Greensmaster® eTriFlex® 3360 Traction Unit with GeoLink® Mow

A public road is a road on which vehicles (e.g., automobiles, all-terrain vehicles, and bicycles) are allowed, but not pedestrians.

If public areas or trails are closed to the public during autonomous operations, the AOA boundary restrictions defined above do not apply.

A public bicycle trail is a trail for daily, anytime use by the general public that allows the use of light two-wheeled vehicles (e.g., bicycles and scooters).

If public areas or trails are closed to the public during autonomous operations, the AOA boundary restrictions defined above do not apply.

A public pedestrian trail is a public path used by the general public which does not allow the use of vehicles.

If public areas or trails are closed to the public during autonomous operations, the AOA boundary restrictions defined above do not apply.

A deep bunker or drop-off is a sand pit or depression that is 1.5 m (5 ft) or greater in depth within 1.0 m (39 inches) from the edge of the pit.

A maintenance facility includes the buildings and related outdoor areas used only by site personnel for maintaining and storing equipment, including the machine(s). The general public and other site personnel that are not maintaining equipment do not have access to the maintenance facility or related outdoor areas.

Private property is any area that you do not have permission to access.

Important: Excessive slopes can be included inside an AOA or less than 10 m (33 ft) away from an AOA boundary, but there must be an NOA boundary around them.

Measure the slope angles using a 1.25 m (4 ft) long piece of wooden board over the steepest part of the slope and placing an inclinometer on the board.

Do not allow machine(s) to operate in autonomous mode on excessive slopes as defined here;

• Do not operate the machine on slopes greater than or equal to 14° (25% grade) for a horizontal distance greater than 10 m (33 ft).

• Do not operate the machine on a slope greater than 15° (27% grade).

• The supervisor is responsible for inspecting the machine(s) prior to use to ensure that it is ready to operate reliably. Inspections include but are not limited to the following:

  • Verify that the sensors are functioning properly, clean of dust and debris, and are pointed in the proper direction prior to daily deployment.

  • Perform normal daily operation checklist(s) as required for the machine(s) prior to daily deployment. Acceptance is in the app.

  • The machine does not operate autonomously until the supervisor accepts the criteria listed in the supervisory app agreement.

  • Perform any additional maintenance or readiness checks as detailed in the training or instructions provided by the machine(s).

  • Carry the mobile device connected to the machine via the autonomous control app at all times.

• The supervisor is responsible for ensuring that all hazards have been mapped prior to autonomous operation. The operating areas must follow the requirements in Mapping Requirements.

• The supervisor is responsible for initiating autonomous operation of the machine(s) from a staging area within the autonomous operating area. The machine must be transported to that staging area and back to the storage area in manual mode by a qualified operator.

• Prior to and during machine operation, the supervisor is responsible for inspecting the operating areas (including but not limited to the autonomous operation area); the contiguous mowing area; and the transit paths to identify and remove hazards including but not limited to the following:

  • Items in the operating area such as sticks, rocks, debris, golf equipment, raised sprinklers, and any other objects not meant to be cut by blades or otherwise mowed

  • Bystanders and children

  • Unmowable areas such as areas under repair, standing water, damaged turf, etc.

• A qualified manual operator may need to mow with the machine in manual mode if operating that machine autonomously is restricted by, but not limited to, the following:

  • Inadequate wireless signal (i.e., cellular, GNSS connectivity, etc.)

  • Inadequate GNSS accuracy and/or RTK correction

  • Restriction of operating area for the machine(s) based on and identified by the site assessment

  • Area too close to AOA boundary or immovable obstacles

Prior to deploying the mower for autonomous operation, the following statements must be true:

Qualifications of the Machine Supervisor

I am a trained and Toro-approved autonomous mower supervisor.

Machine Function

• I have verified within the last 12 hours that all object detection sensors are securely mounted on the machine, functioning properly, and are positioned in the proper direction.

  Note: To verify that the sensors are functioning properly, read and complete the steps in Verifying the Object Detection System.

  1. Ensure that the machine is on.

  2. Ensure that the supervisory app is connected to the machine.

  3. Go to the DIAGNOSTICS page.

  4. Expand theSensors list.

  5. Walk around the machine and ensure that each light turns red. Disregard the front, top sensors as those are used for drop-off detection.

• I have verified that the cutting reels are in good mowing condition and are free from debris and blockages; refer to Cutting Unit Maintenance.

Site Pre-Inspection

I have inspected all fairways to be autonomously mowed and therefore verify the following:

• The operating area is free from all debris that could interfere with the operation of the machine or that the machine could throw.

  • Standing water, tree limbs, non-turf objects, holes, or washouts, etc. have been either repaired or removed.

  • All irrigation heads are completely retracted to the ground.

  • All expected obstacles have been removed from the autonomous operating area, including bunker rakes, course markers, signs, rope fences, moveable cart markers, posts, and stakes.

• Bystanders and children are out of the autonomous operating area.

Immediately after Launching the Machine

I will verify that all audible and visual warnings on the machine are functioning properly:

• Prior to the machine moving, a buzzer will make a warning noise for 2 seconds.

• While running in autonomous mode, the amber lights at the front and rear of the machine will be continually flashing. The autonomous status light will be green.

If the machine does not function properly, I will stop it immediately and correct the problem(s) before resuming operation.

If you have issues or concerns about any of the items in this checklist, read the Operator’s Manual.

Navigate to the TAPOFF TIME option to adjust the tap-off delay. The tap-off delay feature allows the cutting units to turn off without raising. The delay setting represents the maximum time for the lift/lower joystick to remain in the rearward position to activate this feature.

Refer to the following table for the delay time options and their corresponding increment numbers:

Tap-Off Delay Options

Note: The factory default setting is 1, which disables this feature.

Navigate to the REEL SPEED option to adjust the reel speed while mowing. This setting can be adjusted when the clip control setting is OFF; refer to Setting the Clip-Control Feature.

Refer to the following table for the reel speed options and their corresponding increment numbers:

Mowing Reel Speed Options

Note: The factory default setting is 1550 rpm (increment number 6).

Navigate to the LOWER SPEED option to set the speed that the cutting units lower to the ground for mowing. You can toggle between 1 (slowest speed) and 9 (quickest speed).

Test the lower speed before you mow. Adjust the speed as desired.

Note: The factory default setting is 5.

Navigate to the BACKLAP RPM option to adjust the reel speed while performing a backlap operation.

Refer to the following table for the reel speed options and their corresponding increment numbers:

Backlap Reel Speed Options

Note: The factory default setting is 200 rpm (increment number 1).

Navigate to the HEIGHT OF CUT (HOC) option to adjust the height of cut. The clip control feature must be set to ON to use this feature; refer to Setting the Clip-Control Feature.

Note: The factory default setting is 12.7 mm (0.5 inch).

Navigate to the BLADE COUNT option to adjust the number of cutting-unit blades. Determine the number of blades in your equipped cutting units, and select the appropriate value (5, 8, 11, or 14).

Note: The factory default setting is 8.

Navigate to the MAX MOW option to adjust the maximum mowing speed. You can adjust the speed from 4.8 km/h (3.0 mph) to 8.0 km/h (5.0 mph) in increments of 0.3 km/h (0.2 mph).

Note: The factory default setting is 6.1 km/h (3.8 mph).

Navigate to the MAX TRANSPORT option to adjust the maximum transport speed. You can adjust the speed from 8.0 km/h (5.0 mph) to 16.0 km/h (10.0 mph) in increments of 0.8 km/h (0.5 mph).

Note: The factory default setting is 16.0 km/h (10.0 mph).

Navigate to the MAX REVERSE option to adjust the maximum reverse speed. You can adjust the speed from 3.2 km/h (2.0 mph) to 8.0 km/h (5.0 mph) in increments of 0.8 km/h (0.5 mph).

Note: The factory default setting is 4.0 km/h (2.5 mph).

Note: For machine-software versions A through D, the maximum speed is 4.8 km/h (3.0 mph). Update the machine software for the capability to set the maximum speed to 8.0 km/h (5.0 mph).

Navigate to the SLOW & TURN option to set the slow in turn function. The slow in turn function decreases the machine speed while you turn the machine for another cutting pass on the green.

Note: The factory default setting is OFF.

Navigate to the 3WD KIT option to disable an equipped 3-Wheel-Drive Kit.

Note: When you install the 3-Wheel-Drive Kit, the kit is automatically enabled.

Engage manual mode and perform the following steps to check the interlock system:

• Rise from the seat, start the engine, disengage the parking brake, move the function-control switch to the MOW or TRANSPORT position, and engage the traction pedal.

  The machine should not move, as you are not in the seat. This indicates that the interlock system is operating correctly. Correct the problem if it is not operating properly.

• Sit in the seat, start the engine, engage the parking brake, move the function-control switch to the MOW or TRANSPORT position, and engage the traction pedal.

  The machine should not move, as the parking brake is engaged. This indicates that the interlock system is operating correctly. Correct the problem if it is not operating properly.

• Sit in the seat, start the engine, disengage the parking brake, move the function-control switch to the NEUTRAL position, and engage the traction pedal.

  The machine should not move, as the function-control switch is in the NEUTRAL position. This indicates that the interlock system is operating correctly. Correct the problem if it is not operating properly.

• Sit on the seat, move the traction pedal to the NEUTRAL position, move the function-control switch to the NEUTRAL position, engage the parking brake, start the engine, and move the lift/lower joystick forward to lower the cutting units.

  The cutting units should lower but not start rotating. If they start rotating, the interlock system is not operating correctly; correct the problem before operating the machine.

Note: Refer to Understanding the Map Menu for an overview of mapping features.

• The AOA boundary should not be mapped under trees or other obstacles as this could inhibit GNSS communication with the machine (Figure 29).

  

  Figure 29

• AOAs and CMAs must be mapped in a clockwise manner. For Holes and NOAs, map in a counter-clockwise manner.

• Whenever mapping AOA or CMA boundaries, start and end the boundary on a straight line.

• Ensure that the machine has a strong GNSS signal before starting any mapping process; refer to the Accuracy status box on the MAP page or in the Diagnostics Menu.

• While mapping or just prior to mapping, the machine should not be operated in reverse. Carefully plan your mapping route before performing any mapping.

Minimum Distance Requirements

Note: For best performance, the recommended distance between an AOA and a CMA is 5 m (16.4 ft), as this gives the machine enough space to perform efficient turns, therefore completing missions faster.

Figure 30

Minimum Distance Requirements

1. Distance between a CMA and an AOA or a NOA
2. CMA width

Follow the steps below to map your course for autonomous mowing:

1. Map the autonomous operating area (AOA); refer to Mapping the Autonomous Operating Area.

2. Map the contiguous mowing area (CMA); refer to Mapping the Contiguous Mowing Area.

3. Map non-operating areas (NOAs, Holes, and Poles); refer to Mapping Non-Operating Areas and Creating Poles.

4. Map transit paths; refer to Mapping Transit Paths.

5. Create pickup points; refer to Creating Pickup Points.

Prior to deploying the mower for autonomous mode operation, you must program the boundaries of the autonomous operating area (AOA) by mapping.

Important: Prior to mapping, inspect the property and make a note of any obstacles so that the autonomous operating area does not contain any obstacles or is too near any obstacles. The autonomous operating area must not contain any obstacles that the machine cannot detect, could damage the machine, or could create a safety hazard.It is the supervisor’s responsibility to ensure that all objects or obstructions are properly mapped outside of the autonomous operating area; refer to Mapping Non-Operating Areas and Creating Poles.If there is an obstruction (e.g., a solid wall or impassable terrain) between the machine and any of the hazards listed in Autonomous Operating Area Site Safety Criteria, ensure that the boundary of the AOA is set at least 2 m (7 ft) away from the obstruction.

Note: It is recommended to designate one of your machines as the primary mapping machine for the entire course. This would be the only machine in your fleet that creates new mapped areas or modifies existing mapped areas. The other machines in the fleet would use the map file created by the primary mapping machine.It is the supervisor’s responsibility to ensure that the correct map file is loaded onto every machine in a fleet.

1. Connect to the machine using the GeoLink Mow supervisory app.

2. From the home screen, press the menu button in the top-right corner and select MAP.

3. Drive the machine to where you would like to begin mapping your AOA.

   Note: Pay attention to the color of the status boxes in the bottom-right of the screen: Accuracy and Clearance. If the color is red, it means the machine has poor localization accuracy or is detecting a nearby object. The machine cannot map in this area, so move the machine to a different starting location and try again.

   Note: It is recommended to begin mapping your AOA in an area with recognizable markers, such as irrigation flags or other terrain features.

4. Select AOA from the sidebar menu or the expandable red button, followed by Perimeter.

5. Using the front-left corner of the left cutting unit as your marker, start by driving the machine in a straight line, and then map the perimeter of the AOA in a clockwise manner.

   While mapping, pay attention to the color status boxes in the bottom-right of the screen: Speed, Accuracy, and Clearance. If the color is yellow or red, it means the machine is moving too quickly, has poor localization accuracy, or is detecting a nearby object. Slow down the machine, stop and wait, or move to a different location and try mapping again.

   • Green means the machine is within the ideal mapping parameters.

   • Yellow means the machine is approaching the mapping parameter limits.

   • Red means the machine potentially did not capture the boundary, has poor localization accuracy, or is detecting a nearby object.

6. Once you are near the beginning of your AOA line, slow down the machine and select Save.

7. Select Yes in the dialog box.

8. Select the Save button to save the boundary.

9. Refresh the map to view the completed AOA.

10. Look for any mapping errors and address as needed.

1. Drive the machine to an area within the AOA where you would like to begin mapping your Contiguous Mowing Area (CMA).

   Note: For optimal performance, the CMA boundary should be at least 5 m (16.4 ft) away from the AOA boundary. This will lead to good turning efficiency during autonomous operation. Refer to Mapping Requirements for the minimum distance requirements, but expect lower turning efficiency and longer mission times.

2. Select the red button in the bottom-right corner of the screen.

3. Select CMA from the menu followed by Perimeter.

4. Using the front-left corner of the left cutting unit as your marker, start by driving the machine in a straight line, and then map the perimeter of the CMA in a clockwise manner.

   Note: Pay attention to the color status boxes in the bottom-right of the screen: Speed, Accuracy, and Clearance. If the color is yellow or red, it means the machine is moving too quickly, has poor localization accuracy, or is detecting a nearby object. Slow down the machine, stop and wait, or move to a different location and try mapping again.

   • Green means the machine is within the ideal mapping parameters.

   • Yellow means the machine is approaching the mapping parameter limits.

   • Red means the machine potentially did not capture the boundary, has poor localization accuracy, or is detecting a nearby object.

5. Once you are near the beginning of your CMA line, slow down the machine and select Save.

6. Select Yes in the dialog box.

7. Select the Save button to save the boundary.

8. Map the fairway D.O.P (direction of play):

   1. Drive the machine to a starting point anywhere within the CMA.

   2. Select D.O.P and drive the mower 5 m (16.4 ft) in the direction of play.

   3. Select Save.

9. Map the Centerline:

   1. Drive the machine to a point that is 1 m (3.3 ft) away from the CMA boundary at either end of the fairway.

   2. Select Centerline and drive the machine down the center of the fairway.

      Note: Ensure that the centerline extends 1 m (3.3 ft) outside of the CMA at both ends of the fairway.

   3. After the machine has passed the other end of the CMA, select Save.

10. To create an area that the machine can transit but will not mow, select Hole, drive counter-clockwise around the area, and select Save.

11. Select Save again to save your CMA.

12. Look for any mapping errors and address as needed.

    Select the error to view additional information about the error and the location of the error.

Important: Non-operating areas should be used for mapping large objects or obstructions, such as trees, bunkers, irrigation boxes, overhead obstacles, etc., or smaller obstacles that the machine cannot detect, such as wires, found in the AOA. It is the supervisor’s responsibility to ensure that all objects or obstructions have been mapped prior to autonomous operation. Follow the requirements in Mapping Requirements.NOAs cannot be mapped directly within a CMA; create a Hole within the CMA first before mapping the NOA.

• To create an area inside of a Hole within a CMA that the machine will never transit, drive to the Hole, select NOA, drive counter-clockwise around the area, and select Save.

• To create an area inside of an AOA but outside of the CMA that the machine will never transit, drive to the area outside of the CMA, select NOA, drive counter-clockwise around the area, and select Save.

Important: Poles are small diameter (1 m or 3.3 ft) NOAs that prevent the machine from transiting through AOA areas that contain a small object, such as posts, drains, or irrigation boxes. Multiple poles can be created close to each other to form a barrier.

1. From the MAP menu, select Pole.

2. Once the front-left corner of the left cutting unit is near the obstacle you would like to map, select Point and Save.

   A red circle representing the Pole will appear on your map.

Transit paths are paths that the mower follows when moving between operating areas. The transit paths need to be a minimum of 3.5 m (11.5 ft) wide.

1. Drive the machine to a point inside of an AOA where you would like the transit path to start.

   Note: Transit paths can start anywhere inside of an AOA, including inside of a CMA, but for best performance it is recommended to start the path near the AOA boundary.

2. From the MAP menu, select Path.

3. When you are ready to map, select Path and drive the exact route you would like the machine to follow between 2 AOAs.

4. After the machine is inside the other AOA and you are satisfied with the path, select Save.

   An orange line representing the transit path will appear on your map.

Pickup points are areas inside of AOAs where the operator leaves/picks up the machine at any time during mowing. AOAs can be created specifically for pickup points and connected to a fairway using transit paths. From the supervisory app, the operator can instruct the machine to return to this point at any time.

1. Drive the machine to an area inside of an AOA where you would like to create a pickup point.

2. Select Pickup, Point, and Save.

   The pickup point will be created at the position of the front-left corner of the left cutting unit.

From the MAP menu, select any point on the CMA portion of a fairway to open up the Fairway and the Properties, Centerline, and Holes windows.

A mission is a sequence of fairway tasks. After the machine completes a mission, it will immediately start on the next mission. If no more missions exist, it will move to the side of the final fairway, unless instructed to move somewhere else by the operator.

1. Connect to the machine using the GeoLink Mow supervisory app.

2. From the home screen, select the MISSIONS button.

3. Select the + New mission button.

4. Select the fairway(s) that you want mowed from your list of mapped CMAs.

   Note: Select the fairways in the order in which you want the fairways mowed.

   Note: Ensure that all CMAs in a mission are connected via AOAs or transit paths.

5. Select a mowing pattern from Favorites or create a new mowing pattern within Custom.

6. Enter a supervisor’s phone number and select Save button.

   Note: This allows the machine to send text message alerts if it is stopped and requires manual interaction from the supervisor.

7. Select Save.

   If the mower is idle during this step, the mower begins the mission.

   Note: After you save a mission, the mission will appear under MISSIONS.

1. Select the MISSIONS button.

2. After selecting New mission, select Custom under the section titled Mowing Pattern Selection.

   Three pattern options appear: Stripes, Tuxedo, or Cleanup.

   1. The options for Stripes are:

      Option	Definition
      Relative/Absolute	Whether the machine uses the direction-of-play or absolute degrees as the point of reference
      Direction type (-180 to 180 or 0 to 360)	Degree difference to the option chosen above. For example, when relative is selected, entering 40 would make the machine mow at an angle of 40° (clockwise) away from the direction-of-play. Negative values make the machine mow in a direction counter-clockwise to the direction-of-play.40° in absolute degrees would make the machine mow at an angle of 40° from true north.
      Line multiple	Controls the width of the stripes. Can be up to 5 machine-widths wide
      Inverted	Controls the direction of the mowing passes
      Cleanup	Turning this setting on causes the machine to perform clean-up passes
      Optimize turns	Turning this setting on will make the machine perform similar-sized turns at the end of every mowing pass

   2. The options for Tuxedo are:

      Option	Definition
      Direction	Controls whether the mower will mow the fairway in a clockwise or counter-clockwise direction
      Cleanup	Turning this setting on will make the machine perform clean-up passes

   3. The option for Cleanup is:

      Option	Definition
      Direction	Controls whether the mower will perform clean-up passes in a clockwise or counter-clockwise direction

3. Enter a phone number for the supervisor’s mobile device, and select Save to save the mission.

Prior to deploying the mower for autonomous mode operation, the object detection system must be checked to ensure it is functioning properly.

1. Insert and rotate the key to the ON position.

2. Connect to the machine using the GeoLink Mow supervisory app.

3. Select the DIAGNOSTICS button.

4. Expand Object Detection.

5. Walk around to each sensor on the machine and ensure that the circle for each corresponding sensor on the Object Detection list turns red on the screen.

   Refer to Product Overview for a complete overview of all of the sensors.

6. Step a short distance away from the front of the machine and the Radar Field Far should turn yellow .

7. After you verify the function of all the sensors, move away from the machine; all positions on the Object Detection list should turn green .

1. Disengage the parking brake.

2. Set the function-control switch to MOW.

3. Resolve any active machine faults.

4. Leave the operator’s seat and move to the back of the machine; ensure that you are out of the mowing hazard zone.

5. Press and hold the autonomous/manual-mode switch to the AUTONOMOUS mode side for 2 seconds.

6. Wait until the autonomous status light turns solid green and the machine beeps twice. This indicates that autonomous mode is active.

   The machine can now be operated using the supervisory app.

1. Ensure that all sensors are functioning properly; refer to Verifying the Object Detection System.

2. Move the machine into an AOA.

3. Engage autonomous mode; follow the steps in Engaging Autonomous Mode

4. From the DASHBOARD menu in the supervisory app, select the Go button.

   Important: If performing a mission on a fairway for the first time, observe the machine to ensure that it is following the mission before diverting your attention to other tasks.

5. Accept the pop-up agreement to begin the mission.

1. Select the MISSIONS button. Created missions will appear on the page.

   Active missions feature an hourglass timer and a summary of the information for the mission.

2. Select one of the missions on the page. Additional information about the selected mission displays.

   Display	Meaning
   Mission #	Displays the number for the mission
   State	Refer to Dashboard—Mission States
   Start time	When the mission was started
   Finish time	When the mission is expected to be completed
   Mowed area	Total area that the machine has mowed so far
   Distance covered	Distance the machine has traveled so far
   Work time	How long the current mission has been active
   Progress	Displays the mission completion percentage
   Pattern	Displays the name of the pattern for the current mission
   Properties	Displays properties for the selected mowing pattern; refer to Creating a Custom Mowing Pattern

The sensors on the machine detect obstacles and automatically cause the machine to slow or stop if they are activated. The machine monitors 3 zones: the courtesy zone, hazard zones, and drop-off detection.

Figure 33

1. Courtesy zone
2. Hazard zones
3. Drop-off detection

Specifications Table

If the machine senses a static object within the courtesy zone of the machine, the machine will start slowing down and the amber lights will start flashing with higher frequency. Once the machine has approached the object and the object is just outside of a hazard zone, the machine will start idling, the PTO disengages, and the machine will send a text to the supervisor’s mobile device after 1 minute. After the supervisor removes the object, they can remotely resume the mission using their mobile device.

If the machine abruptly senses an object within a hazard zone, the machine stops immediately, the PTO disengages, the engine turns off, and the machine goes into PARK and sends a text to the supervisor. The supervisor must then remove the object and manually cycle the autonomous/manual-mode switch to resume the mission.

Drop-off detection detects if the machine encounters a hazardous drop-off. If the machine encounters unsafe terrain, it will immediately go into PARK and send a text to the supervisor. The supervisor must then manually drive the machine to a safe area and cycle the autonomous/manual-mode switch to resume the mission.

Important: The drop-off detection system should never be activated if obstructions are properly mapped by the supervisor.Run a test mission to observe any issues with drop-offs. Create new AOAs, CMAs, or NOAs so that the machine avoids these areas with drop-offs.

1. Start on 1 edge of the green so that you can use the ribbon procedure of cutting.

   Note: This holds compaction to a minimum and leaves a neat, attractive pattern on the greens.

2. Move the function-control switch to the MOW position.

3. Push forward the lift/lower mow lever as the front edges of the cutting units cross the outer edge of the green.

   Note: This procedure drops the cutting units to the turf and starts the reels.

   Important: The center cutting unit lifts or lowers slightly after the front cutting units do; therefore, you should practice gaining the required timing necessary to minimize the cleanup mowing operation and prevent scalping of the fringe.The center cutting unit lift and lower is based on ground speed. A slower ground speed increases the lift or lower delay; a faster speed decreases the lift or lower delay. The machine monitors the ground speed and updates this delay so that all three cutting units drop in a line.

4. Overlap a minimal amount with the previous cut on return passes.

   Note: To assist in maintaining a straight line across the green and keeping the machine an equal distance from the edge of the previous cut, imagine a sight line approximately 1.8 to 3 m (6 to 10 ft) ahead of the machine to the edge of the uncut portion of the green (Figure 36). Include the outer edge of the steering wheel as part of the sight line; i.e., keep the steering wheel edge aligned with a point that is always kept the same distance away from the front of the machine.

5. As the front edges of the baskets cross the edge of the green, pull back the lift/lower joystick rearward and hold it until all the cutting units have risen. This stops the reels and lifts the cutting units.

   Important: Time this step correctly so that you do not cut into the fringe area, yet cut as much of the green as possible to minimize the amount of grass left to mow around the outer periphery.

6. To cut down on operating time and to ease the lineup for the next pass, momentarily turn the machine in the opposite direction, then turn it in the direction of the uncut portion. This movement is a tear-shaped turn (Figure 35), which quickly lines the machine up for your next pass.

   Note: If the slow in turn function is engaged, the machine slows down during the turn without requiring you to release pressure on the traction pedal.

   

   Figure 35

   Note: Try to make as short of a turn as possible, except during warmer weather—a wider arc minimizes the turf bruising.

   

   Figure 36

   1. Alignment strip
   2. Approximately 12.7 cm (5 inches)
   3. Cut grass on the left.
   4. Keep a focal spot 2 to 3 m (6 to 10 ft) ahead of the machine.

   Important: Never stop the machine on a green, especially while the cutting units are engaged; damage to the turf may result. Stopping the machine on a green may leave marks or indentations from the wheels.

1. Finish cutting the green by mowing the outer periphery. Change the direction of cutting from the previous mowing.

   Refer to Cutting the Periphery and Finishing the Job to improve the after-cut appearance and reduce triplex ring.

   Note: Always keep weather and turf conditions in mind and be sure to change the direction of mowing from the previous cutting.

2. When you finish mowing the outer periphery, tap the lift/lower joystick rearward to stop the reels (if the tap-off delay feature is engaged), then drive off the green. When all the cutting units are off the green, move the lift/lower joystick rearward to raise the cutting units.

   Note: This step minimizes grass clumps left on the green.

3. Replace the flag.

1. Park the machine on a level surface, lower the cutting units, and engage the parking brake.

2. Shut off the engine and remove the key.

3. Clean around the air cleaner to prevent dirt from getting into the engine and causing damage (Figure 43).

4. Loosen the cover knobs and remove the air-cleaner cover (Figure 43).

5. Loosen the hose clamp and remove the air-cleaner assembly (Figure 43).

6. Carefully pull the foam element off the paper element (Figure 43).

   

   Figure 43

   1. Cover
   2. Hose clamp
   3. Paper element
   4. Foam element

1. Wash the foam element in liquid soap and warm water. When the element is clean, rinse it thoroughly.

2. Dry the element by squeezing it in a clean cloth.

   Important: Do not twist the foam element, as it may tear.Replace the foam element if it is torn or worn.

1. Clean the paper element by tapping it gently to remove dust. If it is very dirty, replace the paper element (Figure 43).

2. Inspect the element for tears, an oily film, or damage to the rubber seal.

3. Replace the paper element if it is damaged.

   Important: Do not clean the paper filter.

Important: To prevent engine damage, always operate the engine with the complete foam and paper air-cleaner assembly installed.

1. Carefully slide the foam element onto the paper element (Figure 43).

2. Place the air-cleaner assembly onto the air-cleaner base or hose and secure it (Figure 43).

3. Place the air-cleaner cover into position and tighten the cover knobs (Figure 43).

API Oil Service Classification: SJ or higher

Oil Viscosity: SAE 30

Note: Use any high-quality detergent oil.

Refer to Figure 44 for this procedure.

1. Park the machine on a level surface, lower the cutting units, engage the parking brake, shut off the engine, and remove the key.

2. Unscrew the dipstick, remove it, and wipe it with a clean rag.

3. Insert the dipstick into the dipstick tube.

4. Pull the dipstick out of the tube and check the oil level.

5. If the oil level is low, add oil into the engine through the dipstick tube until the oil level is up to the FULL mark on the dipstick.

   Add the oil slowly and check the level often during this process.

   Important: Do not overfill the engine with oil.

6. Install the dipstick.

Figure 44

Engine oil quantity: 1.7 L (1.8 US qt) with filter

1. Remove the drain plug (Figure 45) and let the oil flow into a drain pan.

   

   Figure 45

   1. Rear of the machine.
   2. Drain plug
   3. Drain pan

2. Clean the threads of the drain plug and install the drain plug (Figure 45).

3. Remove the oil filter (Figure 46).

   

   Figure 46

4. Apply a light coat of clean oil to the new filter gasket.

5. Screw the filter on by hand until the gasket contacts the filter adapter, then tighten it 3/4 to 1 turn further. Do not overtighten it.

6. Add oil to the crankcase; refer to Checking the Engine Oil.

7. Dispose of the oil filter and used oil properly.

1. Park the machine on a level surface, lower the cutting units, and engage the parking brake.

2. Shut off the engine and remove the key.

3. Locate the spark-plug caps.

4. Clean the area around the spark plug caps so that foreign matter cannot fall into the cylinder.

5. Disconnect the spark plug caps from the spark plugs (Figure 47).

   

   Figure 47

6. Remove the spark plugs from the engine.

Important: Always replace the spark plug(s) when it has a black coating, worn electrodes, an oily film, or cracks.

1. Clean the spark plug with a wire brush to remove any carbon deposits.

   Use carburetor cleaner to wash the plug and ensure any foreign matter has been removed.

2. Inspect the spark plugs for cracks, worn electrodes, black coating, or oily films or other wear or damage.

3. Replace the spark plug if necessary. Replace all spark plugs if only one requires replacing.

4. Check the spark plug gap and reset if necessary. To change the gap, bend only the side-electrode, using a spark plug tool.

   Set the gap to 0.75 mm (0.03 inch).

   

   Figure 48

If you see light brown or gray on the insulator, the engine is operating properly. A black coating on the insulator usually means the air cleaner is dirty.

Refer to Figure 49 for this procedure.

1. Install the spark plug into the engine.

2. Torque the spark plug to 22 N∙m (16 ft-lb).

3. Reconnect the spark plug caps.

Figure 49

The fuses in the 48V electrical system are located under the seat (Figure 53).

Figure 53

1. Lift actuator (center cutting unit)—10 A
2. Lift acutator (left cutting unit)—10 A
3. Lift actuator (right cutting unit)—10 A
4. Open slot
5. 48 V logic relay—5 A
6. Steering unit—30 A
7. Work lights (optional kit)—10 A
8. Open slot

The fuses for the 12V electrical system are located under the cover (Figure 54) on the right side of the machine.

Figure 54

1. Right-side cover
2. Bolt

Refer to Figure 55 for a description of each fuse on the fuse blocks:

Figure 55

1. Parking brake/key switch/logic relay—7.5 A
2. Open slot
3. Brake actuator—10 A
4. Telematics—2 A
5. Open slot
6. Spare fuse—7.5 A
7. DC/DC converter—15 A
8. TEC controller—2 A

The fuses for the reel-drive circuit are located under the cover on the left side of the machine. Access the fuse block by removing the left-side cover and the fuse-block cover (Figure 56).

Figure 56

1. Bolt
2. Left-side cover
3. Fuse-block cover
4. Fuse block

Refer to Figure 57 for a description of each fuse on the fuse-block decal:

Figure 57

1. Center cutting unit—35 A
2. Front left cutting unit—35 A
3. Front right cutting unit—35 A
4. 3-Wheel Drive Kit (optional attachment)—35 A

• The fuses for the generator (100 A) and the right wheel motor (60 A) are located under the seat (Figure 58).

  

  Figure 58

  1. Generator fuse—100 A
  2. Right-wheel-motor fuse—60 A

• The fuse for the left wheel motor (60 A) is located under the cover on the left side of the machine, near the reel-drive-circuit fuses (Figure 59).

  

  Figure 59

  1. Left-wheel-motor fuse—60 A

• The fuse for the electrical system is located under the main-power connectors (Figure 60).

  

  Figure 60

  1. Main-power connectors
  2. Electrical-system fuse—150 A

The fuses for the autonomous control system are located within the ACS box (Figure 61).

Figure 61

1. ACS fuse block

Refer to Figure 62 for a description of each fuse on the fuse-block decal:

Figure 62

1. Read the Operator’s Manual for fuse information.
2. Radar
3. Electrical power
4. Router
5. Relay
6. Fan
7. Inertial measurement unit (IMU)
8. GPS
9. LiDAR
10. Computer

The suspension needs to be lowered in order to install the cutting units. Perform the following steps to lower the suspension:

1. Park the machine on a clean, level surface.

2. Set the function-control switch to the NEUTRAL position.

3. Start the engine or turn the key to the ON position.

4. Lower the suspension using the lift/lower joystick.

5. Engage the parking brake, shut off the engine, and remove the key.

Perform the following steps to install the cutting units:

1. Disconnect the main-power connectors; refer to Main-Power Connectors.

   Caution

   If you do not disconnect the power to the machine, someone could accidentally start the cutting units, causing serious injury to hands and feet.

   Always disconnect the main-power connectors before working on the cutting units.

2. Position the cutting unit under the center suspension arm.

3. Open the latches on the suspension-arm bar (Figure 68) and push the suspension arm down so that the bar fits over both pitch arms on the cutting unit and ensure that the latches go underneath the cutting-unit crossbar (Figure 69).

   

   Figure 68

   1. Latch—closed
   2. Suspension-arm bar
   3. Latch—open
   

   Figure 69

   1. Suspension-arm bar
   2. Cutting-unit bar

4. Close the latches down and around the cutting-unit bar and lock them in place (Figure 68).

   Note: You can hear a click and feel when the latches are properly locked in place.

5. Coat the spline shaft of the cutting unit motor with clean grease (Figure 70).

6. Insert the motor into the left side of the cutting unit (as viewed from the operator's position) and pull the motor retaining bar on the cutting unit toward the motor until you hear a click from both sides of the motor (Figure 70).

   

   Figure 70

   1. Reel motor
   2. Spline shaft
   3. Cavity
   4. Motor-retaining bar

7. Repeat this procedure for the other cutting units.

8. Connect the main-power connectors; refer to Main-Power Connectors.

1. Park the machine on a clean, level surface, set the function-control switch to the NEUTRAL position and use the lift/lower joystick to lower the cutting units.

2. Engage the parking brake, shut off the engine, and remove the key.

3. Disconnect the main-power connectors; refer to Main-Power Connectors.

   Caution

   If you do not disconnect the power to the machine, someone could accidentally start the cutting units, causing serious injury to hands and feet.

   Always separate the disconnect the main-power connectors before working on the cutting units.

4. Push the motor retaining bar out of the slots on the motor toward the cutting unit and remove the motor from the cutting unit.

   

   Figure 71

   1. Reel motor
   2. Motor-retaining bar

5. Move the motor to the storage location on the front of the suspension arm (Figure 72).

   

   Figure 72

   Note: When sharpening, setting the height-of-cut, or performing other maintenance procedures on the cutting units, store the cutting unit reel motors in the storage location on the front of the suspension arms to prevent damage to them.

   Important: Do not raise the suspension to the transport position when the reel motors are in the holders in the machine frame. Damage to the motors or hoses could result. If you must move the traction unit without the cutting units installed, secure them to the suspension arms using cable ties.

6. Open the latches on the suspension-arm bar of the cutting unit you are removing (Figure 68).

7. Disconnect the latches from the cutting-unit bar.

8. Roll the cutting unit out from under the suspension arm.

9. Repeat steps 4 through 8 for the other cutting units as required.

10. Connect the main-power connectors; refer to Main-Power Connectors.

Using Simple Green^® cleaner or other similar gentle soap, clean the sonar or radar sensors of any residue or debris.

Note: Avoid using hard water when cleaning the LiDAR sensor.

1. Determine the appropriate method of cleaning:

   1. Look for the first 5 characters of the serial number on the sensor. The serial number is on a label on the underside of the sensor.

   2. If the first 5 characters are between AE001–AE229, proceed to step 2.

   3. If the first 5 characters are AE230 or greater, proceed to step 3 or 4.

2. Clean using soapy water.

   1. Using a spray bottle with clean, warm water, loosen debris from the lens of the sensor.

      Important: Do not directly wipe dirt or debris off the sensor. This could scratch the lens.

   2. Gently wipe the sensor using a microfiber cloth with warm, mildly soapy water.

      Note: Wipe along the curve of the lens rather than up and down the sensor.

   3. Spray the sensor with clean water to rinse off any remaining soap, then dry using a clean microfiber cloth.

3. Clean using isopropyl alcohol.

   1. Using a spray bottle with clean, warm water, loosen debris from the lens of the sensor.

      Important: Do not directly wipe dirt or debris off the sensor. This could scratch the lens.

   2. Using isopropyl alcohol and a clean microfiber cloth, clean any remaining dirt or debris from the sensor.

   3. Gently wipe the sensor using a microfiber cloth with warm, mildly soapy water.

      Note: Wipe along the curve of the lens rather than up and down the sensor.

   4. Spray the sensor with clean water to rinse off any remaining soap, then dry using a clean microfiber cloth.

4. Clean using NACL Optics Cleaner.

   North American Coating Laboratories (NACL) has formulated a cleaning solution for certain optical devices. It can be ordered from them directly using the following information:

   • NACL part number: 98-0020

   • NACL description: NACL Precision Optics Cleaner 6 oz

   1. Spray NACL Precision Optics Cleaner solution onto a clean, dry microfiber cloth.

   2. Gently wipe the sensor along the curve of the lens rather than up and down.