Philips FC9910/01/B User manual

ServiceManual
Philips Consumer Lifestyle
Published by Philips Consumer Lifestyle Printed in the Netherlands © Copyright reserved Subject to modification
HomeRun robotic vacuum cleaner
FC9910/01/B
11/02
PRODUCT INFORMATION
- This product meets the requirements regarding
interference suppression on radio and TV.
- After the product has been repaired, it should function
properly and has to meet the safety requirements as
officially laid down at this moment.
TECHNICAL INFORMATION
- Colour : Oyster Metalic/Lime Yellow
- Power source : Lithium Ion Battery
14.8 V / 2200 mAh
- Power Normal mode : 50 W
Turbo mode : 65 W
- Charger AC / DC : 19 V DC / 3.16 A
- Charging time : 180 min
- Run time : 90 - 110 min
- Timer : 24 h
- Moving speed : 30 cm/sec
- Sensors : Bumper/lifting/Wheel Encoder/
IR/gyro/camera
- Navigation method : Systematic mapping
- Remote control : Infrared Method
- Filter system : Mesh filter
Exhaust filter
Motor protection filter
- Dustbin capacity : 0.6 L
- Sound level : 73 dB
- Size : 345 x 104 mm
- Net weight : 6.8 Kg
ACCESSORIES
- Roller brush : 4222 459 48121
- Side brush set (L+R) : 4222 459 48131
- Lithium Ion battery : 4222 459 48141
OPTIONAL (accessories)
- No specific issues.

FC9910/01/B
When the built-in diagnostics leads to the need to check the
appliance internally, please follow below steps to bring the
appliance to a service position.
- Before opening the appliance, first remove the dustbin cover
(3) and dustbin assembly (5-8).
- Remove the two screws (A) in the top cover, see picture
below:
A
A
- Turn the appliance upside down on a clean protective mat
or sheet to prevent scratches to the top cover.
- Switch the appliance off with the main switch at the bottom
of the appliance.
- Remove the battery (12)!
- Remove the side brushes (11).
- Remove the 5 screws (B) as indicated in below picture
(one screw is located underneath the QC sticker):
B
B
B
B
B
- Turn the appliance around again and remove the upper
cover (18), take care of unplugging the button interface
cable (20) from the main board! Do not forget to reconnect
the interface cable to the main board when re-assembling
the upper housing!
Note: When there is no need to disassemble the bumper assy,
please leave it in place as the wiring routing is quite
complex, and would result in unnecessary time spent, as
all mechanical components can be reached when only
the main PCB is removed.
- Undo all connectors from the main board, apart from the
connectors connecting to the bumper assy (J7, J11, J14 and
J202). Unscrew the 6 screws (C) indicated in the picture
below. You can now flip the main PCB (25) over, to the
front, and access all internal components. Please mind the
main PCB when servicing any part of the appliance, as it is
a sensitive piece of electronics.
CARPET AUTO
SPOT CLIMB
AM
PM
MODE
? INFO TURBO
C
6x
- When access to the Roller Brush motor (31) or Vacuum
motor (26) is required, please remove the two screws (D)
holding the Cover Middle assy (23) in place. And remove
the Cover Middle assy, see picture below.
CARPET AUTO
SPOT CLIMB
AM
PM
MODE
? INFO TURBO
D
D
DISASSEMBLY- AND RE-ASSEMBLY ADVISE
2-17

FC9910/01/B
DISASSEMBLY- AND RE-ASSEMBLY ADVISE
- To remove the Vacuum motor including suction tube
remove the 4 screws (E) as indicated in the picture below.
Be careful not to damage the Case Duct Filter (30).
E
E
E
E
- To replace the brush belt (36), unscrew the screw (F)
holding the protective cap covering the brush belt in place.
You should be able to unscrew screw Fwithout removing
the Bumper assy. Turn the appliance upside down, remove
the Brush retainer (17) and Roller Brush (16), unscrew the
two screws (G) holding the Pulley Main Brush assy (38)
in place. You can now remove the brush pulley and brush
belt.
F
G
G
- To remove the Brush Motor assy (31) unscrew the screw (F)
holding the protective cap covering the brush belt in place.
Unscrew the four screws (H) holding the Brush Motor assy
in place. By lifting the back side of the Brush Motor assy
you slacken the tension on the Brush Belt, and you can slide
the Brush Motor assy out. Make sure that you transfer both
halves of the motor pulley and the C-clip to the new motor
correctly, noting the original orientation (Motor, toothless
part, toothed part, C-clip).
H 4x
- To remove the Bumper assy, first undo the four remaining
connectors from the main PCB (J7, J11, J14 and J202) put
the main PCB aside. Unscrew the 5 screws (I) holding the
bumper assy in place, as indicated in below picture.
When removing the Bumper assy, take special notice of the
correct wiring of the different sensors, as the alignment of
the sensors is critical to the functioning of the appliance.
I5x
- To remove either of the two main driven wheel assy’s,
unscrew the two screws (J) holding the assy in place, and
remove the wheel assy. The protective plastic cap, sliding
axles and spring may become displaced, as they are not
(permanently) fixed to the assy. Please notice the location
of the spring around the front sliding axle, when reinstalling
the wheel assy.
Always check the correct position of the wheel assy with
respect to the Lifting Sensor assy (33) on either side, make
sure, when extended, it actuates the switch.
- When the repair is finished, check whether all functions
of the appliance work properly by running the built-in
diagnostics, confirming the functionality of all sensors and
motors. When everything works ok, perform a Sensor
Calibration and perform a quick functional test.
3-17

FC9910/01/B
System configuration:
Bumper
Front IR
Bottom IR
Bottom PSD
Button
Dustbin
Lift
Wheel
Motor
Suction
Motor
Side Brush
Motor
Brush
Motor
HomeRun Block diagram
Motor
Driver
Control
CPU
RTC
battery
CAM
CPU Board
Buzzer
Display
LED block
SMPS
Vbat
12V
5V
3V3
Adaptor
(19V)
Base
Station
Charger
Board
Battery
(Li-ion)
Main (Control) Board
DESCRIPTION OPERATING PRINCIPLE
- The main board consists of the Power supply, CPU-board,
Real Time Clock, Motor drivers, Display and Camera unit
and thus is controlling the whole system with regard to
input/output processing, motor operation and others.
- The charging board charges the battery with the electrical
source supplied from the 19 V mains adapter and also gives
input to the control board regarding battery condition.
- The User interface board contains the interface buttons.
It also contains the Remote control reception device.
- 6 motors are used in the Robot body:
2 wheel motors, 1 main brush motor, 2 side brush motors
and 1 vacuum motor.
Sensors
- The Bumper sensor exists of an outer carbon rubber that
makes contact with an inner patterned film when colliding.
It is divided in 6 different contact areas, four at the front
and two at the front upper side.
- The Front IR sensors are placed to detect obstructions
without contacting, in addition to above bumper sensor.
A total of 7 IR sensors are mounted for this function.
- The Ground Detection IR sensors are placed in the bottom
to detect there is a “precipice”
-Wheel Lift Detection sensors are located on both wheels to
detect if a wheel is raised.
-ADustbin Detection sensor is mounted to detect dustbin
is in place.
-ACamera unit at the top cover is used for mapping the
room by means of the sealing/wall structure.
-APassive Encoder is attached to the front wheel to measure
the travel distance.
-AGyro sensor is mounted to measure the rotation angle.
4-17

FC9910/01/B
Software upgrade
- The firmware and application software can be upgraded via a USB port situated under the dust container cover using a USB-flash
drive.
- Check www.philips.com/support or www.atyourservice.ce.philips.com regularly for updates. There you can also find the
instructions how to upload the new software to the robot and the issues it will solve!
- Diagnostics and troubleshooting
- Display Error codes:
Error
code Error description Presumption cause Possible solution
E0 Rechargeable Battery is empty Battery was discharged completely Charge the battery
Battery or Main board failure Replace the Battery/Main board
E1 Wheel lifted Movement of wheel is not smooth Replace the wheel module
E2 Floor detection error Ground blocked with dirt sensor Clean the ground sensor
Ground sensor defect Replace ground sensor
E3 Dust container error Dustbin detection sensor defect Replace the Cover middle assy
E4 Wheel motor overload Wheel blocked with dirt/hair Remove the dirt/hair
Gearbox or motor defect Replace the wheel/motor/gear assy
Driver or overload circuit defect Replace the main board
E5 Brush motor overload Brush blocked with dirt/hair Remove the dirt/hair
Brush motor/gear defect Replace brush motor
Driver or overload circuit defect Replace main board
E6 Suction motor overload Clogged filter Clean the motor filter
Suction motor defect Replace suction motor incl. air tube
Driver or overload circuit defect Replace main board
E7 Inner system error Software error Reset with main on/off switch,
check for firmware upgrades
E8 Dust stuck on front wheel Dirt/hair in wheel case Remove the front wheel and clean it
REPAIR INSTRUCTION
5-17

FC9910/01/B
REPAIR INSTRUCTION
Built-in Self Diagnostics program
- At the ready status (power and display is on), press both [MODE] and [start ] button simultaneously for 3 seconds to start the
self diagnose program. As soon as the program starts vEr will appear in the display.
When pressing the [MODE] button the diagnose item will change order and pressing the [start ] button it starts execution of
the selected item.
- Below diagnose items are available:
Quick start guide diagnose program
Press [MODE] and [] button for 3 seconds
Step Display Test item Displays after execution Action Possible deviation Possible cause of
deviation
1 vEr Application version Application version Check version Older version Not upgraded
2 FuEr Firmware version Firmware version Check version Older version Not upgraded
3 HuEr Hardware version Hardware version Check version N.A. N.A
4 An Gyrosensor 0-359 degrees Turn appliance arround No reaction/wrong
reading
Gyrosensor board or
CPU board faulty
5 PE Frontwheel encoder Travel distance in mm Manually turn front wheel No reaction when
turning the wheel
Encoder defect Wheel
Magnetic faulty
6 rUn Wheel motors FobAFo etc. Moves 4sec forward/
4 sec backwards etc.
Does not move, move
straight/only one
wheel moves
Driver defect/Wheel
motor defect
7 brU Brush motors brU Main brush and
sidebrushes rotate
One of the brushes
does not rotate
Motor defect/main
brush belt broken
8 vAC Vacuum motor vAC Vacuum motor on Vacuum motor does
not rotate
Vacuum motor defect
9 PSdC Drop-off sensor
calibration See Chapter "Calibration of PSD Drop-off sensors" !
10 PSdr Drop-off sensor
readings See Chapter "Calibration of PSD Drop-off sensors" !
11 FrIr Front IR sensors Blocking each seperate
sensor (10 cm distance)
should result in a change
of the display.
324
15
06
Check each of the 6
seperate front IR sensors
by blocking them by hand.
No reaction to one
sensor/no reaction
at all
Defect sensor/defect
main board
12 boIr Bottom IR sensors Blocking each sensor (4 cm
distance) should result in a
change of the display.
21
03
Check each of the 4
seperate bottom IR sensors
by blocking them by hand.
No reaction to one
sensor/no reaction
at all
Defect IR sensor/
defect main board
6-17

FC9910/01/B
Step Display Test item Displays after execution Action Possible deviation Possible cause of
deviation
13 bU Front bumper
sensors
Push the 4 bumper areas
as indicated below, this
should result in a change
of the display.
03
12
Check each of the 4
seperate front bumper
sensors by pushing them
by hand.
No reaction to one
sensor/no reaction
at all
Defect bumper
sensor/defect main
board
14 tbU Upper bumper
sensors
Push the 2 bumper areas
at the top of the appliance
as indicated below, this
should result in a change
of the display.
12
Check each of the 2
seperate top bumper
sensors by pushing them
by hand.
No reaction to one
sensor/no reaction
at all
Defect bumper
sensor/defect main
board
15 doIr Docking IR sensor Left two digits reflect the
reception of the IR signal
from the docking station
for the two IR sensors at
the left and right side.
Right two digits deflect the
receiption of the middle
sensor.
Turn the appliance in front
of the docking station
and rotate it to check
receiption of the two
sensors.
No reaction to one
sensor/no reaction at
all/no reading at all
IR sensor defect/
docking station
transmittor defect
16 rE Remote control IR
sensor
Each button of the
remote control reflects a
Hexadecimal code on the
display.
0407
0105
0302
0E0D
06
08
0A
09
0A0B
Push each button of the
remote control and check
the display for the correct
code.
No reaction to one
button/no reaction
at all
Remote control
defect/battery of the
remote empty/remote
receiver defect
17 dUSt Dustbin detection
sensor
When detecting the
dustbin "1" is displayed.
If dustbin is not present
"0" is displayed.
Remove and place the
dustbin.
No reaction Dustbin detector
defect/dustbin
somehow does not
actuate the detector
18 tACt Wheel lift sensors Last two digits reflect the
condition of the two wheel
lift sensors: Wheel lifted
will result in "1"
Lift the robot at both sides
seperately to check the
sensors.
No reaction to lifting
one of the wheels/
both of the wheels
Wheel lift sensor
defect/Mechanical
defect
REPAIR INSTRUCTION
7-17

FC9910/01/B
Step Display Test item Displays after execution Action Possible deviation Possible cause of
deviation
19 CHAr Battery charging
condition
"07" for not charging,
"01" for charging and "00"
for fully charged.
The left digit of the display
shows the availability of
the charger: "0" charger
not present, "1" charger
present.
Connect the charger to the
charging jack and check if
appliance switches to the
correct condition.
No reaction
connecting the
charger
19 V charger defect/
charging board defect
20 bAtt Battery voltage Battery voltage in tenths
of volts
Check battery voltage
(also during charging)
Battery voltage low
and does not rise
during charging
Battery defect/charger
defect
21 rtC Real Time Clock 0-599 Check counter 0-599 in
59,9 seconds
No counting CPU board defect
22 boLE Bottom IR sensor
treshold
50 Factory setting, do not change unless official notification
of change is released!!
23 FrLE Front IR sensor
treshold
100 Factory setting, do not change unless official notification
of change is released!!
24 Led Display test All digits Check all digits are lit Digits that are not lit Defect main board
REPAIR INSTRUCTION
8-17

FC9910/01/B
REPAIR INSTRUCTION
Troubleshooter:
Troubleshooting tips when after Self Diagnosis the root cause is still inconclusive.
Symptom Problem Area Problem Area
1. The robot keeps colliding with objects in
the room, and doesn’t try to avoid them
after collision. Also, during movement,
the robot regularly touches obstacles with
its bumper.
a. The mounting of the IR sensors in the
bumper may be faulty or incorrect.
b. The assembly of the Bumper Sensors
(Stretched Film type) may be at fault.
• Please check the mounting of the
IR sensors and the functionality of the
IR Bumper Sensors using the built-in
diagnostics. Replace the Bumper assy if
necessary.
2. During operation the robot stops with
error message E2.
a. Foreign objects or dust/debris block the
opening of the Ground Detection Sensors.
b. The Ground Detection Sensors may be
faulty.
• When the unit is still not operating as
it should after cleaning of the Ground
Detection Sensor, first replace the Bumper
assy, when that doesn’t solve the problem,
replace the Main PCB.
3. The robot falls down a step or the stairs. a. Foreign objects or dust/debris block the
opening of the Ground Detection Sensors.
b. The Ground Detection Sensors may be
faulty.
c. The Wheel Lift Detection Sensor(s) may
be faulty.
• When the unit is still not operating as
it should, after cleaning of the Ground
Detection Sensor, first replace the Bumper
assy, when that doesn’t solve the problem,
replace the Main PCB.
4. The robot moves at an unusual high pace. a. The Front Wheel Encoder may be faulty. • Check the connection to the Front Wheel
Encoder.
• Check if on the Front Wheel assy the
encoder actuator is still present and intact.
• Replace the Encoder PCB.
5. The robot doesn’t move, only rotates on
its original location or deviates from a
straight line unexpectedly.
a. The Wheel motor operation may be
hindered by foreign materials.
b. The Wheel motor(s) may be faulty.
• Clean any foreign materials from the
Wheel assy(s).
• Replace the Wheel assy if necessary.
6. The Roller Brush doesn’t operate well, all
other operation is ok.
a. Foreign objects block the Roller Brush.
b. Gearbox failure of the Brush Motor.
• Clean the Roller Brush.
• When the Roller Brush still doesn’t operate
well, replace the Brush Motor assy.
7. The movement pattern of the robot is
irregular in the Spot Cleaning mode.
a. Regularity of the cleaning pattern is hard
to maintain on carpet.
b. The regularity of the cleaning pattern is
hard to maintain when there are too much
obstacles in the robot’s way.
c. The floor or the wheels of the robot may
have become slippery, the friction between
the wheels of the robot and the floor has
become too low.
• Clean the wheels of the robot.
• Dry the floor / let the floor dry.
• Store the obstacles off the floor.
8. When pressing the power button to
operate the appliance, it immediately
turns off.
a. The battery power may be low.
b. The power cut-off protection may have
been activated because of an overload to
one of the motors.
• Make sure the battery is (fully) charged,
when the battery power or its capacity
remains low, check in order, the battery,
the DC jack and the Charging PCB.
Replace if necessary.
• Check all the motors by using the built-in
diagnostics, replace any faulty motor assy.
9. The robot will not power on. a. The battery is fully discharged or faulty.
b. The DC jack or Charging PCB may be
faulty
• Make sure the battery is fully charged,
when the battery power or its capacity
remains low, check, in order, the battery,
the DC jack, the Charging PCB and Main
PCB. Replace if necessary.
9-17

FC9910/01/B
REPAIR INSTRUCTION
Symptom Problem Area Problem Area
10. Shortly after operation started the robot
stops with error messages E4, E5 or E6
frequently.
a. Foreign objects block the Wheel Motor(s),
Roller Brush Motor or the Suction Motor
is clogged.
b. The Main PCB may be faulty.
c. One of the Motors may be faulty.
• Check the motors for clogging or foreign
objects.
• Check whether all motors are fully
functional by using the built-in diagnostics.
Replace if necessary.
• Replace the Main PCB.
11. The wheels of the robot continue rotating
even though robot is being raised from
the floor.
a. The Wheel Lift Detection Sensors or its
assembly may be faulty.
b. The Ground Detection Sensors may be
faulty.
• Check the Wheel Lift Detection Sensor’s
functionality by using the built-in
diagnostics, replace any of the Wheel assy
if necessary.
• Check the Ground Detection Sensors
functionality, replace the Bumper assy if
necessary.
Calibration of Ground Detection Sensors
1. Put the robot on a flat white surface (for instance a piece of white paper).
2. Enter the diagnostic mode by pressing both [MODE] and [start ] button simultaneously for 3 seconds and scroll to PsdC
with the [MODE] button.
3. Push [start ] on the remote controller.
4. The turbo-LED lights up during the calibration process.
5. After calibration is finished check the calibration by scrolling to the next step Psdr with the mode button.
6. Push [start ] on the remote controller.
7. The left two digits show the left side calibration result and the right two digits the right, each should show a number between
75~85.
8. If (one of) the results is out of range, please repeat step1-7 (be sure the surface is flat!).
10-17

FC9910/01/B
ELECTRICAL DIAGRAM
Adaptor
19 V
Micro Controller PCB
Camera
Upper
Bumper
sensor
IR, Bumper
sensor (L)
IR, Bumper
sensor (R)
Passive
encoder
Main Board
Charging
Board
Battery Li-Ion
14.4 V
Dustbin
sensor
Wheel lift
sensor (L)
Wheel lift
sensor (R)
Button and IR
receiver Board
M
Left side brush
M
Right side
brush
M
Vacuum
M
Main brush
M
Right wheel
USB
PCB
Gyro
Sensor
Line Voltage
100 - 240 Vac
IR IR
M
Left wheel
Charging
Jack
J206J208
J16J8J13J15J3J5J10
J6
J4
J2
J1
J203
J11 J202 J14J7
CARPET AUTO
SPOT CLIMB
AM
PM
MODE
? INFO TURBO
11-17

FC9910/01/B
PARTS LIST
12-17
Pos Service code Description
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
4222 459 48161
4222 459 48151
4222 459 48171
4222 459 48231
4222 459 48271
4222 459 48261
4222 459 48251
4222 459 48241
4222 459 48191
4222 459 48201
4222 459 48131
4222 459 52841
4222 459 48211
4222 459 48471
4222 459 48281
4222 459 48121
4222 459 48221
4222 459 48311
4222 459 48511
4222 459 48301
4222 459 48291
4222 459 48501
4222 459 48321
4222 459 52851
4222 459 53041
4222 459 48481
4222 459 48411
4222 459 53051
4222 459 48531
4222 459 48381
4222 459 48441
4222 459 48451
4222 459 48461
4222 459 48491
4222 459 48401
4222 459 48371
4222 459 48391
4222 459 48431
4222 459 48831
4222 459 52341
4222 459 52351
Remote control assy
Docking station assy
Dustcontainer cover assy
Cleaning tool
Filter holder
Exhaust filter
Inlet filter mesh
Dustbin assy
Adapter 19 V
Mains cord WE
Side brush set (left and right)
Rechargeable Li-ion battery (2200 mA)
Front wheel assy
Front wheel cover
Motor protection filter
Roller brush
Brush retainer
Top cover assy
Bumper sensor assy
Interface PCB cable set
Interface PCB
USB PCB assy
Cover middle assy
Main PCB (PCB assy + CPU) FC9910/B
Suctionmotor incl. air tube assy FC9910/B
PCB Gyrosensor
Charger PCB
Power switch assy FC9910/B
Case duct filter
Brush motor assy
Right wheel incl. motor/gear
Lifting sensor assy
Side brush motor assy Right
Encoder PCB assy
Brush belt
Brush shield
Pulley main brush assy
Left wheel incl. motor/gear
Side brush motor assy Left
Front Wheel Bearing
Roller Brush Bearing

FC9910/01/B
EXPLODED VIEW
1
2
3
4
5
9
6
7
10
8
13-17

FC9910/01/B
EXPLODED VIEW
11
12
14
41
13
15
16
17
11
42
14-17

FC9910/01/B
EXPLODED VIEW
CARPET AUTO
SPOT CLIMB
AM
PM
MODE
? INFO TURBO
B
2x
2x
2x
B
5x
D
D
J14
J206
J4
J7 J11 J15
3x
I
5x
A
A
18
19
23
22
21
20
15-17

FC9910/01/B
EXPLODED VIEW
CARPET AUTO
SPOT CLIMB
AM
PM
MODE
? INFO TURBO
27
29
26
24
30
4x
2x
E
4x
Y
Z
J10
J15
J13
J8
J16
J208
J208
J3
J206
J14
J7
J1 J2 J4J6
J11
J202
J203
J1
J5
J3
Z
C
6x
28
16-17

FC9910/01/B
EXPLODED VIEW
31
33
32
34
35
37
38
39
36
33
40
4x
J
2x
J
F
GG
J
J2
J6
J203
J10
J13
J8
J202
J16
J5
H
4x
Y
17-17