Carnegie Robotics 00068 Platform Module User Manual 56091197a English indd

Carnegie Robotics LLC Platform Module 56091197a English indd

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Operator Manual Part 2

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1. Operator Manual Part 1
2. Operator Manual Part 2

Operator Manual Part 2

12/2017 A - 31 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018CB25ACB315ACB15A K11A3A2A4AX6X8 X8X7X8X7 X22X17XAA3ZABMJJ1 KK1 OYY1DETERGENT SYSTEM PREPARATION AND USE (ECOFLEX)FIGURE 2-10Chemical Free Cleaning Mode / Detergent Off Detergent Low ModeDetergent High Mode Burst of Power Cleaning ModePurgePress and hold (J) & (K)for 2 seconds to purge.

A - 32 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/20182 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.3 Place the Magnetic SmartKey (Z) onto the SmartKey Reader (A). Press the Power Switch (B). This will activate the Display (X). Wait for the start-up sequence to ﬁ nish. 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.4 Reference the Battery Condition Indicator (X3) and check for any Fault Codes (X2) before proceeding.5 The Manual Operation Indicator (H) will be lit.6 To transport the machine to the work area, ﬁ rst 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.7 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.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 ModesThe Nilﬁ sk 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 speciﬁ c plan or perimeter of an area. - Plans may also include speciﬁ c 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 speciﬁ c plan(s) while scrubbing. During training, both the plan and required actions are recorded and saved.STARTING THE MACHINE1 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 ﬁ xed, such as hoses, buckets or pails, boxes, electrical cords, carts, pallets, etc.X25 X26

12/2017 A - 33 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018STOPPING THE MACHINE1 Stop the machine by releasing the Go Pedal (24) while operating in Manual Mode.2 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 3-1242625 X3X2X18CB25ACB315ACB15A K1APBZQRXADDH

A - 34 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018TRAINING/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 ﬂ ashing 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 ﬂ oor 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.TRAINING THE MACHINE FOR AUTONOMOUS MODE1 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 conﬁ ned areas. The Fill-In Mode is also well suited for scrubbing straight hallways that are at least 4 machine widths wide.2 Follow the instructions in “Starting the Machine” section and manually drive the machine to the starting point for training.X4 When ﬁ nished 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 planb. Press the right arrow to select the optionc. Or press left arrow to exit and continue training5 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.6 Machine indicates if recording was successful or failed.d. If plan saves successfully the screen will brieﬂ y display CopyCat Plan Saved Indicator (X33).e. If plan fails to save the screen will display a fault7 Machine LED Status Bar will change from green to OFF or ON white (optional setting).FIGURE 3-2WW1UTS1X25 X28X39X40X30

12/2017 A - 35 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/20181. 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 ﬂ ashing 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 TRAINING THE MACHINE FOR AUTONOMOUS MODE - CONTINUEDTRAINING/RECORD Fill-In...WW2UTS1Xuntil 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 ﬁ nished 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 planb. Press the right arrow to select the option8. 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 brieﬂ y 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).XFIGURE 3-4FIGURE 3-3X25 X28X39X40X30

A - 36 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018TRAINING THE MACHINE FOR AUTONOMOUS MODE - CONTINUEDWHILE TRAINING/RECORDING IN COPYCAT OR FILL-IN MODES...Operator is interrupted1 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 stopped1 If training needs to be stopped during the recording process (to re-ﬁ ll 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. 2 The machine will not remember where it left off training and plan must be re-recorded. After emptying recovery tank, reﬁ lling 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 identiﬁ ed 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 ﬁ nished cleaning and reached the end of the plan.DELETE A PLAN1 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”.

12/2017 A - 37 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018PLAYBACK OF RECORDED PLAN, AUTONOMOUS MODEOnce the operator has recorded a plan (training complete) in an area playback is possible. WVS11 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 ﬂ ash.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) (ﬂ ashing 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 ﬂ ashing blue. While executing a turn the LED Status Bar will ﬂ ash 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 ﬂ ow 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.FIGURE 3-54AA1X29X38X25 X28

A - 38 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018PLAYBACK OF RECORDED PLAN, AUTONOMOUS MODE - CONTINUEDIMPORTANT 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 Cleaning1 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 ﬂ ow, 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/resumed1 If autonomous scrubbing needs to be interrupted during the playback of a plan (to re-ﬁ ll 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.2 Go empty recovery tank, reﬁ ll solution etc.3 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 ﬁ nish cleaning the plan.FIGURE 3-6CB25ACB315ACB15A K1HDTVADAC1X33

12/2017 A - 39 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018PLAYBACK OF RECORDED PLAN, AUTONOMOUS MODE - CONTINUEDMachine Encounters an Issue While Cleaning in Autonomous Mode1 While machine is successfully cleaning in autonomous mode. Machine may encounter any one of the scenarios listed below;a. Obstacle – Does NOT Moveb. Machine is Blocked – CANNOT Plan Aroundc. Machine needs to locate Home Positiond. Machine System Crashe. Machine Battery Level Lowf. Solution Tank Emptyg. Recovery Tank Fullh. Repeated Obstacles Continuously Disturb machinei. Person steps onto machine for longer than 30 secondsj. Sensors Blockedk. Machine is Impacted/Hit by Other Vehicle/Person/Obstacle, etc.l. E-Stop Button Pressedm. Serious Scrubber Fault Code2 In all cases the machine stops moving, the scrub deck stops and raises to the vac only height and the vacuum will run brieﬂ y 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 ﬂ ash along with a beep when plan is completed successfully.FIGURE 3-7ADABAC2AC1AA

A - 40 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018OPERATING 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.1 Follow the instructions in “Starting the Machine” section and drive the machine to the starting point for cleaning.2 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 ﬂ oor 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 ﬂ ow at the High rate for 2 seconds to ﬂ ood the ﬂ oor.3 Press the One-Touch Scrub ON Switch (M) once for Regular Scrub. Press the Extra Pressure Switch (N) once for Heavy Scrub. The solution ﬂ ow has settings that coincide with the scrub pressure, it will increase and decrease along with the scrub pressure. NOTE: The solution ﬂ ow 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 ﬂ ow rate to default.4 When the One-Touch Scrub ON Switch (M) is selected, the brushes and squeegee are automatically lowered to the ﬂ oor. 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 ﬂ ow 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 ﬂ oor.5b Floor Finish Removal (REV model only): Ensure there is a red pad attached directly to the ﬁ xed pad driver and that the maroon SPP pad is not attached to the ﬁ xed 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 ﬂ ow 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.6 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 ﬂ ow 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.7 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.8 For extremely dirty ﬂ oors, 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 ﬁ rst 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 ﬂ oor. This allows the cleaning solution to remain on the ﬂ oor to work longer. The ﬁ nal pass is made over the same area, with the squeegee lowered to pick up the accumulated solution.9 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 ﬂ ow 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 ﬂ ow of waste water). The drain hose can be squeezed to regulate the ﬂ ow. Unlatch (36) and lift open the Recovery Tank Cover (20) to inspect and empty the Debris Catch Tray (23) in the recovery tank. Reﬁ ll 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 ﬂ ow 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.

12/2017 A - 41 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018212024363723AAX5X10 X12CB25ACB315ACB15A K1HMAPJLBONZFIGURE 3-8

A - 42 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018LED STATUS BAR OPERATIONMachine Action LED Response • Manual Mode - 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”• Training Slow Flashing Green• Autonomous Mode Slow Flashing Blue• Machine Error Flashing Red• Obstacle Detected Chasing Red or Orange (starting in center and moving to sides) - Options include (see “Information Menu Display” to change) Red Orange• Turning Side LEDs ﬂ ash yellow• Charging Batteries Light Bar will “ﬁ ll” and advancing colors as follows (red, orange, yellow, green and solid green) from discharged to fully charged see “Charging Batteries”.FIGURE 3-9SPEAKER OPERATIONSpeaker Audible Alerts Sound Description Mode Sound DescriptionHorn Operator activates by pressing Horn Switch (C).Manual Standard Horn Reverse Slow beep when moving in reverse Manual Standard back-up alarm soundScan Successful Scan of location tag was successful Manual Two note ascending toneObject Detection Alerts person to move out of way Autonomous Four beeps changing tone repeatingMachine Error Machine stops, playback cannot continue Autonomous Longer low tone 3 seconds repeatingAutonomous Operation Alerts person in area of scrubber (heartbeat) Volume is adjustable between OFF, 1, 2, & 3. Autonomous Standard back-up alarm soundEnter Recorded Plan Start AreaMachine recognizes it is driving into the start area of a plan Autonomous Two beeps higher toneLeave Recorded Plan Start AreaMachine recognizes it is driving out of the start area of a plan Autonomous One beep lower tonePlan Saved Successfully After training a plan, machine indicates plan has been saved successfully Autonomous Three note ascending tonePlayback to Begin Alerts anyone in the area that machine is about to start moving Autonomous Two second beep

12/2017 A - 43 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018AFTER USE1 When ﬁ nished 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.2 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 ﬁ lter. • Rinse the tank with clean water if detergent was used in the tank.3 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 ﬂ ow of waste water). The Recovery Tank Drain Hose can be squeezed to regulate the ﬂ ow. • 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.4 Remove the brush or pad holder. Rinse it in warm water and hang up to dry.5 Remove the squeegee, rinse it with warm water and hang it up to dry. Inspect the squeegee blades for wear or tears.6 Check the maintenance schedule below and perform any required maintenance before storage.7 Store the machine indoors in a clean dry place. Keep from freezing. Leave the tanks open to help prevent odors.8 Turn the machine off by pressing the Power Switch (B) and then remove the magnetic SmartKey.9 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.MAINTENANCEMAINTENANCE SCHEDULEMAINTENANCE ITEM Daily Weekly Monthly YearlyCharge Batteries XCheck/Clean Tanks & Hoses XCheck/Clean the Brushes/Pads XCheck/Clean the Squeegee XCheck/Clean Vacuum Motor Fan Inlet Screen (28) XEmpty/Clean Debris Catch Tray in Recovery Tank XClean 2D Safety Sensors (two) see “CLEAN SENSOR LENSES” XClean 3-D camera lenses see “CLEAN SENSOR LENSES” XClean Drop-Off sensors lenses see “CLEAN SENSOR LENSES” XClean 2-D Laser Scanner see “CLEAN SENSOR LENSES” XInspect Scrub Housing Skirt XInspect and clean Solution Filter XPurge Detergent System XLubrication of Machine X* Check Carbon Brushes X* Have an Authorized Nilﬁ sk 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.

A - 44 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018ACAAAAAALUBRICATING THE MACHINEApply grease to (or grease ﬁ tting locations) (AA):Use grease type Lubriplate® 730-2 or equivalent• Steering Chain• Drive Wheel Chain• Drive Chain Idler Sprocket (grease ﬁ tting)FIGURE 4-1ELECTROMAGNETIC BRAKESee 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!Disconnect the batteries before reaching into this area and rotating the brake arm. Severe injury could occur if steering components suddenly move. 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.FIGURE 4-2

12/2017 A - 45 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018CHARGING GEL/AGM (VRLA) BATTERIESCharge the batteries each time the machine is used or when the Battery Indicator (X3) is reading less than full.X320 WARNING!Charge batteries in a well-ventilated area. If battery acid makes contact with your skin, ﬂ ush 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 ﬁ rst 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.

A - 46 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018CHARGING GEL/AGM (VRLA) BATTERIES - CONTINUEDThe machine shipped with an onboard battery charger. To begin charging do the following:1 Turn the machine off at the Power Switch (B).2 See Figures 4-3 & 4-4. Open the Control Panel Housing (20) set the Prop Rod (39).3 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).4 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.20223940X3X47FIGURE 4-4IMPORTANT: 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 4-35 The Battery Charge Status Indicator (X3) will begin showing the batteries’ state of charge. This indicates that the charging cycle has begun. As the charging cycle continues, the battery charge level will ﬁ ll in. Each of the ﬁ ve bars within the icon will ﬂ ash and then become solid until all of the ﬁ ve bars are lit solid. The Display (X) will also show battery voltage and percent of charge (X47).6 The LED status bar (4) will also display the state of charge, using advancing colors from red to green see Figure 4-5.7 When the Battery Charge Status Indicator (X3) is completely ﬁ lled 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 verify when the batteries are completely charged. This may take several hours depending upon the condition of the batteries before charging.8 After charging is complete unplug the charger and wind up the Cord (40). Wait at least 10 seconds before turning on the machine after unplugging the charger.FIGURE 4-5AdvancingRedAdvancingOrangeAdvancingYellowAdvancingGreenSolidGreen

12/2017 A - 47 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018SQUEEGEE MAINTENANCEIf 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/ﬂ ip or replace the blades if they are cut, torn, wavy or worn.To Reverse or Replace the Rear Squeegee Wiping Blade...1 See Figure 4-5. Raise the deck and squeegee assembly off the ﬂ oor, then unsnap the Rear Squeegee Blade Removal Latch (23).2 Remove the Tension Strap (AA).3 Slip the rear blade (AB) off the alignment pins.4 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.5 Install the blade, following the steps in reverse order and adjust the squeegee tilt if necessary.To Reverse or Replace the Front Squeegee Blade...1 Raise the squeegee off the ﬂ oor, 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.2 Loosen the four Squeegee Cover Knobs (11). Then lift the Squeegee Cover (AF) off of the Squeegee Casting (AG).3 Slip the front blade (AH) off the alignment pins.4 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.5 Install the blade, following the steps in reverse order and adjust the squeegee tilt if necessary.SQUEEGEE ADJUSTMENTThere is only one squeegee assembly adjustment possible, tilt.Adjust the squeegee tilt if the squeegee is not wiping the ﬂ oor dry.1 Park the machine on a ﬂ at, even surface and lower the squeegee. Then drive the machine forward enough to have the squeegee blades fold over to the rear.2 Adjust the squeegee tilt using the Rear Caster Wheel (AC) so that the rear squeegee blade touches the ﬂ oor evenly across its entire width and is bent over slightly as shown in the squeegee cross section (AI).FIGURE 4-5AI1 234111123 AAABACADAEAFAGAH

A - 48 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018AA2AA1AA3REMOTE BATTERY REPLACEMENTThe 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 CR2430.1 See Figures 4-6 & 4-7. Slide the Protective Cover (AA3) off of Remote (AA1) to expose Battery Cover (AA2).2 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.3 See Figure 4-10. Fully raise the battery cover (AA2) from the body of the remote then remove the battery cover.4 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.5 Install the new battery by following the previous steps in reverse order. Check the battery polarity for correct orientation before insertion.AA1AA3AA2AA1AA4AA2AA1AA2AA1AA5AA4AA1FIGURE 4-6 FIGURE 4-7FIGURE 4-8 FIGURE 4-9FIGURE 4-10 FIGURE 4-11

12/2017 A - 49 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018TROUBLESHOOTINGGENERAL MACHINE TROUBLESHOOTINGProblem Possible Cause RemedyPoor water pick-upVacuum hose not connected to the squeegee assembly Connect vacuum hose to squeegee assemblyWorn or torn squeegee blades Reverse or replaceSqueegee out of adjustment Adjust so blades touch ﬂ oor evenlyacross entire widthRecovery tank full Empty recovery tankRecovery Tank Drain Hose (37) leak Secure drain hose cap or replaceRecovery Tank Cover (20) gasket leak Replace gasket / Seat cover properlyDebris caught in Squeegee (11) Clean squeegee assemblyRecovery Hose between squeegee and recovery tank clogged Remove debrisUsing too much solution Reduce ﬂ ow via control panel solution switchVacuum set to quiet mode Set vacuum to highPoor scrubbing performanceWorn brush or pad Replace brush or padWrong brush or pad type Consult Nilﬁ skWrong cleaning detergent Consult Nilﬁ skMoving machine too fast Slow downNot using enough solution Increase solution ﬂ owInadequate or no solution ﬂ owSolution tank empty Fill solution tankSolution lines, valves or ﬁ lter (33) clogged Flush lines and clean solution ﬁ lterSolution Shutoff Valve (34) closed Open solution shutoff valveSolution Solenoid Valve (32) plugged or defective Clean or replace valveSolution pump air locked (contact Nilﬁ sk Authorized Service Center)Solution tank empty Indicator (X23) appears when there is solution in the tank Solution sensor failed (contact Nilﬁ sk Authorized Service Center)Machine does not power ONMachine Battery Connector (43) disconnected Reconnect battery connectorsTripped 5 Amp circuit breaker (E) Check for electrical short circuit & resetBlown Main Fuse 100 Amp (42) Replace Main Fuse 100 AmpCharger Interlock engaged Unplug ChargerNo FWD/REV wheel driveA direction has not been selected 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)Reset the Emergency Stop SwitchDrive system speed controller Check error fault codes(contact Nilﬁ sk Authorized Service Center)Tripped 50 Amp circuit breaker (D) Check for drive motor overloadNo Detergent FlowEmpty Detergent Cartridge (3) Fill detergent cartridgePlugged or kinked detergent ﬂ ow line Purge system, straighten lines toremove any kinksDetergent pump Check pump, wiring and linesMagnetic SmartKey ErrorsNo Key Indicator (X19).-No Magnetic SmartKey is present on the SmartKey Reader (A).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 foreﬁ nger 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.

A - 50 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018AUTONOMOUS MODE TROUBLESHOOTINGProblem Possible Cause RemedyMachine driving erratic (stopping frequently when there is no obstacle) or not drivingDirty lenses Clean all of the sensor lenses (see “Clean Sensor Lenses”)Scratched lensSevere scratch may require component (sensor) replacement(contact Nilﬁ sk Authorized Service Center)Machine will not train a plan Home position has not been set Move machine to a Location Tag and Set Home PositionMachine will not playback a planMachine 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 batteriesEnvironment has changed too much so that machine cannot locate itself on its map Delete the tag, rescan the tag, retrain the planPlan playback not as expected Machine REMOTE TROUBLESHOOTINGProblem Possible Cause RemedyRemote does not ﬂ ash LEDs and beep upon machine startupRemote not paired to the machine Contact Nilﬁ sk to pair the remote to the machineBatteries are worn-out/discharged Replace/recharge remote batteriesRemote does not light any LEDs after pressing the status request button (AB)Remote is out-of-range of the machine Move the remote closer to the machine

12/2017 A - 51 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018FAULT CODE DISPLAYFault Code DescriptionA2 Power Module Faults - continued2-031 M1 Output Overload Warning2-032 M2 Output Overload Warning2-033 M3 Output Overload Warning2-034 M4 Output Overload Warning2-035 M5 Output Overload Warning2-036 Actuator 1 Output Overload2-037 M7 Deck Actuator Output Overload2-038 Actuator 3 Output Overload2-041 M1 Output Overcurrent2-042 M2 Output Overcurrent2-045 M5 Output Overcurrent2-046 Actuator 1 Output Overcurrent2-047 M7 Deck Actuator Output Overcurrent2-048 Actuator 3 Output Overcurrent2-051 M1 Output Short2-052 M2 Output Short2-053 M3 Output Short2-054 M4 Output Short2-055 M5 Output Shorted2-056 Actuator 1 Output Short2-057 M7 Deck Actuator Output Shorted2-058 Actuator 3 Output Short2-061 M1 Output Current Sensor Fault2-062 M2 Output Current Sensor Fault2-063 M3 Output Current Sensor Fault2-064 M4 Output Current Sensor Fault2-065 M5 Output Current Sensor Fault2-066 Over Temperature Cutoff2-067 Under Temperature Cutoff2-071 M1 Output Overload Timeout2-072 M2 Output Overload Timeout2-073 M3 Output Overload Trip2-074 M4 Output Overload Trip2-075 M5 Output Overload Timeout2-076 Actuator 1 Output Stall Fault2-077 M7 Deck Actuator Output Stall2-078 Actuator 3 Output Stall Fault2-081 EEPROM FaultAny 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 one-second intervals. The fault will display as a mechanical wrench symbol followed by a four-digit code.Fault codes are displayed as X-YYY, whereX = system number (1: main board, 2: power module, 3: drive controller, 5: autonomous platform)YYY = fault code numberFor example, 1-101 would be M10 solution pump – short.X2 Active Fault CodeX14 Critical Fault IndicatorX15 Fault Code (Critical)Fault Code DescriptionA1 Main Controller Faults1-001 K1 Key Switch Input (KSI) Relay Coil Open1-002 K1 Key Switch Input (KSI) Relay Coil Shorted1-003 K1 Key Switch Input (KSI) Relay Contact Welded1-010 CAN Bus 01-011 CAN Bus 11-101 M11 Solution Pump Shorted1-102 L2 Solution Solenoid Shorted1-106 M6 Detergent Pump Shorted1-201 M2 Scrub Motor Overload1-202 M5 Vacuum Motor Overload1-301 M1 Drive Wheel Motor Overload1-560 EEPROM Conﬁ guration Fault1-561 EEPROM Options Fault1-562 EEPROM Sys Values Fault1-563 EEPROM Fault Log Fault1-564 EEPROM User Key List Fault1-565 EEPROM Impact Log Fault1-901 Steering Controller packet loss:1-902 Drive controller packet loss:1-903 Steering queue congestion1-904 Drive queue congestion1-905 Autonomy spamming: Command Over-runFault Code DescriptionA2 Power Module Faults2-011 Power Supply Fault2-012 K2 Power Module Contactor Coil Overload2-013 K2 Power Module Contactor Contacts Welded2-014 K2 Power Module Contactor Coil Open2-017 Overvoltage Cutoff2-018 Undervoltage Cutoff2-021 M1 Output Open2-022 M2 Output Open2-025 M5 Output Open2-026 Actuator 1 Output Open2-027 M7 Actuator Output Open2-028 Actuator 3 Output OpenX2X15X14

A - 52 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018FAULT CODE DISPLAY - CONTINUEDFault Code DescriptionA2 Power Module Faults - continued2-082 PDO Timeout Fault2-083 CAN Bus Fault2-084 Internal Communication Timeout2-086 Over Temperature Cutback2-087 Under Temperature Cutback2-088 K2 Power Module Contactor Coil Open2-091 M1 Output Hardware Fault2-092 M2 Output Hardware Fault2-093 M3 Output Hardware Fault2-094 M4 Output Hardware Fault2-095 M5 Output Hardware Fault2-096 Parameter Change Fault2-097 Actuator 1 Output Current Sensor Fault2-098 M7 Actuator Output Current Sensor2-101 Actuator 3 Output Current Sensor Fault2-102 Temperature Sensor Fault2-103 K2 Power Module Contactor Coil ShortFault Code DescriptionA3 Drive Controller Faults3-001 Excessive M1 Drive Wheel Motor Current3-002 Internal Clock Failure3-009 Internal A3 Drive Wheel Controller Fault3-010 Driver 1 or Driver 2 Overcurrent3-011 K3 Drive Wheel Contactor Coil Open3-012 Emergency Reverse Redundancy3-013 A3 Drive Wheel Controller EEPROM Fault3-015 K3 Drive Wheel Contactor Contact Not Closing3-016 M1 or M2 Drive Wheel Motor Outputs Shorted3-017 K3 Drive Wheel Contactor Contact Stuck Closed3-019 Lost Communication with A1 Main Machine Controller (MMC)3-020 Internal A3 Drive Wheel Controller Fault3-021 Internal A3 Drive Wheel Controller Fault3-022 Go Pedal (POT 1) Supervisor Fault3-023 R1 Speed Limit Potentiometer Supervisor Fault3-024 Supervisor Pot3 Fault3-025 5V Output Supervisor Fault3-026 S1 Operator Presence Swich (OPS) Input Supervisor Fault3-027 Steering System Ready Input (Switch 2) Supervisor Fault3-028 S2 Emergency Stop Switch Input (Switch 3)Supervisor Fault3-029 Autonomous System Okay Input (Switch 4) Supervisor Fault3-030 Supervisor Sw5 Fault3-031 Key Switch Input (KSI) Supervisor Fault3-032 Supervisor Motor Speed Fault3-033 Controller Check FaultFault Code DescriptionA3 Drive Controller Faults- continued3-034 External Supply Fault3-036 Y1 Emergency Brake Coil Open3-037 Y1 Emergency Brake Coil Driver On3-041 Go Pedal Switch Input3-042 Speed Limit Input3-043 Pot 3 Fault3-050 Very Low Voltage3-052 Very Low Controller Temperature3-053 Very High Controller Temperature3-054 Low Battery Positive (B+) Power Input3-070 K3 Drive Wheel Contactor Shorted or Y1 Emergency Brake Coil Shorted3-071 Driver 3 Fault3-072 Driver3 Overcurrent3-073 Driver4 Fault3-074 Driver4 Overcurrent3-075 Driver5 Fault3-076 Driver5 Overcurrent3-077 Driver6 Fault3-078 Driver6 Overcurrent3-079 Correlation Fault3-080 Go Pedal Switch Closed At Power On3-081 Parameter Change3-082 Internal A3 Drive Wheel Controller Fault3-090 A3 Drive Wheel Motor Temperature Hot Cutback3-092 M1 Drive Wheel Motor Circuit Open3-093 M1 Drive Wheel Motor Short3-094 High Voltage3-095 A3 Wheel Drive Controller Temperature Is Low3-096 Stall Detected3-097 A3 Wheel Drive Controller Temperature Is High3-098 High Voltage3-099 Low Voltage 3-101 User Fault Estop3-102 User Fault Severe

12/2017 A - 53 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018Fault Code DescriptionA4 Steering Controller Faults4-000 A4 Timeout4-001 Low Voltage4-002 Intermediate stage under voltage4-004 Controller, High Temperature4-006 Controller Failure, Power Stage4-007 Excessive Voltage4-009 5V Output Fault4-010 12V Output Fault4-014 CAN Message Error4-015 Controller Error, Checksum4-016 Controller Error, Initialization4-021 Very High Motor Current4-022 Voltage at J5-124-023 Encoder Error4-024 Open Stator Winding4-025 High Controller Temperature4-026 High Motor Current4-027 Input Sum Failure4-028 Insufﬁ cient Input Difference4-029 Steering Angle Input Matches J5-54-030 J5-5 Input Voltage Abnormal4-031 Steering Angle Input AbnormalFault Code DescriptionA5 Autonomous Platform Controller Faults5-4060 E5 Low Temp5-4061 E5 High Temp5-F040 E5 Power Idle5-F041 E5 Power Key5-F042 E5 Power K Board5-F043 E5 Power C Board5-F344 E5 Power Temp5-F345 E5 Power Voltage5-F246 E5 No Laser Acknowledge5-F640 E5 Unknown Free Space on SD Card5-F641 E5 No Space on SD Card5-F642 A5 Failed to Delete Log File5-F270 A5 Platform has lost Communication with Compute Board5-F271 A5 Platform has lost Communication with CAN server5-F652 A5 No Forward Plan without Collisions5-F650 A5 No Valid 3D Data from Camera5-F653 A5 Brush Height Not Responding5-F651 A5 No Valid Laser Scan Data5-F660 A5 Could Not Load Plan from Database5-F470 A5 User Cancelled Training5-F671 A5 Save Plan Failed5-F672 A5 Save State Timed Out5-F661 A5 Failed to Generate or Load Plan5-F673 A5 Failed when Ending Training5-F454 A5 Lost5-F455 A5 Outside Safe Zone5-F456 A5 Internal Plan Problem5-F474 A5 Can’t Train, No Home Position5-F475 A5 Can’t Train, Lost5-F476 A5 Can’t Train, Busy5-F643 A5 Save Log Error5-F444 A5 Log Upload Busy5-F445 A5 Log Upload Fail5-F677 A5 Train Cancel Fail5-F657 A5 Bad Traction5-F658 A5 Autonomy Exit5-F45D A5 Person On Board5-F559 A5 Bad Exit5-F45A A5 Camera Block5-F45B A5 Laser Block5-F45C A5 C&L Block5-F45E A5 Out Of Memory5-F646 A5 Log Clear Fail5-F478 A5 Near DropoffFAULT CODE DISPLAY - CONTINUED

A - 54 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018FAULT CODE DISPLAY - CONTINUEDFault Code DescriptionA6 Platform Controller Faults6-0000 A6 Timeout (no can bus heartbeat)6-3000 A6 Low Battery Voltage6-3001 A6 High Battery Voltage6-3010 A6 Low 1.8 Voltage6-3011 A6 High 1.8 Voltage6-3020 A6 Low 3.3 Voltage6-3021 A6 High 3.3 Voltage6-3030 A6 Low 5.0 Voltage6-3031 A6 High 5.0 Voltage6-FB00 A6 ILOK Boot6-FB01 A6 ILOK Off6-FB10 A6 Health6-F400 A6 Wrong Port6-F401 A6 Hwack6-F402 A6 Swack6-F510 A6 Boot Error6-F511 A6 Boot Image6-F612 A6 Boot Timeout6-F513 A6 Laser Calibration6-F514 A6 Camera Calibration6-F515 A6 Dropoff Calibration6-F421 A6 Set Home Position Successful6-F422 A6 No Home Position6-F623 A6 Permanently Lost6-FC00 A6 Main Board Fault6-FC01 A6 Unknown Main Fault6-F530 A6 Update Not Ready6-F431 A6 Update: No Connection6-F632 A6 Update Timeout6-F433 A6 Bad Update Download6-F634 A6 Bad Update Install6-F424 A6 Unknown Location Tag6-F616 A6 Bad Mapping State6-F617 A6 Persistence Database is Corrupt6-F618 A6 File Access Problem with Database6-F510 A6 Compute Box Boot Failure6-F619 A6 Inconsistent Boot Image6-F480 A6 Failed to Set QR Code to File6-F790 A6 Exception6-F591 A6 Error Deleting FileFault Code DescriptionA6 Platform Controller Faults-continued6-F692 A6 Bad Command6-F693 A6 Bad Object6-F694 A6 No Data for SDO6-F695 A6 Received another SDO before Finishing6-F696 A6 Wrong Toggle Bit6-F4A0 A6 No Laser Pulse6-F427 A6 Unsaved loc. Tag6-F4A0 A6 Bad Laser Calib.6-F4A1 A6 Bad Camera Calib6-F4A2 A6 Bad Dropoff Calib.6-F4A3 A6 Calib. Cancelled6-F4A4 A6 Calib. Error6-F625 A6 Orphaned Plan6-F426 A6 Tag Already Saved6-F61A A6 Old Platform Box6-F61B A6 No Platform Ver.6-F4B1 A6 Out of Memory6-F41C A6 No Platform S/W6-FE10 A6 Mode Out Of Range6-FE11 A6 Manual Fail6-FE12 A6 Copycat Fail6-FE13 A6 Fill-in Fail6-FE14 A6 Autoscrub Fail6-F61D A6 Boot Timeout6-F6C0 A6 Moving Backward6-F6C1 A6 Bad Battery6-F6C2 A6 Bad Conﬁ g6-F6CC A6 Platform Comm.6-F6CD A6 Overspeed6-F6CE A6 Bad Wheel Enc.6-F6CF A6 High Speed Turn6-F5C3 A6 Dropoff Error6-F4C4 A6 L Front Dropoff6-F4C5 A6 R Front Dropoff6-F4C6 A6 L Side Dropoff6-F4C7 A6 R Side Dropoff6-F4C8 A6 Prox. Error6-F4C9 A6 Front Prox. Err.6-F4CA A6 Left Prox. Err.6-F4CB A6 Right Prox. Err.6-F6D0 A6 Plan Failed6-F5B2 A6 SD Card Fail6-F4B3 A6 Degraded

12/2017 A - 55 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018FAULT CODE DISPLAY – CONTINUEDFault Code DescriptionG1 Battery Charger Faults8-0000 G1 Timeout8-F001 F-0-0-1 DC-DC failure: LLC excessive leakage fault8-F002 F-0-0-2 PFC failure: PFC excessive leakage fault8-F003 F-0-0-3 PFC has taken too long to boost8-F004 F-0-0-4 The charger has been unable to calibrate the current offset8-F005 F-0-0-5 The voltage drop across the DC relay is too high while the relay is closed.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-E004E-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 polarity8-E013 E-0-1-3 Battery does not take current8-E020 E-0-2-0 No active algorithm selected8-E021 E-0-2-1 High battery voltage while charging.Algorithm dependent – typically 2.8V/cell8-E022 E-0-2-2 Low battery voltage while charging. Algorithm dependent – typically 0.1V/cell8-E023 E-0-2-3 High AC voltage error (>270VAC)8-E024 E-0-2-4 Charger failed to turn on properly8-E025 E-0-2-5 AC voltage has dipped below 80VAC 3 times in 30 seconds8-E028 E-0-2-8 Attempt to select algorithm incompatible with this software8-E029 E-0-2-9 Cannot transmit on CAN bus8-E030 E-0-3-0 CAN-1 heartbeat timeout on Battery module8-E031 E-0-3-1 The Vref for the ADC measurements has triggered an alarmFault Code DescriptionG1 Battery Charger Faults-continued8-E032 E-0-3-0 CAN-2 heartbeat timeout on Battery module8-E036 E-0-3-6 Battery temperature sensor is missing or shorted8-E037 E-0-3-7 CAN Open reprogramming failed8-E038 E-0-3-8 Fan will not turn8-E040 E-0-4-0 Fan voltage pulled low8-0098 General USB Fault8-0099 Unknown Fault

A - 56 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018FAULT CODE HISTORYEvery 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.YMenuHoursFaultsKeysOptionsiExit Select Y1Y1FaultsActive Faults 0Fault History 5Back SelectFault History1-003 0007.7Back Select(1/5)3-001 0005.23-001 0005.23-001 0004.3Fault History1-003 0007.7Back Scroll(1/5)K1 Contact WeldScroll down to Faults, right arrow to select.Menu [Menu] ________________________________ Hours [Hours] Faults [Faults] Keys [Keys] Options [Options] _______________________Exit [i Exit] Select [Select]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 HoursFault Code Description ___________________________________________ Back [Back] Scroll [Scroll]FIGURE 5-1FIGURE 5-2FIGURE 5-3FIGURE 5-4

12/2017 A - 57 56091197 - Nilﬁ sk Liberty SC50ENGLISH - AINSTRUCTIONS FOR USE9/2018SPECIFICATIONSACCESSORIES / OPTIONSIn addition to the standard components, the machine can be equipped with the following accessories/options, according to the machine speciﬁ c use: Disc Machines REV Machines• Brushes with harder or softer bristles • Pads with more or less abrasiveness• Pads with more or less abrasiveness • SPP pads for ﬁ nish removalFor further information about the above-mentioned accessories, contact an authorized Retailer.MATERIAL COMPOSITION AND RECYCLABILITYMaterial Composition and RecyclabilityType % of machine weight % recyclableAluminum 1% 100%Electrical / motors / engines - misc. 24% 80%Ferrous metals 35% 100%Harnesses / cables 2% 90%Liquids 0% 0%Plastic - non-recyclable 1% 0%Plastic - recyclable 8% 100%Polyethylene 26% 100%Rubber 3% 100%SOLUTION FLOW RATESManual Mode Flow RatesAt Full Manual Speed*1 bar 2 bars 3 bars20” Disc 0.16 GPM / 0.6 liters/minute0.35 GPM / 1.3 liters/minute0.50 GPM / 1.9 liters/minute20” REV 0.13 GPM / 0.5 liters/minute0.18 GPM / 0.7 liters/minute0.23 GPM / 0.9 liters/minuteAutonomous ModeFlow RatesAt Full Autonomous Speed*1 bar 2 bars 3 bars20” Disc 0.11 GPM / 0.4 liters/minute0.23 GPM / 0.9 liters/minute0.33 GPM / 1.3 liters/minute20” REV 0.09 GPM / 0.3 liters/minute0.12 GPM / 0.5 liters/minute0.15 GPM / 0.6 liters/minute* Flow rates are proportional to speed

A - 58 Nilﬁ sk Liberty SC50 - 56091197 12/2017INSTRUCTIONS FOR USEA - ENGLISH 9/2018TECHNICAL SPECIFICATIONS(AS INSTALLED AND TESTED ON THE UNIT)Model Nilﬁ sk Liberty SC50(X20D) DiscNilﬁ sk Liberty SC50(X20R) REVModel No. 56104500 56104501Voltage, Batteries V 24V 24VBattery Capacity (max) Ah 420 420Protection Grade IPX4 IPX4Sound Pressure LevelIEC 60335-2-72: 2002 Amend. 1:2005, ISO 11203, ISO 3744dB(A)/20μPa 63 63Sound Pressure level - KpA(IEC 60335-2-72, ISO 11203) Uncertainty dB(A) 3.0 3.0Gross Vehicle Weight* lbs / kg 1050 / 476.4 1056.5 / 479.23Transportation Weight** lbs / kg 759.9 / 344.4 766.4 / 347.23Maximum Wheel Floor Loading (center front) psi / kg/cm2161.03 / 11.32 161.03 / 11.32Maximum Wheel Floor Loading (right rear) psi / kg/cm2105.60 / 7.42 105.60 / 7.42Maximum Wheel Floor Loading (left rear) psi / kg/cm2109.33 / 7.68 109.33 / 7.68Vibrations at the Hand Controls (ISO 5349-1) m/s20.17 0.17Vibrations for the Whole Body (ISO 2631-1) m/s2 0.01 0.01Gradeability – Manual Transport 15% (8.53°)Gradeability – Manual Cleaning 9% (5.14°)Gradeability - Autonomous 2% (1.15°)Machine Length inch / cm 53.1 / 134.9Machine Height inch / cm 53.7 / 136.3Machine Width inch / cm 28.4 / 72.1Machine Width with Squeegee inch / cm 31.5 / 79.9Minimum Aisle Turn Width - Manual inch / cm 61.5 / 156.2Solution Tank Capacity Gallon / L 15 / 57Recovery Tank Capacity Gallon / L 14 / 53Transport Speed (Fwd. Maximum)Manualmph / kph 3.1 / 5.0Transport Speed (Rev. Maximum)Manualmph / kph 1.62 / 2.6Transport Speed – Autonomous mph / kph xBattery Compartment Size (approximate) Height (maximum) inch / cm 12.25 / 31.115 Width (maximum) inch / cm 18.5 / 46.99 Length (maximum) inch / cm 18 / 45.72Scrub brush sizeBrush / Pad Diameter – (Quantity of 1) inch / cm 20 / 50.8Scrub Brush Speed RPM 157 2250 RPM – ¼ orbits & macro of 10-30 RPMCleaning Path Width (scrubbing path) inch / cm 20 / 50.8 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.

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