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BAT

Revision history

Rev. Department Prepared by Date Revision description
0 icub-tech-iit A. Mura 31/08/2023 First Emission
1 icub-tech-iit J. Losi 24/07/2024 Update BAT test procedure using STLink-v3 programmer

Functional Test

The BAT board is used on iCub3, ergoCub, R1 robots. Check out the programming procedure.

This test verifies the BAT board functionality with the LEDs that change once the board is programmed. The power supply cable to be used to power on the BAT board should be like this:

The connector to be connected to the board is a Molex Minifit JR code 39-01-2040, whose crimps are Molex 39-00-0039; on the other side 2 banana plugs or equivalent to be connected to a power supply.

The cable is then connected to one of the two connectors on the board:

Once the board has been switched on and programmed, press the buttons with the LEDs and see if they change color (from red to green for example), and in any case check that the current absorbed is in the order of tens of mA. They should flesh a few seconds and then become steady green (S2 will take longer to be steady green than S1). Increase the power supply voltage, ranging from 12V to 48V, and by varying it, more or less of the 5 LEDs arranged in a LED bar will light up. Below ~30 V only one red LED will flash showing the undervoltage condition, while above ~48V all LED will flash continuously, meaning that we are reaching the overvoltage condition.

The BAT should look like this:

To test the ORing section, 2 cables, and 2 power supplies are needed, and they must be connected to the J18 and J19 white PCB connectors: this circuit provides the higher voltage. Use a multimeter to check the VIN. For this, refer to the schematics (browse then the correct folder depending on the BAT board revision you are using. Latest is revision D).

To properly verify that the BAT board manages the input voltage to the different lines correctly and regulates it as expected, the following checks should be completed using a multimeter while keeping the test setup as described above by using 2 power supplies and 2 cables. Furthermore, it is important to note that in order to guarantee the correct minimum voltage of 12V at J16 and J17 it is mandatory to work with a voltage between 25V and 42V. The test should be carried out as follows and the important points you should pay attention to are shown in the figure below:

  • verify that the higher voltage of the 2 power suppliers is present at the capacitor C106 terminals alternatively
  • verify that J9 or J13 on BOTTOM has the higher voltage between the two (positive terminal is marked by a dot in the serigraphy).
  • verify 3V3 and 5V voltage between C106 negative and the test points as shown by the notes in the image. Note that you won't probably observe precisely the written voltage on the multimeter but it must ranges between 3.2 - 3.4 V and 4.8 - 5.2 V.
  • verify 12V BOARD on J16 terminals (11.5 - 12.5 V)
  • verify 12V MOTOR at PIN 1-2 (+) and PIN 3-4 (-) on J17 on BOTTOM

It could be useful to connect a display to the BAT in order to see electrical parameters and the status of the board: refer to the 4D OLED display guide at this link.

These links indicate how to program the board and the meaning of the button LED colors.

https://icub-tech-iit.github.io/procedures/tp-boards-programming/#212-bat

https://icub-tech-iit.github.io/documentation/robot_power/robot_power_button/