Balancing The Battery - Omron HD-1500 Platform User Manual

If you remove the side skins or open the battery door while the AMR is docked and is charging, the
charging process will stop. Once the removed skin is re-installed or the battery door properly closed,
the charging will not re-engage automatically. The AMR must repeat the normal docking process for
charging to resume. Aside from interrupting charging, re-installing the skin(s) or closing the battery
door will automatically return the AMR to its normal operating state.
Precautions for Correct Use
The AMR must be powered ON in order to charge the battery while at the Docking Target.
Additional Information
The Charging Station supplies adequate power for all onboard systems while charging its bat-
tery, so you can continue operating those systems while charging. Significant user loads may
impact the time required to fully-charge the AMR's battery.
The light discs display a green arc indicating the current state of charge while the battery is charging.
Refer to 4-18 Light Discs and Optional Beacon States on page 4-36 for more information.
Charging a Battery Outside of the AMR
Charging a battery outside the AMR is typically used for spare batteries. This method is also required
when a battery becomes absolutely depleted.
Charging a battery outside the AMR is accomplished by removing the cable from the Docking Target
and connecting it directly to the battery. When the battery is connected to the Power Supply Box, a 10
second delay occurs during an automatic check sequence and then charging begins when the yellow
DC POWER LED is ON solid. If the yellow DC POWER LED begins flashing, this indicates that the
connected battery is absolutely depleted. You must press and release the Service button on the Power
Supply Box to acknowledge this state, and then charging will begin.
Precautions for Correct Use
• The Power Supply Box can only be connected directly to the Docking Target or to one bat-
tery. Simultaneous charging configurations are not possible.
• Do not press the Service button on the Power Supply Box if the yellow DC POWER LED indi-
cator is flashing when there is no battery connected. Contact your local OMRON representa-
tive if this condition is present.
4-11-5

Balancing the Battery

The AMR's battery consists of eight individual lithium battery module. Each battery module is com-
posed of multiple cells which must stay balanced to maintain maximum run-time.
The time interval between battery balancing is related to the length of time required to balance a bat-
tery. A battery that is significantly out of balance can take 10 or more hours to balance after charging.
A battery that is removed from the AMR and connected directly to the Power Supply Box will automati-
cally balance when charging. Parameter settings do not affect battery balancing when charging with
this method.
There are two ways to manage battery balancing:
• Balance the battery at every charge while the AMR is engaged with the Docking Target.
HD-1500 Platform User's Manual (I645)
4 Operation
4
4-25