Yujin Robot GoCart200 Omni, Service Manual

Page 1: ...GoCart200 Omni YUJIN AMS Service Manual Revision 1 6 Date 2023 03...

Page 2: ...vement Copyright and Disclaimer The information in this guide is subject to change without notice during the product s life cycle The printed version of the guide will be updated periodically Some det...

Page 3: ...n the event of incorrect treatment they can harm human health and the environment For this reason do not dispose of your old device in the residual waste Instead use the collection point set up at you...

Page 4: ...and picture updates V1 2 3 23 2021 Changed LED Information V1 3 10 13 2021 Encoder sensor and disk are added V1 4 11 3 2021 The chapter order of document is rearranged The description is added and th...

Page 5: ...ing Electrical Components 11 5 3 Wiring Diagram 12 6 Replacing Battery 14 6 1 Take Out Battery Assembly 14 6 2 Changing Battery or Battery Trigger Switch Unit 15 6 2 1 Changing Battery 15 6 2 2 Changi...

Page 6: ...9 1 Motor 26 9 2 9 2 Wheel 26 9 3 Encoder Sensor and Encoder Disk 26 10 LED Colors and Robot Status 27 11 Error Handling 28 11 1 Severity and Behavior 28 11 2 Error Codes 29 12 Appendix 34 12 1 Appen...

Page 7: ...0 Omni system is compliant with ISO 13482 PL d level safety to assure safety of robot operating in CSSD environment 1 2 About this Document This manual covers periodic maintenance and serviceable part...

Page 8: ...ury or product damages Note Users must follow the instructions to avoid situations that could cause property damages 2 2 General Safety Warning During maintenance and repair the power to the docking s...

Page 9: ...9 Tools Required 3 Tools Required Item Picture Hex wrench set meter Power up Handle Adjustable wrench Screw Driver PH2 M12 eye bolt 4 pcs Table 1 Tools Required...

Page 10: ...r Remove dirt and hairs with a wet cloth and make sure nothing is tangled in the wheels Replace as needed LiDAR Sensor Clean the cover of LiDAR sensor for best performance Do not use abrasive cleaning...

Page 11: ..._CSSD FUSE_MODULE_KF 32L PCB_FUSA_LIDAR_CSSD FAN_ASSY_60X60X20_BASE FUSE_KFS B10 PCB_FUSA_MASTER_CSSD UNIT_ASSY_EXT_PORT_CSSD Screws PCB_FUSA_ENCODER_ASSY MAGNETIC CONTACTOR MC 22b MASTER_BD_ASSY_BASE...

Page 12: ...circuit It shows the components of a circuit as simplified shapes and where fixtures and components may be connected to the system Also it shows how the electrical wires are interconnected between the...

Page 13: ...B 2 0 Speaker WiFi Module R F J9 J8 J2 J1 J10 J11 J7 J5 J9 J8 J2 J1 J10 J11 J7 J5 J5 J7 J11 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 J...

Page 14: ...Out Battery Assembly 1 Release 4 captive screws by hand 2 Remove COVER_BATTERY from GoCart200 Fig 4 Battery Maintenance 1 Open COVER_BATTERY by releasing 4 captive screws by hand 2 Turn off main switc...

Page 15: ...6 2 1 Changing Battery 1 Unscrew 12 points to be the side of the battery 2 Unplug the connector of the battery to be replaced 3 Replace the part with the new battery 2 ea 4 Reassemble the battery 5 Af...

Page 16: ...to be the side of the battery 2 Unplug the connector of the battery to be replaced 3 Replace the part with the battery trigger switch 2 ea 4 Reassemble the battery 5 After connecting red cable to new...

Page 17: ...VER_LEFT_ASSY_CSSD and COVER_RIGHT_ASSY_ CSSD by unscrewing 3 To replace sensors remove cover of sensor which needs maintenance 4 To replace wheels remove COVER_BTM_WATER_PROOF_CSSD to unscrew Fig 9 D...

Page 18: ...T_MTG_3D_CAM_D435_ CSSD SCREW_BHM_2X4_SWCH10A NI TIM510 BRKT_MTG_SICK_TIM510_CSSD SCREW_PHT_4X10_SWCH10A NI D435_INTEL_3D_CAM_CSSD COVER_ANTENA_ASSY_CSSD SCREW_FHM_3X4_SWCH10A NI COVER_EDGE_ASSY_WINDO...

Page 19: ...rubber tightly sticks to the cover and LiDAR 7 2 3 TIM510 For TIM510 maintenance refer to the following procedures 1 Remove COVER FRONT REAR ASSY CSSD and COVER LEFT RIGHT ASSY CSSD Fig 9 Disassemble...

Page 20: ...F04STSP XXX YU USB2 0 SWITCH_HARD_32GRhS_GO_120 F16 251G_START_SWITCH SCREW_FHT_3X6_SWCH10A NI K22 61K_MODE_SWITCH EMERGENCY_SWITCH_K22 87R N29_CSSD SCREW_HSHM_4X8_SWCH10A NI COVER_EXT_PORT_CSSD COVER...

Page 21: ...rse order of disassembling When reassembling the unit mind the cable direction like below figure Fig 12 Switch Main Assembly 8 2 Mode Switch Key For MODE_SWITCH_KEY_K22 61K_CSSD maintenance refer to t...

Page 22: ...a nut fixed switch in rear of cover 5 Replace the unit with a new one and assemble in the reverse order of disassembling 8 4 Brake Switch Soft Switch Start Switch For BRAKE SWITCH SOFT SWITCH START_SW...

Page 23: ...he wheels have significant wear and we recommend it should be replaced in assembly units WHEEL_MECANUM_ASSY_RIGHT and WHEEL_MECANUM_ASSY_LEFT Fig 16 Wheel and Motor Replacement WHEEL_MECANUM_ASSY_RIGH...

Page 24: ...SSD Figure 4 2 Disassemble Covers for Sensors or Wheels 3 Disconnect 3 cables motor encoder for FuSa and thermistor temperature sensor Fig 17 Wheel and Motor Cables 4 WHEEL_MECANUM_ASSY_RIGHT or WHEEL...

Page 25: ...or Fig 18 Wheel and Motor Assembly SENSOR_PM F45_PM R45_ENCODER_R SHAFT_MAIN_MOTOR_MECAWHEEL PLATE_DISK_MAIN_ENCODER BRACKET_FIX_MOTOR_MECAWHEEL MOTOR_MT28 RIGHT WHEEL_MECA_MAIN_ASSY_RH MOTOR_MT28 LEF...

Page 26: ...mistor temperature sensor 3 After unscrewing 8 points remove WHEEL_MECANUM_ASSY_RIGHT or WHEEL_MECANUM_ASSY_ LEFT Fig 16 Wheel and Motor Replacement on page 23 4 After releasing nuts and screws like F...

Page 27: ...ight band around the robot indicates the robot s current operational state Refer to the following table for more details 8 5 3 1 4 2 6 7 GoCart180 GoCart250 Front 1 4 2 3 7 6 8 5 GoCart200 Omni Front...

Page 28: ...vior LOG_ERR The lowest priority Normal errors Keep its work after error becomes normal Publishing and Notifying error info Erro info time category sererity error code message LOG_CRIT Middle priority...

Page 29: ...20111200 LOG_CRIT 3D LiDAR horizontal mirror speed is out of range 20 20111300 LOG_CRIT 3D LiDAR vertical mirror speed is out of range 21 20111400 LOG_CRIT 3D LiDAR can not get temperature data 22 201...

Page 30: ...Joystick has wrong value 60 20914100 LOG_CRIT Emergency stop button is pressed 61 21001300 LOG_ALERT Battery failed init 62 210051nn LOG_ALERT Can not get the battery parameter file 63 210053nn LOG_A...

Page 31: ...ed to read UDP 103 21816200 LOG_ERR FuSa encoder board failed to send UDP 104 218014nn LOG_CRIT FuSa encoder board wakeup error 105 218095nn LOG_CRIT FuSa encoder board stops by category 0 106 218096n...

Page 32: ...se manager 145 40306500 LOG_ERR Pose manager found mismatched size of transfered data 146 40402200 LOG_ALERT Local map got wrong map ID 147 40402600 LOG_ALERT Local map got invalid data 148 40412100 L...

Page 33: ...5 50904200 LOG_ERR Motion integrator timed out 176 50909100 LOG_ERR Motion integrator detected potential collision 177 51002500 LOG_ERR Motion manager got empty data 178 51002700 LOG_ERR Motion manage...

Page 34: ...er Jig 2 Align the Marker Jig with the Charging Terminal on the charging station and then insert it 3 Peel off the adhesive side of the Visual Marker Sticker Attach the sticker to the empty space at t...

Page 35: ...Yujin Robot Co Ltd Harmony ro 187 beon gil 33 Yeonsu gu Incheon Songdo dong TEL 82 32 550 2300 FAX 82 32 550 2301 www yujinrobot com...