LCR Electronics Troubleshooting - directedmachines/customer-support GitHub Wiki
Table of Contents
- Overview
- USB Port Topology
- Connectivity
- Speakers
- Charging State
- Telemetry Details Dashboard UI
- Pi Troubleshooting
- Tray Controller Troubleshooting
- Continuity and Shorts Troubleshooting
- E-Stop Troubleshooting
- Charge Relay Troubleshooting
- SD Card Troubleshooting
- Rapid Battery Discharge
- Solar Troubleshooting
- AC (shore power) Troubleshooting
- AC (Renogy 48V inverter) Troubleshooting
Overview
This page covers diagnosis of low current electrical and electronics components. Please review the diagnostics decision tree to determine best course of action, when you are unsure what steps to take our what peripheral is at fault.
USB Port Topology
The USB topology is like a tree, and the ports further down the branches have longer addresses based on where the earlier hubs are plugged in.
Pi
Location | USB Path Segment | Full Path | Device | Tape Colors |
---|---|---|---|---|
Pi Top Left | 1.3 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.3:1.0 |
Pico Tray | Pink - Red |
Pi Bottom Left | 1.4 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4:1.0 |
USB Hub 1 | Pink - Brown |
Pi Top Right | 1.1 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.1:1.0 |
Caster Camera | Pink - Blue |
Pi Bottom Right | 1.2 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.2:1.0 |
Axle Camera | Pink - Green |
Pluggable 60W USB Hub
Hub 1
Assumes Hub 1 plugged into Pi Bottom Left (1.4
)
Location | USB Path Segment | Full Path | Device | Tape Colors |
---|---|---|---|---|
Hub Actual | .3 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.3 |
USB Hub | N/A |
Port 1 | .3.3 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.3.3:1.0 |
Aux MC | No Tape |
Port 2 | .3.2 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.3.2:1.0 |
Left MC | No Tape |
Port 3 | .3.1 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.3.1:1.0 |
Right MC | No Tape |
Port 4 | .3.4 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.3.4:1.0 |
Pico Brain | Brown - White |
Port 5 | .2 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2:1.0 |
USB Hub 2 | Brown - Yellow |
Port 6 | .1 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.1:1.0 |
GPS | Brown - Blue |
Port 7 | .4 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.4:1.0 |
Speakers | Brown - Green |
Hub 2
- This assumes Hub 2 is plugged into Port 5 of Hub 1 (
1.4.2
) - Note that video devices show up as
/dev/v4l/
rather than/dev/serial/
Location | USB Path Segment | Full Path | Device | Tape Colors |
---|---|---|---|---|
Hub Actual | .3 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2.3 |
USB Hub | N/A |
Port 1 | .3.3 |
/dev/v4l/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2.3.3:1.0 |
Left Side Camera | Yellow - Green |
Port 2 | .3.2 |
/dev/v4l/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2.3.2:1.0 |
Right Side Camera | Yellow - Red |
Port 3 | .3.1 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2.3.1:1.0 |
||
Port 4 | .3.4 |
/dev/v4l/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2.3.4:1.0 |
Dock Camera | Yellow - Blue |
Port 5 | .2 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2.2:1.0 |
||
Port 6 | .1 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2.1:1.0 |
||
Port 7 | .4 |
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.4.2.4:1.0 |
Kernel messages
Error: clear tt 1 (10a1) error -71
Indicates chip in the USB hub is damaged, potentially from a device shorting to robot frame.
Connectivity
Connectivity Overview
The LCR is connected to the internet through LTE using a modem (pepwave/peplink) and sim card. The LCR also broadcasts a local wifi connection that allows operators to connect locally but does not provide connected devices access to the internet/LTE signal.
Operators can connect to the robot UI either through a VPN + the LTE connection OR through the local wifi connection broadcast by the LCR.
Wifi
No Wifi signal
No Wifi signal: Symptoms
If the WiFi signal from the robot is not broadcasting, the robot CPU (Raspberry PI) is likely not powered on. This could also be caused by a bad antenna/weak signal, or by an improper hotspot configuration.
No Wifi signal: Fixes
- Ensure the Pi is powered on.
- If not powered on but lights are on, the pi may have been intentionally shutdown. Unplug and replug the pi usb-c power cable to reboot.
- If no lights are on check for a wiring fault (loose wiring, short, battery connector disconnected, busbar connector disconnected).
- Ensure the wifi antenna is properly connected to the Pi SMA connector and insulated with electrical tape, and that the small end is properly connected to the pi board (LINK IMAGE HERE). Put your device very close to the pi and see if there is a weak signal.
- SSH into the robot and run
~/dCentralizedSystems/cap-provisioning/pi/scripts/install-hotspot.sh
with <HOTSPOT_NAME> and <HOTSPOT_PASSWORD> as arguments to reinstall the wifi hotspot.
Wifi visible, can't connect
Wifi visible, can't connect: Symptoms
Wifi network is seen on phone, unable to connect when selecting the wifi network.
Wifi visible, can't connect: Fixes
- Ensure Wifi password is correct
- Ensure the wifi signal strength is sufficient. Move device near the pi and retry.
- SSH into the robot and run
~/dCentralizedSystems/cap-provisioning/pi/scripts/install-hotspot.sh
with <HOTSPOT_NAME> and <HOTSPOT_PASSWORD> as arguments to reinstall the wifi hotspot.
WiFi visible, cant connect to HTTP or SSH
- Note the Modem LED status and report on slack
- Power cycle the modem
- verify modem power connection is solid, cables are properly inserted in elevator
- perform continuity test between modem SMA gold connector and tray. No Continuity expected
- Verify ethernet cable is plugged in all the way into Pi and modem ends
- wait for WifI SSID to re-appear then connect to modem dashboard, then repeat connection steps
Wifi connected, UI not Loading
Wifi connected, UI not Loading: Symptoms
You can connect to the wifi network but the UI does not show up when you try any of the following URLs
Wifi connected, UI not Loading: Fixes (Ensure Modem is healthy and PI is active)
- Ensure the url is correct (192.168.50.10:8000, 192.168.8.100:8000 or edge.directedmachines.com:8000). If the edge.directedmachines.com url is not working there may be LTE connectivity issues see: LCR Electronics Troubleshooting - No LTE connection
- Runtime may be syncing and rebuilding. The web browser will load the current system log showing code build status
- There is a condition where PI is healthy, OS is healthy, runtime is running, but due to modem reset, we never re connected to the OS network stack, so, we need to SSH in and restart the runtime
Wifi Connected, UI loading, strange UI behavior
- If the UI seems to come and go regularly, and if we see credential alerts appearing periodically, we may be in a restart loop
This can be caused by build issues or git sync issues. For example, we can look for this message associated with every restart:
[8000/mgmt/self-monitoring-tasks/default][processRepoEntryGitHubResponse][Git source has updates: file:/home/pi/dCentralizedSystems/core]
- If some content isn't loading properly, there might be an SD card corruption, check kernel log for:
Kernel:
[ 99.791935] mmc0: Got data interrupt 0x00000002 even though no data operation was in progress.
or the following binary messages:
Dec 30 08:08:49 LCR24ZS0-671293224bd1dc5ce runLoop.sh[602440]: Error: A JNI error has occurred, please check your installation and try again
Dec 30 08:08:49 LCR24ZS0-671293224bd1dc5ce runLoop.sh[602440]: Exception in thread "main" java.lang.ClassFormatError: Truncated class file
Dec 30 08:08:49 LCR24ZS0-671293224bd1dc5ce runLoop.sh[602440]: #011at java.lang.ClassLoader.defineClass1(Native Method)
Dec 30 08:08:49 LCR24ZS0-671293224bd1dc5ce runLoop.sh[602440]: #011at java.lang.ClassLoader.defineClass(ClassLoader.java:756)
Dec 30 08:08:49 LCR24ZS0-671293224bd1dc5ce runLoop.sh[602440]: #011at java.security.SecureClassLoader.defineClass(SecureClassLoader.java:142)
Dec 30 08:08:49 LCR24ZS0-671293224bd1dc5ce runLoop.sh[602440]: #011at [java.net](http://java.net/).URLClassLoader.defineClass(URLClassLoader.java:473)
Dec 30 08:08:49 LCR24ZS0-671293224bd1dc5ce runLoop.sh[602440]: #011at [java.net](http://java.net/).URLClassLoader.access$100(URLClassLoader.java:74)
If you see either of the messages above, please contact a member of the software team. They will continue below:
- stop runtime and the build loop
- verify all GIT files are synchronized, not corrupt or checked out
- do mvn clean / mvn install in core and cap directories
- restart runtime
Further, if the robot is on Soracom:
- Check robot status in Soracom. If online, the problem is either with the Pi4 or the modem to Pi4 connection. Attempt to power cycle the Raspberry Pi4. To do this, unplug the PI4 USB from the USB Station, then re-plug it in .
- The CAP service may be disabled. Run
top
and see if a "java" service is running. If not, start the runtime withsudo systemctl start dcentralizedcaphost.service
- When connecting to the wifi network it may warn for you to "use this network as is" if you don't select this you won't have access to the UI. Forget the network and reconnect.
SD Card Corruption
-
If there is a steady, regular pattern of blinking for the LED on the pi, there may be an SD Card corruption.
-
If the pi has a poor connection, has sustained damage, or has a history of cutting in and out, this may also corrupt the SD card.
If it seems the SD card has been corrupted, please provision a new SD card for the robot.
Cellular Internet
The following diagnostics involve the cellular modem. The modem is configured with custom configuration at the factory.
Modem Administration Web page is at http://192.168.8.1 when provisioned properly.
Pepwave MAX BR1 Modem Resources
AGT UI / Satellite maps will not load
If the modem is not connected to a cell network:
- it can not publish telemetry ( a yellow warning icon will be shown in fleet management)
- AGT UI will not load satellite images in google map view and will be in offline mode
- The edge.directedmachines.com:8000 URL may not work either (use http://192.168.8.100:8000 instead)
Abrupt loss of connection during remote sessions
If the robot has solid connectivity when stationary, but connection is lost when active, there is likely a poor electrical connection
- check the power leads into the modem power connector. Make sure everything is secure and tight from modem to 12V bus bar
- check the SMA connectors (gold connectors on modem) connecting antennas to modem
If the robot is in an area with poor connectivity and is often losing connection, follow the Poor Connectivity Area guide below
No LTE Connection: Fixes
- Ensure the antennas are intact and properly connected to the modem, the ethernet cable connects the modem to the pi, and the modem is powered and status lights are green.
- Unplug and replug the ethernet cable to the pi, SSH into the robot
- Run
ping github.com
from command line to test connectivity- If you can ping github.com, it means connectivity has been restored and you should restart the CAP runtime and reload the AGT UI.
- Ensure eth0 IP is 192.168.1.100 when running
ifconfig
- Run
- Directly connect laptop to modem using ethernet cable and test connectivity (ping github.com from command line).
- When connected by ethernet can log into the modem at 192.168.8.1 and check the settings are correct (follow instructions for #003737 - DM (A) Advanced Cellular Connectivity Kit)
The Pepwave modem has a WAN RSSI page that will display the signal strength during the past hour. The support team can help get that information:
Before taking any further actions contact a software team member on slack and ask for advice.
- Power cycle the modem (unplug and replug power cable) and wait 5 minutes for it to boot back up.
- Could be related to bad USB peripherals.
Poor Connectivity Area
If the robot is operating in an area with poor connectivity, it might fully lose connection with the fleet and require a modem reboot to bring it back online.
Rather than rebooting the modem in person, the modem can be scheduled to reboot daily by following these steps:
- Connect to the modem wifi and login to https://192.168.8.1/cgi-bin/MANGA/support.cgi
- Select the time interval for the reboot to occur
- To confirm the reboot is scheduled, return to the modem dashboard page. There should be a reboot scheduled notice at the bottom of the page
Network Band Selection
Connectivity can sometimes be improved by limiting the modem to only use low frequency bands. These bands can have greater coverage but reduced bandwidth. Bands can be selected per SIM card on the modem cell details page.
The following bands should be selected based on the network carrier:
- T-Mobile: Bands 5 and 12
- Soracom (Verizon): Bands 5 and 13
SIM Active on Soracom but not Connecting
Occasionally, a Soracom SIM will have an Active / Online status, but the modem still cannot be remotely accessed and cannot be pinged. In this case, one possible solution is to Deactivate the SIM through Soracom, and then immediately Activate it again. This has been seen to kick the SIM card back into connecting.
Dual SIM Modem Settings
Dual SIM can be activated by using the modem cell settings described on this slide. Using this option, the modem will automatically switch between SIM A and SIM B when it loses connection on one of the SIMs.
When using dual SIM on the new Peplink HW3 modems, the Signal Threshold Setting (found on the cell details page) must be set. If the signal threshold is not set, the modem can get stuck in a loop switching between SIM A and SIM B.
Modem with Dual SIM Cards not Switching SIMs after Losing Connection
If a modem set to use Both SIMs is not switching SIMs after losing connection, its possible the modem is no longer detecting both SIM cards. To test this, first switch the modem to SIM A Only. Ensure the modem is now detecting SIM A and attempting to connect. Then switch the modem to SIM B only and ensure the same.
If the modem states "No SIM Card Detected" for either SIM A or SIM B, follow the No Sim Card Detected Troubleshooting
No SIM Card Detected
Make sure the SIM card is well seated into the correct slot on the modem.
If the modem still cannot detect the SIM card, try swapping it for a different SIM card in the same slot. Wait for the modem to detect the new SIM card, then swap the old SIM card back into the slot. The modem should now detect it.
Rebooting and Resetting
Reboot
A modem reboot can be done by following these steps:
- Connect to the modem wifi and access the dashboard
- Go to the System page, select Reboot in the options on the left, and click Reboot. Ensure the proper Firmware is selected for the reboot
Reset
A full modem reboot can take upwards of 10 minutes to complete. If only a reset is necessary, it can be done by following these steps:
- Connect to the modem wifi and access the dashboard
- Go to the cell connection details page, and click the question mark in the top right of the Cellular Settings section to find the option to reset
Modem Continuity Test
The frame of the modem should be isolated from the LCR tray. To ensure isolation:
- Use a multimeter on continuity mode to test for continuity between the modem and the tray. Continuity should not be found
- If continuity is found, use velcro or electrical tape to ensure no part of the modem touches the metal tray
- Continue to isolate the modem and test with the multimeter until no continuity is found
Modem Hot Swap
If a network signal is verified and all other fixes fail to produce a signal, swap the modem using the steps below:
- Connect your device to the Modem wifi.
- Download the existing configuration:
- Navigate to http://192.168.8.1
- Login the dashboard
- Select System -> Config -> Download
- Swapping in the new modem:
- Take Note of the Wifi Password on the bottom of the new modem's case.
- Go to 192.168.50.1 and connect to the modem using default credentials: admin/admin.
- Change the password to XXXXXXX (see Cell Connectivity Instructions)
- Upload Configuration to New Modem:Select System-> Config -> Upload Config
- Ensure Cables are well connected and glands are tight.
- Perform Modem Continuity Check
- Perform Runtime Restart Via SSH
Speakers
The speakers emit a tone when autonomy is about to start. If no sound is heard,
- check that both the USB tail is connected to the 7 port hub (its the power supply for the speakers) and the 3.5mm audio male connector is inserted all the way into the PI audio port
- the sound properties Java runtime file has proper permissions
The sound properties file is normally configured during auto provisioning but it can be made writable using these steps
- SSH into the robot
- change permissions using this command:
sudo chmod 777 /etc/java-8-openjdk/sound.properties
- restart CAP runtime
Charging State
The telemetry details page on a robot provides metrics relating to solar and AC charging input. The wattSecs metric, reported by the self-monitoring-task-service, reports the current power draw on the robot.
- a negative watt-seconds number indicates power is going in the robot, it is charging
- a positive number means that energy is being used at a rate higher than input (charge) energy
- a number between -50 to -500 means we are solar charging
- a number between -700 to -5000 means we are AC charging (and potentially also solar charging
You can find this number in two ways, on the robot itself. You can also find charge rate and time to full, by clicking the battery icon, in the telemetry details page
Telemetry Details Dashboard UI
Please use the Fleet Management UI, data details page for the robot and follow the same instructions as below to search stats. You do not need access to a robot to check any of its metrics, you can do so through your web browser and our fleet management
- Touch the "bars" icon on the lower left corner to bring up the telemetry dashboard
- Select Time Span > last 6 hours
- View Energy Produced
Data Multiplexing Service Stream
You can view the metrics directly from the data multiplexing service
- Touch / Click the "gear" icon on lower left corner of screen in Manual UI
- Type "multi" in the service input box
- Select the "stream/text" button for the service entry
- Search for "wattSecs" text
Pi Troubleshooting
Pi LED Blink Patterns
Power LED (Red)
- The power LED should be solidly lit. A blinking power LED indicates possible Pi under-voltage. No light indicates the Pi is not receiving power.
Activity LED (Green)
- If the Pi has an SD card inserted, the activity LED should blink in an irregular pattern. A regular pattern of short and/or long blinks indicates a possible failed or corrupted SD card.
Pi Under-Voltage
- Can manifest with "Drive MC sample late", "AUX MC sample late", "MC Disconnected", or "E-Stop engaged" alerts
- Check kernal log for:
"Nov 6 15:56:54 LCR24ZS0 kernel: [975264.239616] Under-voltage detected! (0x00050005)",
"Nov 6 15:56:58 LCR24ZS0 kernel: [975268.409668] Voltage normalised (0x00000000)",
"Nov 6 15:59:47 LCR24ZS0 kernel: [975437.251767] usb 2-1: USB disconnect, device number 33",
- The 5V supply to the Pi is unstable. The issue seems to get worse the more USB peripherals are plugged in
- To fix, install the 004679 Tray Controller Board, replacing the currently installed tray board
- If Tray Brain is not available, recommended to unplug all non essential USB peripherals (analog speakers, unneeded cams, etc)
- If Tray Brain is already installed, try following the Pi to Tray Brain USB Failure guide below.
Pi to Tray Brain USB Failure
- Can manifest with similar symptoms to the Pi under-voltage symptoms listed above, or continuity symptoms listen in the Continuity and Shorts Troubleshooting wiki including the following:
- Under-voltage alerts in the Kernel log
- A sudden Pi reboot or restart
- Diagnose by wiggling the USB C to USB C cable connecting the Pi to the tray brain. If this causes Pi LEDs to flicker or shutoff, the USB cable needs to be replaced.
Tray Controller Troubleshooting
- Before conducting repairs that require touching 12v components/wires, it's important to safely power down the 12v system.
To safely power down the LCR's 12v system, follow the below steps:
- Connect to the LCR's wifi.
- add "?allowShutdown" to the end of the webpage's URL.
- Press the Gear icon, then the Power icon.
- Select shutdown.
- Once the above steps are complete, ensure:
- E-stops are engaged and the motor switch is in the off/vertical position.
- Unplug the MC4 connector from the solar panel.
- Unplug the weather-tight 12v quick connect fitting by the bus bar.
- Ensure all lights on the Pi/12v systems are turned off and check for voltage to ensure the board is safe to work on.
- Once the LCR has been successfully shutdown, proper testing for continuity can be checked on the 12v systems, for more information go here
Continuity and Shorts Troubleshooting
Information on testing for continuity between various electronics and components can be found here
E-Stop Troubleshooting
If the LCR E-Stop triggers suddenly, the buttons should first be inspected as its possible they were pressed by a bird or tree. If the buttons are not pressed but the e-stop warning is still showing, do the following troubleshooting steps:
- Inspect the E-Stop board on the Tray Controller. If its LEDs are partially lit up or if it is buzzing, a poor connection might be the cause
- Inspect the red/green/black e-stop wiring from the buttons through the motor controllers to the e-stop board. Gently wiggle this wiring throughout the tray and listen for buzzing to indicate a loose connection. Ensure all connectors are firmly in place and are well crimped onto the wires.
- If a connector is not fully crimped onto the wire, firmly recrimp it using channel lock pliers. Gently pull on the wires to make sure they are secure in the connector.
- Inspect the E-Stop board power wiring. Ensure the ring terminals are secure on the 12V posts. Wiggle the wiring going into the elevator and watch for flickering LEDs. Make sure the wires are tightly in place in the elevator terminals.
Charge Relay Troubleshooting
Symptoms
- The charge relay should turn off/on the LCR's charging capabilities. If the LCR is able to charge with the relay off, the robot should be inspected to determine where the problem is.
- If an LCR gets a "Charging interrupted" email alert at night, this indicates a fused relay, charging the SCC capacitors. When the relay gets unstuck, inrush current causes the alert
Diagnosis
- Ensure that the LCR has a charge relay installed.
- Open the Pico Tray 4260 service and confirm that the 48V Charge Relay is set to OFF. If the charge relay state in the pico service does not match the charge relay state in the manual UI, contact the software team
- Ensure the relay wires are fully inserted into the Charge Relay elevator, and that the elevator is functioning. With the charge relay set to OFF, test the voltage across the elevator. The voltage should be 0V. Then set the charge relay to ON and test the voltage again. It should now be 12V. If either of these voltage checks fail, its possible the tray controller board is broken.
- Ensure the charge relay is functioning. With the charge relay set to OFF, test for continuity across the relay. There should be no continuity. Then set the charge relay to ON and test the voltage again. There should be continuity. If either of these continuity checks fail, the charge relay is broken and should be replaced
SD Card Troubleshooting
- SD Card issues may arise in a few possible circumstances, you may need to reprovision an SD card from one robot to another, you may need to configure a new SD card for a robot if an old card fails.
- Possible causes of SD card failure may result from an issue with the pi, or any USB connection to the pi (axle/caster camera, for example)
SD Card Reprovisioning
SD Card Repurpose
- If an SD card from another robot is used, follow these steps:
- SSH into the robot
sudo raspi-config
- Select "System"
- Select "Change Hostname" and change the host name to the new robot ID
- reboot the robot
- SSH back into the robot
- Stop the runtime on the robot
sudo systemctl stop dcentralizedcaphost.service
- change directory to /cap-provisioning/pi/scripts
cd cap-provisioning/pi/scripts
- change setUpEnvironment.sh for the robot to reflect the new robot ID
mv setUpEnvironment.(ROBOT-ID-OLD).sh setUpEnvironment.(ROBOT-ID-NEW).sh
- edit the setUpEnvironment custom file so the robot ALIAS is the robot's new name
nano setUpEnvironment.(ROBOT-ID-NEW).sh
- restart the runtime and tail the syslog to validate the new robot ID is active
tail -f /var/log/syslog
- log into robot after runtime restarts, with credentials for new robot alias
- navigate to the self monitoring UI
- hit "Synch" at the bottom to synchronize, and confirm that numbers have updated by scrolling through the self monitoring UI.
- restart runtime again
- Select the gear icon in manual/AGT UI
- type "USB"
- enable Dock, Left, and Right cams by clicking on the main link for each
Provisioning an SD Card from image
- You must have an internet connection
- You must be signed into github with valid access to our private github
- See RaspberryPiSetup provisioning for further details on script to run. In the field, given a valid new, flashed SD card you should be able to start at step 6 and continue from there.
Rapid Battery Discharge
-
If the battery seems to be rapidly discharging, please check the self monitoring stream(text) json and find
wattHours/override
and the voltage reported by this same json. The voltages reported for the drive MCs and the AUX MC should read out to the battery voltage. -
If these voltages aren't reported in the self monitoring stream, we need to check the motor controller diagnostic for missing battery voltage
Solar Troubleshooting
Use the Charging Troubleshooting Tree if the issue is with charging off a charge station
If you do not see a negative wattSecs number, robot is not charging from the sun. The following steps make sense if solar is expected, so during the day, cloudy or sunny, with the solar panel clean and not shaded
- Make sure panel is receiving solar radiation
- E-stop robot
- Open panel
- Verify panel + and - cables going to inside of high current electronics (HCE) tray are connected to the Solar Charge Controller (SCC)
- Use a Clamp current meter on the positive + cable from solar panel to determine if current is flowing
- Check connections from SCC to battery bus bar
- Check lights on solar charge controllers
- Alt SCC Genasun: Should be green or flashing green
- DM SCC board: Should be flashing green. If the "solar fault" LED is flashing red, press the small black "reset" button just below the DB9 connector and restart the robot from the UI (video here).
If no charging is reported, this could mean the pico tray is not reporting.
- Look at the adc-sensor-array/tray-4260-current stream in the CAP UI
- If the stream is not updating, reboot the robot to restore the pico
- if Pico tray light not flashing, replace Pico
- check Pico tray 4260 stream for ADC faults, current sensor might be faulty
AC (shore power) Troubleshooting
The robot will charge from AC if the robot onboard charger unit is connected through an extension cord to an AC 110V circuit (or 240V). If the wattSecs is not indicating a number of 700W or more of charging:
- Make sure AC extension cable is connect to robot side plug and to AC plug on wall / infrastructure
- Verify charging unit inside robot has Green blinking LED, or Yellow LED on. If robot has new batteries, unplug extension cord, wait 1 minute, plug back in, check wattSecs (sometimes charger stops charging, the first time, on new batteries)
- Verify AC circuit provides current - use a AC current clamp meter to measure current flowing from AC plug. Sometimes circuit breaker trips
AC (Renogy 48V inverter) Troubleshooting
- Make sure AC extension cable is connect to robot side plug and to AC plug on wall / infrastructure
- Make sure Renogy is powered on once it is plugged in (using remote switch)
- If circuit trips need to check the max current setting (Setting #28). It depends what the circuit breaker is rated for, (MaxBreakerCurrent*120V)/58V = Current Setting. 20A is good if we're limiting it to 10A from the outlet. 30A is better if the outlet can handle 15A.