193 HD-1500 Platform User's Manual 31500-000 Rev A
7.3 Power and Charging
l
Balance the battery at every charge
Set the AMR‘s DockUntilDoneCharging parameter to True. In this case, the battery will
balance before indicating charging is complete, so the battery will get balanced every
time the AMR docks. You do not have to do anything extra to balance the battery.
In this mode, the battery will typically take about 10 minutes to balance after charging.
NOTE: OMRON recommend this mode for applications where you do
not manually exchange the battery.
l
Exchange the in-service battery, periodically, with a fully-charged, balanced spare bat-
tery
A spare battery plugged into a charging station will be balanced after it is charged. In
this mode, you don’t have to worry about battery balancing, although it does add the
task of manually exchanging batteries.
The interval between battery exchanges depends on the AMR‘s use. This includes the
weight it carries, the electrical load of any accessories, and percentage of time it is in ser-
vice. You will need to determine the optimum interval for your situation. exchanging
the battery at every shift change is a commonly used interval.
NOTE: OMRON recommends this mode for battery exchanging, if you
are not charging the battery while it is inside the AMR.
l
Exchange the battery after a longer interval (days) with a charged, balanced spare
Set the AMR’s DockUntilDoneCharging parameter to False, to let the AMR get a partial
charge by docking. The StateOfChargeToChargeTo and MinutesToChargeFor parameters
need to be set to appropriate (non-zero) values. Then do a periodic battery exchange
with a fully-charged and balanced battery, such as once a week.
o
StateOfChargeToChargeTo parameter determines the state of charge the battery
needs to attain before the AMR can stop charging.
A 80% value here would get the battery mostly charged, but not balanced.
o
MinutesToChargeFor parameter determines the number of minutes the battery
needs to charge before the AMR can stop charging.
The AMR will stop charging when the battery reaches either of these parameter
values.
NOTE: If both of these parameters are left at the default of 0, and Dock-
UntilDoneCharging is set to False, the AMR will dock, and never undock. It
remains out of service until you correct the parameter values.
In this charging mode, OMRON recommends that you exchange the batterys weekly, at
a minimum. If you see a reduction in run-time, you should do an exchange more often
than that.
To Next Page
Loading...
