Toro 4G RTK Turf Pro Series Operator's Manual

Robotic mowers and ball pickers

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Operator's Manual

4G RTK Turf Pro™ Series Robotic

Mowers and Range Pro™ Series Ball

Pickers

Model—Serial Range

30911US/EU/CAN/JP—324000000 and Up

30921US/EU/CAN/JP/ANZ—325000000 and Up

30922US/EU/CAN/JP/ANZ—325000000 and Up

30923US/EU/CAN/JP/ANZ—325000000 and Up

30931US/EU/CAN/JP/ANZ—325000000 and Up

*3472-849* A

3472-849A

Original Instructions (EN)

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Page 1 Operator’s Manual 4G RTK Turf Pro™ Series Robotic Mowers and Range Pro™ Series Ball Pickers Model—Serial Range 30911US/EU/CAN/JP—324000000 and Up 30921US/EU/CAN/JP/ANZ—325000000 and Up 30922US/EU/CAN/JP/ANZ—325000000 and Up 30923US/EU/CAN/JP/ANZ—325000000 and Up 30931US/EU/CAN/JP/ANZ—325000000 and Up *3472-849* A 3472-849A Original Instructions (EN)
Page 2: Table Of Contents
Before You Start..........................4–3 Installing the RTK Base, Station, and the Loop..............4–4 Connecting the Robot to the Base....................4–4 © 2025—The Toro ® Company Contact us at www.Toro.com 8111 Lyndale Ave So Printed in the USA Bloomington, MN 55044 All rights reserved...
Page 3 Connecting to the Base for Wi-Fi....................4–4 Connecting to the Base for 4G ....................4–5 Controlling the Robot Remotely from the Smartphone App ........... 4–6 Setting up the App........................4–7 Connecting to the Robot ......................4–7 Remotely Controlling the Robot ....................4–7 Creating a GPS Safety Zone ......................
Page 4 Verifying the RTK Base Station GNSS Connection ............. 7–1 Verifying the Robot GNSS Connection ................... 7–2 Verifying the Robot to RTK Base Station Wi-Fi Connection..........7–3 Appendices ............................7–4 Inactive State..........................7–4 Page 4 3472-849 A...
Page 5: Chapter 1: Introduction
Chapter 1 Introduction Manual Conventions This manual identifies potential hazards and has safety messages identified by the safety- alert symbol, which signals a hazard that may cause serious injury or death if you do not follow the recommended precautions. G405934 This manual uses 2 words to highlight information.
Page 6: Chapter 2: Safety
Chapter 2 Safety General Safety • The operator/supervisor of the machine is responsible for any accidents or hazards occurring to others or their property. • Read, understand, and follow all these instructions and warnings before using the machine. • Improperly using or maintaining the machine could result in serious injury or death. To reduce this potential, follow all safety instructions.
Page 7 • We recommend not using the machine while watering or irrigating the operating area. • Use only accessories approved by Toro to avoid the risk of fire, electric shock, or injury. • Press the stop button on the machine and wait for the blades to come to a complete stop before handling the machine.
Page 8: Chapter 3: 4G Rtk Installation Requirements
Chapter 3 4G RTK Installation Requirements 4G RTK allows the robot to work within an area that is not defined by a peripheral wire. This section describes the various requirements for a robot to operate using 4G RTK. Overview of the RTK GPS •...
Page 9 Transfer of corrections using 4G Cellular Service G520851 One base station can feed corrections to multiple robots, but each robot must receive corrections from only 1 base station to keep corrections consistent. Basic components of the RTK GPS mowing system G520852 This topic describes the mechanical characteristics of the robot.
Page 10: Site Requirements
• The user can issue commands to the robot, assess its performance, and adjust the configuration. Site Requirements GPS Signal Quality An important criteria in determining whether a site is suitable for a wireless installation is the quality of the GPS signal. Note: The GPS signal quality close to the border of the site (along the edge of the GPS Safety Zone) must be 2.
Page 11: Distance From Hazardous Features
Slopes (continued) If the RTK data corrections are being transferred using Wi-Fi, short and steep slopes can cause problems. These can cause a shadow which hides the satellite signals. In such a situation, a Wi-Fi repeater or 4G can be used. G527697 Distance from Hazardous Features If the distance between a hazardous feature and the GPS Safety Zone border (X) in the...
Page 12: Gps Signal Requirements
GPS Signal Requirements Problems in the installation can mean that the robot does not receive a GPS signal with sufficiently high quality. The required signal levels for different operations are listed in the following sections, along with the actions that the robot takes when the signal is too low for the required operation.
Page 13: Leave The Station Loop To Start Working
Leave the Station Loop to Start Working This refers to the robot leaving the station loop wire and starting to work in pattern mode. Required signal level: =>2. Robot actions: After 10 minutes, the robot returns to the station using the station loop wire and tries to start the mission again.
Page 14: The Station Loop Wire
The Station Loop Wire A wired station loop must be used to enable the robot to access the charging station and the drop pit station. If more than one ball collecting robot is in operation, then a busy loop may be required.
Page 15: Nogo Zones
Internal GPS Working Zones (continued) • They do not need to be defined by a border discovery process. They can be defined and edited on the web portal by any type of user who has access to the robot. NoGo Zones NoGo zones are areas, usually around obstacles, from which the robot is excluded.
Page 16: Single Loop With Single Gps Safety Zone
Single Loop with Single GPS Safety Zone G527701 The following conditions apply: • The station loop must intersect with the GPS Safety Zone and be set as its neighboring parcel. • The station loop must overlap the GPS Safety Zone by at least 4 m (13.1 ft) in both directions.
Page 17: Multiple Loops
Single Loop with Multiple GPS Safety Zones (continued) The following conditions apply: • The station loop must intersect with each GPS Safety Zone. Each one needs to be set as a neighboring parcel to the loop. • The station loop must overlap each GPS Safety Zone by at least 4 m (13.1 ft) in both directions.
Page 18: Requirements Relating To Paths
Multiple Loops (continued) • The wires for Loop 1 and Loop 2 can be placed in the same slot in the ground for the charger entrance and exit. Requirements Relating to Paths Paths are a useful and efficient means of connecting separate working zones. These working zones can be wired parcels or 4G RTK zones.
Page 19: Paths Must Overlap The Connecting Zones
Paths Must be Enclosed within a GPS Safety Zone (continued) The width of the surrounding zone must accommodate the path. It should be noted however that the robot will never go outside of the surrounding zone, even if the width of the path would allow it.
Page 20: Discovering Paths
Paths Can Connect Wireless and Wired Parcels (continued) G527707 In all cases, the path zones must overlap the working zones with an overlap of 4 m x 4 m (13 ft x 13 ft). When a path zone overlaps with a wired zone, the path zone must be set as the neighboring parcel as indicated in the figure above.
Page 21: Path Design
Discovering Paths (continued) G527708 Path Design When developing paths, it is better to use single long paths rather than segmented paths. This is illustrated in the following figure. G527709 Segmented paths are not recommended because the robot will use GPS navigation to move from the end of one path to the start of the other.
Page 22: Automatically Detecting Path Zones
Path Design (continued) G527710 It is also recommended to extend the paths well into the target working zone. This greatly improves the navigation used by the robot when it needs to return to the station. Multiple paths can be configured in the same zone. The robot will automatically optimize trajectory according to the paths available and the target zone.
Page 23: The Rtk Base
The RTK Base The RTK base can use either Wi-Fi or 4G to transmit data corrections to the robots. The requirements and configuration of the installation depends on the method used. Details on each of these bases are contained in the corresponding Base Manual. The base manual includes: •...
Page 24 Water (continued) G527719 If the ground is sloping down to the water, a distance of at least 9 m (29.5 ft) is required between the border of the Safety or NoGo zone and the edge of the water. G527720 If it is not possible to have at least 8 m (26.2 ft) between the edge of the water and the NoGo zone, a physical barrier of at least 15 cm (6 inches) in height must be installed around the water.
Page 25: Dimensions Relating To Obstacles
Water (continued) G527721 Dimensions Relating to Obstacles A NoGo zone must be at least 1 m (3.3 ft) in all directions G527722 The minimum distance between NoGo zones is 5 m (16.4 ft). G527723 A NoGo zone must be a at least 5 m (16.4 ft) away from the border of the safety zone in which the robot works 3472-849A Page 3–18...
Page 26 Dimensions Relating to Obstacles (continued) G527724 If an obstacle is less than 5 m (16.4 ft) from the border of the safety zone in which the robot is working, the border of the safety zone should be adapted to go around the obstacle. In the arrangement shown in the following figure, the border of the safety zone loops around the obstacle.
Page 27 Dimensions Relating to Obstacles (continued) G527726 3472-849A Page 3–20 4G RTK Installation Requirements: Requirements Relating to Obstacles...
Page 28: Chapter 4: Implementing A 4G Rtk Installation
Chapter 4 Implementing a 4G RTK Installation Installation Components Entire Site Wireless Navigation requires a high GPS signal quality. If the site is surrounded by trees or buildings that impede the view to the satellites of the base and the robots, a wireless navigation system may not be possible.
Page 29 GPS Safety Zone GPS Safety Zones are areas that define the robot's working area or the area surrounding a path that the robot uses for navigation. The border of these safety zones is discovered by the robot being moved around the site. To ensure that the robot stays within a safety zone, a number of key configuration parameters are defined.
Page 30: Planning The Installation
The Turf Pro smartphone app enables you to define and verify the outer GPS Safety Zone. Web portal The robot must be connected to the turfpro.toro.com web portal. Planning the Installation An installation without a peripheral wire requires a stringent set of criteria to be met. Assess the criteria laid out earlier in this manual before starting the installation.
Page 31: Installing The Rtk Base, Station, And The Loop
Before You Start (continued) Ensure that the grass is cut to a maximum height of 10 cm (4 inches). Note: A complete 4G RTK installation can only be performed by someone who has the user role of TECHNICIAN Installing the RTK Base, Station, and the Loop 1.
Page 32: Connecting To The Base For 4G
Connecting to the Base for 4G Note: The RTK 4G functionality on the robot needs to be activated from the portal or the smartphone app. 1. Ensure that the robot is switched to the O position and is online. 2. Log on to the portal or smartphone app. 3.
Page 33: Controlling The Robot Remotely From The Smartphone App
Connecting to the Base for 4G (continued) For serial numbers 325000000 and up: 9. Enter the base ID number for the base. This can be found on the base label and the QR code. Note: Do not use any spaces when entering the model and serial number for the base. XXXXX-000000000 G542400 Area blank...
Page 34: Setting Up The App
7. Select X to return to the main mission screen. Connecting to the Robot 1. Connect the phone to the internet and open the Toro Turf Pro app. 2. When you see the robots listed, open the Wi-Fi menu for the phone.
Page 35: Creating A Gps Safety Zone
Remotely Controlling the Robot (continued) Collisions: if one of the following faults is detected, the robot will stop but the remote control will remain active: • BumperLeft, BumperRight • Lift1, Lift2, Lift3, Lift4, Tilt • CollisionLeft, CollisionRight If one of these faults remains active for more than 30 seconds, it will become a long collision and therefore a major fault.
Page 36 Recommended Techniques for Border Discovery (continued) Note: Do not add too many points. On straight stretches, one point every 3 to 4 m (9 to 13 ft) is sufficient. More points should be added on curves G527749 Create curves at the corners, not sharp angles. G527750 Note: Angles must be rounded with a minimum radius of 1 m (3.2 ft).
Page 37: Creating The Gps Safety Zone
Recommended Techniques for Border Discovery (continued) G527752 Note: On the difficult sections of the border, mark the border to help in guiding the robot along the required border. The points on the curve can be edited (moved or removed) from the web portal or app. The points can also be removed using the smartphone app during the border discovery.
Page 38 Creating the GPS Safety Zone (continued) 4.1 On the Smartphone App Note: This process requires you to have set up the app and it is connected to the robot. 1. Open the menu and select Robot Wi-Fi Access. 2. On the Robot Wi-Fi Access screen select Discover GPS Object. 3.
Page 39 Creating the GPS Safety Zone (continued) 4.2 On the Robot 1. On the robot select Technician's menu (9) > Infrastructure > Parcels > Create. 2. Confirm that you want to create a new GPS zone. 3. Edit the name. 4. Select 9 Neighboring parcels. If the safety zone overlaps with the loop, check the option ON for the LOOP parcel.
Page 40: Discovering The Gps Safety Zone
Creating the GPS Safety Zone (continued) 4.3 On the Portal 1. Select the robot and click on Parameters. 2. Tap to ensure you have the latest configuration parameters available on the robot. 3. Click on Edit GPS configuration 4. Click on + next to GPS Parcels. 5.
Page 41: Verifying The Border On The Robot
Verifying the Border on the Robot 1. On the robot select Technician's menu (9) > Infrastructure > Parcels > {Name of the safety zone} > Verify GPS border and press the check mark. 2. Watch the robot as it follows the border that has just been discovered. 3.
Page 42: Creating Additional Safety Zones
G527761 2. Push the robot forward until it is inside the loop and at the point where the GPS return point is required. 3. On the robot select Technician's menu > Infrastructure > Parcels > {Name of the GPS Safety zone} > Neighboring parcels. 4.
Page 43 The following conditions apply: • All these internal zones must lie within a GPS Safety Zone. • They do not need to be defined by a border discovery process. They can be defined and edited on the web portal by any type of user who has access to the robot. •...
Page 44 4.1 Creating and Discovering a GPS Working Zone on the Robot 1. On the robot select Technician's menu (9) > Infrastructure > Parcels > {Name of the Safety Zone} > Create. 2. Confirm that you want to create a new GPS zone. 3.
Page 45 4.1 Creating a GPS Working Zone on the Portal You can create an internal working zone in two ways: • Defining a new set of points • Copying and modifying an existing zone 1. Select the robot on the portal and click on Parameters. 2.
Page 46 4.1.2 Discovering a New GPS Working Zone on the Portal 1. Click on next to the zone you have just created. 2. Click on the map to define each of the points that will form the new GPS zone. G527766 When the shape is closed, the new GPS zone will be created.
Page 47: Creating A Nogo Zone
4.1.3 Modifying an Existing GPS Working Zone on the Portal 1. Select the zone you have just created. 2. Click on the to unlock the zone. The icon will change to 3. To move a point, drag it to the new position. 4.
Page 48: Creating And Discovering A Nogo Zone On The Robot
the rear axle and the front of the body 802 mm or 31.5 inches. When the pattern direction is perpendicular to the edge of the area, the nose of the robot will enter further over the border of the NoGo zone compared to the side of the robot when the pattern is parallel to the edge of the area.
Page 49: Verifying The Nogo Zone
Verifying the NoGo Zone Verification of the NoGo zone must be done on the robot’s UI. 1. Select 9. Technician's menu > Infrastructure > GPS NoGo zones and select the NoGo zone you have just created. 2. Select Verify GPS border. Confirm that you want to verify the border. 3.
Page 50: Creating Gps Paths
Creating and Discovering a NoGo Zone on the Portal (continued) 7. Click SAVE SETTINGS. 8. Click on next to the NoGo zone you have just created. 9. Click on the map to define each of the points that will form the new GPS zone. G527775 10.
Page 51 Creating a Safety Zone to Surround the Path (continued) G527777 Create all the path safety zones before you start creating paths. Note: The working % for the safety zone around a path must be set to 0%. These zones are considered Safety Zones and therefore are created by the same process as a Safety Zone defined earlier.
Page 52 4.4 Creating the Path on a Smartphone App 1. On the Robot Wi-Fi Access screen, select Discovery GPS object. 2. On the Select GPS zone to discover screen, click on at the top of the screen to create a new zone. 3.
Page 53 4.5 Discovering the Path on a Smartphone This has to be done by remotely controlling the robot from the smartphone app. This requires you to have set up the app. 1. Position the robot on the first point of the path. Note: When a path starts from the station loop, the 1st point of the path needs to be positioned inside the overlap between the station loop and path safety zone connected...
Page 54: Discovering A Path On The Portal
4.6 Creating a Path on the Portal 1. Select the robot and click on Parameters. 2. Tap to ensure you have the latest configuration parameters available on the robot. 3. Click on Edit GPS configuration . 4. Click on + next to GPS paths. 5.
Page 55: Setting The Mowing Direction
5. Do not add too many points. On straight sections, the recommended distance between points is 10 m (32.8 ft) for paths. The points should be closer together on curved sections. 6. Extend the path into the zone. This aids the navigation when the robot needs to return to the station.
Page 56: Configuring The Installation
4. Select Set ref. point. 5. Push the robot at least 10 m (32.8 ft) in the exact direction in which the pattern is to be established (Point 2 in the preceding figure). It is recommended to move the robot the maximum distance possible, to ensure the most accurate measurement of the direction.
Page 57: Setting The Cutting Height
Setting the Cutting Height The cutting height of the blades can be set for each safety zone that is defined in the installation. It is not possible to set different cutting heights for internal working zones; these must take the same cutting height as the parent safety zone. Note: Cutting is not enabled by default when the robot is navigating along a path.
Page 58: Defining The Working Schedule
Defining the Working Schedule The working schedule for the robot can be defined either by defining a time schedule or by setting a percent of time to be allotted to each working zone. A schedule can be most easily defined on the web portal. Border Mowing It is important in a 4G RTK installation that the border of the safety zone is mowed regularly.
Page 59 Border Mowing (continued) Automatically Setting Exit Parameters 1. Position the robot at the charging station. 2. Select Technicians menu (9) > Infrastructure > Stations > Manual station > Calibrate now. 3. Confirm that you wish to calibrate the station. The robot will make a circuit of the loop. It will set the Min exit distance to the distance travelled before the GPS signal level of 2 is registered.
Page 60: Chapter 5: How The Turfpro Works In A 4G Rtk Installation
Chapter 5 How the TurfPro works in a 4G RTK Installation Exit Station The robot will leave the station when: • The battery has been fully charged • The work schedule dictates it The way that the robot leaves the station and enters the GPS Safety Zone depends on the configuration of the installation.
Page 61: The Robot Uses One Or More Paths To Navigate To Its Working Area
Station Loop Overlaps the GPS Safety Zone (continued) Once the robot reaches the Safety zone and detects a GPS signal level of 2, it stops and calculates the route towards the point at which it is scheduled to work. It sets the cutting height to the value set for the GPS Safety Zone, and then rotates away from the wire and uses GPS to navigate to where it is to start working.
Page 62 Working in a Simple Area (continued) G527675 G527676 The mowing pattern is executed over multiple working cycles. At the start of each new cycle, the robot resumes its pattern, by default, at the exact point where the previous cycle ended. It is also possible to resume mowing at the start of the line that was incomplete at the end of the previous cycle.
Page 63: Working In A Complex Area
Working in a Simple Area (continued) G527677 Working in a Complex Area When operating in a more complex working area, the area is subdivided depending on the direction of the working pattern. The robot will first work in sub-area 1 in a particular direction (X).
Page 64: Choosing Where To Work
Working in a Complex Area (continued) When subarea 3 has been completed, the robot will move directly to start mowing subarea 4 in the same direction (Y). A new cycle is not started. During pattern mowing, the robot turns before the edge of the defined mowing area.
Page 65 Sequential Scheduling (continued) At time T=0, the robot starts mowing zone 1. When the whole area has been mowed, it mows the border and then returns to the station (A). It then moves to zone 2 (B), and mows until time T=1, at which point, the defined schedule dictates that zone 2 is unavailable. The robot returns to the station (C).
Page 66: Pattern Working With Defined Percentage Times
Pattern Working with Defined Percentage Times When working in pattern mode, the robot will preferentially complete the work in one zone before moving onto another, overriding the allotted percentage times. Consider the situation where there are three zones: • Zone G which has a percentage time of 40% •...
Page 67: Mowing The Border
The robot can detect an obstacle (permanent or transitory) through a set of sonar sensors. Detection causes the robot to slow down and gently touch the obstacle, as indicated by the pressure sensors on the bumper. When the robot detects an obstacle when working in pattern mode, it will move backwards and try to navigate around it using small changes in angle.
Page 68: Returning To The Station
G527691 X=21 cm (8.3 inches) Y=36 cm (14.2 inches) Each row in the pattern extends to the point where the robot's smartbox tracking device reaches a distance of 0.25 m (9.8 in) from the GPS Safety zone border. The area that is mowed is contained within the GPS border.
Page 69: Returning To The Station Using Paths
Returning to the Station Directly From the Working Area (continued) G527693 A GPS return point must be located inside the area where the loop and the GPS Safety Zone intersect. When the robot needs to return to the station it will stop and calculate a route toward the GPS return point.
Page 70 Returning to the Station Using Paths (continued) It will follow the path using a random offset from the actual path to avoid tracks in the grass. When the robot senses it has entered the station loop wire, it will turn and follow this wire to reach the station.
Page 71: One Gps Safety Zone
Chapter 6 4G RTK Use Cases A station loop is required for the robot to access the station. At least one GPS safety zone must be connected to the station loop. Note: For a 4G RTK installation, the GPS signal level of 2 must be available if working zones and NoGo zones are to be accepted.
Page 72: Two Gps Safety Zones Connected To The Loop
• The GPS Safety Zone intersects the station loop wire by at least 4 m x 4 m (13 ft x 13 ft). The loop is set as the neighboring parcel to the safety zone. Two GPS Safety Zones Connected to the Loop G527728 •...
Page 73: Two Safety Zones Connected By Paths
Two Safety Zones Connected by Paths G527729 • In addition to the two GPS Safety Zones an additional GPS Safety Zone is created for the GPS Path. This zone connects to the loop with an overlap of more than 4 m x 4 m (13 ft x 13 ft).
Page 74: One Safety Zone, Three Gps Working Zones And One Nogo Zone
One Safety Zone, Three GPS Working Zones and One NoGo Zone G527730 • One GPS Safety Zone encompasses the entire working area. • The GPS Safety Zone intersects the station loop wire by at least 4 m x 4 m (13 ft x 13 ft). •...
Page 75: Safety Zone Containing A Narrow Passage
• The paths extend into the working zone to facilitate the return to station from wherever the robot finds itself when it needs to return to the station. Safety Zone Containing a Narrow Passage G538566 In this example, the safety zone contains a passage where the distance between neighboring sections of the safety zone border is less than 5 m (16.4 ft).
Page 76: Paths Connecting Gps And Wired Working Zones
Paths Connecting GPS and Wired Working Zones G527734 Paths can be used to connect GPS working zones and wired parcels. A peripheral wire may be necessary in those situations where the GPS signal level is less than 2. 4G RTK Use Cases: Paths Connecting GPS and Wired Page 6–6 3472-849 A Working Zones...
Page 77: Chapter 7: Troubleshooting
Chapter 7 Troubleshooting During a 4G RTK installation where there is no peripheral wire, the safety of the robot to operate only within its Safety Zone is critical. There are a number of configuration parameters used in the installation which are monitored. If any of these are modified, an error is generated and the robot will stop working.
Page 78: Verifying The Robot Gnss Connection
Verifying the RTK Base Station GNSS Connection (continued) G527792 Verifying the Robot GNSS Connection Note: After each action, always wait a few minutes to verify if GPS signal quality has increased to RTK quality level > 1.2. Troubleshooting: Troubleshooting RTK GPS Installations Page 7–2 3472-849 A...
Page 79: Verifying The Robot To Rtk Base Station Wi-Fi Connection
Verifying the Robot GNSS Connection (continued) G527793 Verifying the Robot to RTK Base Station Wi-Fi Connection Note: After each action, always wait a few minutes to verify if GPS signal quality has increased to RTK quality level > 1.2. 3472-849A Page 7–3 Troubleshooting: Troubleshooting RTK GPS Installations...
Page 80: Appendices
Verifying the Robot to RTK Base Station Wi-Fi Connection (continued) G527794 Appendices Inactive State A condition may arise which causes the robot to stop its autonomous mowing mission and enter an inactive state. Reasons for this could be: • The robot has encountered a problem and has issued an alarm. •...
Page 81 Inactive State (continued) Alarm G527797 When the robot encounters a problem it will register an alarm, which will eventually require manual intervention. If the alarm has not been cleared after 15 minutes, the robot will enter sleep mode. In this state the robot will reduce its power consumption, by shutting down everything apart from the modem.
Page 82 Inactive State (continued) Mission Stopped G527798 In this case, the robot will enter into an idle state. By default, after 15 minutes of being idle, the robot will enter the sleep mode described above, in which the power consumption is reduced to a minimum.
Page 83 Notes:...

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