Tennant X4 ROVR Operator's Manual
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Tennant X4 ROVR Operator's Manual

Walk-behind scrubber
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Hygenic Fully
®
TennantTrue
Parts
®
Insta-Click™ Magnetic Disk
North America / International
For the latest Parts Manuals and other
language Operator Manuals, visit:
www.tennantco.com/manuals
Cleanable Tanks
X4 ROVR
Walk-Behind Scrubber
Operator Manual
*9022877*
(Battery)
9022877
Rev. 00 (5-2024)

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Summary of Contents for Tennant X4 ROVR

  • Page 1 X4 ROVR (Battery) Walk-Behind Scrubber Operator Manual Hygenic Fully Cleanable Tanks ® TennantTrue Parts ® Insta-Click™ Magnetic Disk North America / International 9022877 For the latest Parts Manuals and other Rev. 00 (5-2024) language Operator Manuals, visit: *9022877* www.tennantco.com/manuals...

  • Page 2: Introduction

    10400 Clean Street Eden Prairie, MN 55344-2650 Phone: (800) 553-8033 www.tennantco.com 1−Step, Duramer, and Insta-Fit are US registered and unregistered trademarks of Tennant Company BrainOS ® is a US registered trademark of Brain Corp. Specifi cations and parts are subject to change without notice.

  • Page 3: Introduction

    This operator manual contains information to allow for quick start−up of the new Tennant X4 ROVR Scrubber, powered by BrainOS. This document may be periodically revised. This X4 ROVR Scrubber, can be used in manual mode or as self− driving, robotic scrubber. Use in robotic (autonomous) mode requires a subscription to Brain Corp’s Autonomy Services. It is important to follow all provided instructions and warnings.

  • Page 4: Table Of Contents

    While Operating The Machine (Robotic Skirts And Seals ..........77 Mode Only) ..........31 Perimeter Guard ........77 Scrubbing - Manual Mode ......32 Recovery Tank Seal .........77 Water Pickup Mode (No Scrubbing) ..33 Vacuum Fan Seal ........77 Vacuum Hose Seal ........78 X4 ROVR 9022877 (5-2024)
  • Page 5 Transporting The Machine .......80 Jacking Up The Machine.......82 Storage Information ........83 Freeze Protection ........83 Specifi cations ............84 General Machine Dimensions / Capabilities ..........84 General Machine Performance ....84 Power Type ..........85 Tires ............85 Conventional Scrubbing ......85 Machine Dimensions ........86 X4 ROVR 9022877 (5-2024)

  • Page 6: Important Safety Instructions - Save These Instructions

    Locate all safety - With pads or accessories not supplied or devices on the machine. Report machine damage approved by Tennant. The use of other pads or faulty operation immediately. may impair safety. WARNING: Flammable materials can 2.
  • Page 7 - Use a non-conductive battery removal - Follow mixing, handling and disposal device. instructions on chemical containers. - Use a hoist and adequate assistance when lifting batteries. - Battery installation must be done by trained personnel. X4 ROVR 9022877 (5-2024)
  • Page 8 Do not install battery pack in unapproved machines. - Dispose of battery in accordance with local regulations. Contact Tennant Service. - Contact Tennant Service or your local regulatory authorities for proper transporting instructions of lithium−ion batteries. - Use only OEM approved battery charger supplied with lithium−ion battery.
  • Page 9 WARNING LABEL - Located on the tank cover. WARNING LABEL - Flammable materials can cause explosion or fi re. Do not use fl ammable materials in tank. Located on solution tank near solution tank fi ll port. X4 ROVR 9022877 (5-2024)

  • Page 10: Operation

    T. Solution tank level/drain hose H. Side squeegee U. Recovery tank drain hose I. Front cover V. Squeegee release handle J. Battery W. Service panel locking latch K. Flashing light L. Tank lid M. Scrub head X4 ROVR 9022877 (5-2024)

  • Page 11: Controls And Instruments

    M. Fault indicator N. BrainOS power switch D. Vacuum fan / squeegee button E. 1-Step button F. Solution fl ow button G. Insta-Click, brush attach button H. Insta-Click, brush release button I. Control handle position release button X4 ROVR 9022877 (5-2024)

  • Page 12: Cameras And Sensors

    OPERATION CAMERAS AND SENSORS A. Sensors - Front Camera B. Sensors - Front 3D LIDAR C. Sensors - Front Lower LIDAR D. Sensors - Rear lower LIDAR E. Sensors - Side 3D camera X4 ROVR 9022877 (5-2024)

  • Page 13: Machine Setup

    The squeegees have a slot in the middle of them to slide onto the squeegee guides. 5. Verify the squeegees are locked in place by giving them a slight push or pull along the guide to ensure they do not move. X4 ROVR 9022877 (5-2024)

  • Page 14: Attaching Side Squeegees

    4. Repeat steps 1 through 3 for the other side. NOTE: This procedure is for the initial installation of the side squeegees blades with new brushes. For daily maintenance see REPLACING (OR ROTATING) THE SIDE SQUEEGEE BLADES. X4 ROVR 9022877 (5-2024)

  • Page 15: Installing Brushes / Pads

    The brush will only totally connect when the brush connect button is pressed and the scrub head lowers. 4. Repeat procedure for the second brush or pad driver on the other side of the machine. X4 ROVR 9022877 (5-2024)

  • Page 16: Batteries

    4. Secure the front perimeter guard on the machine with ten plastic rivets. 2. Open the tank cover. 3. Remove the solution tank cap. WARNING: Flammable materials can cause an explosion or fi re. Do not use fl ammable materials in tank(s). X4 ROVR 9022877 (5-2024)
  • Page 17 Do not use the same bucket for fi lling and draining the machine. NOTE: Only use recommended cleaning detergents. Machine damage due to improper detergent usage will void the manufacturer’s warranty. X4 ROVR 9022877 (5-2024)

  • Page 18: Operation Of Controls

    NOTE: The Insta-click buttons will not operate unpolished fl oors (more porous). while the 1-Step button is activated. NOTE: The machine will operate for a longer time if the Solution Flow settings are set to lowest setting (bottom lights). X4 ROVR 9022877 (5-2024)

  • Page 19: Insta-Click Buttons

    Press the Insta-click attach button which will lower the scrub head and slowly spin the scrub head until the brush or pad securely attaches to the scrub head. X4 ROVR 9022877 (5-2024)

  • Page 20: Control Handle

    NOTE: The handlebar must be locked in one of the two lowered positions to teach a route. A notifi cation will appear if the handlebar is in the stowed position. X4 ROVR 9022877 (5-2024)

  • Page 21: Power Assist Bail

    Push the machine with the power assist bail to make the machine move forward. The forward arrow illuminates on the control panel X4 ROVR 9022877 (5-2024)

  • Page 22: Battery Discharge Indicator

    When the machine or on-board battery charger detects a fault, the service indicator will light up and begin fl ashing (Figure 46). The battery discharge indicator lights will also fl ash a fault code. See SERVICE INDICATOR CODES to diagnose machine fault. X4 ROVR 9022877 (5-2024)

  • Page 23: Emergency Stop Buttons

    Immediately after either Emergency Stop button is pushed the Emergency Stop Button Pressed screen will appear on the UI touchscreen. Follow the instructions on the UI touchscreen. X4 ROVR 9022877 (5-2024)

  • Page 24: Machine Hour Meter

    fl ash green while attaching/detaching the brushes or pads. When the machine is being serviced in service mode, the light will illuminate solid white. FOR SAFETY: Before starting machine make sure all covers are closed, latched, and locked. X4 ROVR 9022877 (5-2024)

  • Page 25: Brain Os Power Switch

    Press the top of the switch to turn the Brain OS power on. Press the bottom of the switch to turn the Brain OS power off . NOTE: Ensure the Service Panel latch is locked before operating the machine. See SERVICE PANEL LOCKING LATCH. X4 ROVR 9022877 (5-2024)

  • Page 26: Roc: Robot Operations Center (Brainos Software)

    When the indicator is illuminated, the machine is successfully connected to the ROC. If the indicator is gray, the ROC is not connected and cannot be paired with a cell phone. Connected Not Connected X4 ROVR 9022877 (5-2024)

  • Page 27: Brainos Software

    4. The software information is display. menu. Touch SETTINGS menu icon or the LANGUAGE icon. 5. Scroll for more information. 2. Within the SETTINGS menu, touch ABOUT. The About menu defaults to the Machine Info tab. X4 ROVR 9022877 (5-2024)

  • Page 28: How The Machine Works

    For specifi c recommendations, see the BRUSH INFORMATION section of this manual or contact a Tennant representative. The machine is equipped with BrainOS software that is accessible via the User Interface (UI) touchscreen, also known as the UI touchscreen.

  • Page 29: Brush Information

    NOTE: The amount and type of soilage play an important role in determining the type of brush or pad to use. Contact a Tennant representative for specifi c recommendations. Polypropylene brush - General purpose polypropylene bristles lift lightly compacted dirt without scuffi...

  • Page 30: Machine Operation

    Use provided microfi ber cloth to clean all cameras and LIDAR sensors.  Check the horn, safety lights, and audible alarms (if equipped).  Make sure all covers are closed, latched, and locked. X4 ROVR 9022877 (5-2024)

  • Page 31: While Operating The Machine (Robotic Mode/Manual Mode)

    fl oor cleaning practices. Follow site safety guidelines concerning wet fl oors. See Autonomous Navigation Software End User License Agreement (EULA) for further uses and restrictions. X4 ROVR 9022877 (5-2024)

  • Page 32: Scrubbing - Manual Mode

    FOR SAFETY: Keep hands and feet clear while brushes are releasing or attaching and when 1-Step is shut off . 4. Adjust the preferred scrubbing settings as 8. Turn key off . required. X4 ROVR 9022877 (5-2024)

  • Page 33: Water Pickup Mode (No Scrubbing)

    Then press the vacuum fan/squeegee button. The light in the vacuum fan/squeegee button will illuminate, the scrub head/squeegee assembly will lower and the vacuum fan will start operating. Then pick up the water or non-fl ammable liquid spill. X4 ROVR 9022877 (5-2024)

  • Page 34: Scrubbing - Robotic Mode

    If the home location code is moved even slightly, the route may not be performed correctly. • Install home location codes at a height of 30 in. (7500 mm) from the fl oor. X4 ROVR 9022877 (5-2024)

  • Page 35: Changing Region / Language

    BrainOS to start up (approximately 1 minute). The UI touchscreen displays the main menu. Touch SETTINGS menu icon or the LANGUAGE icon. 4. The menus are now displayed in the selected language. 2. Within the SETTINGS menu, touch LANGUAGE. X4 ROVR 9022877 (5-2024)

  • Page 36: Positioning The Machine At The Home Location Code

    NOTE: A fl ashlight can be used in dark and low light areas to help the machine see and scan the home location code. NOTE: Do not stand in front of the machine front camera when it is trying to scan the home location code. X4 ROVR 9022877 (5-2024)

  • Page 37: Teaching A New Route (Brainos Software)

    Sunlight refl ections on the fl oor surface could adversely aff ect robotic machine performance. • Avoid teaching routes in areas with overhanging or protruding objects. These objects may not be detected when the machine is operating or making sharp turns X4 ROVR 9022877 (5-2024)

  • Page 38: Teaching A Route

    Use the window arrows to display an error message with suggestions on navigate to other selections. how to resolve. 4. Upon successful scanning of a home marker, the UI touchscreen displays an Escalator Warning. Touch CONTINUE. X4 ROVR 9022877 (5-2024)
  • Page 39 36 in (914 mm) to navigate a corner. NOTE: Avoid narrow spaces. The machine requires a width of 28 in (711 mm) to navigate 10. Return to the home marker and rescan it to aisles and between displays. save the route. X4 ROVR 9022877 (5-2024)
  • Page 40 12. When the route is successfully saved, select either the Done button or Edit Label button to give the route a name. X4 ROVR 9022877 (5-2024)

  • Page 41: Teaching An Area Fill

    Use the window arrows to display an error message with suggestions on navigate to other selections. how to resolve. 4. Upon successful scanning of a home marker, the UI touchscreen displays an Escalator Warning. Touch CONTINUE. X4 ROVR 9022877 (5-2024)
  • Page 42 NOTE: Avoid narrow spaces. The machine requires a width of 28 in (711 mm) to navigate aisles and between displays. FOR SAFETY: While machine is operating in robotic mode, only scrub fl at, hard surfaces with 2% or less incline. X4 ROVR 9022877 (5-2024)
  • Page 43 12. When the route is successfully saved, select either the Done button or Edit Label button to give the route a name. NOTE: Selecting SAVE without assigning a label to the route will display the default <NO LABEL>. name to the saved route. X4 ROVR 9022877 (5-2024)

  • Page 44: Connecting A Phone With The Roc

    5. Open BrainOS mobile app and pair the app to the machine by scanning the QR code. 3. Touch MOBILE ALERTS. NOTE: The Mobile app screen with the QR code will also appear when an operator runs a saved route. X4 ROVR 9022877 (5-2024)

  • Page 45: Running A Robotic Cleaning Route (Brainos Software)

    7. To remove or reorder cleaning routes, deselect a cleaning route by selecting it again. The cleaning route number will grey out and all of the other selected routes will renumber. X4 ROVR 9022877 (5-2024)
  • Page 46 11. Scan the QR code with the Brain OS mobile will not disrupt the robotic route and prevent app to pair the machine to the cell phone. See the key from being stolen or lost. CONNECTING A PHONE WITH THE ROC. X4 ROVR 9022877 (5-2024)
  • Page 47 UI touchscreen displays the assist message along with steps to resolve. If a phone is paired to the ROC, the ROC sends a text message of the alert to the phone. See SYSTEM MESSAGES. X4 ROVR 9022877 (5-2024)
  • Page 48 34. If fi nished cleaning, drive the machine to a designated parking station, insert the key into the ON/OFF key switch and turn the ON/OFF key switch off . 30. Verify if the route should be canceled. X4 ROVR 9022877 (5-2024)

  • Page 49: Autonomous Route History

    Touch the BACK button to return to the SETTINGS menu. 3. Touch the home marker to view the saved routes. 6. Close the route history window by touching the X in the corner on the UI touchscreen. X4 ROVR 9022877 (5-2024)

  • Page 50: Learning Center

    2. The QUICK START tab contains videos of the most common tasks. Touch the video to view it. 5. The TROUBLESHOOTING tab contains a list of possible problems the operator may encounter. Touch the troubleshooting topic in need. X4 ROVR 9022877 (5-2024)

  • Page 51: Maintenance Buttton

    7. The SEARCH tab allows the operator to type in a terms and it will search the learning center and display the results. 2. Select the desired maintenance video within the maintenance section of the Video Library of the Learing Center. X4 ROVR 9022877 (5-2024)

  • Page 52: Edit / Deleting Routes

    NOTE: If the machine is programmed for multiple home locations the home locations will be listed in chronological order starting from the lowest to the highest on the UI touchscreen. NOTE: Route labels can have a maximum of 40 characters. X4 ROVR 9022877 (5-2024)
  • Page 53 (see TEACHING A NEW ROUTE). NOTE: Touch NO to cancel the route deletion. 9. Close the route window by touching the X in the corner on the UI touchscreen to return to the SETTINGS menu. X4 ROVR 9022877 (5-2024)

  • Page 54: Draining And Cleaning The Tanks

    WARNING: Flammable materials can cause an explosion or fi re. Do not use fl ammable materials in tank(s). NOTE: DO NOT use steam to clean tanks. Excessive heat can damage tanks and components. X4 ROVR 9022877 (5-2024)
  • Page 55 11. Inspect the solution tank interior for cleaning detergent build up and hard water build up. Proceed to the following step to clean the solution tank if there is evidence of either. X4 ROVR 9022877 (5-2024)
  • Page 56 Allowing the interior of the solution tank to dry prevents mold/mildew from building up inside the tank. X4 ROVR 9022877 (5-2024)

  • Page 57: System Messages

    To reset the alert indicators, follow the alert message instructions to eliminate the cause of the alert. The alert indicator will reset when the machine is restarted. X4 ROVR 9022877 (5-2024)

  • Page 58: Assists - Robotic Mode

    Touch on the arrows to expand the assist message to view the assist message and steps to resolve the issue Follow the on screen instructions to clear an assist message. X4 ROVR 9022877 (5-2024)
  • Page 59 1. Disconnect machine from external charger before use. Machine controller 1. Restart the machine. error 2. If the issue continues, contact your manager. Machine error 1. Restart the machine. 2. If the issue continues, contact your manager. X4 ROVR 9022877 (5-2024)

  • Page 60: System Errors (Robotic Mode / Manual Mode)

    9700-14 Machine error 1. Restart the machine. 2. If the issue continues, contact your manager. NOTE: Contact a Tennant Service representative for all other fault codes. SYSTEM ERRORS (ROBOTIC MODE / MANUAL MODE) If a System Error code should appear, turn off...

  • Page 61: Machine Troubleshooting

    Recovery tank full Empty recovery tank Solution tank empty Fill solution tank Debris caught on scrub brushes or pads Remove debris Worn scrub brush Replace scrub brush Low battery charge Charge batteries until the charger automatically turns off X4 ROVR 9022877 (5-2024)

  • Page 62: Service Indicator Codes

    2. E-Stop wiring problem. 2. Press and reset E-Stop button. 3. Key on machine. 4. If fault persists, check harness connections between E-Stop and Propel Controller. 5. Replace or repair har- ness. 6. Replace E-Stop button. 0xFFFF FAULT_UNKNOWN X4 ROVR 9022877 (5-2024)
  • Page 63 1. Power cycle machine. CAN_LOST fault. 2. If fault code persists, contact service 0xF104 FAULT_CHARGER_ 1. Battery unable to charge 1. Contact service. TIMER_PHASE_I correctly NOTE: Contact a Tennant Service representative for all other fault codes. X4 ROVR 9022877 (5-2024)

  • Page 64: Maintenance

    MAINTENANCE MAINTENANCE X4 ROVR 9022877 (5-2024)

  • Page 65: Maintenance Chart

    Tires Check for damage and wear hours Vacuum fan motor(s) Replace carbon brushes Hours NOTE: Maintenance videos can be viewed on the UI touchscreen found in the Video Library within the Learning Center. See LEARNING CENTER. X4 ROVR 9022877 (5-2024)

  • Page 66: Batteries

    The lithium−ion battery pack is a maintenance− machine. The use of other battery chargers that free battery protected by a battery management are not supplied and approved by Tennant are system (BMS). To achieve the maximum battery prohibited. Refer to the charger owners manual life, carefully follow the instructions below: for additional information.
  • Page 67 Secure cord with tie strap. NOTE:Ensure the charger cord is secured with the tie strap so it will not interfere with the machine sensors. X4 ROVR 9022877 (5-2024)

  • Page 68: Fuses And Relays

    Check Vacuum motor (replace) NOTE: Always replace the fuse with a fuse of the same amperage. Fuse Rating Circuit Protected Spare Spare Spare Key switch Spare Spare Always on power Solution pump Spare Spare Spare Spare X4 ROVR 9022877 (5-2024)

  • Page 69: Cameras And Sensors

    NOTE: Do not scratch or damage the 2D or 3D camera lenses. Robotic machine performance could be adversely aff ected if camera lenses are scratched or damaged. Side 2D cameras are located on each side of the machine. X4 ROVR 9022877 (5-2024)

  • Page 70: Front And Rear Lidar Sensors

    Use a fl ashlight to inspect these sensor surfaces and ensure they are thoroughly cleaned. X4 ROVR 9022877 (5-2024)

  • Page 71: Scrub Brushes And Pads

    NOTE: Only a portion of the brush or pad driver can be connected to the scrub head while in the raised position. The brush will only totally connect when the brush connect button is pressed and the scrub head lowers. X4 ROVR 9022877 (5-2024)

  • Page 72: Replacing The Disk Pad

    7. Ensure the brushes or pad drivers are securely mounted on the brush drive hub. NOTE: If scrub brushes fail to connect to the drive hub, realign the brushes under the scrub head and try again. X4 ROVR 9022877 (5-2024)

  • Page 73: Squeegee Blades

    The front and rear 4. Slide the rear squeegee out of the rear squeegee guides. squeegee guide. The squeegees have a slot in the middle of them to slide onto the squeegee guides. X4 ROVR 9022877 (5-2024)
  • Page 74 7. Slide the front squeegee out of the front lock the squeegee into position. squeegee guide. 11. Verify the squeegees are locked in place by giving them a slight push or pull along the guide to ensure they do not move. X4 ROVR 9022877 (5-2024)

  • Page 75: Replacing (Or Rotating) The Side Squeegee Blades

    3. Unhook the latch on the side squeegee retaining band from the side squeegee assembly. Open the retaining band. X4 ROVR 9022877 (5-2024)
  • Page 76 6. Reinstall the squeegee by aligning the appropriate holes to the pins on the bracket. Check the defl ection of the squeegee blades daily or when scrubbing a diff erent type of surface. Reposition the side squeegees as needed. X4 ROVR 9022877 (5-2024)

  • Page 77: Skirts And Seals

    Check the vacuum fan seal for damage and wear after every 100 hours of operation. NOTE: Ensure the Service Panel latch is locked before operating the machine. See SERVICE PANEL LOCKING LATCH. X4 ROVR 9022877 (5-2024)

  • Page 78: Vacuum Hose Seal

    Check the tires for damage and wear after every 500 hours of operation. NOTE: Ensure the Service Panel latch is locked before operating the machine. See SERVICE PANEL LOCKING LATCH. X4 ROVR 9022877 (5-2024)

  • Page 79: Pushing, Towing, And Transporting The Machine

    4.8 kph (3 mph). It is NOT intended to be pushed or towed for a long distance or at a high speed. NOTE: Do Not push or tow machine for a long distance or damage may occur to the propelling system. X4 ROVR 9022877 (5-2024)

  • Page 80: Transporting The Machine

    Do Not wrap the tie-down straps around the lower LIDAR sensor or route the tie-down straps over the front of the LIDAR sensor. NOTE: It may be necessary to install tie-down brackets to the fl oor of the trailer or truck. X4 ROVR 9022877 (5-2024)
  • Page 81 7. Route the tie-down strap over the slots in the control handle and then secure the tie-downs to the trailer or truck to prevent the machine from tipping. X4 ROVR 9022877 (5-2024)

  • Page 82: Jacking Up The Machine

    FOR SAFETY: When servicing machine, block machine tires before jacking machine up. Use a hoist or jack that will support the weight of the machine. Jack machine up at designated locations only. Block machine up with jack stands. X4 ROVR 9022877 (5-2024)

  • Page 83: Storage Information

    3. Turn the machine power on and operate the solution fl ow system. Turn the machine off when the antifreeze appears at the scrub head. Continue with the freeze protection procedure if machine is equipped with the ec-H2O system. X4 ROVR 9022877 (5-2024)

  • Page 84: Specifications

    Maximum ramp incline for loading – Empty (Manual mode only) 15.8% / 9° Maximum ramp incline for scrubbing - (Manual mode) 2% / 1° Maximum ambient temperature for machine operation 40° C (104° F) Minimum temperature for operating machine scrubbing functions 1° C (34° F) X4 ROVR 9022877 (5-2024)

  • Page 85: Power Type

    51 mm wide x 156 mm OD (2.0 in wide x 3.9 in OD) CONVENTIONAL SCRUBBING Item Measure Solution pump 24 Volt DC, 3 A, 2.8 LPM (0.75 GPM), min open Solution fl ow rate Low: 0.18 gpm Medium: 0.24 gpm High: 0.35 gpm X4 ROVR 9022877 (5-2024)

  • Page 86: Machine Dimensions

    SPECIFICATIONS MACHINE DIMENSIONS X4 ROVR 9022877 (5-2024)

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