XV-11 LIDAR issues

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XV-11 LIDAR issues

Postby fish in a barrel » June 13th, 2014, 10:48 pm

A while back my XV-11 cried out and informed me that it could no longer see. The LIDAR was not spinning so I disassembled the bot. The LIDAR belt was intact, but the motor would not spin when voltage was applied. I opened up the motor and found that one of the brushes had disintegrated.

I did some googling of the number printed on the side of the motor and found this motor. All of the dimensions matched, and it's cheap enough to gamble on so I ordered one.

Today I replaced the motor, reassembled everything, and tested it out. The LIDAR spins, but my bot staggers about like a drunkard. After reading a couple of posts on this forum, I downloaded the driver and grabbed the LDS scan data. What I'm seeing are a ton of error codes in the last column of the data. Does anyone know how to decode these?

I'm getting codes 0x8021, 0x8022, 0x8023, 0x8035, and 0x8080. My ROTATION_SPEED is 4.2.

Thanks!
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Re: XV-11 LIDAR issues

Postby vic7767 » June 14th, 2014, 12:00 am

The Lidar rotation speed should be 300 rpm. The 4.2 rotation speed report appears to be high.
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Re: XV-11 LIDAR issues

Postby fish in a barrel » June 14th, 2014, 12:15 am

What's the conversion from ROTATION_SPEED to RPM? The manual says the returned value is in Hz, so I assumed RPM = ROTATION_SPEED * 60, which would give me just 252 RPM.

If it's running fast, I could try adding a resistor to slow it down. If it's running slow, I might swap the new brushes into the old motor.
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Re: XV-11 LIDAR issues

Postby vic7767 » June 14th, 2014, 12:33 am

Actually you are correct, the Lidar is running slow. Instead of 4.2 it should be 5.0 Without reading the programmer manual for getldsscan in a while I thought the report for rpm would be 3.0.

It's possible that there may be an issue with the rpm control via PWM that is causing the error codes.
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Re: XV-11 LIDAR issues

Postby fish in a barrel » June 14th, 2014, 12:40 am

OK, that's one thing for me to look at.

Something I just thought of: what direction is the lidar supposed to spin? Maybe I just reversed the motor.
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Re: XV-11 LIDAR issues

Postby mfortuna » June 14th, 2014, 7:52 am

To get precisely 300rpm it seems the Neato would have to adjust the PWM based on what rotation speed it is reading. I doubt any motor from a batch would run at exactly the same speed with the same PWM signal applied.

If you look at the data sheet you will see it is a 6V motor and 0.8V corresponds to 300RPM. So that would be a fairly narrow PWM pulse. It should be adjustable. Maybe there is a limit to how much Neato adjusts the PWM signal before giving up.

Brushed motors may have timing advance built in meaning they would spin faster with given polarity. It could be you hooked it up backwards and it is running slower since now the timing would be retarded.

Make sure there is no mechanical reason for the motor to turn slow.
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Re: XV-11 LIDAR issues

Postby fish in a barrel » June 14th, 2014, 9:30 am

The motor pulley is substantially smaller than the lidar housing, so the motor will run much faster than the lidar. I assume it is much closer to the motor's rated voltage.

Any idea which direction it is supposed to spin? I assume that if I swap the polarity that will also change its direction. I wired it red+, but that doesn't mean the new motor is designed to spin in the same direction as the original.
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Re: XV-11 LIDAR issues

Postby vic7767 » June 14th, 2014, 10:16 am

You've identified the issue. The (+) terminal is wired with the black wire on a stock OEM motor from Neato.
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Re: XV-11 LIDAR issues

Postby fish in a barrel » June 14th, 2014, 1:11 pm

Yep, that was it! The LDS data is much cleaner, and after the required charge my XV-11 is once again navigating with ease.

Thanks for the assistance, guys!
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Re: XV-11 LIDAR issues

Postby mfortuna » June 14th, 2014, 7:06 pm

fish in a barrel wrote:The motor pulley is substantially smaller than the lidar housing, so the motor will run much faster than the lidar. I assume it is much closer to the motor's rated voltage.

Any idea which direction it is supposed to spin? I assume that if I swap the polarity that will also change its direction. I wired it red+, but that doesn't mean the new motor is designed to spin in the same direction as the original.

Doh! I forgot about the belt drive. The motor is probably spinning close to its optimal rpm. The good news is you found a great substitute.
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Re: XV-11 LIDAR issues

Postby firefly » June 3rd, 2015, 12:04 am

It sounds like my xv-12 is similar. I was getting the my vision is blocked error. The Lidar was not spinning on startup so I investigated that first. I pulled it apart and the motor brushes were practically gone. I ordered the replacement motor which follows the same specs, soldered it in. Plugged it in to a 9v to check the motor and it spins and spins the lidar just fine.
I plugged it all back in, plugged the batteries back in and it said the batteries were low. So I charged it and tried a start up. The first motor you hear kicked on, then the fan, but the lidar does not spin.

I then read something in another forum the the stock motor comes wired with the black to the + on the motor. So I rewired it to that and am having the same issue. No lidar movement at all.

One thing that stood out to me is that two times now I have taken the neat off the charger(Fully Charged) taken it apart within about 20 minutes and put it back together. And as soon as I plug the batteries back in it says the batteries are low.

The batteries are maybe 2-3 months old and the unit is approximately 2 years old.


Any help would be great.
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Re: XV-11 LIDAR issues

Postby vic7767 » June 3rd, 2015, 12:45 am

When the batteries are removed, the memory registers that store battery information are zeroed out so when the battery packs are installed again, the system starts with no battery information.

If the Lidar motor spins when connected to a battery but not when installed, you can suspect that the MCU enable circuit is defective. A new main board will resolve that issue. If the voltage polarity is reversed on the Lidar motor it will spin but in the wrong direction.
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Re: XV-11 LIDAR issues

Postby firefly » June 3rd, 2015, 2:02 am

A quick search showed pull offs for 100 or new for 150. Is that pretty accurate?
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Re: XV-11 LIDAR issues

Postby firefly » June 3rd, 2015, 2:45 pm

Also can anyone confirm the plug number that the power for the lidar motor goes to? P?

With it unplugged there are two open two prong spots I can plug it in. This has to matter right?
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Re: XV-11 LIDAR issues

Postby vic7767 » June 3rd, 2015, 3:41 pm

On a Rev 64 board the 5 vdc connector for the Lidar is P11.
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Re: XV-11 LIDAR issues

Postby firefly » June 3rd, 2015, 10:16 pm

Thanks Vic.
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