Yujin Robot GoCart200 Omni User manual

󾘥
󾘥
󾘥
󾙓󾙘
󾙔󾙒󾙔󾙕󾙒󾙕

󾙔󾙒󾙒󾙓󾙘


󽘀









󾙔󾙒󾙔󾙕

󾙕
󾘥󾘥󾘥









󾙖
GoCart200 Omni Service Manual
󾘥
󽘀
  
󾙓󾙒 󾙔󾙔󾙒󾙔󾙒󾙔󾙓 
󾙓󾙓 󾙕󾙓󾙒󾙔󾙒󾙔󾙓 󾙘󾙙
󾙓󾙔 󾙕󾙔󾙕󾙔󾙒󾙔󾙓 
󾙓󾙕 󾙓󾙒󾙓󾙕󾙔󾙒󾙔󾙓 
󾙓󾙖 󾙓󾙓󾙕󾙔󾙒󾙔󾙓


󾙗󾙕󾙓󾙔
󾙓󾙗 󾙓󾙓󾙓󾙙󾙔󾙒󾙔󾙓
󾙓󾙒󾙔󾙙
󾙓󾙘 󾙒󾙕󾙒󾙕󾙔󾙒󾙔󾙕
󾙓󾙔󾙓
󾙕󾙖

󾙗
Table of Contents
󾘥󾘥
󾙓󾙝 
󾙓󾙓󾙝 󾙙
󾙓󾙔󾙝 󾙙
󾙓󾙕󾙝 󾙙
󾙔󾙝 󾙚
󾙔󾙓󾙝󽘀 󾙚
󾙔󾙔󾙝 󾙚
󾙕󾙝 󾙛
󾙖󾙝 󾙓󾙒
󾙖󾙓󾙝 󾙓󾙒
󾙖󾙔󾙝 󾙓󾙒
󾙗󾙝 󾙓󾙓
󾙗󾙓󾙝 󾙓󾙓
󾙗󾙔󾙝 󾙓󾙓
󾙗󾙕󾙝 󾙓󾙔
󾙘󾙝 󾙓󾙖
󾙘󾙓󾙝 󾙓󾙖
󾙘󾙔󾙝 󾙓󾙗
󾙘󾙔󾙓󾙝 󾙓󾙗
󾙘󾙔󾙔󾙝 󾙓󾙘
󾙙󾙝 󾙓󾙙
󾙙󾙓󾙝 󾙓󾙙
󾙙󾙔󾙝 󾙓󾙚
󾙙󾙔󾙓󾙝󾙕 󾙓󾙛
󾙙󾙔󾙔󾙝󾙕󾙔󾙒 󾙓󾙛
󾙙󾙔󾙕󾙝󾙗󾙓󾙒 󾙓󾙛
󾙙󾙔󾙖󾙝󾙖󾙕󾙗󾙕 󾙓󾙛
󾙚󾙝 󾙔󾙒
󾙚󾙓󾙝 󾙔󾙓
󾙚󾙔󾙝 󾙔󾙓
󾙚󾙕󾙝 󾙔󾙔
󾙚󾙖󾙝 󾙔󾙔

󾙘
GoCart200 Omni Service Manual
󾙛󾙝 󾙔󾙕
󾙛󾙓󾙝 󾙔󾙘
󾙛󾙔󾙝󾙛󾙔  󾙔󾙘
󾙛󾙕󾙝 󾙔󾙘
󾙓󾙒󾙝 󾙔󾙙
󾙓󾙓󾙝 󾙔󾙚
󾙓󾙓󾙓󾙝 󾙔󾙚
󾙓󾙓󾙔󾙝 󾙔󾙛
󾙓󾙔󾙝 󾙕󾙖
󾙓󾙔󾙓󾙝 󾙕󾙖

󾙙
Introduction
󾘭󾙝
󾙓󾙓󾙝
󾙔󾙒󾙒󾙕

󾙔󾙒󾙒󾙓󾙕󾙖󾙚󾙔

󾙓󾙔󾙝


󾙓󾙕󾙝
•
•

󾙚
GoCart200 Omni Service Manual
󾘭󾙝󾘥󾘥
󾙔󾙓󾙝󽘀



󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥
󾘥󾘥󾘥󾘥󾘭

󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥
󾘥󾘭


󾙔󾙔󾙝

•󽗿


•

•

•

󾙛
Tools Required
󾙕󾙝
 



󾙔
󾙓󾙔󾙖
󾙓

󾙓󾙒
GoCart200 Omni Service Manual
󾙖󾙝
󾙓
󾙖󾙓󾙝
•
•
󾙖󾙔󾙝

  










󾙕
󾙕



󾙕



 
󾙔

󾙓󾙓
Replacing Electrical Components
󾙗󾙝
󾙗󾙓󾙝
󾙓 󾙓󾙖
󾙔 

󾙗󾙔󾙝
󾙔
󾙒󾙒󾙓  
 󾙕 󾙓
  󾙕󾙔
 󾙘󾙒󾙘󾙒󾙔󾙒 󾙓󾙒
  
 󾙔󾙔
 󾙓󾙓󾙗󾙒


󾙓 
󾙔 
󾙕 
•
•󾙖󾙖
•

󾙓󾙔
GoCart200 Omni Service Manual
󾙗󾙕󾙝
󽘀
󽘀󽘀


󽘀


󾙓󾙕
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
J106J18J19J39J1J4J2J3J6
J7
J13 J98 J99 J21 J28 J12 J16 J95 J96 J25 J23 J31
J33 J34
3 5
11 12
41
42
FuSa Output Board
J7J5J3J1
J8 J6 J4 J2
J15 J13
J11
J9
J20 J19 J25 J18 J17
J10J12J14J16
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 ToF1
3D ToF2
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
WiFi
Module
R
F
J9 J8 J2 J1
J10
J11
J7 J5
J9 J8 J2 J1
J10
J11
J7 J5J5J7
J11
J10
J9 J8 J2
J1
J5
J7 J6 J2
J1
J6J10
J13 J12 J2
J9
J5
J1
J6J10
J13 J12 J2
J9
J7
J1
J10J7
J9 J8 J2
J7 J5
J1
J10J7
J9 J8 J2
J5
J1
J10J7
J9 J8 J2
J5
J1
J10J7
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)
SATA2SATA1
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
89
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.FAN
PWR(SBC)
76.FAN
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
5353 51 5353
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
USB2.0USB2.0
84.Ethernet
83.SBC TO
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
(Top)
External
attachment
(Electrical
equipment)
Internal
attachment
PCB Board
Internal
attachment
(Electrical
equipment)
< CSSD Robot wire diagram >
󾙕

󾙓󾙖
GoCart200 Omni Service Manual
󾙘󾙝

󾙘󾙓󾙝
󾙓 󾙖
󾙔 󾙔󾙒󾙒
󾙖
󾙓 󾙖
󾙔 󽗿
󾙗󽗿
󾙕 󽗿
󾙘󽗿
󾙖 

󾙓󾙗
Replacing Battery
󾙙󽗿
󾙗 󾙔
󾙘 
󾙘󾙔󾙝


󾙚
󾙙󾙓󾙗 󾙗󾙒

󾙖󾙗󾙒

󾙘󾙔󾙓󾙝
󾙓 󾙓󾙔
󾙔 
󾙕 󾙔
󾙖 
󾙗 


•󽗿
󾙒󾙓
•
•


󾙓󾙘
GoCart200 Omni Service Manual
󾙘󾙔󾙔󾙝
󾙓 󾙓󾙔
󾙔 
󾙕 󾙔
󾙖 
󾙗 


󾙓󾙙
Replacing Sensor
󾙙󾙝
󾙙󾙓󾙝
󾙓 󾙚
󾙔 

󾙕 
󾙖 
󾙛
  
  


󾙓󾙚
GoCart200 Omni Service Manual
󾙙󾙔󾙝
󾙓󾙒
󾙕  󾙕󾙗󾙖󾙚󾙔
󾙕󾙔󾙒 󾙕󾙖󾙕󾙗
 󾙔󾙖󾙓󾙒
󾙗󾙓󾙒 󾙗󾙓󾙒 󾙖󾙓󾙒󾙓󾙒
󾙖󾙕󾙗󾙕  󾙕󾙖󾙓󾙒

  󾙕󾙘󾙓󾙒
  󾙕󾙘󾙓󾙒

 󾙖󾙚󾙕󾙒󾙖

󾙓󾙛
Replacing Sensor
󾙙󾙔󾙓󾙝󾙕
󾙕
󾙓 󾙛
󾙓󾙙
󾙔 󾙔
󾙕 
󾙖 
󾙙󾙔󾙔󾙝󾙕󾙔󾙒
󾙕󾙔󾙒
󾙓 󾙛
󾙓󾙙
󾙔 󾙖
󾙕 󾙖󾙕󾙗󾙕
󾙖 󾙔󾙕
󾙗 󾙔
󾙘 
󾙙 󾙕
󾙚 
•󽗿

󾙙󾙔󾙕󾙝󾙗󾙓󾙒
󾙗󾙓󾙒
󾙓 󾙛
󾙓󾙙
󾙔 
󾙚
󾙕 󾙖󾙕󾙗󾙕
󾙖 󾙗󾙓󾙒
󾙗 󾙔
󾙘 
󾙙 󾙔󾙗󾙓󾙒
󾙚 
󾙙󾙔󾙖󾙝󾙖󾙕󾙗󾙕
󾙖󾙕󾙗󾙕
󾙓 󾙛
󾙓󾙙
󾙔 
󾙖
󾙕 󾙖
󾙖 󾙖󾙕󾙗󾙕
󾙗 
•

󾙔󾙒
GoCart200 Omni Service Manual
󾙚󾙝
󾙓󾙓
 󾙓󾙘󾙔󾙗󾙓 󾙕󾙒󾙒󾙖
󾙔󾙒
󾙕󾙔󾙓󾙔󾙒 󾙓󾙘󾙔󾙗󾙓 󾙕󾙘󾙓󾙒
󾙔󾙔󾙘󾙓 󾙔󾙔
󾙚󾙙󾙔󾙛 󾙖󾙚󾙓󾙒
  󾙖󾙔󾙗󾙓󾙒
  󾙕󾙘󾙓󾙒
󾙓󾙘󾙖󾙖󾙓 󾙖󾙗󾙒󾙚