Unitree B1 User manual
1. This product is not a toy and is not intended for use by persons under the age of 18. Keep out of reach of
children and be careful when operating in the presence of children.
2. Please be sure to read this article carefully before using the product, understand how to use the product correctly
and your legitimate rights, responsibilities, and safety instructions. Otherwise, it may bring property damage,
safety accidents and personal safety hazards. Once used this product, you are deemed to have carefully read,
understood, recognized, and accepted all the terms and contents of this article. Users untaken to be responsible
for their actions and all consequences therefrom. Users undertake to use this product only for legitimate
purposes and agree with these terms and any relevant policies or guidelines that United may establish.
3. To the fullest extent permitted by law, in no event does Unitree provide any express or implied commercial or
technical warranties not covered herein, that the products/services provided are completely defect-free, that
they are fully compliant with customer requirements, that there will be no problems or interruptions in the use
of the products/services, and that Unitree will be able to completely repair these defects. In any case, Unitree
shall not be liable for direct or indirect economic losses of the customer because of this service manual, and the
maximum compensation of Unitree for the losses of the customer caused by its own product liability shall not
be higher than the amount paid by the customer for the purchase of the product/service.
4. The laws of some countries may prohibit the exemption of guarantee clauses, so your relevant rights may vary
in different countries.
5. Subject to legal compliance, Unitree reserves the right of final interpretation of the above terms. Unitree has
the right to update, amend or terminate this term without prior notice.
6. When using, please control the robot within sight, keep a certain safe distance from the robot, and do not touch
the robot with your hands after the robot is powered on.
7. Before long term standby, please operate the robot dog to the lying down posture (press button L2 twice + A
button and make the robot lie down or press the L2+B button to enter the damping state) to avoid damage
caused by automatically shutting down and falling down.
8. When the battery power is only one block left, please stop and turn off the robot dog in time, take out the battery
to charge to avoid the damage of falling when the battery is low.
Declarations and Warnings
Catalogue
Product Overview ....................................................................................................................................................... 4
Introduction......................................................................................................................................................... 5
Function Highlights............................................................................................................................................. 5
Body B1 ...................................................................................................................................................................... 6
Introduction......................................................................................................................................................... 7
B1 Parts Name .................................................................................................................................................... 7
Foot End Components Description ..................................................................................................................... 8
Load Function Description.................................................................................................................................. 8
System Architecture Description ........................................................................................................................ 9
Extended Interface Description......................................................................................................................... 11
Operating Mode Description............................................................................................................................. 12
Protection Level Description............................................................................................................................. 12
Autonomous Charging Description(optional)................................................................................................... 13
B1 Battery Pack ........................................................................................................................................................ 15
Description........................................................................................................................................................ 16
Parts Name ...................................................................................................................................................... 16
Technical Specifications ................................................................................................................................... 17
Battery Pack Functio......................................................................................................................................... 17
Battery Indicator ............................................................................................................................................... 18
Battery Pack Turn on/ Turnoff.......................................................................................................................... 18
Battery Pack Charging ...................................................................................................................................... 18
Precautions for Use ........................................................................................................................................... 19
Remote Control......................................................................................................................................................... 20
Introduction....................................................................................................................................................... 21
Parts Name ........................................................................................................................................................ 21
Technical Specifications ................................................................................................................................... 21
Remote Control Handle Rocker Calibration ..................................................................................................... 22
Remote Control Turnon/Turnoff....................................................................................................................... 22
Remote Control Charging ................................................................................................................................. 22
Remote Control Basic Operation ...................................................................................................................... 23
Running..................................................................................................................................................................... 25
Note before Review .......................................................................................................................................... 26
Operation Environment Requirement ............................................................................................................... 26
Check before Power on ..................................................................................................................................... 27
Preparation before Power on............................................................................................................................. 27
Power on/Remote Control................................................................................................................................. 29
Power off........................................................................................................................................................... 30
Precautions for Operation ................................................................................................................................. 31
Robot Abnormal Condition Description ........................................................................................................... 32
Common Problems and Solutions ................................................................................................................... 32
Safe Operation Guide................................................................................................................................................ 34
Battery Pack Safe Operation Guide .................................................................................................................. 35
Daily Maintenance .................................................................................................................................................... 38
Whole Machine Clean....................................................................................................................................... 39
Inspection and Maintenance ............................................................................................................................ 39
After-sales Service and Policy .................................................................................................................................. 41
Warranty Period Description............................................................................................................................. 42
Service Scope.................................................................................................................................................... 42
Disclaimer ......................................................................................................................................................... 43
Other Detailed Rules ......................................................................................................................................... 43
Appendix................................................................................................................................................................... 45
Packing Lis........................................................................................................................................................ 46
Product Parameter Information ......................................................................................................................... 48
Remote Quick Lookup Table ............................................................................................................................ 49
This chapter mainly introduces the functional characteristics of the product
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 5
Introduction
The B1 industrial protection level quadruped robot consists of B1 itself and remote control. The robot has 12 degrees
of freedom (12 high-performing joint units), 3 degrees of freedom for a single leg. The force control technology is used
to control the force and position of each joint, so that it makes user achieve the force control of the machine and obtain
excellent movement performance. It has multi-road condition adaptability, strong obstacle crossing ability, can easily
climb stairs and cross rugged terrain, can adapt to ruins, railway tracks and many other complex terrains. We provide
detailed users instructions, software development manuals, etc., and also provide high-level control function of secondary
development documents and routines (for example walking), provide low-level control function of secondary
development documents and routines (such as motor position, speed and torque), and multiple expansion ports are
equipped with to meet different expansion functions.
Function Highlights
Super large load capacity, universal helper
The B1 has a very large load capacity, with a maximum standing load of 80kg and a continuous load of 20kg. It can
meet various load demands in special and complex operations and become a universal and powerful helper for operators
in emergencies.
Multi-road Condition adaptability, great ability to cross obstacles
With its swift posture and self-developed and continuously optimized movement control algorithm, B1 has super
obstacle-crossing ability, can easily climb stairs and traverse rough terrain, can adapt to different weather and many
complex terrains, such as ruins and railway tracks, has high mobility and flexibility, and able to replace humans in many
special or high-risk environments to complete work.
Highest IP68 waterproof, strong protection function
The B1 robot structure has a protection level of not less than IP67 (has passed the protection level certification)
during operation, and the standard protection level is IP67 (optional IP68). It can not only adapt to outdoor rainy weather
and various harsh environments, but also work under 1.2 meters of water.
Equipped with other peripherals to improve operation accuracy
The B1 can also be equipped with various peripherals, which can perfectly cooperate with Unitree’s self-developed
Z1 robotic arm to complete complex tasks and explore various application scenarios. Users can also adapt to various
peripherals, such as gas sensing, temperature sensing, 5G networking, infrared pan-tilt, industrial cameras, 3D radar, etc,
to improve the accuracy of operations.
Self-charging, all-weather operation (optional)
The B1 is equipped with a contact charging board, which can complete self-charging, greatly improve operation
time and efficiency, and provide a strong guarantee for all-weather operations.
If you want to choose IP68 protection level and self-charging function, please contact with relevant personnel of Unitree!
For use in special environments, including scenarios such as ultra-high load, high temperature, underwater, corrosion,
etc. please contact with relevant personnel of Unitree!
This chapter introduces the Body B1 and its functions
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 7
Introduction
The B1 quadruped robot with industrial protection level has installed 5 sets of Intel D430 depth cameras, which can
sense the surrounding environment and terrain; It equipped with 3 NVIDIA NX computing power cards to provide super
AI computing power; It equipped with x86 architecture movement control processor with powerful computing power.
The body B1 and battery adopt a split design, which supports quick battery replacement without tools. All connecting
materials and structures are made of 6061-T6 aluminum alloy, and individual key components are 7075-T6, which can
withstand the impact of falling. All the shell parts of the legs (thigh rod, motor shell) are made of aluminum alloy, which
has a good heat dissipation effect.
B1 Parts Name
[Robot Dog Body]
[Users Extension Dock]
[Robot Dog Head]
[Hip]
[Lower Leg]
[Backing Pad]
[Thigh]
[Knee]
[Multi-view Depth Camera]
[Intelligent Battery]
[Multi-view Depth Camera]
[Users Extension Dock]
[Power Interface]
[USB-TYPEC]
[2*8PIN 16 Chip Interface]
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 8
Foot End Components Description
[1] Tightening screw at the end of foot
[2] Rubber Foot Pad
The foot component adopts a new design: the foot of the quadruped robot is the first to contact the physical world,
which greatly affects the movement performance and reliability of the robot. The B1 foot pad is made of high molecular
weight elastic rubber material, which can not only buffer the impact when the foot is in contact with the ground, but also
ensure a long life when used on rough ground. In the event of severe abrasion or damage, it can be quickly replaced.
The foot component is a consumable, and its life span is usually 2-6 months (depending on the frequency, duration and
working condition). Abrasion will be more serious, especially when it runs on the rough ground. If it is found that the foot
pads are obviously worn out or damaged, or the impact noise of the robot on the ground is significantly increased when
walking, please replace the foot end components in time to avoid damage to the foot end and cause the robot to move
abnormally.
Load Function Description
The B1 has a very large load capacity, with a maximum standing load of 80kg and a continuously working load of
20kg. When the robot load is relatively large, the height of the robot's standing and walking will become shorter, which
will adversely affect the heating of the knee motor. At present, the height of the robot should be raised, which can be
realized by "up" and "down" buttons on the remote control. At the same time, the footholds of the legs also need to make
adjustment by pressing R2+A/B to switch between two different footholds. When the load is relatively large, it should
be switched to the foothold state as shown in Figure 2, which will sacrifice some extreme movement performance to
reduce the heat of the motor on the robot.
Figure 1
Figure 2
please reduce the speed appropriately and run carefully!
In the process of carrying the load, it is recommended that the weight be controlled within 20kg.
[2]
[1]
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 9
System Architecture Description
Hardware Architecture: The B1 adopts a new brand hardware structure and control system. The control system is
as follows:
Main controller
Ethernet switch
IMU
Leg[F R] :
Motor[1]
Motor[2]
Motor[3]
Intel Controller
(Body)
External integrated interface, connect external power source, supply external power supply
Intelligent battery
Leg[FL]:
Motor[1]
Motor[2]
Motor[3]
Leg[RR]:
Motor[1]
Motor[2]
Motor[3]
Leg[RL]:
Motor[1]
Motor[2]
Motor[3]
NX
(Body)
NX
(Body)
NX
(Head)
Binocular Camera*2
Binocular Camera*1
Binocular Camera*2
485
WiFi Router5G Module
Power manageme
Hardware interface: Interface is provided in the back cover of B1 for users, through which developers can directly
access to Mini PC and NX controller. The hardware interface is shown in the figure, in which the head NX controller
does not open the Type-C and HDMI interface.
[2]
[11]
[1]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[1]
Sim Card Slot
[2]
Mini PC Type-C Interface
[3]
Mini PC HDMI Interface
[4]
NX Controller 1 HDMI Interface
[5]
NX Controller 1 Type-C Interface
[6]
NX Controller 2 Type-C Interface
[7]
NX Controller 2 HDMI Interface
[8]
XT30 (2+2) Power Interface
[9]
TYPE-C USB 2.0 Interface
[10]
2×8PIN Ethernet Interface
[11]
Cooling Fin
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 10
[1]
[2]
[1] Coprocessor Interface (Type-C)
[2] Main Processor Interface (Type-C)
The back cover of B1 also provides two interfaces, namely the main processor Type-C interface and the coprocessor
Type-C interface. The PC can be directly connected to the B1 core controller through these two interfaces. The main
processor interface and coprocessor interface are used for:
Firmware upgrade.
Real-time broadcast of hardware status information.
Troubleshooting. When B1 fails, users can check the status of B1 through these two interfaces and conduct
preliminary fault analysis and diagnosis.
Network architecture: The operating system of Mini PC is a real-time Linux (Ubuntu) operating system. The
system architecture diagram is shown in the figure:
X86 CPU
IP:192.168.123.220
Ethernet Switch
Jetson Xavier NX
IP:192.168.123.23
Jetson Xavier NX
IP:192.168.123.24
Jetson Xavier NX
IP:192.168.123.25
Master Controller
IP:192.168.123.10
Leg[FR]:
Motor[0]
Motor[1]
Motor[2]
Leg[FL]:
Motor[0]
Motor[1]
Motor[2]
Leg[RR]:
Motor[0]
Motor[1]
Motor[2]
Leg[RL]:
Motor[0]
Motor[1]
Motor[2]
Depth Camera (1)
Head Front
Depth Camera (2)
Head Down
Depth Camera (3)
Body Left
Depth Camera (4)
Body Right
Depth Camera (5)
Tail
imu Remote
WIFI
2.4G&5.8G
GNSS Module
5G Module
ETH
ETH
ETH
ETH
ETH
2D/3D Rader
(Optional)
ETH
USB
USB
USB
USB
RS485
Users' PC
IP:192.168.123.XX
X
ETH
Users' phone APP
IP:192.168.12.XXX Remote
1) The user's PC can directly connect the robot's built-in movement controller, perception controller and underlying
controller with Ethernet.
2) The users’ PC can communicate with the underlying controller of the robot and the robot self-loading controller
freely, which facilitate real-time transmission of visual perception data to each other.
3) The self-loading sensors of the robot are fully open and available for secondary development.
4) Develop low-level control: All motors and sensors of the robot can be read and controlled in real time, which is
convenient for directly using open-source robot algorithms
5) Develop high-level control: Users can directly send high-level movement commands to the robots, such as front,
back, left and right.
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 11
Extended Interface Description
The back of the B1 provides sdk expansion interfaces to develop more extended functions for users. It includes 3
input interfaces (Gigabit Ethernet interface, Type-C interface, power interface), 7 Gigabit Ethernet extension interfaces,
5 Type-C extension interfaces, and 10 power extension interfaces. The sdk expansion interfaces are as shown in the figure
below.
Input
—2×8PIN Gigabit Ethernet Interface
—TYPE-C USB 2.0 Interface
—
XT30 (2+2) Power Interface
B1 Users’ Extende Dock - System Frame Diagram (Structure Top View) is shown in the figure:
USB
TYPE-C
12V
XT30 2+2
NET
2×8 PIN
24V
XT30 2+2
B1 Users’ Extende Dock - System Frame Diagram
(Structure Top View)
NET
2×8 PIN
NET
2×8 PIN
NET
2×8 PIN
USB
TYPE-C
USB
TYPE-C
5V
XT30 2+2
5V
XT30 2+2
12V
XT30 2+2
12V
XT30 2+2
NET
2×8 PIN
NET
2×8 PIN
NET
2×8 PIN
USB
TYPE-C
USB
TYPE-C
VIN
XT30 2+2
VIN
XT30 2+2
24V
XT30 2+2
24V
XT30 2+2
NET
2×8 PIN
USB
TYPE-C
VIN
XT30 2+2
2×8PIN Gigabit Ethernet Interface+12V Power Supply+485/CAN (Pass-through) Interface:
1)Total number of Interfaces: 8 interfaces (2×8PIN waterproof interfaces)
2)Gigabit Ethernet: 1 channel is connected to the robot dog Mini PC, 7 channels are connected to external
3)Power Output: 12V × 7 channels, 10A electric current in total (same path as external power supply)
4)485/CAN (Pass-through): 3-Interface CHA channel 485/CAN, 3-interface CHB channel 485/CAN
Type-C USB2.0 Interface:
1) Total number of interfaces: 6 interfaces (Type-C waterproof interface)
2) 7-channel USB-HUB: The generatrix is connected to the robot dog MINIPC. 5 channels are connected to the
external; 2 channels are connected to 2 groups of USB, and then transfer to 485 (or CAN) Pass-through modules:
CHA/CHB
3) Power output: 5V/1A×5 channels (USB power supply is independent of external power supply)
XT30(2+2) power supply +485/CAN (Pass-through) interface:
1) 36-58V input/output: 3 channels 10A electric current in total, CHA channel 2 interfaces 485/CAN + CHB channel
1interfacet CAN/485
2) 24V output: 3 channels 10A electric current in total, CHA channel 2 interfaces 485/CAN + CHB channel 1
interface CAN/485
3) 12V output: 3 channels 10A electric current in total, CHB channel 2 interfaces 485/CAN + CHA channel 1
interface CAN/485
4) 5V output: 2 channels 5A electric current in total, CHB channel 1 interface 485/CAN + CHA channel 1 interface
CAN/485
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 12
Operating Mode Description
The Operating Mode and Walking Mode supported by B1 are as follows:
1) Static Standing
Static standing state means that the robot fuselage position is at the initial height after boot and stand, the fuselage
is horizontal, and the 3-axis attitude and 3-axis position control can be completed by the joystick. In the static standing
state, the walking mode can be switched by the remote control button START, and the walking mode can be switched
back to the static standing state by the remote control button SELECT.
2) Walking Mode, which can be divided into ordinary walking mode and obstacle walking mode.
Ordinary Walking Mode: The robot completes the actions of forward and backward, left, and right sideways, and
turning in place by controlling the remote control.
Obstacle Walking Mode: The robot completes the actions of forward and backward, left and right side shift, in-place
turn, crossing obstacles, climbing stairs, and slopes by controlling the remote control.
Protection Level Description
The B1 quadruped robot with industrial protection level is used with B1 special battery pack, and the protection
level is not less than IP67. The degree of protection is not permanent and may be degraded by long term use. Please make
sure that the interface of the battery, interface of battery compartment, surface of battery, and surface of battery
compartment are dry and free of water, and then install the battery pack into the robot.
After use in harsh environments (rainy days, sand dust, wetlands), please clean the surface of the robot itself to
ensure that there are no water droplets before putting it in the package. The following situations do not have IP67
protection level:
1) The waterproof plug is loose, the sealing ring is aging, etc.
2) Other damage occurs in the robot itself, such as cracking of the shell.
3) Batteries are not installed as required.
4) Interface protective cover is not installed in place.
The use of waterproof plug
The B1 quadruped robot is equipped with XT30(2+2) waterproof plug, 16-core waterproof plug, USB-C waterproof
plug and matched sealing ring. Before the users make it start, put the sealing ring on the waterproof plug, and then insert
it into the interface to complete the installation. Make sure to check that the waterproof plug is installed correctly!
XT30(2+2) Plug
16-core Plug
USB-C Plug
install waterproof plug correctly when it is used. Improper installation will cause water to enter the robot itself and damage
the robot!
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 13
Autonomous Charging Description(optional)
B1 can be optionally equipped with autonomous charging function, which can be combined with visual recognition,
three-dimensional construction, and other technologies to independently plan charging routes and it can complete
charging independently, greatly improve working time and efficiency, and provide a strong guarantee for all-weather
operation.
The Self-charging Version of B1 (optional) is equipped with two charging electrodes at the bottom of the fuselage
and is used with the B1-contact charger.
B1 fuselage bottom parts names:
B1-Contact Charger parts list: The B1-Contact Charger consists of a lithium battery charger and a contact
charging plate.
Lithium Battery Charger
Contact Charging Board
Technical Specifications:
Parameters
Specifications
Note
Model
B1
Charging Board
507mm×290mm×19.5mm
Charging Voltage
58.8V
Charging Current
10A (slow charging) / 15A (fast charging)
Working Temperature
5°C-40°C
Ideal Charging Temperature
Protection Level
IP67
No less than IP67
Storage Temperature
22°C-28°C
Ideal Storage Temperature
Relative Humidity
≤95%
Atmospheric Pressure
70~106Kpa
Cooling Method
Self-cooling + Air-cooling
[Cooling fan]
[charging electrode]
[charging electrode]
[power interface]
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 14
Contact Charging Board Functions:
1) Model identification: The charging pile can identify the robot model, avoid the robot of different battery models
(voltage) to incorrectly connect the charging pile, and avoid the charging pile from supplying power to the unknown
model of the robot/battery/load.
2) Reverse plate protection: The charging plate does not distinguish between polarity, and the robot is compatible
with front and back recumbent.
3) Plate short-circuit protection: Triggered when the charging plate is short-circuited, the protection will cut off the
connection between the short-circuit plate and the charger/battery, and the charging will be automatically restored after
the short-circuit point is disconnected.
4) Plate jitter protection: When the charging plate is unreliable contact, the protection will cut off the connection
between the charger and the battery, avoid the plate ignition phenomenon caused by contact, and the robot can
automatically resume charging after getting up and lying down again.
5) Full charge circuit break protection: When the charging current < 1A, the charger is automatically disconnected
from the battery.
B1-Contact Charger Instruction:
1) Preparation before charging: Place the B1-contact charger in the open room, first connect the lithium battery
charger to the input AC power supply, and then connect the contact charging board power interface, as shown in the
following figure.
2) Charging: When using the contact charger to charge, first use the remote control to control the robot to lie down,
so that the bottom 2 charging electrodes of the B1 robot are in contact with the charging plate 2 charging electrodes to
achieve charging, and the button on the lithium battery charger can switch between fast charging and slow charging.
When the charge is full, the charger is automatically disconnected from the battery.
Notes:
1) It is strictly forbidden to use a charger that is not provided by Unitree official for charging.
2) The ideal working environment temperature of B1-contact charger is 5°C-40°C, relative humidity≤95%, and
atmospheric pressure 70~106Kpa.
3) When using, please ensure that there are no water droplets on the surface and interface of the charger, and the
surrounding area is empty and barrier-free.
4) When using, moving, or charging, please be careful to charge the plug to avoid damage by external forces.
AC Power Supply
110-220V
Lithium Battery Charger
Contact Charging Board
This chapter describes the Unitree B1 battery pack and the use of it.
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 16
Description
The battery pack is specially designed for B1 industrial protection level quadruped robot with capacity of 18000mAh,
nominal voltage of 58.8V, and charge and discharge management function. The battery pack uses high-performance
battery cells and advanced battery management system independently developed by Unitree Robotics to provide sufficient
power for B1 quadruped robot. Battery packs must be charged by using a special charger provided by Unitree Robotics.
Before using the battery pack for the first time, make sure that the battery packs are fully charged before using at the
first time!
Parts Name
[1] Power Switch
[2] LED Light
[3] Fastener
[4] Tab
[5] Charger Interface
[6] Foolproof Interface
[3]
[1]
[2]
[4]
[5]
[6]
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 17
Technical Specifications
Rated Voltage (Power Supply) 51.8V
Rated Electric Current (Power Supply) None Electric current jump
Rated Voltage (Power Supply) 58.8V
Rated Electric Current (Power Supply) 15A
Rated Capacity 18000mAh,932.4Wh
Run Times About 2.5-3h
Battery Pack Functio
1) Power display: The battery has its own power indicator, which can display the current battery power.
2) Battery storage self-discharge protection: The battery will start self-discharge to 65% power to protect the
battery when the battery power is higher than 65% without any operation and stored for 10 days. Each self-discharge
process lasts about 1 hour. There is no LED light indication during the discharge period. It is a normal phenomenon and
that there may be a slight heat.
3) Balance charging protection: Automatically balance the voltage of the internal cells of the battery to protect
the battery.
4) Overcharge protection: Overcharging will seriously damage the battery, and it will automatically stop charging
when the battery is fully charged.
5) Charging temperature protection: Charging will damage the battery when the battery temperature is below -
5°C or above 55°C, and the battery will lead to abnormal charging.
6) Charging electric current protection: High electric current charging will seriously damage the battery. When
the charging current is more than 15A, the battery will stop charging.
7) Over-discharge protection: Over-discharge will seriously damage the battery. When the battery is discharged
to 40.6V, the battery will cut off the output.
8) Short circuit protection: In the event of a short circuit detected by the battery, the output will be cut off to
protect the battery.
9) Battery load detection protection: When the battery is on, if there is no electrical equipment is connected, the
battery will automatically shut down after 3 seconds.
10) Waterproof and dustproof function: The protection level is not less than IP67 after installing the battery pack
to B1 correctly.
11) Abnormal charging display: The battery pack LED light can display relevant information about battery
protection triggered by abnormal charging.
Before using the battery pack, please read and strictly abide by requirements made by Unitree Robotics in the manual,
the disclaimer, the sticker on the surface of the battery pack and the surface of the special charger. The consequences of not
using it as required shall be borne by the users.
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 18
Battery Indicator
When the battery pack is off, the users can check the current battery by shortly pressing the battery switch once.
Be used to display the battery power during the charging and discharging process of the battery pack.
The indicator is defined as follows.
that the LED light is constant on
Indicates that the LED light is flashing
Indicates that the LED light is off
Battery Indicator Light
LED1 LED2 LED3 LED4 Current Battery
87.5%-100%
75%-87.5%
62.5%-75%
50%-62.5%
37.5%-50%
25%-37.5%
12.5%-25%
0%-12.5%
=0%
Battery Pack Turn on/ Turnoff
Turn on a battery pack: In the off state, the users can press the power switch briefly once, and then press the
power switch for more than 4 seconds. Turn on the battery after flowing water light glides. When the battery is on, the
power indicator is constant green, and the battery indicator shows the current battery power.
Turn off the battery pack: In the on state, the users can press the power switch briefly once, and then press the
power switch for more than 4 seconds to turn off the battery. After the battery is turned off, the indicator lights are off.
Battery Pack Charging
1) Connect the charger to an AC power source (100-240V, 50/60Hz). It must be ensured that the external power
supply voltage matches the rated input voltage of the charger before connecting. Otherwise, the charger will be damaged
(the rated input voltage of the charger is marked on the nameplate of the charger).
2) Plug in the input AC power first before charging the battery, then connect the charger to the battery.
3) Before charging the battery, ensure that the battery pack is switched off. Otherwise, the battery and charger may
be damaged.
4) The users need to remove the battery pack from the robot itself when charging the battery pack.
5) In the charging state, the battery indicator of battery pack will flash at a frequency of 1Hz (1 second/time) and
indicate the current battery.
6) If the battery indicator is off, the battery pack is fully charged. Please remove the battery pack and charger to
finish charging.
7) The temperature of the battery pack may be high after running, t, and the battery pack must be charged after the
temperature of the battery pack has dropped to room temperature.
B1 User Manual
© 2022 All rights reserved, Unitree Robotics 19
Charging battery indicator: The battery pack LED light shows the current battery while charging.
Charging Indicator Light
LED1 LED2 LED3 LED4 Current Battery
0%-25%
25%-50%
50%-75%
75%-100%
Full-Charged
Charging protection indication: The battery pack LED light can display battery protection information triggered
by abnormal charging.
Charging Protection Iindicator Light
LED1 LED2 LED3 LED4 Indication
Proction Item
LED2 2 times/sec Excessive Electric Current Charging
LED2 3 times/sec Short Circuit Charging
LED3 2 times/sec Excessively high battery voltage caused by overcharging
LED3 3 times/sec Excessively High Charging Voltage
LED4 2 times/sec Excessively Low Charging Temperature
LED4 3 times/sec Excessively High Charging Temperature
In the event of a fault (excessive charging electric current, short-circuiting of charging, excessively high battery
voltage caused by overcharging, and excessively high charging voltage), the users need to unplug the charger first to
eliminate the fault before plugging the charger again to resume charging. For example, if the charging temperature is
abnormal, unplug the charger first, and after the charging temperature returns to normal, plug the charger again to recharge.
reasons, the battery needs to be discharged during transportation. The discharge method is divided into active discharge
and passive discharge.
1) Active discharge: Install the battery pack into the robot and run to a lower battery (for exam around 65%).
2) Passive discharge: Battery storage self-discharge protection, please refer to "Battery Pack Function"for detailed
description.
Precautions for Use
1) The battery pack should be used at an ambient temperature of -5°C to 55°C. If the temperature is too high (above
60°C), the battery pack may catch fire or even explode. If the temperature is too low (below -10°C), the life span of the
battery pack will be seriously compromised.
2) It is forbidden to use the battery pack in a strong magnetic field or static electricity environment. Otherwise, the
battery pack protection board will fail, which will lead to the malfunction of the battery pack and the robot.
3) Stop using the robot as soon as possible and replace the battery pack with a new one or charge the battery pack
when only one bar of battery flashes.
4) Before installing or removing the battery pack in the B1 battery compartment, please make sure that the battery
pack is closed, otherwise the battery pack or the robot will be damaged.
Charging or storage of battery packs may result in fire or property damage and personal injury by improperly use.
For more detailed descriptions, please refer to the "Battery Pack Safe Operation Guide".
Table of contents
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