Carnegie Robotics 00068 Platform Module User Manual 56091197a English indd

Download:
Mirror Download [FCC.gov]
Document ID	4054489
Application ID	/nNge09gsjRegffzeiIYpQ==
Document Description	Operator Manual Part 2
Short Term Confidential	No
Permanent Confidential	No
Supercede	No
Document Type	User Manual
Display Format	Adobe Acrobat PDF - pdf
Filesize	290.46kB (3630721 bits)
Date Submitted	2018-10-31 00:00:00
Date Available	2018-10-31 00:00:00
Creation Date	2018-10-31 13:30:49
Producing Software	Acrobat Distiller 19.0 (Windows)
Document Lastmod	2018-10-31 13:31:08
Document Title	56091197a_English.indd
Document Creator	PScript5.dll Version 5.2.2
Document Author:	swruck

9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
DETERGENT SYSTEM PREPARATION AND USE (ECOFLEX)
FIGURE 2-10
X7
X6
X8
X8
1A
2A
Chemical Free Cleaning Mode / Detergent Off
Detergent Low Mode
X7
X22
X8
3A
4A
Burst of Power Cleaning Mode
Detergent High Mode
Purge
Press and hold (J) & (K)
for 2 seconds to purge.
X17
M J1
CB1
5A
AA
K1
K1
CB2
5A
CB3
15A
12/2017
56091197 - Nilfisk Liberty SC50
Y1
A - 31
A - ENGLISH
INSTRUCTIONS FOR USE
9/2018
OPERATING THE MACHINE
WARNING!
Be sure you understand the operator controls and their functions.
While on ramps or inclines, avoid sudden stops. Avoid abrupt sharp turns. Use low speed down ramps.
Do not operate autonomously when ambient RF signal falls at or near the frequency range of 340 MHz to 460 MHz.
Operating Modes
The Nilfisk Liberty SC50 has three operating modes:
• Manual Operating Mode: Provides normal functioning of the machine, without autonomy. In this mode the machine is driven and controlled by an operator,
and operates in a conventional manner. The machine must be driven in the manual mode while creating plans the machine will follow during Autonomous
Operation. This includes driving to and from the autonomous scrubbing plans (locations). Full details of the Manual Operating Mode are contained in the
OPERATING THE MACHINE MANUAL MODE section of this manual.
• Autonomous Mode: The Autonomous Operating Mode is used to perform scrubbing operations automatically, without active Operator involvement. This is
done by training the machine to follow a specific plan or perimeter of an area.
- Plans may also include specific actions the machine will make while performing the scrubbing activity. Such actions might include knowing when to raise
or lower the scrub deck, how much solution to dispense. When played back, the plan tells the machine exactly what to do; what path it should follow, and
what scrubbing actions it should take along the way.
- To operate autonomously, the machine needs to always know exactly where it is in relation to the recorded plan, and the operating environment. This
mapping process operates constantly, in every operating mode, whenever the machine is turned on.
• Training Mode: Used to create plans (either CopyCat™ or Fill-In) the machine will follow when scrubbing autonomously. Before the machine can operate
autonomously, it must be trained to follow a specific plan(s) while scrubbing. During training, both the plan and required actions are recorded and saved.
STARTING THE MACHINE
Follow the instructions in “Preparing the Machine for Use” section of this manual and verify the following;
• Exterior of machine is free of damage. Report any damage to your supervisor.
• Proper brush/pad is correctly installed.
• Squeegee is installed.
• Camera and laser lenses are clean, see CLEAN SENSOR LENSES section.
• Batteries are fully charged.
• Solution tank is full.
• Recovery tank is empty.
• Location tag is properly installed to a wall
• Home Position is set (required for autonomous operation).
• Ensure that area to be scrubbed is clear of obstacles that are not fixed, such as hoses, buckets or pails, boxes, electrical cords, carts, pallets, etc.
See Figure 3-1. Step onto the Platform (26) compressing Operator’s Presence Pedal (25). NOTE: Do not press the
Go Pedal (24) until you are ready to move the machine.
Place the Magnetic SmartKey (Z) onto the SmartKey Reader (A). Press the Power Switch (B). This will activate the
X26
X25
Display (X). Wait for the start-up sequence to finish.
NOTE: At startup, the machine conducts a system self-test for the Autonomous Operating Mode. This test takes
about 70 seconds to complete in order to get values from the lasers. Display will indicate the system is booting
by showing Autonomous Indicator along with a Countdown Timer (X25 & X26) during the startup sequence. If the
system fails to boot the countdown timer will be replaced by a question mark “?” for a few seconds then machine will
display a fault code and go into manual mode.
Before startup, make sure there are no obstacles within 2’ (0.6m) of the machine. Operators must stand directly
behind the machine during startup to be clear of all sensors.
Reference the Battery Condition Indicator (X3) and check for any Fault Codes (X2) before proceeding.
The Manual Operation Indicator (H) will be lit.
To transport the machine to the work area, first push the Forward Drive Switch (Q) or Reverse Drive Switch (R) to select the direction of travel and
then apply pressure with your foot on the Go Pedal (24). An audible alert from the speaker will sound in reverse.
NOTE: Stepping off of the Operator’s Presence Pedal (25) for more than 2 seconds will cause the Forward or Reverse Drive Switch Indicator to turn
off. The operator will need to select forward or reverse again before the machine can be driven.
Adjust machine speed by rotating the Speed Adjustment Knob (P) clockwise to go faster or counterclockwise to go slower.
NOTE: While the machine is operating in autonomous mode the machine’s speed is set by the computer and not adjustable by using the speed
adjustment knob.
A - 32
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
STOPPING THE MACHINE
Stop the machine by releasing the Go Pedal (24) while operating in Manual Mode.
In Autonomous Mode machine can be stopped by one of the following methods;
• Pressing the Remote Pause Button (AD)
• Stepping onto the Operator Presence Pedal (25), (this will temporarily stop machine, if operator stays on machine for 30 seconds it will exit autonomous
mode)
• Pressing the Stop Switch (T) or the Play/Pause Switch (V)
NOTE: The electromagnetic brake built into the drive wheel is engaged automatically when the Go Pedal is not pressed (or in autonomous mode when
machine stops playback).
CAUTION!
In the event of an emergency, to stop all machine functions immediately, press the Emergency Stop Knob (D).
The display will show the Emergency Stop Activated Indicator (X18). To reset the machine functions, rotate the emergency stop knob clockwise.
FIGURE 3-1
X18
CB1
5A
K1
CB2
5A
CB3
15A
AD
24
25
26
12/2017
X2
56091197 - Nilfisk Liberty SC50
X3
A - 33
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
TRAINING THE MACHINE FOR AUTONOMOUS MODE
There are two types of autonomous plans. To change between the two types press the CopyCat™/Fill-In Switch (W).
a. CopyCat™ – Machine will follow the same plan driven by the operator (default setting). The CopyCat Mode is used to stage scrubbing in
hallways, aisles, and irregular-shaped areas.
b. Fill-In – Operator must drive the machine in a counter-clockwise plan around the perimeter of an area and the machine will clean the area
contained within this closed plan (start and stop at the same point). The Fill-In Mode is used when scrubbing inside rooms or other confined
areas. The Fill-In Mode is also well suited for scrubbing straight hallways that are at least 4 machine widths wide.
Follow the instructions in “Starting the Machine” section and manually drive the machine to the starting point for training.
TRAINING/RECORD CopyCat™...
1 Press CopyCat/Fill-in Switch (W) so that CopyCat LED (W1) is lit. This indicates
machine has entered the CopyCat mode and is ready to begin training.
2 Press Record Switch (U).
a. Autonomous Mode Indicator (S1) will be lit.
b. Screen displays Autonomous Indicator along with Advancing Lines (X25 & X28)
to indicate machine is in training mode.
c. LED Status Bar (4) will emit a slow flashing green light.
3 Clean the area as desired using the vacuum, solution, scrub and detergent settings
you want.
- While training CopyCat;
a. Operate all of the scrub functions. Clean the floor as you would on a manual
machine. See section “OPERATING THE MACHINE MANUAL MODE” for
more information on adjusting any of the scrub settings. The machine will
record every action of the operator including adjustments to scrub settings, use
of the horn and remember the route traveled See Figure 3-2.
b. The reverse switch is not selectable while training.
When finished CopyCat training, press the Stop Switch (T)
or Record Switch (U), to stop training. Pressing either button
brings up a menu with the options to save or cancel the plan.
a. Use the up and down navigation arrows (Y1) to choose
between;
• “  ” (X39) to Save the plan
• “ X ” (X40) to cancel the plan
b. Press the right arrow to select the option
c. Or press left arrow to exit and continue training
Display will show Computer Processing Indicator (X30)
while computer is compiling/saving the plan. Do not move
machine while plan is being saved. This may take several
minutes.
Machine indicates if recording was successful or failed.
d. If plan saves successfully the screen will briefly display
CopyCat Plan Saved Indicator (X33).
e. If plan fails to save the screen will display a fault
Machine LED Status Bar will change from green to OFF or
ON white (optional setting).
W1
S1
X25
X28
X39
X40
X30
FIGURE 3-2
A - 34
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
TRAINING THE MACHINE FOR AUTONOMOUS MODE - CONTINUED
TRAINING/RECORD Fill-In...
1. Press and release CopyCat/Fill-In Switch (W) until Fill-In LED (W2) is lit. This
indicates machine has entered the Fill-In mode and is ready to begin training.
2. Select the scrub settings to be used for the whole Fill-In plan. See section
“OPERATING THE MACHINE MANUAL MODE” for more information on
adjusting any of the scrub settings. Once the record switch is pressed these
settings will be remembered and applied to the whole Fill-In upon playback.
3. Press Record Switch (U).
a. Autonomous Mode Indicator (S1) will be lit.
b. Screen displays Autonomous Indicator along with Advancing Lines (X25 & X28)
to indicate machine is in training mode.
c. LED Status Bar (4) will emit a slow flashing green light.
4. Drive the machine in a counter-clockwise plan around the perimeter of the area
to be cleaned. When creating a plan (training) in the Fill-in Mode, the right side
of the machine must be towards the wall and the 2-D Laser Scanner pointed
towards the center of the room. From the starting point, movement must be in a
counterclockwise direction.
- While training Fill-In;
a. The reverse switch is not selectable while training.
5. Drive the machine around the perimeter of the area to be cleaned and drive back
through the starting point and continue along the plan another 25 feet a second time
until the machine stops on its own. See Figure 3-3. NOTE: When the Fill-In
plan is being played back the machine will use an algorithm to create a plan
that covers the entire area and ends back at the starting point. See Figure
3-4.
6. Machine will indicate it is close to the starting point by emitting two
beeps.
7. When finished Fill-In training, press the Stop Switch (T) or Record
Switch (U), to stop training. Pressing either button brings up a menu
with the options to save or cancel the path.
a. Use the up and down navigation arrows (Y1) to choose between;
• “  ” (X39) to Save the plan
• “ X ” (X40) to cancel the plan
b. Press the right arrow to select the option
8. Display will show Computer Processing Indicator (X30) while computer is
compiling/saving the plan. Do not move machine while plan is being saved.
This may take several minutes.
9. Machine indicates if recording was successful or Failed.
a. If plan saves successfully the screen will briefly display Fill-In Plan
Saved Indicator (X37).
b. If plan fails to save the screen will alternate between icons Fill-In Plan
Indicator & Fill-In Plan Failed Indicator (X35 & X36).
10. Machine LED Status Bar will change from green to OFF or ON white
(optional setting).
S1
W2
X28
X25
X39
X40
X30
FIGURE 3-4
FIGURE 3-3
12/2017
56091197 - Nilfisk Liberty SC50
A - 35
A - ENGLISH
INSTRUCTIONS FOR USE
9/2018
TRAINING THE MACHINE FOR AUTONOMOUS MODE - CONTINUED
WHILE TRAINING/RECORDING IN COPYCAT OR FILL-IN MODES...
Operator is interrupted
1 If operator is interrupted during the recording process, release foot from Go Pedal to stop machine and step off the machine to stop all
functions. If operator steps off the machine at any time during the record process the machine will stop.
2 Remove the magnetic SmartKey and attend to other issues.
3 After returning step back onto the machine, replace the SmartKey and press the Record Switch (U) to resume training.
Training needs to be stopped
If training needs to be stopped during the recording process (to re-fill solution tank, empty recovery tank etc.) release foot from Go Pedal to
stop machine movement and press the Play/Pause Switch (T) to stop recording.
The machine will not remember where it left off training and plan must be re-recorded. After emptying recovery tank, refilling solution etc.,
return to starting point and re-train the plan.
Important to Know About Training a Plan
• Be mindful of where you start a plan so it’s not in a busy or congested area, but also in a logical place to start cleaning. Start point should
be in a location that’s easy to remember and get to in the future since machine will need to start there each time to playback.
• Be mindful of where you will end the plan (only for CopyCat) so that machine is not blocking a doorway or otherwise in the way when it
comes to a stop at the end of the plan.
• Train plan with the left side of the machine facing into the room.
• Two plans cannot have the same starting point. If two starting points are close to each other the machine will playback the plan which has
the starting point nearest to the machine. Any two starting points should be a minimum of 8 ft. (2.4m) apart.
• For CopyCat plans the start and end points do not need to be the same location.
Results of Training a Plan Include
• Saved plan guides machine movements during autonomous operation.
• Machine will follow exact plan(s) recorded, avoiding known obstacles identified on plan.
• Machine will drive around new obstacles detected but not recorded.
• Machine will signal the remote to notify Operator if there are problems or machine cannot move around newly detected obstacles.
• Machine will signal the remote when the machine has finished cleaning and reached the end of the plan.
DELETE A PLAN
1 Cancel Current Recording:
a. During training press Stop Switch (T) at any time to bring up a menu which allows the operator to cancel/delete the current plan being
trained.
2 Delete Existing Plan:
a. Drive machine to the start area of the plan.
b. Machine will recognize the plan by an audible alert (2 beeps), lighting the appropriate LED either CopyCat or Fill-In that corresponds to
the plan.
c. Press Autonomous Switch (S) to enter Autonomous menu choose “Delete this plan”.
A - 36
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
PLAYBACK OF RECORDED PLAN, AUTONOMOUS MODE
Once the operator has recorded a plan (training complete) in an area playback is possible.
1 Follow the steps under “Starting the Machine”. Drive machine to the start area of a
trained plan.
2 Machine will indicate it has a viable cleaning plan for the area in which the machine is
currently located. Signal is audible and visual.
a. When within 6 ft. (2 m) of a start point for a trained plan machine will emit two
beeps. When driving through a start area machine will emit one beep as it drives
out of the start area.
b. The Autonomous Indicator (S1) will flash.
c. The LEDs on CopyCat/Fill-In Switch (W) will light to indicate which cleaning plan
mode is available from this location.
d. Display will show (X29) if playback is available. If (X13) is displayed, playback is
not available due to batteries not having enough charge to allow playback.
3 Scrub settings;
a. Machine will scrub with the scrub settings used while training the plan.
4 Press the Play Switch (V). Machine will display Autonomous Mode Indicator (X25) to
indicate playback is ready.
5 Step off of the machine.
6 Remove the magnetic SmartKey from the machine. Machine will display (X38)
(flashing arrow) and blink the LED (A1) below the SmartKey Reader (A) to indicate
operator must remove the magnetic key from the machine before playback can begin.
7 At the start of playback the horn will sound for two seconds, LED bar will turn blue and
then machine will begin scrubbing.
8 While the machine is cleaning in autonomous mode the following will be observed;
a. Autonomous Indicator along with Advancing Lines (X25 & X28) will be on the
display.
b. An audible ‘heartbeat’ sound will be emitted.
c. LED Status Bar (4) will be slow flashing blue. While executing a turn the LED
Status Bar will flash yellow on either side to indicate the direction of the turn.
LED Status Bar will change to chasing red if someone walks in front of the
machine or encounters an unmapped obstruction.
9 When machine gets to the end of the recorded plan;
a. Scrub brushes and solution flow will stop and the scrub deck will raise up.
Machine will continue to travel a short distance to pick up remaining water.
b. The squeegee will raise up after a brief delay with the scrub deck and the
vacuum will stop after an additional delay (this is to allow any remaining water to
be picked up without turning the vacuum back on).
c. Machine will signal the remote. Flash red LED and beep every 2 minutes to
notify operator should return to machine.
d. After a set time the machine will enter a sleep mode to save battery power.
S1
X29
X38
A1
X25
X28
FIGURE 3-5
12/2017
56091197 - Nilfisk Liberty SC50
A - 37
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
PLAYBACK OF RECORDED PLAN, AUTONOMOUS MODE - CONTINUED
IMPORTANT TO KNOW WHILE IN PLAYBACK MODE
• If the Stop Switch (T) is pressed the machine will stop and go into manual mode.
• If the Pause Switch (V) is pressed the machine will pause playback. Place the SmartKey back on the reader and press Pause Switch (V)
again, then remove SmartKey to resume playback.
• If the Emergency Stop (D) is pressed the machine will stop immediately and go into manual mode.
• All other switches (and speed control knob) are “locked out” pressing them will have no effect.
While in Playback Mode...
Operator needs to interrupt autonomy to Take-Over Cleaning
1 While machine is cleaning in autonomous mode. Operator can approach the machine with the remote.
2 Press the Remote Pause Button (AD). The Remote Status Indicator (AC1) will turn red.
3 Machine stops/pauses project – lifts scrub deck, stops solution/detergent flow, travels a bit further to vacuum water, lifts squeegee/stops vac.
4 Operator steps onto machine and inserts SmartKey.
5 Machine signals that operator now has control of machine by lighting Manual Operation Indicator (H).
6 Operator can now drive/operate machine as needed in manual mode.
Playback needs to be paused/resumed
If autonomous scrubbing needs to be interrupted during the playback of a plan (to re-fill solution tank,
empty recovery tank etc.) press the Remote Pause Button (AD) to stop machine movement and stop all
functions. The machine will remember where it left off playback and create a temporary “resume area”.
Make note of this location to return here.
Go empty recovery tank, refill solution etc.
After returning to where the recording was paused, the machine will beep twice and display Resume Plan
Available Indicator (X33) as it enters the “resume area”. Press the Play Switch (V) to resume and finish
cleaning the plan.
X33
FIGURE 3-6
CB1
5A
K1
CB2
5A
CB3
15A
AC1
A - 38
AD
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
PLAYBACK OF RECORDED PLAN, AUTONOMOUS MODE - CONTINUED
Machine Encounters an Issue While Cleaning in Autonomous Mode
1 While machine is successfully cleaning in autonomous mode. Machine may encounter any one of the scenarios listed below;
a. Obstacle – Does NOT Move
b. Machine is Blocked – CANNOT Plan Around
c. Machine needs to locate Home Position
d. Machine System Crash
e. Machine Battery Level Low
f. Solution Tank Empty
g. Recovery Tank Full
h. Repeated Obstacles Continuously Disturb machine
i. Person steps onto machine for longer than 30 seconds
j. Sensors Blocked
k. Machine is Impacted/Hit by Other Vehicle/Person/Obstacle, etc.
l. E-Stop Button Pressed
m. Serious Scrubber Fault Code
2 In all cases the machine stops moving, the scrub deck stops and raises to the vac only height and the vacuum will run briefly until it times out.
Then all functions turn off and the remote will be signaled of an error. The remote will beep and show Red LED (AC1) if error occurs.
3 Operator must return to the machine to clear/eliminate error. SmartKey must be placed on reader to access menu or restart.
Operator Monitors Machine Progress via Remote...
1 While machine is successfully cleaning in autonomous mode the operator can get feedback on its status through the remote.
a. Remote includes one RED LED (AC1) and one GREEN LED (AC2).
b. Operator can press the Remote Information Button (AB) at any time to receive status update.
c. Green LED (AC2) is lit when status is GOOD.
d. Red LED (AC1) is lit and remote will beep to indicate there is an error present.
e. Machine stops if an error occurs and sends a signal to remote.
f. Both Red and Green LED’s (AC1 & AC2) will flash along with a beep when plan is completed successfully.
FIGURE 3-7
AA
AB
AC1
AC2
AD
12/2017
56091197 - Nilfisk Liberty SC50
A - 39
A - ENGLISH
INSTRUCTIONS FOR USE
9/2018
OPERATING THE MACHINE MANUAL MODE
WARNING!
Be sure you understand the operator controls and their functions.
While on ramps or inclines, avoid sudden stops. Avoid abrupt sharp turns. Use low speed down ramps.
Follow the instructions in “Starting the Machine” section and drive the machine to the starting point for cleaning.
Press and hold the Solution Switch (J) to pre-wet the brush or pad, solution will be dispensed at the HIGH rate while the switch is held. NOTE: This will
help prevent scarring of the floor surface when starting to scrub with dry brushes. This can only be done prior to pressing the One-Touch Scrub Switch (M).
Additionally when the machine starts scrubbing the solution will flow at the High rate for 2 seconds to flood the floor.
Press the One-Touch Scrub ON Switch (M) once for Regular Scrub. Press the Extra Pressure Switch (N) once for Heavy Scrub. The solution flow has
settings that coincide with the scrub pressure, it will increase and decrease along with the scrub pressure.
NOTE: The solution flow rate can also be increased or decreased independently of the scrub pressure by pressing the Solution Flow Adjustment Switch (J),
observe the Solution Flow Rate Bar Graph (X10) (see Control Panel). Any subsequent scrub pressure adjustments will reset the solution flow rate to default.
When the One-Touch Scrub ON Switch (M) is selected, the brushes and squeegee are automatically lowered to the floor. The scrub, solution, vacuum and
detergent systems are all automatically enabled and will start when the Go Pedal (24) is activated. Any individual system can be adjusted or turned OFF or
ON by simply pressing its switch at any time during scrubbing.
Scrub Pressure: Each press of the Extra Brush Pressure Switch (N) will change between REGULAR pressure and HEAVY pressure (shown on the display
(X12)). The scrub system can only be turned OFF by pressing the One-Touch Scrub Switch (M).
Solution: The solution flow rate can be changed independently of the scrub pressure by pressing the Solution Switch (J). Each press of the switch will cycle
between LOW, MEDIUM, HIGH, OFF and back to LOW. The setting is shown on the display (X10).
Vacuum: The vacuum level can be changed independently. The default setting is REGULAR mode. Each press of the Vacuum Switch (L) will cycle
between QUIET, OFF and REGULAR. The setting is shown on the display (X5).
NOTE: To pick up solution without scrubbing, press the Vacuum Switch (L) while in transport mode. This will cause the squeegee to lower and the vac
motor to turn ON at the REGULAR level.
Detergent: See “Detergent System Preparation and Use (EcoFlex)” for more detailed information regarding the adjustment and use of the detergent system.
5a Daily Scrub: Begin scrubbing by driving the machine forward in a straight line at a normal walking speed and overlap each plan by 2-3 inches (50-75 mm).
Adjust the machine speed and scrub parameters when necessary according to the condition of the floor.
5b Floor Finish Removal (REV model only): Ensure there is a red pad attached directly to the fixed pad driver and that the maroon SPP pad is not attached
to the fixed pad driver. Adjust the scrub parameters as follows: Adjust the machine speed potentiometer to a slow scrub speed approximated by that shown
in Figure 6 (P). Adjust the solution flow rate to low, the scrub pressure to high and turn detergent off. The vacuum power setting can be set to either quiet or
regular mode.
Press the Burst of Power Switch (O) to temporarily (1 minute) engage the high detergent strength, extra scrub pressure, full vacuum power and increase the
solution flow rate to the next available level. The Burst of Power Indicator (X22) will display along with a 60 second countdown timer, after which all scrub
parameters will return to their previous state.
When scrubbing, check behind the machine occasionally to see that all of the used solution is being picked up. If there is water trailing the machine, you may
be dispensing too much solution, the recovery tank may be full, or the squeegee tool may require adjustment.
For extremely dirty floors, a one-pass scrubbing operation may not be satisfactory and a “double-scrub” operation may be required. This operation is the
same as a one-pass scrubbing except on the first pass the squeegee is in the raised position. Lift up the squeegee assembly and rotate the double scrub
bracket (AA) down, to hold the squeegee off the floor. This allows the cleaning solution to remain on the floor to work longer. The final pass is made over the
same area, with the squeegee lowered to pick up the accumulated solution.
The recovery tank has a Tank Full Switch (21) that causes ALL systems to turn OFF except the drive system when the recovery tank is full. When this switch
is activated, the recovery tank must be emptied. The machine will not pick up water or scrub with the switch activated.
NOTE: Scrub, solution and detergent indicators vanish and the Recovery Tank Full Indicator (X16) appears on the Display Panel when the switch is
activated.
10 When the operator wants to stop scrubbing:
Press the One-Touch Scrub Switch (M) once. This will automatically stop the scrub brushes and solution flow and the scrub deck will raise up. The
squeegee will raise up after a brief delay with the scrub deck and the vacuum will stop after an additional delay (this is to allow any remaining water to be
picked up without turning the vacuum back on) if the vacuum switch is pressed during this time delay the vacuum will turn off.
11 Drive the machine to a designated waste water “DISPOSAL SITE” and empty the recovery tank. To empty, pull the Recovery Tank Drain Hose (37) from its
rear storage area, then unscrew the cap (hold the end of the hose above the water level in the tank to avoid sudden, uncontrolled flow of waste water). The
drain hose can be squeezed to regulate the flow. Unlatch (36) and lift open the Recovery Tank Cover (20) to inspect and empty the Debris Catch Tray (23) in
the recovery tank. Refill the solution tank and continue scrubbing.
NOTE: Make sure the Recovery Tank Cover (20) and the Recovery Tank Drain Hose (37) cap are properly seated or the machine will not pick-up water correctly.
When the batteries require recharging the Battery Low Voltage Indicator (X13) will come on, the scrub brushes and solution flow will stop and the scrub deck will
raise up. The squeegee will raise up after a brief delay and the vacuum will stop after an additional delay. Transport the machine to a service area and recharge
the batteries according to the instructions in the Battery section of this manual.
A - 40
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
FIGURE 3-8
ENGLISH - A
CB1
5A
K1
CB2
5A
CB3
15A
20
21
23
X10
X12
X5
36
37
24
AA
12/2017
56091197 - Nilfisk Liberty SC50
A - 41
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
LED STATUS BAR OPERATION
Machine Action
• Manual Mode
LED Response
- Light Bar off (lights up white with blue on the sides only while scanning for a
location tag).
- Options include (see “Information Menu Display” to change)
“Always On” (white light)
“Always Off”
Slow Flashing Green
Slow Flashing Blue
Flashing Red
Chasing Red or Orange (starting in center and moving to sides)
- Options include (see “Information Menu Display” to change)
Red
Orange
Side LEDs flash yellow
Light Bar will “fill” and advancing colors as follows (red, orange, yellow, green
and solid green) from discharged to fully charged see “Charging Batteries”.
• Training
• Autonomous Mode
• Machine Error
• Obstacle Detected
• Turning
• Charging Batteries
FIGURE 3-9
SPEAKER OPERATION
Speaker Audible Alerts
Sound
Description
Mode
Sound Description
Horn
Operator activates by pressing Horn Switch
(C).
Manual
Standard Horn
Reverse
Slow beep when moving in reverse
Manual
Standard back-up alarm sound
Scan Successful
Scan of location tag was successful
Manual
Two note ascending tone
Object Detection
Alerts person to move out of way
Autonomous
Machine Error
Machine stops, playback cannot continue
Autonomous
Autonomous Operation
Enter Recorded Plan
Start Area
Leave Recorded Plan
Start Area
Plan Saved Successfully
Playback to Begin
A - 42
Alerts person in area of scrubber (heartbeat)
Volume is adjustable between OFF, 1, 2, & 3.
Machine recognizes it is driving into the start
area of a plan
Machine recognizes it is driving out of the
start area of a plan
After training a plan, machine indicates plan
has been saved successfully
Alerts anyone in the area that machine is
about to start moving
Nilfisk Liberty SC50 - 56091197
Four beeps changing tone
repeating
Longer low tone 3 seconds
repeating
Autonomous
Standard back-up alarm sound
Autonomous
Two beeps higher tone
Autonomous
One beep lower tone
Autonomous
Three note ascending tone
Autonomous
Two second beep
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
AFTER USE
When finished scrubbing, press the One-Touch Scrub Switch (M), this will automatically raise, retract and stop all the machine systems
(brush, squeegee, vacuum, solution and detergent). Drive the machine to a service area for daily maintenance and review of other needed
service upkeep.
To empty the solution tank;
• Solution tank only needs to be emptied if detergent was mixed in the tank and machine will not be used for a while.
• Drive the machine over a designated “DISPOSAL SITE” and open the Solution Drain Valve (8).
• The tank can also be drained by closing the Solution Shutoff Valve (34) and removing the cap from the Solution Filter (33), then open the
Solution Shutoff Valve to drain the solution out through the filter.
• Rinse the tank with clean water if detergent was used in the tank.
To empty the recovery tank;
• Pull the Recovery Tank Drain Hose (37) from its storage area.
• Direct the hose to a designated “DISPOSAL SITE” and unscrew the cap (hold the end of the hose above the water level in the tank to avoid
sudden, uncontrolled flow of waste water). The Recovery Tank Drain Hose can be squeezed to regulate the flow.
• Unlatch (36) and lift open the Recovery Tank Cover (20) set the prop rod (39).
• Empty and rinse the Debris Catch Tray (23) in the recovery tank.
• Thoroughly rinse the recovery tank with clean water.
• Inspect the squeegee and drain hoses; replace if kinked or damaged.
Remove the brush or pad holder. Rinse it in warm water and hang up to dry.
Remove the squeegee, rinse it with warm water and hang it up to dry. Inspect the squeegee blades for wear or tears.
Check the maintenance schedule below and perform any required maintenance before storage.
Store the machine indoors in a clean dry place. Keep from freezing. Leave the tanks open to help prevent odors.
Turn the machine off by pressing the Power Switch (B) and then remove the magnetic SmartKey.
Batteries are one of the most expensive replacement items on this machine. To protect your investment and to get as many cycles from the
batteries as possible, remember the following:
 When installing batteries make certain the machine and charger are programed for the correct battery type.
 Batteries will last longer if they are kept fully charged.
 Batteries will prematurely fail if stored in a discharged state.
 Battery chargers will not over or undercharge the batteries.
 Every day after use, the battery charger must be plugged in and the charger must be allowed to run through a full charging sequence to
fully charge the batteries. This may take 8-12 hours depending on the battery status.
 Always have the charger plugged into an AC outlet if the machine will not be used for a longer period of time to keep the battery(s)
charged.
MAINTENANCE
MAINTENANCE SCHEDULE
MAINTENANCE ITEM
Charge Batteries
Check/Clean Tanks & Hoses
Check/Clean the Brushes/Pads
Check/Clean the Squeegee
Check/Clean Vacuum Motor Fan Inlet Screen (28)
Empty/Clean Debris Catch Tray in Recovery Tank
Clean 2D Safety Sensors (two) see “CLEAN SENSOR LENSES”
Clean 3-D camera lenses see “CLEAN SENSOR LENSES”
Clean Drop-Off sensors lenses see “CLEAN SENSOR LENSES”
Clean 2-D Laser Scanner see “CLEAN SENSOR LENSES”
Inspect Scrub Housing Skirt
Inspect and clean Solution Filter
Purge Detergent System
Lubrication of Machine
* Check Carbon Brushes
Daily
Weekly
Monthly
Yearly
* Have an Authorized Nilfisk Service Center check the vacuum motor carbon motor brushes after 1200 operating hours (replace motor after 2000 recovery hours).
NOTE: Refer to the Service Manual for more detail on maintenance and service repairs.
12/2017
56091197 - Nilfisk Liberty SC50
A - 43
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
LUBRICATING THE MACHINE
Apply grease to (or grease fitting locations) (AA):
Use grease type Lubriplate® 730-2 or equivalent
•
Steering Chain
•
Drive Wheel Chain
•
Drive Chain Idler Sprocket (grease fitting)
FIGURE 4-1
AA
AA
AA
ELECTROMAGNETIC BRAKE
See Figure 4-2. The drive wheel motor has a built in electromagnetic brake that is engaged whenever the machine Power Switch (B) is OFF or
the Go Pedal (24) is not being pressed, machine in neutral. This brake can be manually overridden if necessary by reaching up around the back
of the front drive wheel and rotating the Brake Arm (AC) as shown. This should only be done in the event the machine needs to be pushed or
pulled. Remember to re-engage the brake arm after the machine is moved.
CAUTION!
FIGURE 4-2
Disconnect the batteries before
reaching into this area and rotating the
brake arm. Severe injury could occur if
steering components suddenly move.
AC
IMPORTANT: The steering is controlled
electronically rather than by mechanical
linkage. This means that whenever the
power is off the machine cannot be steered
using the steering wheel.
A - 44
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
CHARGING GEL/AGM (VRLA) BATTERIES
Charge the batteries each time the machine is used or when the Battery Indicator (X3) is reading less than full.
X3
WARNING!
Charge batteries in a well-ventilated area. If battery acid makes contact with your skin, flush the affected area with water for 5
minutes and seek medical attention.
Do not smoke while servicing the batteries.
When Servicing Batteries...
Remove all jewelry
Do not smoke
Wear safety glasses, rubber gloves and a rubber apron
Work in a well-ventilated area
Do not allow tools to touch more than one battery terminal at a time
ALWAYS disconnect the negative (ground) cable first when replacing batteries to prevent sparks.
ALWAYS connect the negative cable last when installing batteries.
CAUTION!
Your valve regulated lead acid (VRLA) battery will deliver superior performance and life ONLY IF IT IS RECHARGED PROPERLY!
Under or overcharging will shorten battery life and limit performance. Be sure to FOLLOW PROPER CHARGING INSTRUCTIONS!
DO NOT ATTEMPT TO OPEN THIS BATTERY! If a VRLA battery is opened, it loses its pressure and the plates become oxygen
contaminated. THE WARRANTY WILL BE VOIDED IF THE BATTERY IS OPENED.
CAUTION!
When the Control Panel Housing (20) is opened it creates a pinch point between the LED lens and the solution tank. Do not route
the power cord through this area or the cord will be pinched and may be damaged.
20
12/2017
56091197 - Nilfisk Liberty SC50
A - 45
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
CHARGING GEL/AGM (VRLA) BATTERIES - CONTINUED
The machine shipped with an onboard battery charger. To begin charging do the following:
Turn the machine off at the Power Switch (B).
See Figures 4-3 & 4-4. Open the Control Panel Housing (20) set the Prop Rod (39).
Empty the Recovery Tank (22) using the Recovery Tank Drain Hose (37). Tip the Recovery Tank (22) back for proper ventilation using the Recovery Tank Lift
Handles (27).
Unwind the electrical cord for the onboard charger near the front of the machine and plug it into a properly grounded outlet. Refer to the OEM product
manual for more detailed operating instructions.
NOTE: While AC power is applied to the onboard charger all machine functions are disabled.
The Battery Charge Status Indicator (X3) will begin showing the
FIGURE 4-4
batteries’ state of charge. This indicates that the charging cycle has
begun. As the charging cycle continues, the battery charge level will
fill in. Each of the five bars within the icon will flash and then become
20
solid until all of the five bars are lit solid. The Display (X) will also
show battery voltage and percent of charge (X47).
The LED status bar (4) will also display the state of charge, using
advancing colors from red to green see Figure 4-5.
When the Battery Charge Status Indicator (X3) is completely filled
39
and status bar is solid green, the machine senses fully charged
batteries, however the charging process may not be complete. Rely
on the status lights on the Charger (31) (and its OEM manual) to
22
verify when the batteries are completely charged. This may take
several hours depending upon the condition of the batteries before
charging.
After charging is complete unplug the charger and wind up the Cord
(40). Wait at least 10 seconds before turning on the machine after
40
unplugging the charger.
FIGURE 4-3
X3
X47
IMPORTANT: Make sure you have an appropriate charger for use on Gel cell batteries. Use only “voltage-regulated” or “voltage-limited” chargers.
Standard constant current or taper current chargers MUST NOT be used. A temperature-sensing charger is recommended, as manual adjustments are
never accurate and will damage any VRLA battery.
FIGURE 4-5
Advancing
Red
A - 46
Advancing
Orange
Advancing
Yellow
Nilfisk Liberty SC50 - 56091197
Advancing
Green
Solid
Green
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
SQUEEGEE MAINTENANCE
If the squeegee leaves narrow streaks or water, the blades may be dirty or damaged. Remove the squeegee, rinse it under warm water and inspect the blades.
Reverse/flip or replace the blades if they are cut, torn, wavy or worn.
To Reverse or Replace the Rear Squeegee Wiping Blade...
See Figure 4-5. Raise the deck and squeegee assembly off the floor, then unsnap the Rear Squeegee Blade Removal Latch (23).
Remove the Tension Strap (AA).
Slip the rear blade (AB) off the alignment pins.
The squeegee blade has 4 working edges. Turn the blade so a clean, undamaged edge points toward the front of the machine. Replace the blade if all 4
edges are nicked, torn or worn to a large radius.
Install the blade, following the steps in reverse order and adjust the squeegee tilt if necessary.
To Reverse or Replace the Front Squeegee Blade...
Raise the squeegee off the floor, then rotate the squeegee towards the outside of the machine to access. Disconnect the squeegee hose (AD) from the
squeegee. Squeeze the back of the Squeegee Mount Bracket (AE) to open the bracket and pull the squeegee assembly off the machine.
Loosen the four Squeegee Cover Knobs (11). Then lift the Squeegee Cover (AF) off of the Squeegee Casting (AG).
Slip the front blade (AH) off the alignment pins.
The squeegee blade has 4 working edges. Turn the blade so a clean, undamaged edge points toward the front of the machine. Replace the blade if all 4
edges are nicked, torn or worn to a large radius.
Install the blade, following the steps in reverse order and adjust the squeegee tilt if necessary.
SQUEEGEE ADJUSTMENT
There is only one squeegee assembly adjustment possible, tilt.
Adjust the squeegee tilt if the squeegee is not wiping the floor dry.
Park the machine on a flat, even surface and lower the squeegee. Then drive the machine forward enough to have the squeegee blades fold over to the
rear.
Adjust the squeegee tilt using the Rear Caster Wheel (AC) so that the rear squeegee blade touches the floor evenly across its entire width and is bent over
slightly as shown in the squeegee cross section (AI).
FIGURE 4-5
11
AF
AE
11
AI
AD
AC
AH
AG
AB
AA
23
12/2017
56091197 - Nilfisk Liberty SC50
A - 47
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
REMOTE BATTERY REPLACEMENT
The remote’s battery has an expected life of 6 to 8 months, assuming normal usage. More frequent operation will shorten battery life. Replacement battery is type
CR2430.
See Figures 4-6 & 4-7. Slide the Protective Cover (AA3) off of Remote (AA1) to expose Battery Cover (AA2).
See Figures 4-8 & 4-9. Insert the tip of a tweezers or small screwdriver (AA4) between battery cover (AA2) and Remote body (AA1), and begin to pry open
battery cover.
See Figure 4-10. Fully raise the battery cover (AA2) from the body of the remote then remove the battery cover.
See Figure 4-11. Using the tip of a tweezers or blade screwdriver (AA4) carefully start to slide the Battery (AA5) out of the remote. Grasp the battery and
pull it out of the remote. Discard the battery according to local requirements.
Install the new battery by following the previous steps in reverse order. Check the battery polarity for correct orientation before insertion.
FIGURE 4-6
FIGURE 4-7
AA1
AA2
AA1
AA3
AA3
FIGURE 4-8
FIGURE 4-9
AA2
AA2
AA1
AA4
AA1
FIGURE 4-10
FIGURE 4-11
AA1
AA2
AA4
AA5
AA1
A - 48
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
TROUBLESHOOTING
GENERAL MACHINE TROUBLESHOOTING
Problem
Possible Cause
Vacuum hose not connected to the squeegee
assembly
Worn or torn squeegee blades
Squeegee out of adjustment
Poor water pick-up
Poor scrubbing
performance
Inadequate or no
solution flow
Solution tank empty
Indicator (X23) appears
when there is solution
in the tank
Machine does not
power ON
Recovery tank full
Recovery Tank Drain Hose (37) leak
Recovery Tank Cover (20) gasket leak
Debris caught in Squeegee (11)
Recovery Hose between squeegee and
recovery tank clogged
Using too much solution
Vacuum set to quiet mode
Worn brush or pad
Wrong brush or pad type
Wrong cleaning detergent
Moving machine too fast
Not using enough solution
Solution tank empty
Solution lines, valves or filter (33) clogged
Solution Shutoff Valve (34) closed
Solution Solenoid Valve (32) plugged or
defective
Solution pump air locked
Reduce flow via control panel solution switch
Set vacuum to high
Replace brush or pad
Consult Nilfisk
Consult Nilfisk
Slow down
Increase solution flow
Fill solution tank
Flush lines and clean solution filter
Open solution shutoff valve
Clean or replace valve
(contact Nilfisk Authorized Service Center)
Reconnect battery connectors
Tripped 5 Amp circuit breaker (E)
Blown Main Fuse 100 Amp (42)
Charger Interlock engaged
Check for electrical short circuit & reset
Replace Main Fuse 100 Amp
Unplug Charger
Press (Q) to select Forward direction or press (R) to
select Reverse direction.
Emergency Stop Switch (D) activated, display
will show Emergency Stop Activated Indicator
(X18)
Plugged or kinked detergent flow line
Detergent pump
No Key Indicator (X19).
-No Magnetic SmartKey is present on the
SmartKey Reader (A).
12/2017
Remove debris
Machine Battery Connector (43) disconnected
Tripped 50 Amp circuit breaker (D)
Empty Detergent Cartridge (3)
Magnetic SmartKey
Errors
Reverse or replace
Adjust so blades touch floor evenly
across entire width
Empty recovery tank
Secure drain hose cap or replace
Replace gasket / Seat cover properly
Clean squeegee assembly
(contact Nilfisk Authorized Service Center)
Drive system speed controller
No Detergent Flow
Connect vacuum hose to squeegee assembly
Solution sensor failed
A direction has not been selected
No FWD/REV wheel
drive
Remedy
Reset the Emergency Stop Switch
Check error fault codes
(contact Nilfisk Authorized Service Center)
Check for drive motor overload
Fill detergent cartridge
Purge system, straighten lines to
remove any kinks
Check pump, wiring and lines
Place an appropriate SmartKey onto the SmartKey
Reader.
Key Read Error Indicator (X20).
- Magnetic SmartKey present on the
SmartKey Reader (A) cannot be read.
Clean both the SmartKey and the SmartKey
Reader using a clean cloth. Depress the SmartKey
between your thumb and forefinger to insure free
movement of the magnet.
Restricted User Key Indicator (X21).
-Magnetic SmartKey present on the SmartKey
Reader (A) is not programmed to be used
with this machine.
Place a SmartKey that has been programmed to be
used with this machine onto the SmartKey Reader.
56091197 - Nilfisk Liberty SC50
A - 49
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
AUTONOMOUS MODE TROUBLESHOOTING
Problem
Possible Cause
Remedy
Machine driving erratic
(stopping frequently
when there is no
obstacle) or not driving
Dirty lenses
Clean all of the sensor lenses (see “Clean Sensor
Lenses”)
Severe scratch may require component (sensor)
replacement
(contact Nilfisk Authorized Service Center)
Move machine to a Location Tag and Set Home
Position
Machine will not train
a plan
Machine will not
playback a plan
Plan playback not as
expected
Scratched lens
Home position has not been set
Machine not within a start area
Drive machine to the start area of a plan (audible cue
of two beeps upon entering start area)
Battery charge too low to complete plan
Fully charge the batteries
Environment has changed too much so that
machine cannot locate itself on its map
Delete the tag, rescan the tag, retrain the plan
Machine
REMOTE TROUBLESHOOTING
Problem
Possible Cause
Remedy
Remote does not
flash LEDs and beep
upon machine startup
Remote does not
light any LEDs after
pressing the status
request button (AB)
Remote not paired to the machine
Contact Nilfisk to pair the remote to the machine
Batteries are worn-out/discharged
Replace/recharge remote batteries
Remote is out-of-range of the machine
Move the remote closer to the machine
A - 50
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
FAULT CODE DISPLAY
Any fault codes detected by the controllers will be displayed on
the control panel display as they occur. If more than one fault
exists, the display will sequence through the fault codes at onesecond intervals. The fault will display as a mechanical wrench
followed by a four-digit code.
symbol
Fault codes are displayed as X-YYY, where
X = system number (1: main board, 2: power module, 3: drive
controller, 5: autonomous platform)
YYY = fault code number
For example,
1-101 would be M10 solution pump – short.
X14
X2
X15
X2 Active Fault Code
X14 Critical Fault Indicator
X15 Fault Code (Critical)
Fault Code
A1 Main Controller Faults
1-001
1-002
Description
1-010
1-011
1-101
1-102
1-106
1-201
1-202
1-301
K1 Key Switch Input (KSI) Relay Coil Open
K1 Key Switch Input (KSI) Relay Coil Shorted
K1 Key Switch Input (KSI) Relay Contact
Welded
CAN Bus 0
CAN Bus 1
M11 Solution Pump Shorted
L2 Solution Solenoid Shorted
M6 Detergent Pump Shorted
M2 Scrub Motor Overload
M5 Vacuum Motor Overload
M1 Drive Wheel Motor Overload
1-560
1-561
1-562
1-563
1-564
1-565
1-901
1-902
1-903
1-904
1-905
EEPROM Configuration Fault
EEPROM Options Fault
EEPROM Sys Values Fault
EEPROM Fault Log Fault
EEPROM User Key List Fault
EEPROM Impact Log Fault
Steering Controller packet loss:
Drive controller packet loss:
Steering queue congestion
Drive queue congestion
Autonomy spamming: Command Over-run
1-003
Fault Code
A2 Power Module Faults
2-011
2-012
2-013
2-014
2-017
2-018
2-021
2-022
2-025
2-026
2-027
2-028
12/2017
Description
Power Supply Fault
K2 Power Module Contactor Coil Overload
K2 Power Module Contactor Contacts Welded
K2 Power Module Contactor Coil Open
Overvoltage Cutoff
Undervoltage Cutoff
M1 Output Open
M2 Output Open
M5 Output Open
Actuator 1 Output Open
M7 Actuator Output Open
Actuator 3 Output Open
Fault Code
Description
A2 Power Module Faults - continued
2-031
2-032
2-033
2-034
2-035
2-036
2-037
2-038
2-041
2-042
2-045
2-046
2-047
2-048
2-051
2-052
2-053
2-054
2-055
2-056
2-057
2-058
2-061
2-062
2-063
2-064
2-065
2-066
2-067
2-071
2-072
2-073
2-074
2-075
2-076
2-077
2-078
2-081
M1 Output Overload Warning
M2 Output Overload Warning
M3 Output Overload Warning
M4 Output Overload Warning
M5 Output Overload Warning
Actuator 1 Output Overload
M7 Deck Actuator Output Overload
Actuator 3 Output Overload
M1 Output Overcurrent
M2 Output Overcurrent
M5 Output Overcurrent
Actuator 1 Output Overcurrent
M7 Deck Actuator Output Overcurrent
Actuator 3 Output Overcurrent
M1 Output Short
M2 Output Short
M3 Output Short
M4 Output Short
M5 Output Shorted
Actuator 1 Output Short
M7 Deck Actuator Output Shorted
Actuator 3 Output Short
M1 Output Current Sensor Fault
M2 Output Current Sensor Fault
M3 Output Current Sensor Fault
M4 Output Current Sensor Fault
M5 Output Current Sensor Fault
Over Temperature Cutoff
Under Temperature Cutoff
M1 Output Overload Timeout
M2 Output Overload Timeout
M3 Output Overload Trip
M4 Output Overload Trip
M5 Output Overload Timeout
Actuator 1 Output Stall Fault
M7 Deck Actuator Output Stall
Actuator 3 Output Stall Fault
EEPROM Fault
56091197 - Nilfisk Liberty SC50
A - 51
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
FAULT CODE DISPLAY - CONTINUED
Fault Code
Description
A2 Power Module Faults - continued
2-082
2-083
2-084
2-086
2-087
2-088
2-091
2-092
2-093
2-094
2-095
2-096
2-097
2-098
2-101
2-102
2-103
PDO Timeout Fault
CAN Bus Fault
Internal Communication Timeout
Over Temperature Cutback
Under Temperature Cutback
K2 Power Module Contactor Coil Open
M1 Output Hardware Fault
M2 Output Hardware Fault
M3 Output Hardware Fault
M4 Output Hardware Fault
M5 Output Hardware Fault
Parameter Change Fault
Actuator 1 Output Current Sensor Fault
M7 Actuator Output Current Sensor
Actuator 3 Output Current Sensor Fault
Temperature Sensor Fault
K2 Power Module Contactor Coil Short
Fault Code
A3 Drive Controller Faults
Description
Fault Code
Description
A3 Drive Controller Faults- continued
3-034
External Supply Fault
3-036
Y1 Emergency Brake Coil Open
3-037
Y1 Emergency Brake Coil Driver On
3-041
Go Pedal Switch Input
3-042
Speed Limit Input
3-043
Pot 3 Fault
3-050
Very Low Voltage
3-052
Very Low Controller Temperature
3-053
Very High Controller Temperature
3-054
3-071
Low Battery Positive (B+) Power Input
K3 Drive Wheel Contactor Shorted or Y1
Emergency Brake Coil Shorted
Driver 3 Fault
3-072
Driver3 Overcurrent
3-070
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
3-080
Go Pedal Switch Closed At Power On
3-081
Parameter Change
3-082
Internal A3 Drive Wheel Controller Fault
3-090
A3 Drive Wheel Motor Temperature Hot Cutback
3-092
M1 Drive Wheel Motor Circuit Open
3-093
M1 Drive Wheel Motor Short
High Voltage
A3 Wheel Drive Controller Temperature Is Low
3-001
Excessive M1 Drive Wheel Motor Current
3-002
Internal Clock Failure
3-009
Internal A3 Drive Wheel Controller Fault
3-010
Driver 1 or Driver 2 Overcurrent
3-011
K3 Drive Wheel Contactor Coil Open
3-012
Emergency Reverse Redundancy
3-013
A3 Drive Wheel Controller EEPROM Fault
3-015
K3 Drive Wheel Contactor Contact Not Closing
3-016
M1 or M2 Drive Wheel Motor Outputs Shorted
3-094
3-017
3-095
3-020
K3 Drive Wheel Contactor Contact Stuck Closed
Lost Communication with A1 Main Machine
Controller (MMC)
Internal A3 Drive Wheel Controller Fault
3-021
Internal A3 Drive Wheel Controller Fault
3-022
Go Pedal (POT 1) Supervisor Fault
3-023
R1 Speed Limit Potentiometer Supervisor Fault
3-024
Supervisor Pot3 Fault
3-025
3-030
5V Output Supervisor Fault
S1 Operator Presence Swich (OPS) Input
Supervisor Fault
Steering System Ready Input (Switch 2)
Supervisor Fault
S2 Emergency Stop Switch Input (Switch 3)
Supervisor Fault
Autonomous System Okay Input (Switch 4)
Supervisor Fault
Supervisor Sw5 Fault
3-031
Key Switch Input (KSI) Supervisor Fault
3-032
Supervisor Motor Speed Fault
3-033
Controller Check Fault
3-019
3-026
3-027
3-028
3-029
A - 52
Nilfisk Liberty SC50 - 56091197
3-096
Stall Detected
3-097
A3 Wheel Drive Controller Temperature Is High
3-098
High Voltage
3-099
Low Voltage
3-101
User Fault Estop
3-102
User Fault Severe
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
FAULT CODE DISPLAY - CONTINUED
Fault Code
Description
A4 Steering Controller Faults
4-000
A4 Timeout
Fault Code
Description
A5 Autonomous Platform Controller Faults
5-4060
E5 Low Temp
4-001
Low Voltage
5-4061
E5 High Temp
4-002
Intermediate stage under voltage
5-F040
E5 Power Idle
4-004
Controller, High Temperature
5-F041
E5 Power Key
4-006
Controller Failure, Power Stage
5-F042
E5 Power K Board
4-007
Excessive Voltage
5-F043
E5 Power C Board
4-009
5V Output Fault
5-F344
E5 Power Temp
4-010
12V Output Fault
5-F345
E5 Power Voltage
4-014
CAN Message Error
5-F246
E5 No Laser Acknowledge
4-015
Controller Error, Checksum
5-F640
E5 Unknown Free Space on SD Card
4-016
Controller Error, Initialization
5-F641
E5 No Space on SD Card
4-021
Very High Motor Current
5-F642
4-022
Voltage at J5-12
5-F270
4-023
Encoder Error
4-024
Open Stator Winding
5-F271
A5 Failed to Delete Log File
A5 Platform has lost Communication with Compute
Board
A5 Platform has lost Communication with CAN server
4-025
High Controller Temperature
5-F652
A5 No Forward Plan without Collisions
4-026
High Motor Current
5-F650
A5 No Valid 3D Data from Camera
4-027
Input Sum Failure
5-F653
A5 Brush Height Not Responding
4-028
Insufficient Input Difference
5-F651
A5 No Valid Laser Scan Data
4-029
Steering Angle Input Matches J5-5
5-F660
A5 Could Not Load Plan from Database
4-030
J5-5 Input Voltage Abnormal
5-F470
A5 User Cancelled Training
4-031
Steering Angle Input Abnormal
5-F671
A5 Save Plan Failed
12/2017
5-F672
A5 Save State Timed Out
5-F661
A5 Failed to Generate or Load Plan
5-F673
A5 Failed when Ending Training
5-F454
A5 Lost
5-F455
A5 Outside Safe Zone
5-F456
A5 Internal Plan Problem
5-F474
A5 Can’t Train, No Home Position
5-F475
A5 Can’t Train, Lost
5-F476
A5 Can’t Train, Busy
5-F643
A5 Save Log Error
5-F444
A5 Log Upload Busy
5-F445
A5 Log Upload Fail
5-F677
A5 Train Cancel Fail
5-F657
A5 Bad Traction
5-F658
A5 Autonomy Exit
5-F45D
A5 Person On Board
5-F559
A5 Bad Exit
5-F45A
A5 Camera Block
5-F45B
A5 Laser Block
5-F45C
A5 C&L Block
5-F45E
A5 Out Of Memory
5-F646
A5 Log Clear Fail
5-F478
A5 Near Dropoff
56091197 - Nilfisk Liberty SC50
A - 53
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
FAULT CODE DISPLAY - CONTINUED
Fault Code
Description
A6 Platform Controller Faults
Fault Code
Description
A6 Platform Controller Faults-continued
6-0000
A6 Timeout (no can bus heartbeat)
6-F692
A6 Bad Command
6-3000
A6 Low Battery Voltage
6-F693
A6 Bad Object
6-3001
A6 High Battery Voltage
6-F694
A6 No Data for SDO
6-3010
A6 Low 1.8 Voltage
6-F695
A6 Received another SDO before Finishing
6-3011
A6 High 1.8 Voltage
6-F696
A6 Wrong Toggle Bit
6-3020
A6 Low 3.3 Voltage
6-F4A0
A6 No Laser Pulse
6-3021
A6 High 3.3 Voltage
6-F427
A6 Unsaved loc. Tag
6-3030
A6 Low 5.0 Voltage
6-F4A0
A6 Bad Laser Calib.
6-3031
A6 High 5.0 Voltage
6-F4A1
A6 Bad Camera Calib
6-FB00
A6 ILOK Boot
6-F4A2
A6 Bad Dropoff Calib.
6-FB01
A6 ILOK Off
6-F4A3
A6 Calib. Cancelled
6-FB10
A6 Health
6-F4A4
A6 Calib. Error
6-F400
A6 Wrong Port
6-F625
A6 Orphaned Plan
6-F401
A6 Hwack
6-F426
A6 Tag Already Saved
6-F402
A6 Swack
6-F61A
A6 Old Platform Box
6-F510
A6 Boot Error
6-F61B
A6 No Platform Ver.
6-F511
A6 Boot Image
6-F4B1
A6 Out of Memory
6-F612
A6 Boot Timeout
6-F41C
A6 No Platform S/W
6-F513
A6 Laser Calibration
6-FE10
A6 Mode Out Of Range
6-F514
A6 Camera Calibration
6-FE11
A6 Manual Fail
6-F515
A6 Dropoff Calibration
6-FE12
A6 Copycat Fail
6-F421
A6 Set Home Position Successful
6-FE13
A6 Fill-in Fail
6-F422
A6 No Home Position
6-FE14
A6 Autoscrub Fail
6-F623
A6 Permanently Lost
6-F61D
A6 Boot Timeout
6-FC00
A6 Main Board Fault
6-F6C0
A6 Moving Backward
6-FC01
A6 Unknown Main Fault
6-F6C1
A6 Bad Battery
6-F530
A6 Update Not Ready
6-F6C2
A6 Bad Config
6-F431
A6 Update: No Connection
6-F6CC
A6 Platform Comm.
6-F632
A6 Update Timeout
6-F6CD
A6 Overspeed
6-F433
A6 Bad Update Download
6-F6CE
A6 Bad Wheel Enc.
6-F634
A6 Bad Update Install
6-F6CF
A6 High Speed Turn
6-F424
A6 Unknown Location Tag
6-F5C3
A6 Dropoff Error
6-F616
A6 Bad Mapping State
6-F4C4
A6 L Front Dropoff
6-F617
A6 Persistence Database is Corrupt
6-F4C5
A6 R Front Dropoff
6-F618
A6 File Access Problem with Database
6-F4C6
A6 L Side Dropoff
6-F510
A6 Compute Box Boot Failure
6-F4C7
A6 R Side Dropoff
6-F619
A6 Inconsistent Boot Image
6-F4C8
A6 Prox. Error
6-F480
A6 Failed to Set QR Code to File
6-F4C9
A6 Front Prox. Err.
6-F790
A6 Exception
6-F4CA
A6 Left Prox. Err.
6-F591
A6 Error Deleting File
6-F4CB
A6 Right Prox. Err.
6-F6D0
A6 Plan Failed
6-F5B2
A6 SD Card Fail
6-F4B3
A6 Degraded
A - 54
Nilfisk Liberty SC50 - 56091197
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
FAULT CODE DISPLAY – CONTINUED
Fault Code
G1 Battery Charger Faults
Description
8-0000
G1 Timeout
8-F001
F-0-0-1 DC-DC failure: LLC excessive leakage fault
8-F002
F-0-0-2 PFC failure: PFC excessive leakage fault
8-F003
Fault Code
Description
G1 Battery Charger Faults-continued
8-E032
E-0-3-0 CAN-2 heartbeat timeout on Battery module
8-E036
E-0-3-6 Battery temperature sensor is missing or
shorted
F-0-0-3 PFC has taken too long to boost
8-E037
E-0-3-7 CAN Open reprogramming failed
8-F004
F-0-0-4 The charger has been unable to calibrate the
current offset
8-E038
E-0-3-8 Fan will not turn
8-E040
E-0-4-0 Fan voltage pulled low
8-F005
F-0-0-5 The voltage drop across the DC relay is too
high while the relay is closed.
8-0098
General USB Fault
8-0099
Unknown Fault
8-E001
E-0-0-1 Battery voltage over limit in software.
Typically 2.5V/cell.
8-E002
E-0-0-2 Battery voltage too low to start a charge
cycle. Algorithm dependent – typically 0.1V/cell.
8-E003
E-0-0-3 Charge time limit reached.
Algorithm dependent.
8-E004
E-0-0-4 Battery could not be trickle charged up to
the minimum voltage. May also be used for other
battery-related errors depending on the algorithm.
8-E007
E-0-0-7 Charge amp-hour Limit reached.
Algorithm dependent.
8-E008
E-0-0-8 Battery temperature out of range.
Algorithm dependent.
8-E012
E-0-1-2 Reverse polarity
8-E013
E-0-1-3 Battery does not take current
8-E020
E-0-2-0 No active algorithm selected
8-E021
E-0-2-1 High battery voltage while charging.
Algorithm dependent – typically 2.8V/cell
8-E022
E-0-2-2 Low battery voltage while charging.
Algorithm dependent – typically 0.1V/cell
8-E023
E-0-2-3 High AC voltage error (>270VAC)
8-E024
E-0-2-4 Charger failed to turn on properly
8-E025
E-0-2-5 AC voltage has dipped below 80VAC 3 times
in 30 seconds
8-E028
E-0-2-8 Attempt to select algorithm incompatible with
this software
8-E029
E-0-2-9 Cannot transmit on CAN bus
8-E030
E-0-3-0 CAN-1 heartbeat timeout on Battery module
8-E031
E-0-3-1 The Vref for the ADC measurements has
triggered an alarm
12/2017
56091197 - Nilfisk Liberty SC50
A - 55
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
FAULT CODE HISTORY
Every fault code that occurs is recorded by the machine and kept in a history log. See Figures 5-1 – 5-4. To view the fault history press the
Information Switch (Y) to bring up the information menu. Use the four Navigation Arrows (Y1) (up, down, left & right) to move through the menu
and the information switch to exit the menu.
FIGURE 5-1
Y1
Scroll down to Faults, right arrow to select.
Menu [Menu] ________________________________
Hours [Hours]
Faults [Faults]
Keys [Keys]
Options [Options] _______________________
Exit [i Exit]
Select [Select]
Menu
Hours
Faults
Keys
Options
i Exit
Y1
Select
FIGURE 5-2
Scroll down to Fault History, right arrow to select.
Faults [Faults] ______________________________
Active Faults [Active Faults]
Fault History [Fault History]
___________________________________________
Back [Back]
Select [Select]
A list of all faults and corresponding timestamp will be displayed, scroll
up or down to an individual fault, right arrow for more information.
Fault History [Fault History] __________________
Fault code
Drive Hours
___________________________________________
Back [Back]
Select [Select]
The fault is displayed along with the timestamp and description. Use the
up and down arrows to scroll through the list of faults.
Fault History [Fault History] _________________
Fault Code
Drive Hours
Fault Code Description
___________________________________________
Back [Back]
Scroll [Scroll]
A - 56
Nilfisk Liberty SC50 - 56091197
Faults
Active Faults
Fault History
Back
Select
FIGURE 5-3
Fault History
1-003
3-001
3-001
3-001
Back
Select
(1/5)
0007.7
0005.2
0005.2
0004.3
FIGURE 5-4
Fault History
1-003
K1 Contact Weld
Back
(1/5)
0007.7
Scroll
12/2017
9/2018
INSTRUCTIONS FOR USE
ENGLISH - A
SPECIFICATIONS
ACCESSORIES / OPTIONS
In addition to the standard components, the machine can be equipped with the following accessories/options, according to the machine specific use:
•
•
Disc Machines
Brushes with harder or softer bristles
Pads with more or less abrasiveness
•
•
REV Machines
Pads with more or less abrasiveness
SPP pads for finish removal
For further information about the above-mentioned accessories, contact an authorized Retailer.
MATERIAL COMPOSITION AND RECYCLABILITY
Material Composition and Recyclability
Type
% of machine weight
Aluminum
1%
Electrical / motors / engines - misc.
24%
Ferrous metals
35%
Harnesses / cables
2%
Liquids
0%
Plastic - non-recyclable
1%
Plastic - recyclable
8%
Polyethylene
26%
Rubber
3%
% recyclable
100%
80%
100%
90%
0%
0%
100%
100%
100%
SOLUTION FLOW RATES
Flow Rates
At Full Manual Speed*
Manual Mode
1 bar
2 bars
3 bars
20” Disc
0.16 GPM /
0.6 liters/minute
0.35 GPM /
1.3 liters/minute
0.50 GPM /
1.9 liters/minute
20” REV
0.13 GPM /
0.5 liters/minute
0.18 GPM /
0.7 liters/minute
0.23 GPM /
0.9 liters/minute
Autonomous
Mode
Flow Rates
At Full Autonomous Speed*
1 bar
2 bars
3 bars
0.11 GPM /
0.4 liters/minute
0.23 GPM /
0.9 liters/minute
0.33 GPM /
1.3 liters/minute
0.09 GPM /
0.3 liters/minute
* Flow rates are proportional to speed
0.12 GPM /
0.5 liters/minute
0.15 GPM /
0.6 liters/minute
20” Disc
20” REV
12/2017
56091197 - Nilfisk Liberty SC50
A - 57
A - ENGLISH
9/2018
INSTRUCTIONS FOR USE
TECHNICAL SPECIFICATIONS
(AS INSTALLED AND TESTED ON THE UNIT)
Model
Model No.
Nilfisk Liberty
SC50
(X20D) Disc
56104500
Nilfisk Liberty
SC50
(X20R) REV
56104501
Voltage, Batteries
24V
24V
Battery Capacity (max)
Ah
420
420
IPX4
IPX4
dB(A)/20μPa
63
63
dB(A)
3.0
3.0
lbs / kg
1050 / 476.4
1056.5 / 479.23
759.9 / 344.4
766.4 / 347.23
Protection Grade
Sound Pressure Level
IEC 60335-2-72: 2002 Amend. 1:2005, ISO 11203, ISO
3744
Sound Pressure level - KpA
(IEC 60335-2-72, ISO 11203) Uncertainty
Gross Vehicle Weight*
Transportation Weight**
lbs / kg
Maximum Wheel Floor Loading (center front)
psi / kg/cm
161.03 / 11.32
161.03 / 11.32
Maximum Wheel Floor Loading (right rear)
psi / kg/cm2
105.60 / 7.42
105.60 / 7.42
Maximum Wheel Floor Loading (left rear)
Vibrations at the Hand Controls (ISO 5349-1)
psi / kg/cm
m/s2
109.33 / 7.68
109.33 / 7.68
0.17
0.17
Vibrations for the Whole Body (ISO 2631-1)
m/s2
0.01
0.01
Gradeability – Manual Transport
15% (8.53°)
Gradeability – Manual Cleaning
9% (5.14°)
Gradeability - Autonomous
2% (1.15°)
Machine Length
inch / cm
53.1 / 134.9
Machine Height
inch / cm
53.7 / 136.3
Machine Width
inch / cm
28.4 / 72.1
Machine Width with Squeegee
inch / cm
31.5 / 79.9
Minimum Aisle Turn Width - Manual
inch / cm
61.5 / 156.2
Solution Tank Capacity
Gallon / L
15 / 57
Recovery Tank Capacity
Gallon / L
14 / 53
Transport Speed (Fwd. Maximum)
Manual
Transport Speed (Rev. Maximum)
Manual
Transport Speed – Autonomous
mph / kph
3.1 / 5.0
mph / kph
1.62 / 2.6
mph / kph
inch / cm
12.25 / 31.115
Width (maximum)
inch / cm
18.5 / 46.99
Length (maximum)
inch / cm
18 / 45.72
20 / 50.8
Scrub Brush Speed
inch / cm
RPM
157
Cleaning Path Width (scrubbing path)
inch / cm
20 / 50.8
Battery Compartment Size (approximate)
Height (maximum)
Scrub brush size
Brush / Pad Diameter – (Quantity of 1)
2250 RPM – ¼
orbits & macro of
10-30 RPM
20 / 50.8
*Gross Vehicle Weight: Standard machine without options, full solution tank and empty recovery tank, with removable scrub brushes, batteries installed and 165 lb
/ 75 kg operator.
**Transportation Weight: Standard machine without options, empty solution and recovery tanks, with batteries installed and no operator.
A - 58
Nilfisk Liberty SC50 - 56091197
12/2017
Nilfisk, Inc.
9435 Winnetka Ave North
Minneapolis, MN 55445
©2018

---

Source Exif Data:

File Type                       : PDF
File Type Extension             : pdf
MIME Type                       : application/pdf
PDF Version                     : 1.6
Linearized                      : Yes
Author                          : swruck
Create Date                     : 2018:10:31 13:30:49-04:00
Modify Date                     : 2018:10:31 13:31:08-04:00
Has XFA                         : No
XMP Toolkit                     : Adobe XMP Core 5.4-c006 80.159825, 2016/09/16-03:31:08
Metadata Date                   : 2018:10:31 13:31:08-04:00
Creator Tool                    : PScript5.dll Version 5.2.2
Format                          : application/pdf
Title                           : 56091197a_English.indd
Creator                         : swruck
Document ID                     : uuid:e14eb29e-00f3-4778-9d92-112c3aeb7945
Instance ID                     : uuid:c55141f1-45d0-457b-85cb-d67b759c6efc
Producer                        : Acrobat Distiller 19.0 (Windows)
Page Count                      : 30

EXIF Metadata provided by EXIF.tools