+ W674 Area Address A- W675 Area Address B+ W676 Area Address B- W677 Area Address C+ W678 Area Address C- W679...
Page 306 Service Manual – Liberty SC50 24 - Electrical System Safety Laser, Master RT0W71419SNH Pin# Wire Color Function +24V Area Address A+ PUR/BLK Area Address A- Area Address B+ GRY/BLK Area Address B- Area Address C+ WHT/BLK Area Address C- Area Address D+ PNK/BLK Area Address D- Area Address E+...
Page 307 Service Manual – Liberty SC50 24 - Electrical System Safety Laser, Slave RT0W71210SNH Pin# Wire Color Function +24V Protection Zone B Interlock 1 Protection Zone B Interlock 2 RED/BLK Protection Zone B Warning 1 YEL/BLK Protection Zone B Warning 2 WHT/BLU RS 485+ WHT/RED...
Page 308 Service Manual – Liberty SC50 24 - Electrical System J19-21 (Future) Ultrasonic Personnel Sensors (3X) Pin# Wire Color Function +24V Analog Data Sync Standard Ethernet Pin# Wire Color Function Gigabit Ethernet Pin# Wire Color Function Li-Ion Battery Comm Pin# Wire Color Function Recuperation...
Page 309 Service Manual – Liberty SC50 24 - Electrical System Solution Solenoid DTM04-2P Pin# Wire Color Function W163 GRY-BLK Control (GND) W106 KSI (+24V) X128 Scrub Motor 19432-0013 Pin# Wire Color Function W081 WHT-VIO M1 PWM Control (B-) W082 BLK-YEL M2 Fixed (B+) X137 Smart Key 43020-0201...
Page 310 Service Manual – Liberty SC50 24 - Electrical System X163 TrackClean DTM06-12SA Pin# Wire Color Function W255 W161 YEL-BRN Battery+ W131 Battery- W276 CAN0 H W278 CAN0 L X173 USB Expansion ATM04-4P Pin# Wire Color Function W204 VBUS W203 W202 W221 X187 Light Strip...
Page 311 Service Manual – Liberty SC50 24 - Electrical System X190 Deck Actuator DT06-6S Pin# Wire Color Function W264 BLU-GRY Actuator 2 +/- W265 ORN-GRY Actuator 1 +/- W262 RED-BRN Position 1 W266 Battery- W263 RED-YEL Position 2 X191 Solution Flow Sensor 09-50-3031 Pin# Wire Color...
Page 312 Service Manual – Liberty SC50 24 - Electrical System X203 Traction Motor 19432-0013 Pin# Wire Color Function W300 RED-GRN M1 Bi-Directional PWM W302 YEL-BLK M2 Bi-Directional PWM X208 Operator Platform Harness DTM06-6S Pin# Wire Color Function W373 YEL-BLU Go Pedal Return W375 KSI for Go Pedal W254...
Page 313 Service Manual – Liberty SC50 24 - Electrical System X231 Speaker 43025-0200 Pin# Wire Color Function W358 RED-BLK Speaker+ W359 WHT-BRN Speaker- X241 Steering Encoder (Steering Wheel) 282087-1 Pin# Wire Color Function W447 +12V W390 W388 BRN-BLU Analog Data X242 EM Brake AT06-2S Pin# Wire...
Page 314 Service Manual – Liberty SC50 24 - Electrical System X288 Drive Position Encoder ATM04-6P Pin# Wire Color Function W500 Analog Data W499 W501 W502 SHIELD Shield...
Page 315: 30 - Solution System
Service Manual – Liberty SC50 30 - Solution System Functional Description The Solution System uses a Proportional– Detergent Pump Integral–Derivative (PID) feedback loop to regulate solution flow. A PID system Detergent continuously calculates an error value as the Bottle difference between a desired flow rate and the measured flow rate, and applies a correction based on proportional, integral, and derivative terms, which gives the control its name;...
Page 316: Circuit Description
Service Manual – Liberty SC50 30 - Solution System Circuit Description All of the functions of the solution system are directly controlled by the Main Machine Controller (MMC). So the circuit descriptions are fairly straightforward, and all of the logic aspects are software driven. (The detergent pump is slightly more complex and is described on page 317.)
Page 317: Detergent Pump
Service Manual – Liberty SC50 30 - Solution System Detergent Pump The detergent pump is a solenoid-driven Solenoid diaphragm with one-way check valves. As the solenoid oscillates in and out, it drives Diaphragm a flexible diaphragm that draws fluid in during the retraction stroke, and drives fluid out during the compression stroke.
Page 318: Maintenance And Adjustments
Service Manual – Liberty SC50 30 - Solution System Maintenance and Adjustments Draining the Solution Tank There is a drain valve for the solution tank that is separate from the main solution flow plumbing. It is located on the right side of the machine.
Page 319: Clean And Inspect The Solution Solenoid
Service Manual – Liberty SC50 30 - Solution System Clean and Inspect the Solution Solenoid The solution solenoid should be periodically inspected for leaks or blockages. A machine stored for extended periods with solution in the lines may even develop a film-like obstruction in the solution system.
Page 320: Removal And Installation
Service Manual – Liberty SC50 30 - Solution System Removal and Installation Solution Pump Disconnect the main battery connector for safety while working near the drive system. Remove the 4 screws and washers that secure the front nose to the recovery tank, and remove the front nose.
Page 321: Detergent Pump
Service Manual – Liberty SC50 30 - Solution System Detergent Pump Removal and replacement of the detergent Solenoid pump is straightforward, however, it is important to check polarity of both fluid Diaphragm and electrical connections. • Inlet tube from detergent bottle •...
Page 322: 34-Scrub System
Service Manual – Liberty SC50 34-Scrub System Functional Description The scrub system consists of a circular scrub deck which is raised and lowered by an actuator, in conjunction with a parallelogram linkage to ensure the deck remains parallel to the floor surface. There are two classes of scrub deck available for the machine.
Page 323: Deck Types
Service Manual – Liberty SC50 34-Scrub System Deck Types The disc deck provides a uniform rotational movement of the scrub pad. The disc deck is identified by the horizontal mounting of the brush motor. The motor’s output shaft connects to the brush pad via a right-angle reduction gearbox.
Page 324 Service Manual – Liberty SC50 34-Scrub System The deck lift actuator has 2 internal limit switches plus 2 informational, position switches inside the gear housing. All 4 switches are actuated by a 4-lobe cam that represents the full lineal travel of the leadscrew nut.
Page 325: Maintenance And Adjustment
Service Manual – Liberty SC50 34-Scrub System Maintenance and Adjustment Scrub Deck Actuator Adjustment The scrub deck actuator adjustment sets the position of the top of the nut housing when the actuator motor reaches the retracted limit. This represents a home-position, and all other extension positions are referenced from this home position.
Page 326 Service Manual – Liberty SC50 34-Scrub System Remove the squeegee assembly from the scrub deck (squeegee link). Rotate the squeegee link so it is pointing toward Squeegee the rear of the machine (normal position when Link driving straight). Stand on the operator platform and power the machine with Service Mode access.
Page 327: Troubleshooting
Service Manual – Liberty SC50 34-Scrub System Troubleshooting Most troubleshooting scenarios are error code driven. Refer to Troubleshooting described on page 51 the Controller chapter for error code tables. The scrub motor and deck actuator are controlled by the Power Module, which will report detectable errors such as motor shorts, open circuits, or overloads.
Page 328: Removal And Installation
Service Manual – Liberty SC50 34-Scrub System Removal and Installation Scrub Deck Drain both the recovery and solution tanks to reduce the weight of the machine. Lower the scrub deck to the squeegee position, so the deck is slightly off the floor. Press the E-stop switch to lock out all motor function, Actuator and then power down the machine with the E-stop...
Page 329 Service Manual – Liberty SC50 34-Scrub System 10. Chock the rear wheels to prevent the machine from moving. 11. Raise the front of the machine as necessary to slide the scrub deck out to the side. Note: Lift the machine by the bottom of the recovery tank.
Page 330: Scrub Deck Actuator Assembly
Service Manual – Liberty SC50 34-Scrub System Scrub Deck Actuator Assembly Drain the recovery tank. Lower the scrub deck to the squeegee position, so the deck is slightly off the floor. Press the E-stop switch to lock out all motor function, and then power down the machine with the E-stop depressed.
Page 331 Service Manual – Liberty SC50 34-Scrub System Disconnect the actuator electrical connector, and free up any necessary cable ties. 10. Remove the mounting screw that secures the actuator’s mounting bracket to the solution tank, and remove the actuator up through the battery Electrical bay.
Page 332: Motor Brushes (Disc Deck)
Service Manual – Liberty SC50 34-Scrub System Motor Brushes (Disc Deck) Remove the Scrub Deck described on page 328. Brush Cap #1 Rotate each of the 2 brush caps approximately 1/4-turn to unlock it, and remove the brush cap. Using a small screwdriver or pick, gently pry up the brush retainer out of the electrical contact, and remove the brush from the motor.
Page 333: Motor Brushes (Rev Deck)
Service Manual – Liberty SC50 34-Scrub System Motor Brushes (Rev Deck) Remove the Scrub Deck described on page 328. Using tape or marker, place an index mark on the motor and Endbell endbell for reassembly placement. Bolts Remove the two long bolts that secure the endbell through the motor.
Page 334 Service Manual – Liberty SC50 34-Scrub System Retract all 4 brushes into their holder, and insert a pin or paper clip through the holes in the endbell to hold the brushes retracted. Place the spring washer inside the bearing cup of the endbell, and use a strong magnet to hold it in place.
Page 335: Rev Deck Bearing And Motor
Service Manual – Liberty SC50 34-Scrub System Rev Deck Bearing and Motor Eccentric Motor Counter Driver Weight Bearing Bearing Retainer Bearing Plate Remove the Scrub Deck described on page 328. Remove the 6 screws that secure the pad driver to the bearing plate, and remove the pad driver. •...
Page 336 Service Manual – Liberty SC50 34-Scrub System Turn the bearing plate over, remove the 3 screws that secure the bearing retainer to the bearing plate, and remove the retainer. The bearing is a light press fit into the bearing plate. Press the bearing out to remove it.
Page 337: Specifications
Service Manual – Liberty SC50 34-Scrub System Specifications Specifications Component Disc 13-17 AMPS Red pad, sealed concrete floor, maximum pressure, high solution flow, Brush Motor Amp Draw stationary, 24±1 VDC, allow time for 13.5-20.5 AMPS current to stabilize. Normal: 75 ± 4 Lbs Down Force Full: 88 ±...
Page 338: 38-Squeegee System
Service Manual – Liberty SC50 38-Squeegee System Functional Description Functional Description Functional Description The squeegee assembly mounts directly to the scrub Squeegee deck, and as such, does not Frame require a separate lifting mechanism like many other systems. It also mounts concentric to the scrub deck, which results in better squeegee tracking during...
Page 339: Maintenance And Adjustment
38-Squeegee System Service Manual – Liberty SC50 Maintenance and Adjustment Squeegee Blade Replacement Each squeegee blade has 4 usable edges before the blade needs to be replaced. When an edge becomes worn, the blade can be rotated front-to-rear or top-to- bottom to expose a new, fresh edge to the lower-front position.
Page 340: Troubleshooting
38-Squeegee System Service Manual – Liberty SC50 Troubleshooting Problem Cause Comments Poor water pick-up. Vacuum Leak • Inspect the seal on the recovery tank cover. Make sure the machine hood is closed completely, and straight. • Inspect the suction hose for tears and holes. •...
Page 341: 40-Recovery System
Service Manual – Liberty SC50 40-Recovery System Functional Description The Recovery System pulls the wastewater from the squeegee and directs it into the recovery tank. The 24-volt, three-stage electric vacuum motor creates a vacuum in the recovery tank with sufficient airflow to Recovery lift the fluids from the squeegee and into the Tank...
Page 342: Circuit Description
Service Manual – Liberty SC50 40-Recovery System Circuit Description The float switch connects directly to the main control board. When the water level is low and the float is hanging, the switch is closed, and the controller sees this as a low voltage. When the water level is high and the float is horizontal, the switch opens, and a pull-up resistor causes the control board to see this as 5-volts.
Page 343: Troubleshooting
Service Manual – Liberty SC50 40-Recovery System Troubleshooting Most troubleshooting scenarios are error code driven. Refer to Troubleshooting described on page 51 in the Controller chapter for error code tables. The vacuum motor is controlled by the Power Module, which will report detectable errors such as motor shorts, open circuits, or overloads.
Page 344 Service Manual – Liberty SC50 40-Recovery System Problem Cause Diagnostics The recovery tank Float switch not functioning, or 1. Turn off the machine and drain the recovery tank. is reported full when an open circuit in the wiring. 2. Gently shake or tilt the float to check if the steel ball empty is stuck.
Page 345: Vacuum Suction Test
Service Manual – Liberty SC50 40-Recovery System Vacuum Suction Test Use this procedure to verify that the vacuum system is performing within factory specifications. This procedure can also be used to isolate the cause of a vacuum problem between a clog or leak. It is a two-part procedure that verifies both static pressure and flow rate.
Page 346: Removal And Installation
Service Manual – Liberty SC50 40-Recovery System Removal and Installation Vac Motor Recovery Tank Wiring Recovery Drain the recovery tank. You may also want Hose to rinse the tank and flush clean water though the hoses. Disconnect the vacuum motor and float switch electrical connectors located below the left side of the machine.
Page 347: Recovery Tank Float Switch
Service Manual – Liberty SC50 40-Recovery System Recovery Tank Float Switch In order to remove the float switch from the recovery tank bulkhead, you will need to disassemble the electrical connector. This will require a tool with a small hooked end. Remove the Recovery Tank described on...
Page 348: Vacuum Motor
Service Manual – Liberty SC50 40-Recovery System Vacuum Motor Drain the recovery tank and raise it to access the vacuum motor. Screw and Cover Plate You may choose to remove the P-clamp to provide more slack in the wiring until the electrical connector near the motor can be unplugged.
Page 349: Vacuum Motor Brushes
Service Manual – Liberty SC50 40-Recovery System Vacuum Motor Brushes Mounting Remove the Vacuum Motor described on page Screws 348. Remove the two screws that secure the fan cover to the motor, and remove the cover. Cover Disconnect the electrical connector from the brush holder.
Page 350: Specifications
Service Manual – Liberty SC50 40-Recovery System Specifications Specifications Component Sealed 39 Inches of Water, Minimum Vacuum Water Lift 1” open hole 8 Inches of Water, Minimum Special Tools Vacuum Pressure Gauge 1-inch open hole adapter part number 56205281 Fabricated from PVC...

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Advance liberty sc50 x20d Advance liberty sc50 x20r 56104500 56104501

Nilfisk-Advance Advance Liberty SC50 Series Service Manual

Table of Contents

03 - General Information

04 - Control System

05 - Autonomous System

10-Chassis System

20 - Wheel System - Traction

Drive Controller Error Code Index 3-001

22 - Steering System

24 - Electrical System

30 - Solution System

34-Scrub System

38-Squeegee System

40-Recovery System

Quick Links

Chapters

Troubleshooting

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Summary of Contents for Nilfisk-Advance Advance Liberty SC50 Series