Ciao,
QUOTE(counter22 @ Feb 9 2010, 11:13 AM)

Grazie, veramente tanto è molto interessante, mi interessava sapere questo

De nada. Se interessano altri dettagli ecco quello che dice il service manual:
Roomba 500 Series Charging Algorithm Overview
High level sequence
1. Check charging FETs – If FETS fail then charging is aborted
2. Pre-charge cooling { 0mA } - Runs until battery temperature is less than 50°C, or an end
of charge condition is true. Sets the charging state to NORMAL or RECOVERY based on
the battery voltage.
3. Charging - Runs until an end of charge condition is true, in one of the following modes:
a. Normal { 1250mA } – for initial battery voltage greater than 10.8V .
b. Recovery { 300mA } - for initial battery voltage less than 10.8V .
4. Post-charge cooling { 0mA }- Runs until battery temperature is less than 35°C, or 2hrs
passes. Sets charging state to WAITING/TRICKLE.
5. Trickle { 50mA }- Runs indefinitely. If the temperature goes above 42°C, trickle turns off
until the temperature drops below 40°C, then re-enables.
End of charge conditions
Charging is terminated as soon as one of these conditions is true. These conditions are tested in
variable times during charging.
o Voltage Dip : Voltage dips more than a 30 mV from the maximum voltage.
o Temperature Slope : Temperature increases by more than 0.5°C per minute.
o Coulombs Max : If battery level is more than 2 times the nominal capacity.
o Normal Charge Timeout : 9 hours maximum in normal charge mode.
o Recovery Charge Timeout : 16 hours maximum in recovery charge mode.
o Temperature Max : Battery temperature exceeds 60° C for at least 1 minute.
o Voltage Max : Pack voltage exceeds 21.6V for at least 1 minute.
o Previous end-of-charge : If a battery has been discharged by less than 150mAH since the
last complete charge.
Charging LEDs
Normal and Recovery Mode : The power LED pulses orange as long as the robot is in the
normal (slow pulse) or recovery (fast pulse) charging state. Note that this does not
necessarily mean that current is actually flowing into the battery. If the robot’s hardware is
damaged such that no current can flow into the battery, the LED pulses orange until an end-
of-charge condition is detected, such as the 9 hour timeout.
Waiting/Trickle Mode : The power LED is solid green when the robot is doing post-
charge cooling and trickle charging
Ciaooooooooo,
Luciano