Docs: Classic 500(B)

Mon, 01 Jan 0001 00:00:00 +0000

Carrierboard ≥ 1.2.0 only!

This guide is exclusively for Carrierboard version ≥ 1.2.0!

Prerequisites

Things you will need:

YardForce Classic 500(B)
Open Mower Mainboard with all modules installed (xCore, CM4, GPS, 3x ESCs)
GPS Holder (3d printed part), GPS Antenna, 2x M2,5x20 screws, 2x M4x16 screws for the GPS holder (when using Ardusimple RTK2B)

Tools you will need:

Some basic screwdrivers for disassembly and assembly.

Step 2.4.1: Disassemble the Robot

The first step is to disassemble up the robot. This is a bit tricky in some parts, so I recommend you checking my YouTube video here: YouTube Video . The relevant time is: 2:25 - 5:08. Do not follow the video further than that, because it is outdated.

Alternatively, here is a picture guide of the disassembly process:

Unscrew top cover

Pry the cover

This is a bit tricky in some parts, so I recommend you checking YouTube video here: YouTube Video . The relevant time is: 2:25 - 5:08.

Unplug the cover

2 small wires on the front going to wheel sensors, and 1 wide wire from mainboard to cover UI board. Screwdriver is in the pictures for illustrative purposes, you can simply hold it with your hand.

Unplug the mainboard

Remove front PCB

Step 2.4.2: Remove Stock Electronics

You will need to remove these stock electronics:

Mainboard
Perimeter Sensor (slim PCB in the front of the robot).

Keep the battery in place.

Step 2.4.3: Small Preparations

Assemble Witmotion GPS Module

Install your Witmotion UM9xx or ByNav-Mxx GPS module and the included Witmotion pigtail-cable as shown in the illustration.

Assemble GPS Antenna Holder

Take the GPS antenna holder and assemble it as shown in the picture.

Step 2.4.4: Install OpenMower Electronics

Now you can install the OpenMower mainboard and the GPS antenna holder we prepared earlier.

Put the mainboard into the mower just as the original board was installed
(in the rear it sits between plastic tabs, on the front there are two screws holding it in place).
To fit the GPS holder into the mower, you need need to remove two of the white plastic cable ties by just pulling them upwards. Then plug it into the corresponding holes and fix it with one screw you saved earlier (only when using Ardusimple RTK2B).
Connect all cables.

The connections are as follows:

Mower Motor Sensor
Main Motor Connector (Drive motors, mower motors, sensors)
Power Connector
Charging Contacts
USB Connector on the Rear of the Robot
OEM CoverUI Board (Emergency sensors, rain sensor, LEDs, buttons)
GPS Antenna

Step 2.4.5: Install external WiFi Antenna (optional)

If you want to use an external WiFi antenna for better reception, installation is simple.

Prerequisites

Things you will need:

WiFi Antenna Mount: 3D printed part available on Printables
Two Screws you can use the screws from the front sensor we removed earlier
WiFi Antenna with Cable You can get it from Amazon

Steps:

Mount the antenna to the holder
Mount the holder to the mower using the two screws
Connect the antenna to the CM4 board
Zip tie the cable to the corner of the PCB

Step 2.4.6: First Startup

It’s time to power the robot up by hitting the switch at the back of the robot.

Warning

If you see / smell anything unexpected, turn the switch off immediately!

This includes but is not limited to:

Smoke / Fire
Smell of hot electronics
Blown Fuses

Some battery packs don’t like the inrush current and will turn off immediately. If this happens, you can try to turn the switch off and on again and it should work.

Once turned on, LEDs should start blinking on the ESCs, the GPS, the xCore board and the mainboard. Keep the robot turned on for at least five minutes to maker sure the CM4 boots up properly. It does setup during the first boot.

Info

It’s a good idea to place the mower into the docking station, so that the battery doesn’t drain.

In this state, the battery does not charge, because the core board does not have the correct firmware installed, but the docking voltage will still be used to power the electronics, so the battery will not drain.

If everything seems healthy, proceed to the Software Setup .

Otherwise, stop here and ask for help on the Discord server.

Docs: SA/SC Types

Mon, 01 Jan 0001 00:00:00 +0000

Carrierboard ≥ 1.2.0 only!

This guide is exclusively for Carrierboard version ≥ 1.2.0!

Coming Soon

This guide is currently being written. Check back soon or ask on Discord for the latest information.

Docs: NX Types

Mon, 01 Jan 0001 00:00:00 +0000

Carrierboard ≥ 1.2.0 only!

This guide is exclusively for Carrierboard version ≥ 1.2.0!

Coming Soon

This guide is currently being written. Check back soon or ask on Discord for the latest information.

OpenMower — Open Source RTK GPS Robotic Mower – Carrierboard ≥ 1.2.0

Docs: Classic 500(B)

Carrierboard ≥ 1.2.0 only!

Prerequisites

Things you will need:

Tools you will need:

Step 2.4.1: Disassemble the Robot

Unscrew top cover

Pry the cover

Unplug the cover

Unplug the mainboard

Remove front PCB

Step 2.4.2: Remove Stock Electronics

Step 2.4.3: Small Preparations

Assemble Witmotion GPS Module

Assemble GPS Antenna Holder

Step 2.4.4: Install OpenMower Electronics

Step 2.4.5: Install external WiFi Antenna (optional)

Prerequisites

Things you will need:

Steps:

Step 2.4.6: First Startup

Warning

Info

Docs: SA/SC Types

Carrierboard ≥ 1.2.0 only!

Coming Soon

Docs: NX Types

Carrierboard ≥ 1.2.0 only!

Coming Soon