Brain Corp Minuteman Manual de usuario
Steering Troubleshooting Guide
Date Published: 4/9/21
©2020 Brain Corporation. All rights reserved.
Steering
Troubleshooting
Guide for OEM
Steering Troubleshooting Guide
Date Published: 4/9/21
Brain Corporation Proprietary and Confidential Page 2of 64
This document contains information confidential and proprietary to Brain Corporation. It may not be
transmitted, modified, duplicated, disclosed, or distributed without prior written permission of Brain
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agreement (NDA) with Brain Corporation covering the scope of the information herein. If you received
or obtained this document outside of these requirements, please destroy all copies and report this error
to legal@braincorp.com.
©2020 Brain Corporation. All rights reserved.
Brain Corporation
Corporate Headquarters Contact Information
10182 Telesis Court Suite +1-619-738-4675, 5 am –5pm PST
Steering Troubleshooting Guide
Date Published: 4/9/21
Brain Corporation Proprietary and Confidential Page 3of 64
Table of Contents
Revision History 5
Definitions, Acronyms, and Abbreviations 5
Overview 6
When To Use It 6
For more information on the error codes please refer to the OEM Error Code Reference Document
Brain Internal Assist Codes
https://braincorporation.atlassian.net/wiki/spaces/TS/pages/298582085/Error+Codes+and+Error+Inv
entory OEM Assist Code Doc The latest OEM error code document is located in the Zendesk
Guide webpage 6
How To Use It 6
Required Tool List 7
OEM Diagnostics 8
Assists 8
U-Joint 8
Traction Encoder failed or failing 9
Wheel Slip 10
Loose Steering Encoder 11
Steering Encoder Malfunction 11
Example of an assist with customer driving 12
Tech Diagnostics 13
Hardware Inspection 13
U-Joint Check 13
Steering Motor Check 14
Steering Encoder Check15
Steering Amplifier Check17
Traction Encoder Check 18
Voltage / Continuity Testing/Swap 20
UI based diagnostics (OS version 3.1.x +) 23
Sensor History 25
Steering Service Tests 26
Calibration 26
Appendix A - Tech Steering Checklist 29
Steering Troubleshooting Guide
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Brain Corporation Proprietary and Confidential Page 4of 64
Appendix B - Tech Solution Codes 30
CALIBRATION-01 31
UJOINT-01 31
STENCODER-01 32
STENCODER-02 32
MOTOR-01 33
AMP-01 33
AMP-02 34
DOWNTRUNK-01 34
ANGLE-01 35
BCM-01 35
TRACTION-01 36
Appendix C - How to replace the Traction Encoder 36
Appendix D - How to Replace the Steering Motor 38
Appendix E –U-Joint Replacement 45
Appendix F –Steering Amplifier (MAM) replacement 51
Appendix G –Steering Encoder replacement 52
Appendix H –Down Trunk Cable replacement 60
Steering Troubleshooting Guide
Date Published: 4/9/21
Brain Corporation Proprietary and Confidential Page 5of 64
Revision History
Revision
Date
Description
Draft
4/9/2021
Submitted for Peer Review
01
Initial Release
Definitions, Acronyms, and Abbreviations
Term
Definition
BCM
Brain Control Module
DMM
Digital Multimeter
MAM
Motor Amplification Module
Down Trunk
Cable harness that goes from the down port on the BCM
OEM
Original Equipment Manufacturer
Examples of commands
Caution, this might cause serious system problems. Stop and ensure
you understand what is being asked.
Steering Troubleshooting Guide
Date Published: 4/9/21
Brain Corporation Proprietary and Confidential Page 6of 64
Overview
This guide provides information on how to troubleshoot steering related issues for any
autonomous floor scrubbers powered by BrainOS. In order to effectively troubleshoot any
issue, please review this troubleshooting guide in the order given to determine the proper
resolution.
When To Use It
Please proceed with this document if you encounter any of the codes below:
Assist
100, 101, 102, 218, 224, 40002, 40004, 40006, 60400, 60461
Errors
501,502, 504, 20003, 20009, 40007
Startup
5010
For more information on the error codes please refer to the OEM Error Code
Reference Document
Brain Internal Assist Codes
https://braincorporation.atlassian.net/wiki/spaces/TS/pages/298582085/Error+Codes+and+Err
or+Inventory
OEM Assist Code Doc
The latest OEM error code document is located in the Zendesk Guide webpage
How To Use It
The Steering Troubleshooting Guide walks you through several important steps in
troubleshooting an Autonomous Scrubber:
1. Part 1: Check Emerging Issues
2. Part 2: ROC Portal
3. Part 3: Connectivity Testing
4. Part 4: Onsite Tech troubleshooting
Complete the steps in the order they are listed!
Steering Troubleshooting Guide
Date Published: 4/9/21
Brain Corporation Proprietary and Confidential Page 7of 64
The following steps are intended to be performed in the exact order listed in this
document. It is essential to collect pictures and take notes throughout the process.
Required Tool List
The following is the list of tools needed to service the Steering? related issues for any
autonomous floor scrubbers powered by BrainOS.
Item
Image Details
Hex Drivers
●2 mm
●2.5 mm
●3 mm
7 mm socket wrench
Digital Multimeter (DMM,
Fluke 101 Model or
equivalent)
Fine Test Leads (Model MICTL-
013 or equivalent) or back
probes.
Cable Tie Cutter
Probing Adaptors (Optional)
https://www.amazon.com/E
DGELEC-Breadboard-
Optional-Assorted-
Multicolored/dp/B07GD2BW
PY
Steering Troubleshooting Guide
Date Published: 4/9/21
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OEM Diagnostics
When replacing any steering component, tech must perform a steering calibration.
****Print and update the checklist!****
To assist with troubleshooting, there is a troubleshooting checklist in Appendix A. This
checklist needs to be printed, filled out, and submitted along with the pictures and
notes.
Assists
Below are some example assists that you might run into when having Steering issues. Go
to the ROC Portal and review the assists for that specific machine. When reviewing each
assist it is really important to look at the images and assist replay to see what triggered
this assist to happen. By reviewing assists it allows us to get a better understanding of
what type of issues the machine could be having. For the latest list of assist codes please
reference the most updated error code document. Make sure to watch the playback as
it gives a better understanding of what you are looking at in the static maps.
U-Joint
These assists do not necessarily show that a U-joint if broken. It could be as simple as
the set screws or bad calibration.
●The below assist when played shows that the scrubber is always to the right of the
trained path. The Scrubber constantly tries to turn left slightly to come back on path.
Steering Troubleshooting Guide
Date Published: 4/9/21
Brain Corporation Proprietary and Confidential Page 9of 64
Tennant Link: None
Traction Encoder failed or failing
When viewing these assists you will notice that the scrubber sits still while the
environment is moving. This will indicate that the traction encoder or cable has
failed.
●Failing Traction encoder
This shows the traction encoder working then at the end of the video the
traction encoder stops working. This indicates that the Traction Encoder or cable
has failed.
Steering Troubleshooting Guide
Date Published: 4/9/21
Brain Corporation Proprietary and Confidential Page 10 of
64
●Tennant Link:
https://tennant.prod.roc.braincorp.com/assists/3S5ERDYHVSHP7
H6C3WD48TPVVT
●Failed Traction Encoder
This shows the machine from the start of the assist sitting still and the objects
are moving in relation to the Robot. This indicates that the Traction Encoder or
cable has failed.
●Tennant Link:
https://tennant.prod.roc.braincorp.com/assists/2VPKCPXWRBMB
FCK11KNKMJ9SXC
https://tennant.prod.roc.braincorp.com/assists/4WAKMQ30AMXX02WB
C9QY2J4M9F
Wheel Slip
In the below assists we have an example of Wheel Slip. You can see places
where the Robot thinks it has moved but the shelving moves and stays ahead of
the scrubber. We have seen worn pads and broken scrub deck springs cause this
issue. This does cause de-localization
●Tennant Link:
https://tennant.prod.roc.braincorp.com/assists/2E4E9XT7WPSPNTXE8TP
2WR3BYG
https://tennant.prod.roc.braincorp.com/assists/08B8R52AW0M1FWWY5TDAM9
AFA6
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