Yujin Robot GoCart250 User manual

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

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

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

󾙖
GoCart250 Service Manual
󾘥
󽘀
  
󾙓󾙒 󾙔󾙘󾙒󾙖󾙔󾙒󾙔󾙓 
󾙓󾙓 󾙔󾙒󾙔󾙓󾙓󾙒󾙓󾙖 󾙓󾙔󾙘
󾙓󾙙
󾙓󾙔 󾙒󾙗󾙓󾙓󾙔󾙒󾙔󾙓

󾙗󾙖
󾙓󾙗
󾙓󾙕 󾙓󾙘󾙓󾙓󾙔󾙒󾙔󾙓
󾙓󾙓󾙕󾙛
󾙓󾙖 󾙒󾙕󾙒󾙕󾙔󾙒󾙔󾙕
󾙓󾙕󾙓
󾙖󾙘

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

󾙘
GoCart250 Service Manual
󾙙󾙕󾙕󾙝 󾙔󾙗
󾙙󾙖󾙝 󾙔󾙘
󾙙󾙖󾙓󾙝 󾙔󾙘
󾙙󾙖󾙔󾙝󾙔󾙕󾙚 󾙔󾙘
󾙙󾙖󾙕󾙝 󾙔󾙘
󾙙󾙗󾙝 󾙔󾙙
󾙙󾙗󾙓󾙝󾙔󾙕󾙚 󾙔󾙙
󾙙󾙗󾙔󾙝󾙒󾙖 󾙔󾙙
󾙙󾙗󾙕󾙝 󾙔󾙙
󾙙󾙘󾙝 󾙔󾙚
󾙙󾙘󾙓󾙝 󾙔󾙚
󾙚󾙝 󾙔󾙛
󾙚󾙓󾙝 󾙕󾙒
󾙚󾙔󾙝 󾙕󾙒
󾙚󾙕󾙝󾙔󾙔󾙚󾙙󾙔󾙛 󾙕󾙒
󾙚󾙖󾙝󾙕󾙒󾙘 󾙕󾙒
󾙚󾙗󾙝󾙘󾙓󾙒󾙓 󾙕󾙒
󾙚󾙘󾙝󾙔 󾙕󾙓
󾙚󾙙󾙝󾙒󾙒󾙓 󾙕󾙓
󾙚󾙚󾙝 󾙕󾙓
󾙚󾙛󾙝 󾙕󾙓
󾙛󾙝 󾙕󾙕
󾙛󾙓󾙝 󾙕󾙖
󾙛󾙔󾙝 󾙕󾙗
󾙛󾙕󾙝 󾙕󾙘
󾙓󾙒󾙝 󾙕󾙚
󾙓󾙒󾙓󾙝 󾙕󾙚
󾙓󾙒󾙔󾙝 󾙕󾙚
󾙓󾙓󾙝 󾙕󾙛
󾙓󾙔󾙝 󾙖󾙒
󾙓󾙔󾙓󾙝 󾙖󾙒
󾙓󾙔󾙔󾙝 󾙖󾙓
󾙓󾙕󾙝 󾙖󾙘
󾙓󾙕󾙓󾙝 󾙖󾙘

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

󾙚
GoCart250 Service Manual
󾘭󾙝󾘥󾘥
󾙔󾙓󾙝󽘀



󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥
󾘥󾘥󾘥󾘥󾘭

󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥
󾘥󾘭


󾙔󾙔󾙝

•󽗿


•

•

•


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

󾙓󾙒
GoCart250 Service Manual
󾙖󾙝
󾙓
󾙔󾙕 󾙚󽗿 󾙚󾙔󾙕󾙚
󾙔󾙕

󾙓
 󾙓
󾙖󾙒󾙖 󾙔󽘀 󾙔
󾙖󽗿

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

󾙓󾙔
GoCart250 Service Manual
󾙗󾙝
󾙗󾙓󾙝

󾙔
  
 

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

󾙓󾙖
GoCart250 Service Manual
󾙗󾙕󾙝

󾙓 
󾙔 
󾙕 
•
•󾙖󾙓󾙖

•󾙗󾙓󾙘
•󾙕󾙓󾙕

󾙖

󾙓󾙗
Replacing Electrical Components
󾙗󾙖󾙝
󽘀
󽘀󽘀


󽘀


󾙓󾙘
GoCart250 Service Manual
< GC250 Robot system wire diagram >
(FRONT)
(REAR)
< NOTE >
General
purpose Cable
SIGNAL
Cable
POWER
Cable
External
attachment
(Bottom)
External
attachment
(Top)
External
attachment
(Electrical
equipment)
Internal
attachment
PCB Board
Internal
attachment
(Electrical
equipment)
(Heavycon Connector)
RJ45
1 2
1 2 3 4 5 6
7 8 9
10
11
12
1 2 3 4 5 6
7 8 9
10
11
12
60-1
60-1
59-1
61-2
61-2
61-1 61-1
64
62
63
FuSa Output Board
J10
J25 J26 J19 J27 J20 J17 J18
J7 J9 J2 J3 J5
J1
17
FUSE module
External Relay
External Relay
60
18
19 64 23
24
33 32
40
41
42 43
1
59
3
65
31
30
25
35
38
50
2D LiDAR
(F/R)
2D LiDAR
(F/L)
3D ToF1
WiFi
Antenna1
Switch Box
Front
Docking
3D
Camera
Start
Switch
Soft
Switch
23
32
5
5
84
Real
Sense
Real
Sense
SBC
FAN2
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
USB 2.0
CPU + Cooler
SSD
SSD
PWR
FAN
PWR
(Spare)
SATA2SATA1
Cooler
PWR
31-1
34
65
77 87
83
85
82 81
MIC
88
COM1 COM2 COM3 COM4
LAN Hub1
73 767167 68 69 70 72
24
MC1
(IN)
Main Contact(3N.O)
Sub
Contact
(1N.O)
Coil A1(+)/A2(-) Coil A1(+)/A2(-)
Main Contact(3N.O)
MC2
(OUT)
Main Contact(3N.O)
Sub
Contact
(1N.O)
Coil A1(+)/A2(-) Coil A1(+)/A2(-)
Main Contact(3N.O)
18-2
17
16
Safety
Relay
Luna
ToF7
(ETC1)
Luna
ToF8
(ETC2)
Luna
ToF2
(ETC2)
Luna
ToF1
(ETC1)
Luna
ToF5
(ETC1)
Luna
ToF6
(ETC2)
Luna
ToF3
(ETC1)
Luna
ToF4
(ETC2)
Mode
Switch
(Key)
E-stop
Switch
SONAR3
(Waterproof)
SONAR4
(Waterproof)
SONAR5
(Waterproof)
SONAR6
(Waterproof)
SONAR10
(General)
SONAR11
(General)
LED
STRIP7
LED
STRIP8
LED
STRIP9
LED
STRIP10
7-1
7
8-1
8-1
8-1
8-1
18-2
18-2
20
20-1
23-1
31
34-1
34-2 34-3
36
36 36
36
3737-2
3737-3
38-638-7
38-7 38-8
38-8 38-9
38-9
50
45
45
45
46 46-1
46-2
47
46-3 46-2
LAN Hub2
78 77 75 76 74
80
86 84
86
85
82
7980
44
2D LiDAR
(R/L)
3D ToF2
WiFi
Antenna2
Main Battery
(1EA)
Direct
Charging
Brake
Switch
Cancel
Switch
18-1 18-1
35-1 33
79
E-stop
Switch
19-1
Sperker(R)
34-3
Sperker(L)
34-2
FuSa
LiDAR
(R/C)
J5
J1
J10J7
J9 J8 J2
1
4
10
5
67
1-1
36 37
FuSa
LiDAR
(F/R)
J5
J1
J10J7
J9 J8 J2
2
2-1
4
5
11
68
FuSa
LiDAR
(F/L)
J5
J1
J10J7
J9 J8 J2
1-1
4
4
5
9
69
1-2 4
FuSa
Master
J1
J5
J7 J6 J2
3
4
70
4
FuSa
Encoder1
J9 J8 J2 J1
J10
J11
J7 J5
1-2
1-3
4
4
1471
6
72
FuSa
Encoder2
J9 J8 J2 J1
J10
J11
J7 J5J5J7
J11
J10
J9 J8 J2
2-1
4
6
15
2-2
4
FuSa
ETC1
J1
J6J10
J13 J12 J2
J5
J15
1-3
60
12
J9
J7
4
FuSa
ETC2
J1
J6J10
J13 J12 J2
J5
J15
2-2
2-3
4
60
13
J9
4
J7
8-1
8
8-1
8
Master
Board
J3
J6 J7
2526
75
Sonar base
Board
USB Hub USB4
USB1 USB2 USB3
SBC
CONN.
PWR
IN
Wheel Motor (F/L)
Wheel Motor (F/R)
87 78
84.Ethernet
83.SBC TO
HDMI
(SOCKET)
PSD
(ETC1)
PSD
(ETC2)
PSD
(ETC1)
PSD
(ETC2)
83
30
SONAR1
(Waterproof)
SONAR2
(Waterproof)
SONAR7
(Waterproof)
SONAR8
(Waterproof)
81
SONAR9
(General)
SONAR12
(General)
LED
STRIP1
LED
STRIP2
LED
STRIP3
LED
STRIP4
LED
STRIP5
LED
STRIP6
MIC
TRIG
SWITCH
Hard
Switch
2
5
6-1
6-1
6
6
18 18-2
19
J33 J34
J7J9
26
35
36
36
36
36
37 37-1
37 37-4
38 38-1
38-1 38-2
38-2 38-3 38-3 38-4
38-438-5
38-538-6
52
52
52
52
41
42
42-1
51
7374
88
11
9
2-3
16
J22J20J26
J102J100J103J32J34J30J33J37
J97
J101 J104 J105
J24
J108
J5
J35 J36
J106 J18 J19 J39 J1 J4 J2 J3 J6
J7
J13 J98J99 J21J28 J12J16 J95J96 J25 J23 J31
J34
20 22
2728
46
J10J38
J33
J29
J107AJ107
J4 J6 J8
10 12 13 14
15
7
45
60-1
60-1
59 59
59-1
6161
61 6161-1
61-1
63
89
89
BLDC Driver
(F/R)
Motor
Power
(MC out)
Hall
Sensor
Motor
Converter Board
7-2
62
7-2
27
28
J6
485COM1
J7
485 COM2
29
29
J9 J10
39
Motor
RS232
Control
Power
39
BLDC Driver
(F/L)
Motor
Power
(MC out)
Hall
Sensor
Motor
RS232
Control
Power
39
Motor
Converter Board
J6
485COM1
J7
485 COM2 J9 J10
43
43-1
51
46-2
46-2
48
49
48
49
66
66
66
66
53
53
53
53
54
5439
40-2
Main Battery
(1EA)
TRIG
SWITCH
40-3
40-1 40-240-3
44-1
91
RS485 to RS232
CONVERTER
90
90
BMS
92
92
(RS485)
(RS422)
󾙗

󾙓󾙙
Replacing Battery
󾙘󾙝
󾙔
󾙕
 
•󾙓
•󾙔󾘥󾘥
 󾘥󾘥󾘥󾘭󾘥󾘥󾘥󾘥󾘥󾘥󾘭



󾘩󾘪


󾘩󾘪

󾙓   
󾙔  󽗿 󽗿

󾙕 󽗿  󽗿

󾙖 󽗿 󽗿 󽗿


󾘥•󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘥󾘭
󾘥•󾘥󾘥󾘥󾘥󾘩󾘪󾘥󾘥󾘥󾘥󾘥
󾘭
󾙘󾙓󾙝
󾙓 
󾙘

󾙓󾙚
GoCart250 Service Manual
󾙔 󽗿
󾙕 󽗿


󾙙󽗿
󾙖 󽘀󾙔
󾙚
󾙗 
󾙛

󾙓󾙛
Replacing Battery
󾙘 
󾙙 
󾙚 
󾙘󾙔󾙝
󾙓 
󾙓󾙒
󾙔 󽗿
󾙕 󽗿
 


󾙓󾙓󽗿

󾙔󾙒
GoCart250 Service Manual
󾙖 󽘀󾙓󾙒
󾙗 󽘀󾙔


󾙓󾙔
󾙘 
󾙓󾙕
󾙙 
󾙓󾙖