Skip to content

ERGOCUB BATTERY PACK

Battery Pack Documentation Reference

Detailed information about general usage, storing, charging, and operational scenarios of the ergoCub Battery Pack can be found at the following official documentation:

ergoCub Battery Pack Documentation

Hardware requirements

Here is the hardware you need to perform the tests:

  • Complete Battery Pack with BMS.
  • Can Raptor.
  • BAT CON board.
  • STlink-V3.
  • PC.

BMS Firmware Update

Firmware Availability

Updated firmware versions for the ergoCub BMS are accessible here:

Firmware Repository

Firmware Update Instructions

  1. Ensure the BMS is powered on, connected to the battery pack, and no errors are present.

  2. Connect to a PC using the configuration shown in the image below:

This setup shows the battery pack powered on and free of errors. Activation is achieved by inserting the dedicated BAT CON interface board. Use the port indicated in the figure to connect the ST-Link device to the BMS and then to the PC via USB.

  1. Open STM32CubeProgrammer and connect to the ST-Link interface using the right-side interface.

  2. Navigate to the Erasing & Programming window, add the path of the new firmware IIT1A_X_.elf, and execute Start Programming as illustrated below:

  1. Once programming is completed successfully, disconnect the ST-Link interface board.

In case of issues, verify all connections and retry. Persistent problems should be reported to technical support.

Desktop GUI Software

Overview

The Desktop GUI is a tool to comfortably visualize the battery pack status and errors, if any. It also allows sending specific commands to the BMS by directly writing to its registers.

The image below illustrates the GUI, showing an animation of the battery cells and their state. Since the battery pack is configured as 10S2P, each visualized cell represents two parallel-connected cells, explaining why only 10 cells are displayed rather than 20. Note that an 11th cell appears in an ‘off’ state since the system is also designed for an 11-cell series configuration.

Installation

Install the GUI from the following link:

Desktop GUI Installation

Always run the application directly from its source folder to ensure it has access to its configuration files.

Connecting to the BMS through the GUI

If all previous steps have been successfully completed, you can now interface your Battery Pack with the GUI. Configure your setup as illustrated in the image below, ensuring the BAT CON board is correctly inserted:

Warning

Pay absolute attention to the power contacts: the Battery Pack exposes the contacts so that they can be inserted into the robot. Any violation or improper use can cause serious injury to those involved and severely damage the hardware.

Use the CAN connector on the BAT CON board to connect the BMS to the PC using the CAN-Raptor device:

  • Pay attention to the CAN-Raptor LED: The LED blinks green when communication is established.
  • Run the file IIT1A.EXE to launch the GUI.

GUI Operational Guide

Selecting the CAN Channel

  • Open the GUI software.

  • From the CAN channel selection in the upper right corner, select channel 2. This is necessary as the BMS identifies itself on the CAN bus with ID 0x62F.

  • Confirm selection and verify communication status:

Check carefully the areas highlighted in the image below to see if alarms are present (double‑click the red box on the right):

Warning

Pay absolute attention during this step. Any operation must be carried out safely without any errors present. Report any unsafe conditions immediately to the responsible personnel.

For comprehensive information, consult the detailed user guide at this link.

Document Contents:

  • Communications (p.3)
  • HW Configuration (p.3)
  • Cyclic Messages (p.3)
  • Alarm/Warning Codes (p.7)
  • On-Demand Messages (p.8)
  • Parameters (p.14)
  • System Description (p.15)
  • Operation (p.16)

Detailed GUI Interface Windows

Parameters Window

Ensure parameters are set correctly. If no errors are present, click on the Parameters box to view the configuration data. The image below shows an example configuration and its legend:

Warning

Do not modify any values unless strictly necessary. These parameters define battery pack safety. If changes are made, press Enter to save settings.

Send CAN Window

This window provides a simplified interface to directly send commands to the BMS. From here, you can configure previously mentioned parameters and activate specific functions. Refer to the detailed description for a comprehensive list of functionalities. The image below shows an example command useful for resetting any errors:

Note that some values are decimal rather than hexadecimal. Hover your mouse cursor over the character definition as shown in the image above for clarity.

Summary Box

Refer to the summary box located on the right side of the GUI, as shown in the image below, for an overview and how to use it:

  • The Cmd field indicates the current context of the battery pack, specifying whether it is interfacing with the robot or the charger. This is set using a dipswitch located on the BAT CON board. Refer to the dipswitch configuration shown below:

  • The Alrm field shows error codes. Click this field to see the chronological sequence of events.
  • The top part of this box displays fundamental electrical parameters and the average temperature of the battery pack. The switch icon represents the BMS status; a closed switch means that the battery pack's power MOSFETs are closed and ready to supply current from the connector.