iAqualink Robots Integration for Home Assistant (Enhanced Fork)

A comprehensive Home Assistant integration for iAqualink robotic pool cleaners, providing full control, real-time monitoring, 90+ sensors, and live telemetry from the Zodiac WebSocket API.

This is an enhanced fork of galletn/iaqualink with full API data exposure. The original integration only exposes ~20% of the available API data. This fork exposes everything.

🌟 What's New in v3.0.0 (Enhanced Fork)

70+ New Sensors — Full API Exposure

Category	Sensors	Description
Hardware (eboxData)	9 sensors	Control box, cleaner, power supply, sensor block, motor block serial numbers & part numbers, firmware versions
Cycle Durations	6 sensors	Waterline, Quick, Smart, Deep, Custom, First Smart configured timers
Weekly Schedule	21 sensors	7 days × Enabled/Program/Time — see exactly when your robot is scheduled
Telemetry: Voltages	3 sensors	Ebox, Robot, Sensor board voltages (V)
Telemetry: Motor Currents	3 sensors	Pump, Track 1, Track 2 current draw (A)
Telemetry: PWM	3 sensors	Pump, Track 1, Track 2 duty cycle (%)
Telemetry: Environmental	2 sensors	Pressure (hPa), Live water temperature (°C)
Telemetry: Gyroscope	3 sensors	X/Y/Z angular velocity (°/s)
Telemetry: Accelerometer	3 sensors	X/Y/Z acceleration (m/s²)
Telemetry: Magnetometer	3 sensors	X/Y/Z magnetic field (µT)
Telemetry: Navigation	6 sensors	Angle rotation, cumulative angles, position, movement ID, last move length
Telemetry: Counters	7 sensors	Loops, tilts, wall contacts, stairs, floor blockages, pattern/cycle ID

Real-time Telemetry via WebSocket

Telemetry sensors (voltages, currents, IMU, navigation, counters) update in real-time via WebSocket push while the robot is cleaning. Data is cached between cleaning cycles so you always see the last known values.

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🚀 Installation

Manual (Recommended for this fork)

1. Download/clone this repository
2. Copy custom_components/iaqualink_robots/ to your Home Assistant custom_components/ directory
3. Restart Home Assistant
4. Add the integration via Settings → Devices & Services → Add Integration → "iAqualink Robots"

HACS (Custom Repository)

1. Open HACS → Integrations → Three dots menu → Custom repositories
2. Add: https://github.com/guibrazlima/iaqualink_robot — Category: Integration
3. Search for "iAqualink Robots (Enhanced)" and install
4. Restart Home Assistant

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⚙️ Setup

1. Settings → Devices & Services → Add Integration
2. Search for "iAqualink Robots"
3. Enter your iAqualink/Zodiac credentials (same as the mobile app)
4. Select your robot from the detected devices

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📱 Entities Overview

Vacuum Entity

• Controls: Start/Stop, Return to base, Fan speed selection
• Status: Cleaning mode, Activity state
• Remote Control: Forward, Backward, Rotate Left/Right (VR/Vortrax only)

Core Sensors (22 — from original integration)

• Serial Number, Device Type, Model
• Battery Level, Total Hours, Temperature
• Cycle info (Start time, Duration, Type, Time Remaining, Estimated End)
• Canister Level, Error State
• Fan Speed, Activity, Status
• Stepper adjustments (increment, base/adjusted duration)

Hardware Sensors (9 — NEW)

• Ebox Firmware / Robot Firmware
• Control Box Serial / Cleaner Serial / Power Supply Serial
• Sensor Block Serial / Motor Block Serial
• Control Box Part No. / Cleaner Part No.

Cycle Duration Sensors (6 — NEW)

• Duration: Waterline / Duration: Quick / Duration: Smart
• Duration: Deep / Duration: Custom / Duration: First Smart

Weekly Schedule Sensors (21 — NEW)

For each day (Mon–Sun):

• Schedule {Day} Enabled — On/Off
• Schedule {Day} Program — Floor only / Wall only / SMART / Floor+Walls
• Schedule {Day} Time — HH:MM start time

Real-time Telemetry Sensors (28 — NEW, VR/Vortrax only)

These update live via WebSocket while the robot is cleaning:

Electrical:

• Voltage: Ebox / Voltage: Robot / Voltage: Sensor (V)
• Current: Pump / Current: Track 1 / Current: Track 2 (A)
• PWM: Pump / PWM: Track 1 / PWM: Track 2 (%)

Environmental:

• Pressure (hPa)
• Water Temperature (Live) (°C)

IMU (Inertial Measurement Unit):

• Gyroscope X/Y/Z (°/s)
• Accelerometer X/Y/Z (m/s²)
• Magnetometer X/Y/Z (µT)

Navigation:

• Angle Rotation / Cumulative Angle Rotation / Cumulative Compass Angle (°)
• Cleaner Position / Movement ID / Last Move Length (m)

Counters:

• Loop Count / Tilt Count / Wall Contact Count
• Stairs Count / Floor Blockage Count
• Pattern ID / Cycle ID

Buttons

• Remote Forward / Backward / Rotate Left / Right / Stop (VR/Vortrax only)

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📋 Supported Models

Fully Supported

• EX 4000 iQ
• RA 6500 iQ / RA 6570 iQ / RA 6900 iQ
• Polaris VRX iQ+
• CNX 30 iQ / CNX 40 iQ / CNX 50 iQ / CNX 4090 iQ
• OV 5490 iQ / RF 5600 iQ
• OA 6400 IQ
• P965 iQ / 9650iQ
• VortraX TRX 8500 iQ
• Polaris Freedom Cordless (Cyclobat)
• CycloNext models
• Vortrax models

Telemetry Availability

Robot Type	Core Sensors	Hardware	Schedule	Durations	Live Telemetry
VR (RA 6500, etc.)	✅	✅	✅	✅	✅
Vortrax	✅	✅	✅	✅	✅
Cyclobat	✅	❌	❌	❌	❌
CycloNext	✅	❌	❌	❌	❌
i2d_robot	✅	❌	❌	❌	❌

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🌍 Multi-Language Support

• 🇺🇸 English (Default)
• 🇫🇷 Français
• 🇪🇸 Español
• 🇩🇪 Deutsch
• 🇳🇱 Nederlands
• 🇵🇹 Português
• 🇨🇿 Čeština
• 🇮🇹 Italiano
• 🇸🇰 Slovenčina

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🔧 Troubleshooting

Robot shows unavailable → Check connection in iAqualink mobile app first.

Telemetry sensors show "Unknown" → These only populate when the robot is actively cleaning. Start a cleaning cycle and they'll update in real-time.

Schedule sensors show "Unknown" → The robot may not have a schedule configured, or it's a model that doesn't support schedules.

Enable debug logging:

logger:
  logs:
    custom_components.iaqualinkRobots: debug

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🤝 Credits

• Original integration by @galletn
• Enhanced fork with full API exposure by @guibrazlima
• Based on reverse-engineered Zodiac/iAqualink WebSocket API