They don't like being left totally discharged for long periods and they don't like being overcharged either. Anything in between is fine. I only recharge when they are flat and carry some spare single use cells.
If they are low self discharge types they are ideal for low current long term use and can be used out of the pack. They will last longer when starting from a fully charged state but not by all that much unless they have been on the shelf for years prior to purchase.
Memory effect was a big problem in the previous NiCd era with the cells deteriorating rapidly when SOP for charging rugged almost indestructible NiFe cells was applied to them. MOD trashed a lot of new batteries.
Thanks Martin, saved to favs and also a good read :-
"Sustained high-current overcharge and cell polarity reversal (during discharge) are the main killers of Ni-Cd and Ni-MH batteries:"
I think I'll stick with the trickle-charger mentioned earlier.
Some humour ref Li-ion pyrotechnics :-
"The makers of Li-Ion cells handle the explosion threat by designing the case of the cell so that it will "die with honor", and not explode in someones pants pocket if the battery hits their car keys. More important, the actual battery terminals are simply never allowed to reach the outside world."
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