HAKO Minuteman RoboScrub 20, Service Manual

Page 1: ...Minuteman International Inc A Member of the Hako Group RoboScrub 20 Service Manual...

Page 2: ...le of Contents Technical Specifications 4 Limited Warranty 6 Testing and Troubleshooting 8 3D Camera 42 Modem 46 Steering 48 Enter Settings 52 Lower Lidar Removal 78 Error Codes 92 Testing Manual Auto...

Page 3: ...Page 4 RoboScrub Service Manual Technical Specifications...

Page 4: ...Page 5 RoboScrub Service Manual...

Page 5: ...Page 6 RoboScrub Service Manual Limited Warranty...

Page 6: ...Page 7 RoboScrub Service Manual...

Page 7: ...Page 8 RoboScrub Service Manual Testing and Troubleshooting Testing and Troubleshooting Drive System Disconnect Batteries...

Page 8: ...Page 9 RoboScrub Service Manual Remove back panel...

Page 9: ...Page 10 RoboScrub Service Manual Secure panel for ease of access...

Page 10: ...Page 11 RoboScrub Service Manual Locate and disconnect P3 connector from controller...

Page 11: ...Page 12 RoboScrub Service Manual Place probes on pins 20 BLK PNK and 10 BLK WHT Set meter to OHMs Depress Accelerator Pedal Reading should be 0 3 Static to 1 7 Full Throttle...

Page 12: ...Page 13 RoboScrub Service Manual Plug P3 back into Controller Place probes on Controller leads as shown...

Page 13: ...t switch 4 With meter in lap select Forward on Right Touch Pad and depress Accelerator Pedal At static Stopped voltage should be 0 0 VDC As pedal is depressed the voltage should increase all the way u...

Page 14: ...Page 15 RoboScrub Service Manual Testing Pedal Circuit Bypass Seat Switch Circuit...

Page 15: ...Page 16 RoboScrub Service Manual Bypass Seat Switch Circuit...

Page 16: ...Page 17 RoboScrub Service Manual Remove back access cover...

Page 17: ...Page 18 RoboScrub Service Manual Locate P3 connector on Kinetec Drive Controller and disconnect...

Page 18: ...Page 19 RoboScrub Service Manual Set meter to ohms Place probes on PIN 20 BLK WHT WIRE and PIN 10 BLK PINK WIRE...

Page 19: ...Page 20 RoboScrub Service Manual Static Pedal not pressed should read 0 3 OHMS 0 1 Fully activated pedal should read 1 7 OHMS 0 1 If reading not within above readings replace...

Page 20: ...Page 21 RoboScrub Service Manual THESE INSTRUCTIONS ARE A GUIDELINE FOR REPLACEMENT OF DRIVE WIRING PLATES FOR THE MR20 AUTONOMOUS MACHINE...

Page 21: ...Page 22 RoboScrub Service Manual LOOSEN CHAIN TENSIONER TO GAIN CHAIN SLACK REMOVE SCREW WASHER FROM LARGE SPROCKET REMOVE MASTER LINK THEN REMOVE CHAN FROM SPROCKETS...

Page 22: ...Page 23 RoboScrub Service Manual LOOSEN BOTH SET SCREWS AND REMOVE SPROCKET FROM STEERING SPINDLE REMOVE STEERING PIVOT STOP AND KEY NOT SHOWN FROM STEERING SPINDLE...

Page 23: ...Page 24 RoboScrub Service Manual REMOVE STEERING SPINDLE DRIVE MOTOR AND PLACE ON WORKBENCH...

Page 24: ...Page 25 RoboScrub Service Manual REMOVE OLD DRIVE WIRING PLATE AND REPLACE WITH NEW DRIVE WIRING PLATE...

Page 25: ...Service Manual REINSTALL DRIVE MOTOR ORIENTED LIKE SHOWN WRAP THE CABLE CONDUIT LOOSELY AROUND THE DRIVE MOTOR AND HOLD IN POSITION WITH TIE WRAPS TIE WRAPS INSTALL SUPPLEMENTAL DRIVE PLATE SEE FOLLOW...

Page 26: ...Page 27 RoboScrub Service Manual...

Page 27: ...Page 28 RoboScrub Service Manual ROTATE DRIVE MOTOR TO VERIFY CABLES ARTICULATE PROPERLY REASSEMBLE MACHINE IN REVERSE ORDER OF ASSEMBLY...

Page 28: ...B C x D E F G H I J K 5 L w M A N O P Q R S T 6 0 7 U V W X Y Z y 1 8 z _ a b c d e f g 9 2 h i j k l m n o 3 p q r s t u v f A N g O h P B Q C R i S j T U V k W z l D E X m n F Y Z o p G y q r H I s...

Page 29: ...ey Switch UI Screen and Control Console To remove the MinuteMan Cowling remove the 5 32 hex screw on each side of the upper portion of the cowling as well as the five 1 8 hex screws that secure the Sl...

Page 30: ...RoboScrub Service Manual MinuteMan RoboScrub 20 Removing the MinuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console The cowling can be lifted up and off the two hooks at the top of t...

Page 31: ...Removing the MinuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console Use a socket to remove the locking nut and washer Pull the wheel straight up to remove There is a semi circle key t...

Page 32: ...Removing the MinuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console Use a socket to remove the locking nut and washer Pull the wheel straight up to remove There is a semi circle key t...

Page 33: ...nual MinuteMan RoboScrub 20 Removing the MinuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console Use a 3 32 hex key to remove the two screws that secure the E Stop Slide over the metal...

Page 34: ...Switch UI Screen and Control Console Use a 3 32 hex key to remove the two screws that secure the Key Switch Decouple the white connector to free the hardware Use a 3 32 hex key to remove the four scre...

Page 35: ...RoboScrub 20 Removing the MinuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console Use a 3 32 hex key to remove the four screws that secure the Control Console Carefully unplug the two...

Page 36: ...e Manual 2D Camera 2 2DCAMERA If machine software does not boot up freeze during start up the most likely cause is the right 2D camera is not working This is the only camera that HAS TO BE WORKING for...

Page 37: ...Page 38 RoboScrub Service Manual Disconnect the 2D Camera a ected and check for 5VDC on pins 2 and 4...

Page 38: ...e Manual If this is the right camera or front camera and voltage is present please swap it with the left camera and test to ensure that the issue follows the camera If the issue follows the camera it...

Page 39: ...Page 40 RoboScrub Service Manual If voltage is not present test the following for continuity for the suspect camera...

Page 40: ...Page 41 RoboScrub Service Manual If no continuity present repalce UP TRUNK...

Page 41: ...If you receive a side IFM error check to see if the camera has power If the LED is blinking or lit the camera has power In this case try reseting the communication cable going to the camera on the UP...

Page 42: ...Page 43 RoboScrub Service Manual If the LED is not blinking or lit check voltage on the powet cable to confirm ther is 24VDC If there is power to camera may need to be replaced...

Page 43: ...ror check to see if the camera has power If the four LED s on the front of the camera are blinking or lit the camera has power In this case try resetting the communication cable going to the camera fr...

Page 44: ...Page 45 RoboScrub Service Manual If the four LED s are not blinking or lit check voltage on the power cable to confirm there is 24VDC If ther eis power the camera may need to be replaced...

Page 45: ...ge 46 RoboScrub Service Manual Modem MODEM From the modem there are four connections which interface with the Modem USB Power connector micro USB Data connector and 2 antenna connectors MIM01 and MIM0...

Page 46: ...ital Multimeter measure the voltage at the pins on the M12 female connector as shown below note the location of the M12 notch voltageshould be 5 VDC If there is voltage measured across ALL three pins...

Page 47: ...Page 48 RoboScrub Service Manual Steering Place steering wheel in zero position as shown below...

Page 48: ...Page 49 RoboScrub Service Manual Verify that drive wheel is also in the zero position as shown below...

Page 49: ...Page 50 RoboScrub Service Manual If Steering wheel and Drive wheel do not line up remove front cowling and check for loose missing Encoder set screws or slack jumped gear in steering gear assembly...

Page 50: ...Page 51 RoboScrub Service Manual Turn machine on when prompted enter Operator PIN 1337...

Page 51: ...Page 52 RoboScrub Service Manual Enter Settings...

Page 52: ...Page 53 RoboScrub Service Manual...

Page 53: ...Page 54 RoboScrub Service Manual Enter service PIN if you do not have one contact Minuteman Tech Support...

Page 54: ...Page 55 RoboScrub Service Manual Enter Service Tools...

Page 55: ...Page 56 RoboScrub Service Manual Enter Steering...

Page 56: ...Page 57 RoboScrub Service Manual Enter Steering Assembly...

Page 57: ...Page 58 RoboScrub Service Manual Enter Sensor View...

Page 58: ...Page 59 RoboScrub Service Manual Move steering from left to right the return to zero position and recheck screen encoder position...

Page 59: ...Page 60 RoboScrub Service Manual Move steering fron left to right then return to the zero position and recheck screen encoder position...

Page 60: ...Page 61 RoboScrub Service Manual Move steering right until it stops Screen encoder shoould line up with 90 degree mark Do the same for the left If o set return to zero and re adjust...

Page 61: ...Page 62 RoboScrub Service Manual Back out to Steering Assembly screen Enter steering longevity...

Page 62: ...Page 63 RoboScrub Service Manual Follow on screen instructions...

Page 63: ...Page 64 RoboScrub Service Manual Follow on screen instruction press start Steering wheel will start moving left and right After a minimim of 5 times in both directions select cancel...

Page 64: ...Page 65 RoboScrub Service Manual Back out to steering assembly screen and select run...

Page 65: ...Page 66 RoboScrub Service Manual Follow on screen instructions...

Page 66: ...Page 67 RoboScrub Service Manual Continued...

Page 67: ...Page 68 RoboScrub Service Manual After Diagnostic run screen will show SUCCESS with a green check mark steps are complete...

Page 68: ...e rear of the machine To remove the MinuteMan Cowling remove the 5 32 hex screw on each side of the upper portion of the cowling as well as the five 1 8 hex screws that secure the Slanted LIDAR shield...

Page 69: ...Page 70 RoboScrub Service Manual MinuteMan RoboScrub 20 Replacing the MinuteMan BCM The cowling can be lifted up and off the two hooks at the top of the unit...

Page 70: ...n BCM Unscrew the four bundled black connectors that couple to the BCM Decouple the fan connector Cut the indicated zip ties and place the BCM to the side Remove the six 3mm hex screws that secure the...

Page 71: ...robot can establish ROC connection Verify ROC Connectivity Power on the unit and verify that the screen loads past the spinning Brain logo and ends on the Security PIN screen The ROC icon located in...

Page 72: ...infrastructure Moving the scrubber to a different part of the property or even outside the building may improve connectivity Train a short test route Print the home marker found on the following page...

Page 73: ...Page 74 RoboScrub Service Manual MinuteMan RoboScrub 20 Replacing the MinuteMan BCM...

Page 74: ...Page 75 RoboScrub Service Manual MinuteMan RoboScrub 20 Replacing the MinuteMan BCM Enter the PIN code and select Teach Route Teach a short route that starts and ends at the same home marker location...

Page 75: ...Page 76 RoboScrub Service Manual MinuteMan RoboScrub 20 Replacing the MinuteMan BCM...

Page 76: ...sure that the robot follows the path without difficulty At some point during the replay step in the robots path and continue to block it until an assist is triggered The goal is to leave the unit powe...

Page 77: ...Page 78 RoboScrub Service Manual Lower Lidar Removal Lower Lidar Removal...

Page 78: ...Page 79 RoboScrub Service Manual Front Panel Removal...

Page 79: ...Page 80 RoboScrub Service Manual 1 Remove these three screws...

Page 80: ...Page 81 RoboScrub Service Manual 2 Remove these two screws Remove Upper Lidar cover plate...

Page 81: ...Page 82 RoboScrub Service Manual 3 Remove two nuts positioned inside frame underneath There are two access holes to alow for removal...

Page 82: ...Page 83 RoboScrub Service Manual...

Page 83: ...Page 84 RoboScrub Service Manual 4 Remove screw on each side as shown in pictures below...

Page 84: ...Page 85 RoboScrub Service Manual...

Page 85: ...Page 86 RoboScrub Service Manual Removal of lower jaw and Lidar...

Page 86: ...Page 87 RoboScrub Service Manual 1 Disconnect cables...

Page 87: ...Page 88 RoboScrub Service Manual 2 Remove these four screws Then remove bracket...

Page 88: ...MOTOR PM MOTOR PM MOTOR PM MOTOR PM MOTOR ACCEL_WIPER FRESH WATER LEVEL SWITCH NC DIRTY WATER LEVEL SWITCH NO SEAT SWITCH NO DGND BRAKE COIL CLEAN_DOSE_ADJUST_COIL FRESH_WATER_FLOW_COIL 24V 1 2 3 4 5...

Page 89: ...FIT Jr PART THE MATING CONNECTOR PART NUMBER IS AS FOLLOWS MOLEX Mini Fit Jr 20 SOCKET RECEPTACLE 39 01 2200 MOLEX Mini Fit Jr CRIMP TERMINAL 39 00 0039 TILLER INTERFACE 15 16 17 18 19 20 15 16 17 18...

Page 90: ...Page 91 RoboScrub Service Manual 3 Remove these two screws Now Lidar is ready to remove...

Page 91: ...Page 92 RoboScrub Service Manual How to read Kinetek Error Codes Step one Locate the rear panel and remove the 7 screws and remove the panel Step Two Locate the Nidec Kinetek controller Error Codes...

Page 92: ...ep Four If the light is flashing the board has an error it will blink in a series of fast flashes and then slow flashes Count the flashes and see the table below to get your hex code See document Kine...

Page 93: ...7DX X IOL6X 20 X FMFIX X 9EX X 002 2I NFJX 23X FX 7DX X HO22522X FMFIX X 7DX X 002 2J NFJX DX 7DX X Q8M06X 23X FX 7DX X 0OOBX FNFIX Q8M06X DX 7DX X HO22522X Q7N06X DX 7DX X JOL6X FMFIX Q8M06X DX 7DX X...

Page 94: ...Page 95 RoboScrub Service Manual...

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Page 119: ...Service Manual 969 B9 9 11 30 8 3490 4 0 9 9 9 30 8 3490 9 0 A4 41 708 9 49 0 969 B9 0 30 8 3490 1 30 4 0 9 49 0 9 80 0 A4 0 969 B9 470 7 0 70 0 D 2 49 4 00 492 9 11 30 8 3490 4 0 9 9 9 30 8 3490 9 0...

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Page 123: ...Page 124 RoboScrub Service Manual Testing Manual Auto Switch Set Meter to DC voltage Place Black Probe on Main Battery Negative...

Page 124: ...ircuit How to Test To test a diode you will need a continuity tester or an OHM meter To test the diode 1 Put your OHM meter on the highest scale i e R x 10 000 scale and zero out your meter and remove...

Page 125: ...Page 126 RoboScrub Service Manual Set Switch in Auto Position 11 o clock...

Page 126: ...Page 127 RoboScrub Service Manual...

Page 127: ...Page 128 RoboScrub Service Manual Place Switch in Manual Position 2 o clock...

Page 128: ...Page 129 RoboScrub Service Manual...

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Page 134: ...screen Installation in Ferrite P N 275 00156 01 Ferrite Core Hinged 348ohm 10mm ID Install 1 ferrite approximately 1 5 from the connector on the LCD Install 1 ferrite approximately 1 0 from the first...

Page 135: ...aster Contactor E Stop Trunk side Red to Pin 59 on Down Trunk Figure A x Check for connectivity from the Master Contactor E Stop Trunk side Black to Pin 52 on the Down Trunk Figure B x Check for 24VDC...

Page 136: ...Page 137 RoboScrub Service Manual Figure A Figure B...

Page 137: ...Page 138 RoboScrub Service Manual Figure C Figure D...

Page 138: ...Page 139 RoboScrub Service Manual...

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Page 147: ...8 RoboScrub Service Manual Hard Reset Process H Hard Reset Process The following steps are to be done once Modem and Right 2D Camera have been confirmed working properly and Brain Program still will n...

Page 148: ...Page 149 RoboScrub Service Manual Turn key to off position disconnect batteries...

Page 149: ...stored power off Reconnect batteries turn key switch to on position Allow machine to stay turned on for a minimum of 15 minutes if after 20 minutes program does not load repeat the above steps A minim...

Page 150: ...te 20 Pingree Grove IL 60140 USA Phone 800 323 9420 www minutemanintl com A Member of the Hako Group Excellence Meets Clean Minuteman is a Full Line Manufacturer of Sweepers and Scrubbers for Industri...