Minuteman RoboScrub 20 Скачать руководство пользователя страница 118

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3.1 Diagnostic App Errors

LEFT_3D_CONFIG_UPDATE_FAILED

Unable to write configuration to left 3D camera.

FRONT_3D_CAMERA_ERROR

FRONT_3D_CONNECTION_ERROR

Failed to connect to front 3D camera.

FRONT_3D_CAMERA_BAD_READING

Invalid readings collected from 3D camera.

FRONT_3D_CALIBRATION_FAILED

An unknown exception occurred while calibrating.

FRONT_3D_OUT_OF_TOLERANCE

The physical placement of the front 3D camera is out of the maximum allowed tolerance.

FRONT_3D_CONFIG_UPDATE_FAILED

Unable to write configuration to front 3D camera.

RIGHT_3D_CAMERA_ERROR

RIGHT_3D_CONNECTION_ERROR

Failed to connect to right 3D camera.

RIGHT_3D_CAMERA_BAD_READING

Invalid readings collected from 3D camera.

RIGHT_3D_CALIBRATION_FAILED

An unknown exception occurred while calibrating.

RIGHT_3D_OUT_OF_TOLERANCE

The physical placement of the right 3D camera is out of the maximum allowed tolerance.

RIGHT_3D_CONFIG_UPDATE_FAILED

Unable to write configuration to right 3D camera.

LEFT_2D_CONNECTION_ERROR

Failed to connect to Left 2D Camera.

LEFT_2D_CAMERA_ERROR

FRONT_2D_CONNECTION_ERROR

Failed to connect to Front 2D Camera.

FRONT_2D_CAMERA_ERROR

RIGHT_2D_CONNECTION_ERROR

Failed to connect to Right 2D Camera.

RIGHT_2D_CAMERA_ERROR

USER_ERROR

STEERING_LIMITS_TOO_CLOSE

OBJECT_DETECTED_DURING_CALIBRATION

Area surrounding the machine is not empty.

UNIDENTIFIED_BOOTH

Booth identification has not been completed.

NO_CALIBRATION_FILES_FOUND

INCORRECT_NUMBER_OF_GYRO_READINGS

INCORRECT_NUMBER_OF_HEADING_READINGS

LOWER_LIDAR_PROTECTOR_ERROR

MISCONFIGURED_BOOTH

Invalid calibration algorithm selected.

MISSING_EOL_ROUTE

Unable to locate EOL route.

PRESENCE_SENSOR_TRIGGERED_DURING_AUTONOMY

The presence sensor was triggered during autonomy.

SIDE_LIDAR_TRIGGERED_DURING_AUTONOMY

The side LIDAR safety curtain was interrupted during autonomy.

MACHINE_IN_ESTOP

Test cannot continue while machine is in e-stop.

UNEXPECTED_STAGE

The machine has entered an unexpected state.

UNABLE_TO_DETERMINE_LEFT_LIMIT

UNABLE_TO_DETERMINE_CENTER

Unable to determine center steering angle.

UNABLE_TO_DETERMINE_RIGHT_LIMIT

DELTA_THROTTLE_ACCELERATION_MISMATCH

Sign of the change of throttle does not match the sign of the change of the change of encoder steps.

Содержание RoboScrub 20

Страница 1: ......

Страница 2: ...ions 4 Warranty 5 Testing Troubleshoot DriveSystem 8 Replace Drive Plate 15 Brake Release 23 Removing Front Cowling 24 2D Camera Troubleshooting 31 3D Sensor Troubleshooting 36 Modem troubleshooting 40 Steering Troubleshooting 42 ...

Страница 3: ...Table of Contents cont d Replacing BCM 63 Kinetek Controller 84 Brain Error Code 3 0 88 Brain Error Code3 1 117 Lower Lindar Removal 72 Wiring 122 ...

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Страница 8: ...Testing and Troubleshooting Drive System Disconnect Batteries ...

Страница 9: ...Remove back panel ...

Страница 10: ...Secure panel for ease of access ...

Страница 11: ...Locate and disconnect P3 connector from controller ...

Страница 12: ...Place probes on pins 20 BLK PNK and 10 BLK WHT Set meter to OHMs Depress Accelerator Pedal Reading should be 0 3 Static to 1 7 Full Throttle ...

Страница 13: ...Plug P3 back into Controller Place probes on Controller leads as shown ...

Страница 14: ... meter in lap select Forward on Right Touch Pad and depress Accelerator Pedal At static Stopped voltage should be 0 0 VDC As pedal is depressed the voltage should increase all the way up to 24 VDC Full Throttle 5 Place machine in reverse reading should be 0 0 VDC to 12VDC Full Throttle ...

Страница 15: ...THESE INSTRUCTIONS ARE A GUIDELINE FOR REPLACEMENT OF DRIVE WIRING PLATES FOR THE MR20 AUTONOMOUS MACHINE ...

Страница 16: ...LOOSEN CHAIN TENSIONER TO GAIN CHAIN SLACK REMOVE SCREW WASHER FROM LARGE SPROCKET REMOVE MASTER LINK THEN REMOVE CHAN FROM SPROCKETS ...

Страница 17: ...LOOSEN BOTH SET SCREWS AND REMOVE SPROCKET FROM STEERING SPINDLE REMOVE STEERING PIVOT STOP AND KEY NOT SHOWN FROM STEERING SPINDLE ...

Страница 18: ...REMOVE STEERING SPINDLE DRIVE MOTOR AND PLACE ON WORKBENCH ...

Страница 19: ...REMOVE OLD DRIVE WIRING PLATE AND REPLACE WITH NEW DRIVE WIRING PLATE ...

Страница 20: ...REINSTALL DRIVE MOTOR ORIENTED LIKE SHOWN WRAP THE CABLE CONDUIT LOOSELY AROUND THE DRIVE MOTOR AND HOLD IN POSITION WITH TIE WRAPS TIE WRAPS INSTALL SUPPLEMENTAL DRIVE PLATE SEE FOLLOWING PARTS DIAGRAM ...

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Страница 22: ...ROTATE DRIVE MOTOR TO VERIFY CABLES ARTICULATE PROPERLY REASSEMBLE MACHINE IN REVERSE ORDER OF ASSEMBLY ...

Страница 23: ...ere it can remain until a service technician arrives to perform repairs 5 Once you have moved the RoboScrub to a safe place remove the screwdriverfrom the front drive wheel assembly to activate the electromagnetic brake WARNING DO NOT PERFORM THE BRAKE RELEASE PROCEDURE ON AN INCLINE DECLINE IT IS UNSAFE TO PUSH THE ROBOSCRUB ON AN INCLINE DECLINE AS IT S DIFFICULT TO STOP CHECK FOR AND CLEAN UP A...

Страница 24: ...een and Control Console To remove the MinuteMan Cowling remove the 5 32 hex screw on each side of the upper portion of the cowling as well as the five 1 8 hex screws that secure the Slanted LIDAR shield Use a socket wrench with extension and 7 16 socket to remove the two screws in the two front most holes one on the left side and one on the right near the Planar LIDAR ...

Страница 25: ...MinuteMan RoboScrub 20 Removing the MinuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console The cowling can be lifted up and off the two hooks at the top of the unit ...

Страница 26: ...uteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console Removing the Wheel E Stop Key Switch UI Screen and Control Console The wheel has a cover with five false screws and one real one Loosen the real screw and remove the cover ...

Страница 27: ...nuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console Use a socket to remove the locking nut and washer Pull the wheel straight up to remove There is a semi circle key that is present Be sure it does not fall out or get lost ...

Страница 28: ...RoboScrub 20 Removing the MinuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console Use a 3 32 hex key to remove the two screws that secure the E Stop Slide over the metal lock to free the connector ...

Страница 29: ...n and Control Console Use a 3 32 hex key to remove the two screws that secure the Key Switch Decouple the white connector to free the hardware Use a 3 32 hex key to remove the four screws that secure the UI Screen Do not attempt to disconnect the cable from the UI Disconnect form the BCM ...

Страница 30: ...oving the MinuteMan Cowling Wheel E Stop Key Switch UI Screen and Control Console Use a 3 32 hex key to remove the four screws that secure the Control Console Carefully unplug the two cables from the rear of the Control Console ...

Страница 31: ...D CAMERA If machine software does not boot up freeze during start up the most likely cause is the right 2D camera is not working This is the only camera that HAS TO BE WORKING for the software to boot up ...

Страница 32: ...Disconnect the 2D camera affected and check for 5VDC on pins 2 and 4 ...

Страница 33: ...is is the right camera or front camera and voltage is present please swap it with the left camera and test to ensure that the issue follows the camera If the issue follows the camera may need to be replaced ...

Страница 34: ...If voltage is not present test the following for continuity for the suspect camera ...

Страница 35: ...If no continuity present replace UP TRUNK ...

Страница 36: ...e IFM error check to see if the camera has power If the LED is blinking or lit the camera has power In this case try reseating the communication cable going to the camera on the UP TRUNK as well as the UP TRUNK connection on the BCM ...

Страница 37: ...If the LED is not blinking or lit check voltage on the power cable to confirm there is 24VDC If there is power the camera may need to be replaced ...

Страница 38: ...e if the camera has power If the four LED s on the front of the camera are blinking or lit the camera has power In this case try reseating the communication cable going to the camera from the UP TRUNK as well as the UP TRUNK connection to the BCM ...

Страница 39: ...If the four LED s are not blinking or lit check voltage on the power cable to confirm there is 24VDC If there is power the camera may need to be replaced ...

Страница 40: ...MODEM Fro the Modem there are four connections which interface with the Modem USB Power connector micro USB Data connector and 2 antenna connectors MIM01 and MIM02 ...

Страница 41: ...measure the voltage at the pins on the M12 female connector as shown below note the location of the M12 notch voltage should be 5 VDC If there is voltage measured across ALL three pins contact tech support for further assistance ...

Страница 42: ...Steering Place steering wheel in zero position as shown below ...

Страница 43: ...Verify that drive wheel is also in the zero position as shown below ...

Страница 44: ...If Steering wheel and Drive wheel do not line up remove front cowling and check for loose missing Encoder set screws or slack jumped gear in steering gear assembly ...

Страница 45: ...Turn machine on when prompted enter Operator PIN 1337 ...

Страница 46: ...Enter Settings ...

Страница 47: ...Enter Service ...

Страница 48: ...Enter Service PIN If you do not have contact Minuteman Tech Support ...

Страница 49: ...Enter Service Tools ...

Страница 50: ...Enter Steering ...

Страница 51: ...Enter Steering Assembly ...

Страница 52: ...Enter Sensor View ...

Страница 53: ...With Encoder set screws loosened turn encoder collar until line points to 0 degrees on screen Now without letting collar moving line up steering wheel and drive wheel to zero position Tighten set screws ...

Страница 54: ...Move steering from left to right the return to zero position and recheck screen encoder position ...

Страница 55: ...Move steering right until it stops Screen Encoder should line up with 90 degree mark Do same for left If offset return to zero and re adjust ...

Страница 56: ...Back out to Steering Assembly screen Enter Steering Longevity ...

Страница 57: ...Follow on screen instructions ...

Страница 58: ...Follow on screen instruction press start Steering wheel will start moving left and right After a minimum 5 times of both directions select cancel ...

Страница 59: ...Back out to Steering assembly screen and select Run ...

Страница 60: ...Follow on screen instructions ...

Страница 61: ...Continued ...

Страница 62: ...After Diagnostic run screen will show SUCCESS with a green check mark steps are complete ...

Страница 63: ...chine To remove the MinuteMan Cowling remove the 5 32 hex screw on each side of the upper portion of the cowling as well as the five 1 8 hex screws that secure the Slanted LIDAR shield Use a socket wrench with extension and 7 16 socket to remove the two screws in the two front most holes one on the left side and one on the right near the Planar LIDAR ...

Страница 64: ...MinuteMan RoboScrub 20 Replacing the MinuteMan BCM The cowling can be lifted up and off the two hooks at the top of the unit ...

Страница 65: ...he four bundled black connectors that couple to the BCM Decouple the fan connector Cut the indicated zip ties and place the BCM to the side Remove the six 3mm hex screws that secure the BCM UI Trunk Up Trunk Down Trunk Power Trunk Do not unplug these connections ...

Страница 66: ...lish ROC connection Verify ROC Connectivity Power on the unit and verify that the screen loads past the spinning Brain logo and ends on the Security PIN screen The ROC icon located in the upper right corner of the UI screen will only be illuminated turn orange once the PIN screen has loaded and the modem is able to connect to the ROC The icon is either illuminated or not meaning the strength of th...

Страница 67: ...Moving the scrubber to a different part of the property or even outside the building may improve connectivity Train a short test route Print the home marker found on the following page Afix it to a vertical surface that may be read by the side camera on the right of the scrubber dashboard Orient the scrubber dashboard about two feet from the home marker ...

Страница 68: ...MinuteMan RoboScrub 20 Replacing the MinuteMan BCM ...

Страница 69: ...MinuteMan RoboScrub 20 Replacing the MinuteMan BCM Enter the PIN code and select Teach Route Teach a short route that starts and ends at the same home marker location ...

Страница 70: ...MinuteMan RoboScrub 20 Replacing the MinuteMan BCM ...

Страница 71: ...obot follows the path without difficulty At some point during the replay step in the robots path and continue to block it until an assist is triggered The goal is to leave the unit powered on until the assist file has been uploaded to the ROC Once received it may be reviewed by a Tech Ops team member ...

Страница 72: ...Lower Lidar Removal ...

Страница 73: ...Front Panel Removal ...

Страница 74: ...1 Remove these three screws ...

Страница 75: ...2 Remove these two screws Remove Upper Lidar cover plate ...

Страница 76: ...3 Remove two nuts positioned inside frame underneath There are two access holes to alow for removal ...

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Страница 78: ...4 Remove screw on each side as shown in pictures below ...

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Страница 80: ...Removal of lower jaw and Lidar ...

Страница 81: ...1 Disconnect cables ...

Страница 82: ...2 Remove these four screws Then remove bracket ...

Страница 83: ...3 Remove these two screws Now Lidar is ready to remove ...

Страница 84: ...How to read Kinetek Error Codes Step one Locate the rear panel and remove the 7 screws and remove the panel Step Two Locate the Nidec Kinetek controller ...

Страница 85: ...ight is flashing the board has an error it will blink in a series of fast flashes and then slow flashes Count the flashes and see the table below to get your hex code See document Kinetec error codes pdf to find what is wrong with your machine Example 4 fast and 10 slow would be code 4A ...

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Страница 88: ...BRUSH OVER CURRENT PROTECTION 0x4E BRUSH SHORT CIRCUIT PROTECTION 0x59 TRACTION LEFT DRAIN FAULT 0x5B TRACTION RIGHT DRAIN FAULT 0x5C TRACTION REVERSE OVER CURRENT PROTECTION 0x5D TRACTION FORWARD OVER CURRENT PROTECTION 0x61 BRUSH DRAIN FAULT 0x62 SUPPLY OUT OF RANGE 0X64 BRUSH DECK OVER CURRENT PROTECTION 0x65 VACUUM SHORT CIRCUIT PROTECTION 0X66 BRUSH DECK SHORT CIRCUIT PROTECTION 0X67 SQUEEGEE...

Страница 89: ...or RECOVERABLE_FROM_HOME Unknown Error 1 Restart the machine 2 If the issue continues contact customer service 2 4 Startup Navstack crashed during startup Unknown Error 1 Turn off the machine 2 Wait 15 seconds 3 Turn on the machine Contact supervisor if issue continues 2 100 Assist MotionErrorCode STEERING_EST IMATOR_ERROR Steering Error 1 Turn off the machine 2 Wait 15 seconds 3 Turn on the machi...

Страница 90: ...e sure the path is clear 2 Drive past any obstacles 3 To resume press the Start Pause button 3 105 Assist DRIVING BACKWARD DETECTED Path is Blocked 1 Make sure the path is clear 2 Drive past any obstacles 3 To resume press the Start Pause button 3 106 Assist OFF_PATH Machine is Off Path 1 Follow the arrow and drive the machine to the highlighted path 2 Make sure the path is clear 3 To resume press...

Страница 91: ...n off the machine 3 Inspect and charge the batteries 1 202 Error BATTERY_LOW Battery Low 1 Drive the machine to the charging station 2 Turn off the machine 3 Charge the batteries 1 203 Alert TRACTION_ERROR Traction Motor Error 1 Turn off the machine 2 Disconnect the battery cable for 15 seconds 3 Reconnect the cable and turn on the machine 4 If the issue continues contact customer service 1 203 As...

Страница 92: ... found press the Start Pause button to resume 4 If the issue continues contact customer service 1 205 Alert VACUUM_ERROR Vacuum Error 1 Inspect the vacuum and hose for damage or debris 2 If the hose is broken contact customer service 1 205 Assist VACUUM_ERROR Vacuum Error 1 Inspect the vacuum and hose for damage or debris 2 If the hose is clear press the Start Pause button to resume 3 If the hose ...

Страница 93: ...or damage is detected contact customer service 1 207 Assist SCRUB_DECK_ERROR Scrub Deck Error 1 Turn off and inspect machine 2 If no issues are found press the Start Pause button to resume 3 If the issue continues contact customer service 1 208 Alert NO_BRUSH_ERROR No Brush Detected 1 Make sure the brushes and pads are properly installed 2 If the issue continues contact customer service 1 208 Assi...

Страница 94: ... the throttle 2 If no issues are found press the Start Pause button to resume 3 If the issue continues contact your supervisor 3 212 Assist PROBLEM WITH BRAKE Brake Pedal Error 1 Inspect the brake pedal 2 If no issues are found press the Start Pause button to resume 3 If the issue continues contact your supervisor 3 215 Assist SLANTED LIDAR NOT CONVERGED Sensor Check in Progress 1 Drive the machin...

Страница 95: ...ist Firmware Steering Motor Malfunction Steering Error 1 Turn off the machine 2 Wait 15 seconds 3 Turn on the machine Contact supervisor if issue continues 3 219 Assist FIRMWARE_STOP Path is Blocked 1 Make sure the path is clear 2 Drive past any obstacles 3 To resume press the Start Pause button 3 222 Assist PEDAL_PRESSED Pedal Pressed 1 Make sure the pedal is clear 2 To resume press the Start Pau...

Страница 96: ...utton to resume 3 226 Assist FIRMWARE_LEFT_IFM_TIMEOU T Left Sensor Not Responding 1 Clean the left sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart the machine 3 227 Assist FIRMWARE_RIGHT_IFM_TIMEO UT Right Sensor Not Responding 1 Clean the right sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart the machine 3 228 Assist FIRMWARE_LEFT_INVALID_FLO OR_HEIGHT Le...

Страница 97: ...acles 3 If clear press the Start Pause button to resume 3 232 Assist FIRMWARE_PLANAR_OBSTACL E_TOO_CLOSE Potential Hazard Detected 1 Inspect the machine 2 Make sure the path of the machine is clear or drive past any obstacles 3 If the path is clear press the Start Pause button to resume 3 233 Assist FIRMWARE_CLIFF_TOO_CLOSE Cliff Detected 1 Make sure the machine is not operating near stairs or esc...

Страница 98: ...e 2 If no issues are found press the Start Pause button to resume 3 If the issue continues contact your supervisor 3 300 Assist Path Too Far Machine is Off Path 1 Follow the arrow and drive the machine to the highlighted path 2 Make sure the path is clear 3 To resume press the Start Pause button 3 301 Assist Path is Empty Machine is Off Path 1 Follow the arrow and drive the machine to the highligh...

Страница 99: ...h is clear 2 Drive past any obstacles 3 To resume press the Start Pause button 3 306 Assist Too Dangerous Path is Blocked 1 Make sure the path is clear 2 Drive past any obstacles 3 To resume press the Start Pause button 3 307 Assist Touching Obstacle Path is Blocked 1 Make sure the path is clear 2 Drive past any obstacles 3 To resume press the Start Pause button 3 308 Assist Decision Loop Path is ...

Страница 100: ...lem continues 2 500 Assist ESTOP_PRESSED Emergency Stop Engaged 1 Inspect the machine and the surrounding area 2 If clear release the emergency stop 3 501 Error GYRO_STUCK Gyro Error 1 Turn off the machine 2 Disconnect the battery cable for 15 seconds 3 Reconnect the cable and turn on the machine 4 If the issue continues contact customer service 1 502 Error GYRO_NOISY Home Marker Scan Error 1 Retu...

Страница 101: ...STOP Path is Blocked 1 Make sure the path is clear 2 Drive past any obstacles 3 To resume press the Start Pause button 3 508 Assist PATH_BLOCKED Path is Blocked 1 Make sure the path is clear 2 Drive past any obstacles 3 To resume press the Start Pause button 3 509 Error FLASH_FIRMWARE_FAULT 510 Assist MANUAL_FOLLOWING_RESULT _INVALID Path Following Error Restart the machine If the issue continues ...

Страница 102: ...wn Error 1 Turn off and inspect the machine 2 Restart the machine 3 If the issue continues contact customer service 2 5001 Startup UNCALIBRATED Uncalibrated Sensor Sensor s not calibrated Go to Settings to calibrate or contact customer service 1 5002 Startup FRONT_IFM_NOT_RESPONDIN G Upper Sensor Not Responding 1 Clean the upper sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart ...

Страница 103: ...uctions 3 Restart the machine 1 5007 Startup PLANAR_LIDAR_NOT_RESPON DING Lower Sensor Not Responding 1 Clean the lower sensors with a clean microfiber cloth 2 Inspect for damage or obstructions 3 Restart the machine 1 5008 Startup ROBOT_STATE_NOT_RESPOND ING Machine Not Responding Restart the machine 1 5010 Startup ODOMETER_NOT_RESPONDIN G Odometer Not Responding Restart the machine 1 5011 Startu...

Страница 104: ...t Responding 1 Clean the upper sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart the machine 1 5017 Startup PLANAR_LIDAR_NOT_RESPON DING Lower Sensor Not Responding 1 Clean the lower sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart the machine 1 5019 Startup RIGHT_RGB_NOT_RESPONDIN G Sensor Not Responding Restart the machine 1 5021 Startup FRONT_IFM_ERROR Upp...

Страница 105: ..._IFM_NOT_RESPONDING Left Sensor Not Responding 1 Clean the left sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart the machine 1 5026 Startup LEFT_IFM_NOT_RESPONDING Left Sensor Not Responding 1 Clean the left sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart the machine 1 5027 Startup RIGHT_IFM_NOT_RESPONDING Right Sensor Not Responding 1 Clean the right senso...

Страница 106: ..._NOT_RESPON DING Upper Sensor Not Responding 1 Clean the upper sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart the machine 1 5032 Startup SLANTED_LIDAR_NOT_RESPON DING Upper Sensor Not Responding 1 Clean the upper sensors with a clean microfiber cloth 2 Inspect for damage 3 Restart the machine 1 5033 Startup PLANAR_LIDAR_NOT_RESPON DING Lower Sensor Not Responding 1 Clean the ...

Страница 107: ...spect and clean the bottom sensor Reboot the machine If the issue continues contact your supervisor 3 6001 Assist DIRTY_SLANTED Upper Sensor Dirty Inspect and clean the upper sensor Reboot the machine If the issue continues contact your supervisor 3 6002 Assist DIRTY_FRONT_DEPTH_CAMER A Front Camera Dirty 1 Inspect and clean the sensor 2 Reboot the machine 3 If the issue continues contact your sup...

Страница 108: ...r 1 Clean all the sensors with a clean microfiber cloth 2 Inspect for damage or obstructions 3 If no issues are found press the Start Pause button to resume 3 8500 Assist SENSOR_ERROR Sensor Error 1 Clean all the sensors with a clean microfiber cloth 2 Inspect for damage or obstructions 3 If no issues are found press the Start Pause button to resume 3 8600 Assist SENSOR MONITORING ERROR SONARS Sen...

Страница 109: ...t the machine and the surrounding area 2 Drive past any obstacles 3 If clear press the Start Pause button to resume 3 9011 Assist RIGHT_SIDE_OBSTACLE Right Side Obstacle Detected 1 Inspect the machine and the surrounding area 2 Drive past any obstacles 3 If clear press the Start Pause button to resume 3 10000 Assist LOST Route Lost 1 Drive the machine to the Home Marker 2 Restart the route 2 10001...

Страница 110: ...achine 2 Disconnect the battery cable for 15 seconds 3 Reconnect the cable and turn on the machine 4 If the issue continues contact customer service 1 20004 Error ROUTE_IS_BACKWARDS Route Error 1 Retrain the route 2 Do not drive backwards while training the route 2 20005 Error LIDAR_DELAY Sensor Error 1 Clean the lower sensor with a clean microfiber cloth 2 Inspect for damage or obstructions 3 If ...

Страница 111: ...ome Marker 2 20007 Error ROUTE_FAILED Route Error Route failed to save Retrain the route 2 20008 Error ROUTE_ENDPOINTS_EMPTY Route Error Retrain the route starting and ending at the same Home Marker 1 20009 Error IMU_ZERO Gyro Error 1 Turn off the machine 2 Disconnect the battery cable for 15 seconds 3 Reconnect the cable and turn on the machine 4 If the issue continues contact customer service 1 ...

Страница 112: ...ne Contact supervisor if problem continues 2 30000 Error COMMUNICATION_ERROR Unknown Error 1 Restart the machine 2 If the issue continues contact customer service 2 30001 Error ROUTE_LOADING_FAILED Unknown Error Failed to load route data Please try again 2 40002 Assist STEERING_IMU_MISMATCH Steering Error 1 Turn off the machine 2 Wait 15 seconds 3 Turn on the machine Contact supervisor if issue co...

Страница 113: ...MU ERROR Gyro Error 1 Turn off and inspect the machine 2 Restart the machine 3 If the issue continues contact customer service 1 40005 Assist MACHINE_CONTROLLER_ERRO R System Error 1 Turn off the machine 2 Wait 15 seconds 3 Turn on the machine If the issue continues contact your supervisor 40006 Assist STEERING ENCODER ERROR Steering Error 1 Turn off the machine 2 Wait 15 seconds 3 Turn on the mac...

Страница 114: ...SCALATOR_DETECTED Potential Hazard Detected 1 Inspect the area for ramps escalators or potential drops 2 Drive the machine further along the path 3 To resume press the Start Pause button 3 60161 Assist Pulsing the ESTOP solid state relay failed to be detected Machine Error 1 Turn off and inspect machine 2 If no issues are found restart the machine 3 If the issue continues contact your supervisor 2...

Страница 115: ...t Moving while stopped in autonomous mode Machine Error 1 Turn off and inspect machine 2 If no issues are found restart the machine 3 If the issue continues contact your supervisor 2 60423 Assist Significant movement in manual with no one in the seat Machine Error 1 Turn off and inspect machine 2 If no issues are found restart the machine 3 If the issue continues contact your supervisor 2 60424 As...

Страница 116: ...or 1 Turn off and inspect machine 2 If no issues are found restart the machine 3 If the issue continues contact your supervisor 2 60461 Assist ESTOP_CODE_SAFETY_ZONES _STEERING_OFFSET Calibration Error 1 Drive the machine back to the charging station 2 Turn off the machine 3 Notify your supervisor of this issue and include the error code number This machine will need to be recalibrated 1 ...

Страница 117: ...ata on the machine 18 BATTERY_FAILURE Failed to collect any voltage data from the battery 19 VOLTAGE_TOO_LOW The voltage on the battery is too low 20 VOLTAGE_TOO_HIGH The voltage on the battery is too high 21 NETWORK_UNREACHABLE Failed to ping google com 22 CANNOT_ENTER_AUTONOMY Failed to enter autonomy 23 UPPER_LIDAR_CONFIG_MISSING 24 UPPER_LIDAR_CONNECTION_ERROR Failed to connect to upper LIDAR ...

Страница 118: ...51 LEFT_2D_CAMERA_ERROR 52 FRONT_2D_CONNECTION_ERROR Failed to connect to Front 2D Camera 53 FRONT_2D_CAMERA_ERROR 54 RIGHT_2D_CONNECTION_ERROR Failed to connect to Right 2D Camera 55 RIGHT_2D_CAMERA_ERROR 56 USER_ERROR 57 STEERING_LIMITS_TOO_CLOSE 58 OBJECT_DETECTED_DURING_CALIBRATION Area surrounding the machine is not empty 59 UNIDENTIFIED_BOOTH Booth identification has not been completed 60 NO...

Страница 119: ...m Left 2D Camera 89 FRONT_2D_CAMERA_NO_DATA No data collected from Front 2D Camera 90 RIGHT_2D_CAMERA_NO_DATA No data collected from Right 2D Camera 91 LOWER_LIDAR_NO_DATA No data collected from Lower LIDAR 92 UPPER_LIDAR_NO_DATA No data collected from Upper LIDAR 93 MODEM_NOT_CONNECTED LTE Modem is not connected 94 TOUCH_SCREEN_NOT_CONNECTED Touch Screen is not connected 95 MODEM_NOT_COMMUNICATIN...

Страница 120: ...EOUT_ERROR Took too long to verify the configuration of the Right 3D Camera 129 RIGHT_3D_CONFIG_READ_ERROR Unable to read the configuration of the Right 3D Camera 130 RIGHT_3D_CONFIG_COMPARE_ERROR Unexpected configuration on the Right 3D Camera 131 FRONT_3D_CONFIG_TIMEOUT_ERROR Took too long to verify the configuration of the Front 3D Camera 132 FRONT_3D_CONFIG_READ_ERROR Unable to read the config...

Страница 121: ...ion in Ferrite P N 275 00156 01 Ferrite Core Hinged 348ohm 10mm ID Install 1 ferrite approximately 1 5 from the connector on the LCD Install 1 ferrite approximately 1 0 from the first ferrite Place zip ties next to the ferrites as shown These should be snug but not too tight ...

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Страница 123: ...tant IP67 Overmolded 1 2 205 00101 01 Cable Stock USB 2 0 UL2725 28AWG Shielded Black Jacket CNC Tech 2725 2824 BL 0100 T 4 3 205 00104 01 Cable Stock 4 Conductor 22AWG Shielded Gray Jacket Carol E2004S 41 10 2 4 205 00105 01 Cable Stock 2 Conductor 22AWG Shielded Gray Jacket Carol E2002S 30 10 3 5 205 00115 01 Cable Stock 8 Conductor Cat5e Stranded Shielded Black Jacket L Com TFDL2005 1 6 205 001...

Страница 124: ...FRONT_USB GREEN 1 A9 P9 M12 4 Pin A F 1 P5V RED 2 3 USB0N WHITE 3 7 GND BLACK 4 SHELL SHIELD DRAIN SHELL 25 GE0_0 DEPTH_FRONT_ETH W ORANGE 1 A10 P10 M12 4 Pin D M 34 GE0_2 W GREEN 2 26 GE0_1 ORANGE 3 35 GE0_3 GREEN 4 SHELL SHIELD DRAIN SHELL 43 GND BCM_FAN BLACK 1 A11 P11 Mizu P25 4 Pin F 44 P12V RED 2 46 FAN_SENS WHITE 3 45 MST_PWM_OUT GREEN 4 SHELL SHIELD DRAIN 48 RLAY12_2 TURN_SIGNAL_LEFT BLACK...

Страница 125: ...stallable M12 connectors with shielded overmolded equivalents Changed A15 label from a heatshrink label to laser engraving on the strain relief Decreased D38999 maximum height from 70mm to 55mm 2018 05 15 KM 08 Replaced 8 conductor ethernet cable with 4 conductor Changed 38999 Overmold dimensions New notes block Changed description to BE MK2 KIT Changed engineer and drawn by to SH and MA Added 1 P...

Страница 126: ... 3 205 00108 01 Cable Stock 1 Conductor 12AWG 65 30 Shielded Black Jacket Alpha Wire 6718BK00 1 4 205 00109 01 Cable Stock 1 Conductor 12AWG 65 30 Shielded Red Jacket Alpha Wire 6718BR00 1 5 205 00126 01 Cable Stock 1 Conductor 12AWG 65 30 Shielded Green Jacket Alpha Wire 6718GR0005 1 6 215 00170 01 38999 8 Pin N F 8D5 13F26SN Souriau 8D5 13F26SN 1 7 215 00200 01 Ring Terminal 10 12AWG 8 McMaster ...

Страница 127: ... with shielded overmolded equivalents Changed A5 label from a heatshrink label to laser engraving on the strain relief Decreased the D38999 maximum height from 70mm to 45mm 2018 05 14 KM 09 Added dedicated shield return line bundled in BATT and BATT wrap Increased length of W1 and W2 from 850mm to 925mm to make sensor installation and replacement easier Reformatted drawing notes Changed Number ite...

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