13
Replacing Electrical Components
Sperker2
CSSD(FuSa) Power Board
J22
J24
J20
J26
J102
J100
J103
J32
J34
J30
J33
J37
J38
J97
J5
J101
J107
J104
J105
J29
J35
J36
J106
J18
J19
J39
J1
J4
J2
J3
J6
J7
J13
J98
J99
J21
J28
J12
J16
J95
J96
J25
J23
J31
J33
J34
3
5
11
12
41
42
FuSa Output Board
J7
J5
J3
J1
J8
J6
J4
J2
J15
J13
J1
1
J9
J20
J19
J25
J18
J17
J10
J12
J14
J16
LAN Hub
Safety
Relay
FAN
SBC
FAN
LAN Hub
MC2
(OUT)
MC1
(IN)
BLDC
Driver
(F/R)
BLDC
Driver
(F/L)
BLDC
Driver
(R/L)
BLDC
Driver
(R/R)
FuSa
LiDAR
(F/R)
FuSa
LiDAR
(F/L)
FuSa
ETC1
FuSa
ETC2
FuSa
Encoder2
FuSa
Encoder1
Master
Board
FuSa
Master
FuSa
LiDAR
(R/R)
FuSa
LiDAR
(R/L)
USB Hub
Wheel Motor (F/R)
Wheel Motor (F/L)
Wheel Motor (R/R)
Wheel Motor (R/L)
Terminal
Block
2D LiDAR
(F/R)
2D LiDAR
(R/R)
2D LiDAR
(R/L)
2D LiDAR
(F/L)
3D T
oF1
3D T
oF2
WiFi
Antenna2
WiFi
Antenna1
External Interface
+ E-Stop Switch 1ea
Switch Box
Hard Switch
Mode Switch
(Key lock type)
Sperker2
Front
Docking
Rear
Docking
Main Battery
(1EA)
MOT
PWR
Control
Power
485 COM1
485 COM2
Hall
Sensor
TH
MOT
PWR
Control
Power
485 COM1
485 COM2
Hall
Sensor
TH
MOT
PWR
Control
Power
485 COM1
485 COM2
Hall
Sensor
TH
MOT
PWR
Control
Power
485 COM1
485 COM2
Hall
Sensor
TH
(BRK PWR)
Main Contact(3N.O)
(GND)
Sub
Contact
(1N.O)
Coil A1(+)/A2(-)
Coil A1(+)/A2(-)
Main Contact(3N.O)
Main Contact(3N.O)
Sub
Contact
(1N.O)
Coil A1(+)/A2(-)
Coil A1(+)/A2(-)
Main Contact(3N.O)
(-)
(-)
(-)
(-)
(-)
(-)
(+)
(+)
(+)
(+)
(+)
(+)
USB4
USB1
USB2
USB3
SBC
CONN.
PWR
IN
USB
3.0
USB
3.0
USB
3.0
USB
3.0
HDMI
HDMI
LAN
LAN
SBC
PWR
USB 2.0
USB 2.0
USB 2.0
Speaker
W
iFi
Module
R
F
J9
J8
J2
J1
J10
J1
1
J7
J5
J9
J8
J2
J1
J10
J1
1
J7
J5J5
J7
J1
1
J10
J9
J8
J2
J1
J5
J7
J6
J2
J1
J6
J10
J13
J12
J2
J9
J5
J1
J6
J10
J13
J12
J2
J9
J7
J1
J10
J7
J9
J8
J2
J7
J5
J1
J10
J7
J9
J8
J2
J5
J1
J10
J7
J9
J8
J2
J5
J1
J10
J7
J9
J8
J2
3D
Camera2
3D
Camera1
Direct
Charging
J3
J6
J7
Short Bar
Short Bar
USB 2.0
CPU + Cooler
SSD
SSD
PWR
FAN PWR
(Spare)
SA
TA2
SA
TA1
Cooler
PWR
RealSense
RealSense
RealSense
RealSense
Start
Switch
Brake
Switch
E-stop
Switch
Soft
Switch
1
1
1
1
1
E-stop
Switch
2
2
3
4
6
6
7
7
8.24V
MASTER
8
8
9
10
9
10
11
12
13
13
14.5V USB HUB PWR
14
15.20V
SBC PWR
15
16
17
16
17
77.12V LiDAR PWR(F)
78.12V LiDAR PWR(R)
77
77-1
77-1
78
78-1
78-1
18
18
20
20
20
76.F
AN
PWR(SBC)
76.F
AN
PWR
76
26
26
27
27
28
28
29
30
29
30
31
31
31-3
32-3
32-3
31-3
33
Main Battery
(1EA)
40
40
41.MC SIG/BRK PWR
41
42-1
47
47
42
42-2
42-2 44
42-2 43
42-2 46
42-2 45
43
44
45
46
48
50
48
49
49
50
51
52
52
52
52
52
52
53
53
53
51
53
53
53
53
53
53
53
54
54
54
54
55
55
55
55
56
56
56
56
57
57
57
58
58
61
61
62
62
63
63
64
64
65
65
66
66
67
68
68
67
69
69
70
70
54
54
54
54
71
71
72
72
73
73
74
74
75
75
76
76
76
76
76
76
76
76
77
77
77
77
77
77
76
76
77
77
76
76
76
76
78
78
78
78
79
79
79
80
80
81
82
82
82
81
81
USB2.0
USB2.0
84.Ethernet
83.SBC T
O
HDMI
(SOCKET)
85
85
89
90
89
90
77
78
76
76
15
14
8
1
41
32
32
19
19
(FRONT)
(REAR)
34
35
< NOTE >
General
purpose cable
SIGNAL
POWER
External attachment (Bottom)
External attachment
(T
op)
External attachment (Electrical equipment)
Internal
attachment
PCB Board
Internal
attachment
(Electrical equipment)
< CSSD Robot wire diagram >
Fig. 3: Wiring Diagram
