Alarm Code:

4. Cannot find limit position

Context where the error occurs:

A limit position reached in the teaching process was not reached during the cleaning process (safety margin included). One reason can be a missing marker, giving incorrect information on transport forwards/backwards. During transport of the device, no further attempts will be made to reach the limit position. All other limit positions must be detected before working the next distance. When a marker is missing, the device must be placed in the correct location before the alarm is acknowledged. The cleaning process can then be continued. A marker must be detected +/- 90 cm from the position it was in when the learning process for that particular pen type took place. If not, the alarm will go off. We recommend that the position markers are evenly distributed along the aisle with a tolerance of +/- 5 cm.

It may also be due to a faulty limit switch located on the robot.

Solution:

• If markers are missing, the washing robot must be placed in the right place before the alarm is reset, and then its washing pattern will continue. A marker must be found within approx. +/- 90 cm from the location where it was in the box type learning. If not found, alarm is triggered. We recommend that the markers is placed at regular intervals in the stable +/- 5 cm.
• Check that the mechanical limit switch is intact.