13
Blue: voltage measured by voltmeter embedded in motherboard
Purple: recharging current
Voltage and current trends during recharge are highly dependent on battery conditions.
Considering that the batteries are at their best conditions and all the elements involved in recharging process
are perfectly functioning, the trend is highly dependent on charge status of the battery at the beginning of the
reachrging process.
As it is evident looking at the plot above, that is related to a condition with discharged batteries at the
beginning of recharge:
•
the recharging current is high at the beginning of the process and decreases over the time. It goes
more or less to 0A at the end of recharge
•
voltage on battery (and at recharging plates) assumes values significantly lower than nominal one
(29.3V) at the beginning of the process and then it increases. The voltage reaches the nominal value
at the end of recharging process.
The trends above are different in case the old battery charger (black box instead the new power supply with
white box) is used. In this case, the current is more or less constant during the complete recharging period
and the voltage increased reaching the nominal value at the end.
3.1.2.2
Errors identification
Typical errors and anomalous behaviours showed by the robot in case of the recharging process is not
optimized, are:
•
Failed charge
: this error is showed in the display of the robot
o
Failed charge errors are counted in the statistics of the robot, are visible on service menu and
are reported on robot report
o
As explained in “Robot set-up” document, the statistics do not count as errors missed
recharging due to bump of the robot against the recharging base or recharging plates
o
Only errors for which the recharging process effectively started (contact established between
recharging plates and bolts) and then ended erroneously are counted
•
The robot enters the base and immediately exits
•
The robot is inside the base and shows “PAUSE” instead of the normal ON RECHARGE message
•
Anomalous working and recharging times
