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Yujin Robot GoCart200 Omni Service Manual

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YUJIN AMS
GoCart200 Omni
Service Manual
Revision: 1.6
Date: 2023/03

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Summary of Contents for Yujin Robot GoCart200 Omni

  • Page 1 YUJIN AMS GoCart200 Omni Service Manual Revision: 1.6 Date: 2023/03...
  • Page 2 All logos and trademarks in this document are legally protected as part of the intellectual property rights of Yujin Robot. No part of this document may be reproduced in any form without the explicit written consent of Yujin Robot. The appearance and specifications of the product are subject to change without notice for product improvement.
  • Page 3 Disposal of Waste Equipment Waste electrical and electronic equipment often still contains valuable materials. However, they also contain harmful substances that were necessary for their function and safety. In residual waste or in 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.
  • Page 4 GoCart200 Omni Service Manual Change History The following table provides version information for this document and a history of significant changes. Version Date of Writing Changes V1.0 2/20/2021 First Creation V1.1 3/10/2021 Added chapter 6 & 7 and picture updates V1.2...

  • Page 5: Table Of Contents

    Table of Contents Table of Contents 1. Introduction 1.1 Product Introduction 1.2 About this Document 1.3 Manual Introduction 2. Important Safety Instructions 2.1 Definition 2.2 General Safety 3. Tools Required 4. Periodic Maintenance Schedule 4.1 Daily Check 4.2 Periodic Maintenance 5. Replacing Electrical Components 5.1 Disassembling Covers 5.2 Replacing Electrical Components 5.3 Wiring Diagram 6. Replacing Battery 6.1 Take Out Battery Assembly 6.2 Changing Battery or Battery Trigger Switch Unit 6.2.1 Changing Battery ①...
  • Page 6 GoCart200 Omni Service Manual 9. Replacing Wheel and Motor 9.1 Motor 9.2 9.2. Wheel 9.3 Encoder Sensor and Encoder Disk 10. LED Colors and Robot Status 11. Error Handling 11.1 Severity and Behavior 11.2 Error Codes 12. Appendix. 12.1 Appendix A. How to Attach Visual Marker Sticker (using Marker Jig)

  • Page 7: Introduction

    GoCart200 Omni includes the driving unit with independent type suspension, 3D sensors, LiDAR sensors, emergency stop, and equipped with output interfaces to communicate with conveyors. In addition, GoCart200 Omni system is compliant with ISO 13482 PL d level safety to assure safety of robot operating in CSSD environment.

  • Page 8: Important Safety Instructions

    GoCart200 Omni Service Manual 2. Important Safety Instructions 2.1 Definition The following instruction is to ensure user’s safety and prevent any property damage. Please read the following texts and use the system with care. Warning Users must follow the instructions to avoid potentially hazardous situations that could cause serious injury or death.

  • Page 9: Tools Required

    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: Periodic Maintenance Schedule

    GoCart200 Omni Service Manual 4. Periodic Maintenance Schedule Fig. 1: Product Part Information 4.1 Daily Check Emergency switch. • Check the LED light in the emergency switch when pushing the switch. • 4.2 Periodic Maintenance Cleaning: The following table provides a summary of cleaning steps.

  • Page 11: Replacing Electrical Components

    Replacing Electrical Components 5. Replacing Electrical Components 5.1 Disassembling Covers 1. Release 14 screws upward using hex-wrench. 2. Remove ① COVER_TOP_SERVICE_CSSD and place it inner-side down, so the outer surface does not get scratched. 5.2 Replacing Electrical Components Fig. 2: Product Part Information ①...

  • Page 12: Wiring Diagram

    GoCart200 Omni Service Manual 5.3 Wiring Diagram A wiring diagram is a simplified visual representation of the physical connections and physical layout of an electrical 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 devices.
  • Page 13 Replacing Electrical Components LAN Hub Fig. 3: Wiring Diagram...

  • Page 14: Replacing Battery

    GoCart200 Omni Service Manual 6. Replacing Battery For battery maintenance, refer to the following procedures. 6.1 Take Out Battery Assembly 1. Release 4 captive screws by hand. 2. Remove ② COVER_BATTERY from GoCart200. Fig. 4: Battery Maintenance 1. Open ① COVER_BATTERY by releasing 4 captive screws by hand.

  • Page 15: Changing Battery Or Battery Trigger Switch Unit

    The voltage difference between the existing battery and the replacement battery should • be less than 0.1 V. When replacing the battery, use only the battery provided by Yujin Robot. • Follow proper Electrostatic discharge (ESD) procedures during removal and •...

  • Page 16: Changing Battery Trigger Switches ②, ③

    GoCart200 Omni Service Manual 6.2.2 Changing Battery Trigger Switches ②, ③ 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 battery trigger switch (2 ea).

  • Page 17: Replacing Sensor

    Replacing Sensor 7. Replacing Sensor 7.1 Disassemble Cover for Sensor 1. First of all, remove all ① COVER_CORNER_IP_ASSY_CSSD by unscrewing 8 points. 2. Remove ③ COVER_REAR_ASSY_CSSD, ④ COVER_LEFT_ASSY_CSSD, and ⑤ COVER_RIGHT_ASSY_ CSSD by unscrewing. 3. To replace sensors, remove cover of sensor which needs maintenance. 4.

  • Page 18: Replacing Sensor

    GoCart200 Omni Service Manual 7.2 Replacing Sensor Fig. 10: Sensors Attached on Frame ① 3D Sensor (Astra mini) ⑧ BRACKET_MTG_TOF_CSSD ⑮ WASHER_NBR_NO35_ID4_OD8_T2 ⑨ BRACKET_MTG_3D_CAM_D435_ ② YUJIN LiDAR (YRL3-20) ⑯ SCREW_BHM_2X4_SWCH10A/NI CSSD ③ TIM510 ⑩ BRKT_MTG_SICK_TIM510_CSSD ⑰ SCREW_PHT_4X10_SWCH10A/NI ④ D435_INTEL_3D_CAM_CSSD ⑪ COVER_ANTENA_ASSY_CSSD ⑱...

  • Page 19: Sensor (Astra Mini)

    Replacing Sensor 7.2.1 3D Sensor (Astra mini) For ① 3D Sensor (Astra mini) maintenance, refer to the following procedures. 1. Remove COVER FRONT ASSY CSSD or COVER REAR ASSY CSSD. (②, ③, "Fig. 9: Disassemble Covers for Sensors or Wheels" on page 17).

  • Page 20: Replacing Switches And External Ports

    GoCart200 Omni Service Manual 8. Replacing Switches and External Ports Fig. 11: Switches and External Ports ⑬ USB30_WF04STSP-XXX (YU- ① TERMINAL_ASSY_ROBOT_CSSD ⑦ F16-251W_SOFT_SWITCH USB2.0) ② SWITCH_HARD_32GRhS_GO_120 ⑧ F16-251G_START_SWITCH ⑭ SCREW_FHT_3X6_SWCH10A/NI ⑨ EMERGENCY_SWITCH_K22- ③ K22-61K_MODE_SWITCH ⑮ SCREW_HSHM_4X8_SWCH10A/NI 87R-N29_CSSD ④ COVER_EXT_PORT_CSSD ⑩ COVER_ASSY_EXT_PANEL_CSSD ⑯...

  • Page 21: Switch Main Assembly

    1. Remove COVER RIGHT ASSY CSSD to unscrew 9 points. (⑤, "Fig. 9: Disassemble Covers for Sensors or Wheels" on page 2. Loosen a nut fixed switch in the frame of the GoCart200 Omni. 3. Push the side hook like below fig. and disconnect cables. Fig. 13: Mode Switch Key...

  • Page 22: Emergency Switch

    GoCart200 Omni Service Manual 8.3 Emergency Switch For ③ EMERGENCY_SWITCH_K22-87R-N29_CSSD maintenance, refer to the following procedures. 1. Remove COVER RIGHT ASSY CSSD or COVER RIGHT ASSY CSSD to unscrew 9 points. (④⑤, "Fig. 9: Disassemble Covers for Sensors or Wheels" on page 2.

  • Page 23: Replacing Wheel And Motor

    Replacing Wheel and Motor 9. Replacing Wheel and Motor The wheels can be replaced if the wheels have significant wear, and we recommend it should be replaced in assembly units. (① WHEEL_MECANUM_ASSY_RIGHT and ② WHEEL_MECANUM_ASSY_LEFT) Fig. 16: Wheel and Motor Replacement ①...
  • Page 24 GoCart200 Omni Service Manual For ① WHEEL_MECANUM_ASSY_RIGHT or ② WHEEL_MECANUM_ASSY_LEFT, refer to the following procedures. 1. Lift or lean the robot to secure the space for wheel maintenance. 2. Remove COVER_BTM_WATER_PROOF_CSSD. (⑥, Figure. 4 2 Disassemble Covers for Sensors or Wheels).
  • Page 25 Replacing Wheel and Motor Fig. 18: Wheel and Motor Assembly ① SENSOR_PM-F45_PM-R45_ENCODER_R ⑤ SHAFT_MAIN_MOTOR_MECAWHEEL ② PLATE_DISK_MAIN_ENCODER ⑥ BRACKET_FIX_MOTOR_MECAWHEEL ③ MOTOR_MT28-RIGHT ⑦ WHEEL_MECA_MAIN_ASSY_RH ④ MOTOR_MT28-LEFT ⑧ WHEEL_MECA_MAIN_ASSY_LH...

  • Page 26: Motor

    GoCart200 Omni Service Manual 9.1 Motor For motor maintenance, refer to the following procedures. 1. Unscrew 20 points and remove COVER_BTM_WATER_PROOF (⑥, "Fig. 9: Disassemble Covers for Sensors or Wheels" on page 17). 2. Disconnect 3 cables (motor, encoder for FuSa, and thermistor temperature sensor).

  • Page 27: Led Colors And Robot Status

    LED Colors and Robot Status 10. LED Colors and Robot Status The LED light band around the robot indicates the robot’s current operational state. Refer to the following table for more details. Front Front GoCart180 GoCart200 Omni GoCart250 Fig. 19: LED band position of robot (1~8) Fig.

  • Page 28: Error Handling

    GoCart200 Omni Service Manual 11. Error Handling Robot checks its own error states. Below is the error list. Each errors have its severity and behavior. 11.1 Severity and Behavior LOG_ERR • The lowest priority Normal errors Keep its work after error becomes normal...

  • Page 29: Error Codes

    Error Handling 11.2 Error Codes Index Error Code Error Severity Description 10108300 LOG_ERR CPU reached the limitation 10208300 LOG_ERR Memory is over the limitation 10305500 LOG_ALERT Failed to open the system information file(/proc/stat) 10408800 LOG_ERR Disk space is over the limitation 10608300 LOG_ERR Process is using high memory...
  • Page 30 GoCart200 Omni Service Manual 202025nn LOG_ERR TiM510 data is empty 202031nn LOG_ERR TiM510 can not get available storage block 202051nn LOG_ALERT Can not get the TiM510 parameter file 20205200 LOG_ALERT There is no TiM510 extrinsics data 202053nn LOG_ALERT TiM510 reads wrong value...
  • Page 31 Error Handling 216014nn LOG_CRIT FuSa TiM510 wakeup error 216095nn LOG_CRIT FuSa TiM510 stops by category 0 216096nn LOG_CRIT FuSa TiM510 stops by category 2 216051nn LOG_ALERT Can not get the FuSa TiM510 parameter file 216053nn LOG_ALERT FuSa TiM510 reads wrong value 21605200 LOG_ALERT There is no FuSa TiM510 extrinsics data...
  • Page 32 GoCart200 Omni Service Manual 30108700 LOG_ERR SLAM failed to sync the map file 30113100 LOG_ERR SLAM failed odometry interpolation 30205100 LOG_ALERT Localization needs to set filename 30205300 LOG_ALERT Localization needs to check extrinsics data 30206400 LOG_ERR Localization failed to send pose requesting...
  • Page 33 Error Handling 50702200 LOG_ERR Starting point is out of global gridmap 50702500 LOG_ERR Path planner got empty data 50704200 LOG_ERR The global path was not planned within expected time. 50712100 LOG_ERR Path planner failed to get global path 50802200 LOG_ERR Planner got abnormal pose in local map 50802500 LOG_ERR...

  • Page 34: Appendix

    GoCart200 Omni Service Manual 12. Appendix. 12.1 Appendix A. How to Attach Visual Marker Sticker (using Marker Jig) 1. Prepare the provided Visual Marker Sticker and Marker Jig. 2. Align the Marker Jig with the Charging Terminal on the charging station and then insert it.
  • Page 35 Yujin Robot Co., Ltd. Harmony-ro 187 beon-gil 33, Yeonsu-gu, Incheon (Songdo-dong) www.yujinrobot.com TEL +82 32 550 2300 FAX +82 32 550 2301...

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