Neato lithium ion battery revisited

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Re: Neato lithium ion battery revisited

Postby vic7767 » January 8th, 2016, 5:30 pm

anuky very nice work, thanks for the detailed information and useful programs. This may help future Lithium hackers with testing their hardware.
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Re: Neato lithium ion battery revisited

Postby glnc222 » January 8th, 2016, 6:27 pm

Did you set the battery type in Neato software to NiMh or to Lithium? Is the voltage regulator for performing the second constant voltage phase of charging which the Neato lithium procedure skips? How much additional charge is acquired?
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Re: Neato lithium ion battery revisited

Postby anuky » January 10th, 2016, 12:01 pm

Battery type is set to lithium therefore the charging is terminated at 16.6 V.

The voltage regulator firstly limits the current due its maximum power. If the power of the regulator would be able to provide more then 1.85 A, Neato’s charging circuit would limit the current instead. When the battery voltage gets closer to the regulators limit voltage the charging current decreases.

In my opinion the battery error occurs when the battery voltage stops rising while charging active. If this is true it’s impossible to get a real CC-CV charge via original circuit even adding a voltage regulator to the base.
The best we can get is tweaking the voltage of the regulator in a way that the current decreases as much as possible without causing the Neato to detect a “battery error”.

For my first charge the Pack got 15.6 V regarding to the datasheet roughly 3000 mAh.
The third charge ended with 16.4 V this would mean 3200 to 3400 mAh.
CGR18650CH.jpg
CGR18650CH

CGR18650CG would be a better choice(?).

Right now I am thinking of bypassing the charging circuit and adding a CC-CV-charger to the base. In the best case the robot would charge to 16.6V and terminate the charging like normal (Setting charge level to 100%). The Bypass would allow an additional and configurable charge afterwards. I would charge the cells to 4.15 V each. What do you think?



A friend of mine logged charging of his parent’s Vorwerk Vr100:

20160110-14_04_07VorwerkA.png
VR 100

20160110-14_04_07VorwerkB.png
VR 100 %


As you can see it’s exactly the BatteryType 3 behavior. After charging the Pack settles at 15.8 (just 3.95 V a cell). For the CGR18650CG this means a capacity of 1600 mAh. So you could get 3200 mAh out of the pack if you would discharge it to 10 V.
CGR18650CG.JPG
CGR18650CG
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Re: Neato lithium ion battery revisited

Postby glnc222 » January 11th, 2016, 1:05 am

My impression was that when used in parallel pairs those Panasonic cells, a higher drain type, fully supported both the 2 amp charging rate and higher discharge rate of the Botvac. I am not sure why a voltage regulator is needed on the dock when the Vorwerk charging protocol for Lithium is set.

The same cells used in France have given no problems.
The protection boards also have limits at which they trip for protection. They also seemed to be in the proper range.
They would only trip in event of a charger malfunction going crazy, or failure of the Neato software to prevent an excess discharge. Neato normally keeps a substantial unused margin against deep discharge.
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Re: Neato lithium ion battery revisited

Postby Lewiy » January 11th, 2016, 2:40 am

anuky
Thanks for the detailed report. Let me a few notes.
Have you considered the battery resistance? The resistance of your batteries is possible to estimate by the voltage drop after the charge termination. It is about 500 milliohms. This is the resistance sum of accus, PCM, thermal fuse. But the wires and contacts are making the greatest contribution. The buck converter allows you to increase the charge capacity by decreasing the charge current. But the resistance reduces the usable capacity of the battery during discharge when cleaning. The load current is more than the charging current and is 2,5-3A. The robot stops cleaning for charging when the voltage at the point of measurement on the motherboard is reduced to 12V. Whereas the voltage measured at the battery may be 0,5-1V more. Thus, you can rely on capacity in the voltage range 13-16,4V. That's why some guys soldered the batteries directly to the motherboard on the heavy gauge copper wire (without pin connectors).

Are you sure that Panasonic accus is the best choice? The duration of the first charge is about 44 minutes. The charge capacity is about 1.4 Ah. It is little enough (not sure if the batteries are empty before charging). Guys often use the Samsung and LG accus in DIY batteries. Their capacity is larger and cheaper. A member of Russian Forum reported about making the 2S2P batteries with LG INR18650MH1. The battery charge (without buck converter) lasted for 2.5 hours (4,600 mAh). This is much better.

I had a 0004 error when the charging current decreased to 150 mA. The GetLifeStatlog showed the comments on this error - LS_ERROR_BATTERY_UNDERCURRENT. Then I set up the voltage regulator such that the current is not reduced below 200 mA at the end of the charge. Since then the error is not repeated.
The charging circuit in the base station has a protective function. It turns off the voltage on the charging pads when the robot goes to cleaning.
I do not think you will significantly increase the capacity by charging battery to 4,15V per cell. But you can try to lower the voltage on the voltage regulator (about 17 V) to reduce the current at the charge end to 200-180 mA. Perhaps it would be better to use a more powerful buck converter for your batteries. Then it would be possible to use the full charging current at the beginning to accelerate the charge.
And what about the run time? Do you need to improve something, if the new batteries charge is enough for one cleaning?
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Re: Neato lithium ion battery revisited

Postby glnc222 » January 11th, 2016, 3:08 am

I see the LG cells are sold by the same German dealer for the Panasonic cells, so they can be had with welded tabs. Also they have yet another chemistry I have not seen before LINICOALO2, with aluminum oxide. The Panasonic cells are LiNMC same as used in the after-market replacements for the NiMh batteries, found to be safe, tested by NASA etc. Many thanks for the technical contributions.
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Re: Neato lithium ion battery revisited

Postby anuky » January 13th, 2016, 11:13 am

The voltage regulator increases the total charge.
I already ordered a more powerful one, it should be here soon.

Lewiy thanks for the input regarding to the resistance. I will change the connectors to T-Plugs the next time taking the robot apart.

I choose the Panasonic accus because it’s the same chemistry like the original Vorwerk ones – a matter of safety. Additionally these were reported as working in the French project. So basically I choose these due a lack of better knowledge.

After I stressed the robot’s battery (cleaning some rooms twice) battery was at 14.1 V and the following charge was about 3300 mAh (cc: 2600 mAh; cv: 700) to 16.3 V.

Normal run in our flat takes about 75 minutes (60m^2), which I can get easily (remaining Voltage: 14.4 V). So I think with the new voltage regulator it will be quite ok.
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Re: Neato lithium ion battery revisited

Postby glnc222 » January 24th, 2016, 9:38 pm

battery life advantage

There may be an extra advantage in battery life using lithium beyond the more durable chemistry with the Vorwerk type set in software. I think it was mentioned the periodic refresh charging cycles, sometimes called trickle charging, are omitted for lithium type.

Others report that when the standard NiMh battery is used the unit is powered from the battery when on the dock except when charging. The minimal system load is around 100ma. It is this load instead of self-discharge which is supposed to be requiring the refresh charging cycles. Those cycles have been blamed for some of the short lifetime of Neato batteries, around a year in frequent use. There is an advantage in keeping the unit off the dock with the battery switched off between runs made only every few days. The after-market lithium simulations of the NiMh still run under the NiMh type setting and would not benefit the same as pure lithium setups.

There are mosfet power direction switches on the system board which might be able to disconnect the battery when on the dock, I don't know enough. Schematic at http://www.robotreviews.com/chat/viewtopic.php?p=132686#p132686
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Re: Neato lithium ion battery revisited

Postby srgl » January 26th, 2016, 5:38 pm

Hey there!
Recently I just build single li-ion 4s pack, but it does not work well - neato suddenly shuts down at the end of cleaning.
Lifestatslog shows there is "battery under current" or something like this. So I decided to build two packs with 8 cells total. And here is the question - is there any significant difference between 2s2p and 2p2s builds? I believe that the second one requires only 1 pcm instead of 2 pcms for the 2s2p (french build). Any thoughts? Thanks!
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Re: Neato lithium ion battery revisited

Postby glnc222 » January 26th, 2016, 7:48 pm

Connecting pairs of cells in parallel to be treated as a single larger cell would help keep the pair in balance.
There is less protection monitoring of each cell as they are not separated, in case one cell goes bad.
The LINMC Panasonic cells are safe. Needs a specialist. I notice in the Powerbot the lithium packs is described as 6S2P, 21.6v, I think meaning pairs of 1800mah cells are in pairs for an effective 3600mah unit. Not sure what is in the Vorwerk lithium packs, maybe someone can find out.
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Re: Neato lithium ion battery revisited

Postby Lewiy » January 27th, 2016, 5:25 am

srgl wrote:Hey there!
is there any significant difference between 2s2p and 2p2s builds? I believe that the second one requires only 1 pcm instead of 2 pcms for the 2s2p (french build). Any thoughts? Thanks!

It appears that you do not prebalance the 4S battery. Therefore, PCM disconnects the battery when the voltage on a single cell has fallen below the overdischarge protection threshold. Another version is that PCM has too high a threshold (more than 3 V).
In french build configuration, the battery has two autonomous branch circuits. PCM can turn off one of the branches when the voltage on one cell will come out of the protection threshold. Then another branch will take on a double load. Experiments are needed to predict the effects of such collisions. As for me, the alternate configuration is more succinctly and predictable.
In addition, I take the position that the Li-Ion battery balancing is necessary before use. The Neato charging algorithm is not adapted for balancing the battery absolutely. Also believe that you should ensure that the PCM declared parameters are true.
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Re: Neato lithium ion battery revisited

Postby Lewiy » January 28th, 2016, 5:33 am

glnc222 wrote:Not sure what is in the Vorwerk lithium packs, maybe someone can find out.

maybe this would help? -- http://www.roboter-forum.com/showthread ... post129917
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Re: Neato lithium ion battery revisited

Postby srgl » February 1st, 2016, 2:47 pm

Lewiy wrote:It appears that you do not prebalance the 4S battery. Therefore, PCM disconnects the battery when the voltage on a single cell has fallen below the overdischarge protection threshold. Another version is that PCM has too high a threshold (more than 3 V).

I didn't prebalance battery, but after "sudden shutdowns" I balanced it few times till 4.25.
Also, I did test without PCM at all - same reproducible issue, every time neato suddenly shuts down after 40-50 minutes of cleaning and after powerup it shows 0003 error.
Appreciate any advice.
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Re: Neato lithium ion battery revisited

Postby glnc222 » February 1st, 2016, 5:03 pm

I vaguely recall error 0003 might be related to thermistor connection. Could be another battery related issue. I would check the sensor data over USB. You can test the error code by breaking the thermistor connection.
A German user had a failure in the Neato wiring or cpu sensing the thermistor, with good batteries. Even the battery plug can be at fault.
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Re: Neato lithium ion battery revisited

Postby vic7767 » February 1st, 2016, 8:11 pm

There is a low voltage threshold on the Lithium PCB that when reached will open the dc path to the cell or cells connected. That causes an abrupt halt of the robot. Most Neatos low voltage threshold is just below 14 vdc and this may cause the error 0003 condition.
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Re: Neato lithium ion battery revisited

Postby Lewiy » February 2nd, 2016, 4:08 am

srgl
Is there a thermal fuse or other protection elements in the battery? Post GetLifeStatLog in a text file here, if you have the rev64.
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Re: Neato lithium ion battery revisited

Postby srgl » February 2nd, 2016, 5:31 am

Lewiy wrote:srgl
Is there a thermal fuse or other protection elements in the battery? Post GetLifeStatLog in a text file here, if you have the rev64.

There is only the thermistor I think, photos attached.
IMG_20160202_132253393_HDR.jpg

IMG_20160202_132316967_HDR.jpg

small brown spot on the 3rd battery is OK, just made it while soldering, battery functionallity/capacity isn't affected

Also i've got some log here right after sudden shutdown:
getlifestat
Code: Select all
2506,LS_A2D1,6004,16026,16240,0x0000000005c5970e,0x0000016ba2fd852a                                         
2506,LS_A2D6,6004,1224,1225,0x0000000000702619,0x000000021846c589                                           
2506,LS_A2D7,6004,0,3344,0x00000000013066cd,0x0000000f781b2e0b                                               
2506,LS_A2D8,6004,-1,-1,0xffffffffffffe88c,0x0000000000001774                                               
2506,LS_A2D9,6004,273,288,0x000000000019a479,0x000000001c096f39                                             
2506,LS_A2D10,6004,-260,668,0xfffffffffff70e7c,0x0000000009c154f0                                           
2506,LS_A2D11,6004,25,25,0x0000000000024a54,0x0000000000394234                                               
2506,LS_A2D12,6004,-320,1088,0x0000000000047e28,0x000000000aef0160                                           
2506,LS_A2D13,6004,141,287,0x0000000000128a54,0x000000000eb62f8a                                             
2506,LS_A2D15,6004,27,27,0x000000000002793c,0x000000000042c954                                               
2506,LS_PinkyErr_eErrFlagLCDOverrun,1,1,1,0x0000000000000001,0x0000000000000001                             
2506,LS_PinkyErr_eErrFlagI2CReset,1,1,1,0x0000000000000001,0x0000000000000001                               
2507,LS_RunDate,1,95284,95284,0x0000000000017434,0x000000001d272a90                                         
2507,LS_A2D0,283215,13,731,0x00000000050dc9ce,0x000000073b0048aa                                             
2507,LS_A2D1,283235,12180,16173,0x00000000e71bea09,0x0000306246e51ba9                                       
2507,LS_A2D2,283215,246,504,0x0000000006d04bda,0x0000000ac5280a92                                           
2507,LS_A2D3,283215,268,569,0x0000000006b4d698,0x0000000a6e6c48a8                                           
2507,LS_A2D4,283195,-6,7,0xfffffffffffcabcd,0x000000000005a729                                               
2507,LS_A2D5,283195,-6,4,0xfffffffffffb7419,0x000000000008e879                                               
2507,LS_A2D6,283235,1224,1225,0x0000000014abd207,0x00000062dea69edf                                         
2507,LS_A2D7,283235,3260,3352,0x00000000382273a6,0x000002d91d1162f6                                         
2507,LS_A2D8,283235,-1,-1,0xfffffffffffbad9d,0x0000000000045263                                             
2507,LS_A2D9,283235,0,507,0x000000000525a7be,0x000000062a3461de                                             
2507,LS_A2D10,283235,-832,864,0xffffffffffe76868,0x0000000027dd0520                                         
2507,LS_A2D11,283235,25,32,0x00000000007b52af,0x000000000dcb38db                                             
2507,LS_A2D12,283235,-732,636,0x00000000001965cc,0x000000002af937f0                                         
2507,LS_A2D13,283235,195,2787,0x00000000246d9932,0x00000134543e59ce                                         
2507,LS_A2D15,283235,27,38,0x000000000092addd,0x0000000013886073                                             
2507,LS_LDROP_MM,283234,0,63,0x00000000010332ce,0x000000003cbbcdc6                                           
2507,LS_RDROP_MM,283234,0,70,0x0000000001032f53,0x000000003cbabe23                                           
2507,LS_CLEANTYPE,1,1,1,0x0000000000000001,0x0000000000000001                                               
2507,LS_LDS_DotTooWide,7,1,1,0x0000000000000007,0x0000000000000007                                           
2507,LS_LDS_DoubleDot,11954,1,1,0x0000000000002eb2,0x0000000000002eb2                                       
2507,LS_LDS_TooNear,4372,1,1,0x0000000000001114,0x0000000000001114                                           
2507,LS_LDS_OutOfCal,498,1,1,0x00000000000001f2,0x00000000000001f2                                           
2507,LS_LDS_TooFar,1918,1,1,0x000000000000077e,0x000000000000077e                                           
2507,LS_LDS_TooSlow,35765,1,1,0x0000000000008bb5,0x0000000000008bb5                                         
2507,LS_LDS_SunBlind,42512,1,1,0x000000000000a610,0x000000000000a610                                         
2507,LS_LDS_NoDot,2169245,1,1,0x000000000021199d,0x000000000021199d                                         
2507,LS_LDS_LaserCharging,3189,1,1,0x0000000000000c75,0x0000000000000c75                                     
2507,LS_LDS_ReservedCode,288,32896,32896,0x0000000000909000,0x0000004890480000                               
2507,LS_LMAG,283195,-6,4,0xfffffffffffb7419,0x000000000008e879                                               
2507,LS_RMAG,283195,-6,7,0xfffffffffffcabcd,0x000000000005a729                                               
2507,LS_WALL_MM,283234,22,97,0x0000000000fa3c3c,0x000000003b6b1394                                           
2507,LS_LDROP,283234,0,0,0x0000000000000000,0x0000000000000000                                               
2507,LS_RDROP,283234,0,0,0x0000000000000000,0x0000000000000000                                               
2507,LS_LSBUMP,12,1,1,0x000000000000000c,0x000000000000000c                                                 
2507,LS_LFBUMP,32,1,1,0x0000000000000020,0x0000000000000020                                                 
2507,LS_RFBUMP,109,1,1,0x000000000000006d,0x000000000000006d                                                 
2507,LS_RSBUMP,98,1,1,0x0000000000000062,0x0000000000000062                                                 
2508,LS_A2D0,37,93,113,0x0000000000000e3f,0x00000000000580c1                                                 
2508,LS_A2D1,266,12877,13601,0x000000000036ef8f,0x0000000b5886e99f                                           
2508,LS_A2D2,37,7,16,0x000000000000011e,0x000000000000093c                                                   
2508,LS_A2D3,37,98,164,0x00000000000013dd,0x00000000000aeda1                                                 
2508,LS_A2D4,18,0,776,0x0000000000001836,0x0000000000494570                                                 
2508,LS_A2D5,18,0,778,0x000000000000184c,0x000000000049cad4                                                 
2508,LS_A2D6,269,1224,1225,0x00000000000506ab,0x00000000180a5473                                             
2508,LS_A2D7,269,2145,3333,0x00000000000d7174,0x00000000acdb6006                                             
2508,LS_A2D8,269,-1,-1,0xfffffffffffffef3,0x000000000000010d                                                 
2508,LS_A2D9,269,265,312,0x0000000000013ea9,0x0000000001798951                                               
2508,LS_A2D10,269,640,1216,0x000000000003cd08,0x000000000e161780                                             
2508,LS_A2D11,269,0,32,0x0000000000001500,0x000000000002a000                                                 
2508,LS_A2D12,269,-256,4,0xffffffffffff8318,0x0000000000441aa0                                               
2508,LS_A2D13,269,128,923,0x000000000001549a,0x0000000001cd3d38                                             
2508,LS_A2D15,269,0,35,0x00000000000016f8,0x00000000000323e8                                                 
2508,LS_LMAG,10,0,0,0x0000000000000000,0x0000000000000000                                                   
2508,LS_RMAG,10,0,0,0x0000000000000000,0x0000000000000000                                                   
2508,LS_ERROR_PICKED_UP,1,1,1,0x0000000000000001,0x0000000000000001                                         
2508,LS_PINKY_MSG_SIZE_MISMATCH,38,1,1,0x0000000000000026,0x0000000000000026                                 
2508,LS_PINKY_INVALID_MESSAGE,288,1,1,0x0000000000000120,0x0000000000000120                                 
2508,LS_PinkyErr_eErrFlagLCDOverrun,1,1,1,0x0000000000000001,0x0000000000000001                             
2508,LS_ERROR_BATTERY_UNDERVOLT,1,1,1,0x0000000000000001,0x0000000000000001                                 
2508,LS_PinkyErr_eErrFlagFault,1,130,130,0x0000000000000082,0x0000000000004204                               
2508,LS_STARTUP_TIME,1,2,2,0x0000000000000002,0x0000000000000004                                             
2509,LS_A2D0,80,293,389,0x0000000000006b28,0x0000000000907c58                                               
2509,LS_A2D1,102,13480,13614,0x0000000000150c8a,0x0000000457feadda                                           
2509,LS_A2D2,80,7,7,0x0000000000000230,0x0000000000000f50                                                   
2509,LS_A2D3,80,183,191,0x0000000000003a27,0x00000000002a4791                                               
2509,LS_A2D4,60,0,3,0x0000000000000033,0x0000000000000041                                                   
2509,LS_A2D5,60,0,3,0x000000000000005c,0x00000000000000a2                                                   
2509,LS_A2D6,102,1224,1225,0x000000000001e800,0x00000000091ebed0                                             
2509,LS_A2D7,102,2143,3333,0x0000000000051f1e,0x00000000421329be                                             
2509,LS_A2D8,102,-1,-1,0xffffffffffffff9a,0x0000000000000066                                                 
2509,LS_A2D9,102,296,304,0x0000000000007908,0x00000000008f9dc0                                               
2509,LS_A2D10,102,720,1104,0x0000000000018d10,0x000000000615ca00                                             
2509,LS_A2D11,102,32,32,0x0000000000000cc0,0x0000000000019800                                               
2509,LS_A2D12,102,-224,-112,0xffffffffffffbd6c,0x00000000002cd3d0                                           
2509,LS_A2D13,102,236,692,0x00000000000097ee,0x0000000000e576a8                                             
2509,LS_A2D15,102,35,35,0x0000000000000df2,0x000000000001e816                                               
2509,LS_LDROP_MM,102,0,150,0x0000000000002ee0,0x00000000001b7740                                             
2509,LS_RDROP_MM,102,-41,91,0x0000000000001673,0x000000000008ba6d                                           
2509,LS_LMAG,60,0,3,0x000000000000005c,0x00000000000000a2                                                   
2509,LS_RMAG,60,0,3,0x0000000000000033,0x0000000000000041                                                   
2509,LS_WALL_MM,102,49,84,0x00000000000017c3,0x000000000005cbbb                                             
2509,LS_LDROP,102,0,1,0x0000000000000051,0x0000000000000051                                                 
2509,LS_RDROP,102,0,1,0x0000000000000031,0x0000000000000031                                                 
2509,LS_ERROR_BATTERY_UNDERVOLT,1,1,1,0x0000000000000001,0x0000000000000001                                 
2510,LS_A2D0,39,440,451,0x00000000000043ad,0x00000000007570c7                                               
2510,LS_A2D1,6351,13534,13748,0x00000000052966ab,0x00000112eeff5281                                         
2510,LS_A2D2,39,7,7,0x0000000000000111,0x0000000000000777                                                   
2510,LS_A2D3,39,170,177,0x0000000000001a63,0x000000000011db7d                                               
2510,LS_A2D4,20,0,775,0x0000000000001826,0x000000000048e4bc                                                 
2510,LS_A2D5,20,0,777,0x0000000000001840,0x0000000000498206                                                 
2510,LS_A2D6,6354,1224,1225,0x000000000076b06a,0x0000000237904d7a                                           
2510,LS_A2D7,6354,3300,3344,0x00000000014217f6,0x0000001053d19c5a                                           
2510,LS_A2D8,6354,-1,-1,0xffffffffffffe72e,0x00000000000018d2                                               
2510,LS_A2D9,6354,234,280,0x000000000019b82e,0x000000001aaaee98                                             
2510,LS_A2D10,6354,-180,-104,0xfffffffffff1dc8c,0x000000000817af30                                           
2510,LS_A2D11,6354,0,32,0x0000000000030925,0x00000000006099bb                                               
2510,LS_A2D12,6354,-36,20,0xffffffffffffc620,0x0000000000042e20                                             
2510,LS_A2D13,6354,144,660,0x0000000000185de7,0x000000001818f497                                             
2510,LS_A2D15,6354,0,33,0x00000000000311f0,0x000000000062cc50                                               
2510,LS_LMAG,12,0,0,0x0000000000000000,0x0000000000000000                                                   
2510,LS_RMAG,12,0,0,0x0000000000000000,0x0000000000000000                                                   
2510,LS_ERROR_PICKED_UP,1,1,1,0x0000000000000001,0x0000000000000001                                         
2510,LS_PINKY_MSG_SIZE_MISMATCH,40,1,1,0x0000000000000028,0x0000000000000028                                 
2510,LS_PINKY_INVALID_MESSAGE,283,1,1,0x000000000000011b,0x000000000000011b                                 
2510,LS_PinkyErr_eErrFlagLCDOverrun,1,1,1,0x0000000000000001,0x0000000000000001                             
2510,LS_PinkyErr_eErrFlagFault,1,4,4,0x0000000000000004,0x0000000000000010                                   
2510,LS_STARTUP_TIME,1,2,2,0x0000000000000002,0x0000000000000004

getch
Code: Select all
Label,Value
FuelPercent,41
BatteryOverTemp,0
ChargingActive,0
ChargingEnabled,1
ConfidentOnFuel,0
OnReservedFuel,0
EmptyFuel,0
BatteryFailure,0                                                                                             
ExtPwrPresent,0                                                                                             
ThermistorPresent[0],1                                                                                       
ThermistorPresent[1],1                                                                                       
BattTempCAvg[0],33                                                                                           
BattTempCAvg[1],32                                                                                           
VBattV,13.65                                                                                                 
VExtV,0.27                                                                                                   
Charger_mAH,0 

getanalog
Code: Select all
SensorName,Value                                                                                             
WallSensorInMM,60,                                                                                           
BatteryVoltageInmV,13641,                                                                                   
LeftDropInMM,0,                                                                                             
RightDropInMM,0,                                                                                             
LeftMagSensor,32768,                                                                                         
RightMagSensor,32768,                                                                                       
UIButtonInmV,3325,                                                                                           
VacuumCurrentInmA,0,                                                                                         
ChargeVoltInmV,265,                                                                                         
BatteryTemp0InC,32,                                                                                         
BatteryTemp1InC,32,                                                                                         
CurrentInmA,255,                                                                                             
SideBrushCurrentInmA,0,                                                                                     
VoltageReferenceInmV,1224,                                                                                   
AccelXInmG,-132,                                                                                             
AccelYInmG,-16,                                                                                             
AccelZInmG,-1012,         
srgl
 
Posts: 9
Joined: January 26th, 2016, 5:29 pm

Re: Neato lithium ion battery revisited

Postby Lewiy » February 2nd, 2016, 7:11 am

The essence of the problem in a string - LS_ERROR_BATTERY_UNDERVOLT. The battery voltage drops sharply below 12 V at the end of cleaning (the robot has time to register 12180 mV as the lowest battery voltage when cleaning - then the power goes off). The reason for this behavior of the battery is not clear. Poor contact? Not durable soldering? Have you checked the real capacity of the cells? Protection device disconnects the battery? Perhaps the brown spot is not quite harmless? Short circuit? Shrink film is not enough reliable insulator. Typically, additional insulation is added between the cells.
Your batteries capacity is 5000 mAh , as I understand it. The cleaning time too short for such a large-capacity battery. It has been spent only 1697 mAh for cleaning.
Lewiy
Robot Master
 
Posts: 152
Joined: September 27th, 2014, 3:33 am

Re: Neato lithium ion battery revisited

Postby Medtech » February 3rd, 2016, 8:21 am

In my opinion in the circuit connecting the battery, there are two extra wires brown, they should be removed.
If you use the circuit board in such a PCM is not needed. :naughty:
Thank you GOOGLE translator for the freedom of communication.
User avatar
Medtech
Robot Addict
 
Posts: 150
Joined: October 17th, 2014, 3:12 pm
Location: Moscow Russia

Re: Neato lithium ion battery revisited

Postby Medtech » February 3rd, 2016, 8:31 am

Lewiy This 4S just 4 elements in series with the contactor in the battery compartment of the other, in such a terrible performance, that I am most afraid of when people collect their batteries at home, without the knowledge of the primary security.
  I'm sorry home, relatives and neighbors of these men.
"просто жопа", если не говорить сильнее.
Thank you GOOGLE translator for the freedom of communication.
User avatar
Medtech
Robot Addict
 
Posts: 150
Joined: October 17th, 2014, 3:12 pm
Location: Moscow Russia

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