RBTNKDOC160609A
SystemElementsandMaintenanceManual
SUMMITXLmobileplatform
Figure16–SonyDualShockcontroller
5.BatteryandCharger
The robot receives the power supply from a LiFePO4 battery pack. It is composed of
eight 3.2V LiFePO4 cells and a protection circuit module. With this set of batteries the
robot is able to operate up to 5 hours (up to 20 hours in lab environment), depending
ontherobotmovements.
The robot circuit is powered when the general switch S1 is ON. The control DC/DC
converter, that makes power to the different devices of control, is powered at the same
time,andalsotheexternal12Vpowerconnector.
The batteries are connected to the robot through the fuses. For charging the batteries
there is a connector at the back panel of the robot where the charger can be
connected. It is a direct connection, so the general ON/OFF switch doesn’t affect the
charging. It is possible to charge the robot and keep working at the same time without
anyproblem.
Full charging time is around 4560 minutes for the supplied charger. Do not use other
chargerswithoutcheckingbatteryspecifications.
Tochargetherobot,youmustfollowthisinstructionsstrictly:
Step 1. Connect the charger to the back panel of the robot (without being connected
tothegeneralpowersupply).
Step2.Connectthechargertothegeneralpowersupply.
Step3.Turnonthechargerandcompleteonechargingcycle.
IMPORTANT: When the charging process is finished, disconnect the charger from the
robot and from the general power supply. Do not let the robot unattended during
chargingprocess.
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