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1. 42 el Uu m 53 PRIM FST I GE c RE ERR R Ru RA Ub Hae Bua 56 IEEE754 32 bit Floating Point and Integer Representation sees 67 Cyclic Redundancy Ch ck 9 paga sesta ORDRE 68 EIE Eat 72 Internal Connections Centralized Control WMT nti tain 78 Aupullary Battery 5 79 Smart Charger OA 80 Communications a M M ME 81 Hardware Control a RD 87 Mode SSIB DI oe oc I 88 Stat s 112 T RE 88 ROWEN urat naut 89 CCU Battery 89 MN TS A BAS S RI TNR ROTER 89 Copyright 2013 Segway Inc All rights reserved 3 SEGWAY RMP 440 SE Included Software Installing the CO 90 RMP CCW Bootloader Application 91 OCU Demo Application
2. 92 Software License Agreement 97 Maintenance c ccc 98 Hi Cin P 98 Parts 99 Removing Wheel 5 100 Replacing Wheel ASSIDIIBS odio EROS Yard cov FERRE Dd 100 UC MR RC encanta nade tition 100 SOWare Updates 100 Batteries Replacing Batteries dices n e munt ud mn 101 Installauorn and Bemoval 6 cipe Drei aei Deco etu nca 102 Transportation dnd 51 UE e 102 Proper T NR 102 Troubleshooting Reporting Problems To SB WAY nta Eau cru Rud 103 RE IT RN RR ECC C 103 Reading I 104 tle
3. M 26 ea ae 26 Tractor i DUCATU 26 Disable Mode Urna Du 27 Copyright 2013 Segway Inc All rights reserved 2 SEGWAY RMP 440 SE Charging Using the External POWERS UD DIR care teo nd dO Rn drain 28 Charge mte TER cc 28 Powering On Off Powering n mU E canna senna 29 29 Connecting Gonnector MENOR RITE RR TNR HD PO 30 bath 21 E 32 a 32 AdditonalsignalS 32 Connector cotes eR M 33 Connecting To the RMP NOT mmo 34 Communication General Command sesiniac Eees ne unc amne 37 Standard Motion Commands nsss aa 39 Dina MODE 40 Configuration
4. stam ean dana toad MG 105 Charging 109 Other SSUES eR TATUM 109 Copyright 2013 Segway Inc All rights reserved 4 SEGWAY RMP 440 SE Copyright Disclaimer Trademarks Patent and Contact Information Copyright 2013 Segway Inc All rights reserved Disclaimer The Segway RMP is not a consumer product Usage examples shown on rmp segway com have not necessarily been reviewed nor approved by Segway Inc Segway Segway is not responsible for end customer modifications or additions Trademarks Segway owns a number of trademarks including but not limited to Segway and the Segway flyguy logo that have been registered in the United States and in other countries Those trademarks followed by are registered trademarks of Segway All other marks are trademarks or common law marks of Segway Failure of a mark to appear in this guide does not mean that Segway does not use the mark nor does it mean that the product is not actively marketed or is not significant within its relevant market Segway reserves all rights in its trademarks All other trademarks are the property of their respective companies Xbox is a registered trademark of Microsoft Corporation Logitech is a registered trademark of Logitech International SA Segway Patent Information The Segway RMP is covered by U S and foreign patents For a patent listing see http
5. For details regarding the data meaning format range and description see the UDFB tables starting on page 60 An RMP response will contain the data array of 32 bit values specified by the UDFBs plus a CRC 16 Although the CRC is only 16 bits the RMP ships all values as 32 bits including the CRC The additional 16 bits are null bits placed in front of the CRC These null bits must be included when calculating the CRC For a C C implementation of the CRC see Cyclic Redundancy Check CRC 16 p 68 User Defined Feedback Bitmaps There are 96 system variables that can be selected for feedback Depending on the user application it may be desirable to receive all of them or only a subset of them To facilitate this there are four User Defined Feedback Bitmaps The UDFBs are stored in non volatile memory and can be set using the methods described in Configuration Commands p 42 This allows the user to set the User Defined Feedback Bitmaps once and from then on the data in the response packet will be defined by those values For example say a user only wants inertial data The user would determine the corresponding bits to set in each bitmap The user would send the configuration command to set the bitmaps to the desired values From then on the response message would contain only the inertial data selected by the user If the user wishes to see all the data the default values can be left alone and all 96 variables will be included in each
6. temp degC abb system status aux status CRC 16 The structure of the response packet s is described in CAN Response Structure p 58 and USB and UDP Response Structure p 59 Example 3 Set the UDFBs as shown below Information on setting UDFBs is found in Configuration Commands p 42 Information on the feedback bitmaps themselves is found on page 48 An example of how to set UDFB3 is shown in Table 39 UDFB1 0x80000001 bits 0 31 UDFB2 0x00008001 bits 0 15 UDFB3 0x00008030 bits 4 5 15 UDFB4 0x00000000 none After the UDFBs are set all RMP response messages will contain the following variables UDFBI bitO UDFB1 bit31 UDFB2 bitO UDFB2 bit15 UDFB3 bit4 UDFB3 bit5 UDFB3 bit15 CRC 16 Or with variable names from the UDFB tables fault status word 1 right rear vel mps left rear vel mps rear base batt 2 soc mcu O inst power W mcu 1 inst power W fram dtz decel limit mps2 CRC 16 The structure of the response packet s is described in CAN Response Structure p 58 and USB and UDP Response Structure p 59 Copyright 2013 Segway Inc All rights reserved RMP 440 SE Table 37 Setting UDFB2 Example 2 Item Description Message ID 0x0501 Command ID 0x00000018 0xF0000000 Table 38 RMP Response Example 2 Item UDFB Variable Name Table 39 Setting UDFB3 Example 3 Item Description Message ID 0x0501 Command ID
7. 0x0100 BCU LINK FAILED Communication between the ABB and Check the connection between the ABB the BCU has failed and battery 0x0200 ABB HIT INTERNAL FAULT The ABB has reached points in the Report to Segway software it should not 0 0400 ABB HOST COMMANDS _ The Host has commanded the ABB to None If it was unintentional check the host SHUTDOWN shutdown code 7 y 10 x0800 GOING TO SHUTDOWN Acondition has triggered the ABB to Check the condition in this bitmap shutdown 0x1000 15 PRESENT The ABB has detected that a chargeris This is informational only connected and charging the battery Copyright O 2013 Segway Inc All rights reserved 106 SEGWAY RMP 440 SE Faults cont The mask for Battery Hazards is 0 0000 00 on Data 0 Table 75 Battery Hazard Bitmap Data 0 Low Bit Description Action 0 0x0000 BCU NO HAZARD ABB is operational None x0200 BATTERY COLD CHARGE The battery is too cold to charge Move the battery to a warmer place to LIMIT HAZARD charge 0 0400 BATTERY COLD HAZARD The battery is too cold to operate Turn off the RMP and warm the battery up 0x0800 BCU BATTERY COOL HAZARD The battery is approaching the Move the battery to a warmer place threshold for cold operation 0x2000 BATTERY LOW BLOCK A battery bank voltage has dropped Charge the battery If this error occurs VOLTAGE HAZARD below its operating range frequently replace the
8. O o SepwayUseoniy 5 fis amp DebugHeaders Segway Use Only Programming Segway Use Only HV 23076 00001 PowrSwtch Copyright 2013 Segway Inc All rights reserved 79 SEGWAY RMP 440 SE Smart Charger Board The Smart Charger Board SCB routes power from the External Power Supply to the internal components including the powerbases and the ABB It communicates with the powerbases and the ABB It also controls the charge status LEDs LE Bia wa 2 Figure 45 Smart Charger Board Table 51 SCB Connectors and Signals Connector Signal s Harness Destination s Notes a5 communication Segway Use oniy LED 23320 00002 Copyright 2013 Segway Inc All rights reserved 80 SEGWAY RMP 440 SE Communication There are a variety of ways to communicate with the RMP inside the enclosure Communication methods include CAN USB and Ethernet There is also a hobby radio interface CAN CAN channels utilize galvanic isolation hardware This allows for CAN communication between systems in which the ground connection cannot be shared The CCU has four CAN channels The ABB has one CAN channel that communicates with the CCU e CAN channels utilize galvanic isolation hardware ground must be connected e CAN channels have 120 Ohm terminator between CAN High and CAN Low User Interface Pro
9. tk crc initialize Nbrief Initialize the crc table Nparam void Nreturn void ste MUS UN void tk crc initialize void U16 T byte for byte 0 byte lt TABLE SIZE byte 1 crc table byte compute crc table value byte pene due tk crc calculate crc 16 Nbrief This computes an updated CRC 16 given the current value of Copyright 2013 Segway Inc All rights reserved 68 SEGWAY RMP 440 SE Cyclic Redundancy Check CRC 16 cont the CRC 16 and a new data byte param old crc the CRC from the last calculation new_byte the new byte to add to the CRC calculation return 016 the new CRC Pal Eg a M E M ein ere aS 016 tk crc calculate crc 16 U16 T old crc U8 T new byte 1 016 T temp U16 T new crc temp old crc new byte new crc old crc gt gt 8 crc table temp amp 0x0O0FF return new crc tk crc compute byte buffer crc Nbrief This function computes the CRC 16 value for the passed in buffer The newly computed is saved into the last 2 spots in the byte buffer Nparam byte buffer pointer to the byte buffer which we want to CRC bytes in buffer number of bytes in the buffer Nreturn void void tk crc compute byte buffer crc U8 T byte buff
10. SEGWAY RMP 440 SE Capabilities The RMP is meant to be used by integrators when creating mobile robotic products As such the RMP was designed with flexibility and expandability in mind Driving The RMP can drive forward reverse and can turn in place Turning is accomplished by skid steering where the wheels actually skid across the ground as the RMP turns A variety of parameters can be adjusted for easier driving in different circumstances making it possible to have fine control at slow speeds and at high speeds Adjustable parameters include maximum velocity maximum acceleration maximum deceleration maximum turn rate and maximum turn acceleration Velocity control can either be velocity based m s or acceleration based m s With velocity based control the user continually sends the desired velocity command e g by holding a joystick steady to achieve a steady velocity With acceleration based control acceleration commands are sent until the RMP reaches the desired speed Then an acceleration of zero is commanded in order to maintain that speed This is similar to using cruise control on the highway See Controller Input Mapping p 53 for more information on the different types of control For safety a disable button is provided with the RMP When pressed the disable button will cause the RMP to shut down A Decel To Zero DTZ command can also be sent either by hardware button not supplied or by software command Th
11. SEGWAY RMP 440 SE Maintenance To ensure that your RMP continues to function optimally please follow these routine maintenance guidelines A WARNING Before performing any maintenance verify that the Segway RMP is unplugged and powered off It is not safe to perform maintenance while the RMP is powered on or charging The RMP could move unexpectedly causing death serious injury or property damage e Use only Segway approved fasteners on the RMP Other fasteners may not perform as expected and may come loose Failure to do so could lead to risk of serious injury death or property damage e Always use thread lock on fasteners to keep them from coming loose Failure to do so could lead to serious injury death or property damage nsert fasteners slowly and carefully Do not cross thread or over tighten fasteners Tighten only to the prescribed torque Failure to do so could afffect the RMP s behavior and may cause serious injury death or property damage Donotattempt to repair any stripped or damaged screw hole Instead replace the part If a replacement part is not available do not reassemble Failure to do so could lead to serious injury death or property damage Fastener Torque AXCAUTION Adhere to torque specifications when tightening fasteners Over tightening or under tightening fasteners can result in damage to the RMP or malfunction Periodically check the fastener torques Fastener torque specifications are p
12. The Auxiliary Battery Board ABB monitors voltage current state of charge and battery flags of the auxiliary battery pack It has software protected outputs to prevent over discharge of the battery The board can act as a standalone unit or can connect to the CCU It interfaces with the UIP via CAN and provides real time battery data and status information for the auxiliary battery pack The ABB can communicate via CAN USB and RS232 If the fuse blows the entire board must be replaced Power Converter The RMP 440 SE accommodates up to two Power Converters Each Power Converter accepts 72 VDC input power and provides DC output power at a different voltage One Power Converter provides 12 VDC power for internal use and customer use The other Power Converter is selectable at time of purchase Output voltage options include 5 VDC 12 VDC 24 VDC 36 VDC and 48 VDC Copyright 2013 Segway Inc All rights reserved RMP 440 SE REV TT AUX BATTERY BOARD Figure 23 Auxiliary Battery Board TAE 22883 00001 Rev SA Figure 24 Power Converter 23 SEGWAY RMP 440 SE Operational Model This chapter describes powering on powering off and the various modes of operation Operational States At any given time the RMP will be in one of the following operational states e initialization Diagnostic Mode Bootloader Mode Standby Mode e Tractor Mode e Disable Mode e Off Figure 25 shows how these sta
13. 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 SENSOR FAULT 2P5V VREF RANGE FAULT SENSOR FAULT 7P2V VBAT RANGE FAULT SENSOR FAULT 7P2V VBAT WARNING SENSOR FAULT 7P2V BATT INBALANCE FAULT SENSOR FAULT 7P2V BATT TEMPERATURE FAULT SENSOR FAULT DIGITAL INPUT SENSOR FAULT RANGE SENSOR FAULT DEFAULT SENSOR FAULT 5V MONITOR RANGE FAULT SENSOR FAULT 12V MONITOR RANGE FAULT faults These faults are latching fault decode dict 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 BSA FAULT SIDE MISSING BSA DATA BSA FAULT SIDE B MISSING BSA DATA BSA FAULT UNKNOWN MESSAGE RECEIVED BSA FAULT TRANSMIT A FAILED BSA FAULT TRANSMIT B FAILED BSA FAULT DEFAULT BSA FAULT SIDE A RATE SENSOR SATURATED BSA FAULT SIDE B RATE SENSOR SATURATED BSA FAULT SIDE A TILT SENSOR SATURATED BSA FAULT SIDE B TILT SENSOR SATURATED PSE FAULT COMPARISON Copyright 2013 Segway Inc All rights reserved RMP 440 SE 74 SEGWAY Fault Status Definitions cont Architecture faults These faults are latching arch_fault_decode dict 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00
14. 5 6 56 26094 use feedback birra 95 703 user feedback bitmar lr 90 Do areenaan seeing The data displayed can be set either in the config or in the Console Menu The moa thes ao config file tells the RMP what to include and what to omit when responding to status requests The Console Menu allows the user to determine what data is cp s aa mosse displayed on the screen it does not stop the data from being sent mn propulson batt soc 95705 ngntrearposm 0 001 imt mps2 3923 ecu sp bald id a soc 91 765 jeft rear pos m 0 002 Irit ccuuipswbuidid inertid x acc g 0 0 frarnedte_decelimt mps 592 0 y scc 0 006 right front current Aopk coastdovn decai 1 951 rst power w The console also includes a logging function Only those messages that Eo displayed in the console logged Disabling display of a function also disables logging of that function Figure 55 Console Control Screen The control screen Figure 56 contains buttons for changing modes shutting down disabling and decelerating the RMP It also has a button for making noise which will cause the RMP to chirp This screen provides a method for Standby Mode c
15. Before First Use Recharge From Empty 78 hours w o Smart Charger Board Recharge From Empty 72 hours w Smart Charger Board TemperatureRanges _ 32 122 F 0 C 50 C 50 F 122 F 10 C 50 C 4 F 122 F 20 C 50 C For RMPs without Smart Charger Boards do not leave your RMP plugged and charging indefinitely Unplug and plug back in at least once a month Leaving batteries plugged in for an extended period of time could result in one or more dead batteries Copyright O 2013 Segway Inc All rights reserved 101 SEGWAY RMP 440 SE Installation and Removal Instructions ZNWARNING Unplug or disconnect your Segway RMP from AC power before removing or installing batteries or performing any service It is hazardous to work on any part of your RMP when it is plugged into AC power You risk serious bodily injury from electric shock as well as damage to your RMP Install and remove the batteries in a dry location only Removing Batteries Tool required 3 mm hex wrench 1 Tip the RMP onto its side so the outside two wheels lay flay against a clean smooth surface 2 Usea3mm hex wrench to remove fasteners 4 per battery 3 Pull batteries straight off chassis Installing Batteries NCAUTION Replace battery fasteners every time a battery is installed Use only Segway approved fasteners Failure to replace fasteners jeopardizes the watertight seal of th
16. Contact Information p 5 Please search the forum before posting your issue may have been discussed previously To ensure a prompt and helpful response from Segway please include the following when posting to the forum Upload a copy of the fault log See Extracting the Faultlog below Explain what you were doing when the fault occurred What is the model number of your RMP How much mass weight was on the RMP What surface slope was the RMP on What were the environmental conditions temperature humidity Have you modified the RMP Extracting the Faultlog Follow these instructions to extract the faultlog from your RMP By entering Diagnostic Mode you can extract the faultlog even if the RMP won t startup successfully Enter Diagnostic Mode 1 2 Connect pins D and E on the 6 connector Connector II 3 Usethe USB cable to connect the RMP to the computer The RMP will power on Turn the RMP off Extract the Faultlog 1 ROG Double click RMP OCU Demo on the desktop Click Extract Faultlog Select USB and click Next Click OK The faultlog will open in your web browser Disconnect the USB cable The RMP will power off Copyright 2013 Segway Inc All rights reserved RMP 440 SE 103 SEGWAY RMP 440 SE Reading the Faultlog The faultlog is arranged with a header at the top and the 20 most recent faults below The first fault logged is recorded as Fault 0 the
17. To upload the file anyway click Continue CCU Upgrade 6 The hex file will be flashed to the ROM 7 Click Disconnect to close the connection with the RMP Figure 50 No CCU Connected Error Copyright 2013 Segway Inc All rights reserved 91 SEGWAY OCU Demo Application The OCU Demo is a functional example of how to interface with the platform It is not intended to be the end solution for the customer interface to the RMP platform Please see the software license agreement Software License Agreement p 97 Segway provides the Operator Control Unit OCU Demo application with source code that runs on Windows platforms XP Vista 7 The source code illustrates how commands may be constructed and sent to the RMP and how data may be received back and parsed This application may also be used to check test the RMP s functionality The application is not warranteed or validated and as such is not suitable for control of the RMP in the user application Overview The OCU Demo application is located in the RMP_Applications folder default location C Program Files Segway RMP_Applications When the application launches the user is greeted with a welcome screen Figure 51 From here the user can run the OCU load a configuration file create and modify configuration files and extract the faultlog Configuration The software is supplied with a default config ocu_config_default inf with all the parameters set
18. rmp segway com RMPPatents pdf Contact Information For support please contact Segway Customer Care or use the RMP forum at http rmp segway com forum Segway Customer Care 866 4SEGWAY 866 473 4929 Fax 603 222 6001 E mail technicalsupport segway com Website http rmp segway com Copyright 2013 Segway Inc All rights reserved 5 SEGWAY RMP 440 SE Introduction The Segway Robotics Mobility Platform RMP is a robotic vehicle chassis and power train designed to be integrated with additional components to create robotic products It is intended to be the mobility component for any number of robotic applications and as such was designed with versatility durability and performance in mind Segway engineers have led the way with electric drive propulsion systems in the fields of battery management advanced sensing drive by wire control and dynamic stabilization The RMP benefits from some of the same proprietary technology that has been deployed and proven around the world as part of the Segway Personal Transporter PT line of products The RMP can handle high payloads a variety of environmental conditions and a wide range of operational scenarios The chassis is designed to handle a certain amount of abuse consistent with operation over rough terrain and in industrial environments Control parameters can be tweaked to make it easy to drive slowly around obstacles at high speed in open spaces or in any environment in betwe
19. 0 00000000 Zero Speed 0x00000002 Limit Speed 0x00000004 Decel to Zero 0x00000008 Disable MCUO 0x00000100 Disable MCU1 0x00000200 Disable MCU2 0x00000400 Disable 0x00000800 Disable Response 0x00001000 0x00000800 The minimum of all propulsion battery states of charge 0x00002000 Float32 g The raw x axis acceleration OxO0004000 inertial acc g Float3 g The rawy axis acceleration O 0x00008000 0x00080000 0x00400000 0x00020000 inertial z rate rps Float32 The raw z rotational rate T 0x00010000 inertial y rate rps Float32 The raw y rotational rate 0x00040000 pse pitch deg Float32 The estimated inertial pitch angle ENT Copyright 2013 Segway Inc All rights reserved 60 SEGWAY RMP 440 SE RMP Response cont Table 46 User Defined Feedback Bitmap 1 cont Bit Value Variable Name Format Unit Description 0x00800000 pse data is valid U32_T Unitless This is a bitmap of valide PSE data There are two PSEs running on the CCU one for each redundant side of the BSA If the value is zero PSE data should be discarded No PSE valid 0x00000000 PSEI valid 0x00000001 PSE2 valid 0x00000002 0 01000000 yaw rate limit rps Float32 rad s The machine yaw rate limit including internal limits set by the Safety Kernel 0 02000000 vel limit mps Float32 m s The machine velocity limit including internal limits set by the Safety Kernel 0x04000000 lin
20. 0 00000003 UDFB4 0x00000000 none Each command sent to the RMP will trigger a response message The Table 36 RMP Response Example 1 response message contains the values of the UDFB variables currently Item UDFB enabled plus CRC 16 Variable1 UDFBI bitO fault status word 1 Once all four UDFBs are set the RMP response will contain these variables UDFBI bitO UDFBI bitl CRC 16 a 2 UDFBI bitl fault_status_word_2 Or with variable names from the UDFB tables Variable 3 0 0000 CRC 16 fault status word 1 fault status word 2 16 The structure of the response packet s is described in CAN Response Structure p 58 and USB and UDP Response Structure p 59 Copyright 2013 Segway Inc All rights reserved 56 SEGWAY RMP Response cont Example 2 Set the UDFBs as shown below Information on setting UDFBs is found in Configuration Commands p 42 Information on the feedback bitmaps themselves is found on page 48 An example of how to set UDFB2 is shown in Table 37 UDFB1 0x00000003 bits 0 1 UDFB2 OxF0000000 bits 28 31 UDFB3 0x00000000 none UDFB4 0x00000000 none After the UDFBs are set all RMP response messages will contain the following variables UDFBI bitO UDFB1 bit1 UDFB2 bit28 UDFB2 bit29 UDFB2 bit30 UDFB2 bit31 CRC 16 Or with variable names from the UDFB tables fault status word 1 fault status word 2 aux_batt_current_A aux
21. Mouse OCU Comm Interface Ethernet Velocity m s 2 2352 Accel m s 2 3 923 Max Decel m s 2 3 923 Decel m s 2 3 923 Coastdown Decel m s 2 1 961 Max Yaw Rate rad s 3 0 Yaw Accel rad s 2 28 274 Tire Diameter 0 483616 Wheel Track Width m 0 7112 Gearbox Ratio 24 2667 Config Bitmap 0x1 RMP IP Address 192 168 0 40 RIMP Port 55 RMP Subnet Mask 255 255 255 0 RMP Gateway 192 168 0 1 RMP User FB Bitmap 1 OxffffffffL RMP User FB Bitmap 2 OxffffffffL RMP User FB Bitmap 3 Ox1fffffff Continue Cancel Figure 52 Save or Discard Changes 92 SEGWAY Configuration Screens RMP 440 SE When configuring the RMP the OCU software walks the user through these screens Machine oriented configuration parameters are stored in non volatile memory on the CCU The configuration is verified by the OCU Demo at startup For more information about each of the configuration settings see Configuration Commands p 42 Video Server Allows the OCU Demo to connect to a video server on the local camera e g an IP camera Video is displayed on the splash screen instead of the Segway logo Controller Allows the user to choose how to control the RMP Options are Xbox 360 controller Logitech GamePad RumblePad Mouse or Keyboard Only one controller may be used at a time Comm Interface Defines which interface the OCU Demo communicates over The RMP always communicates o
22. OQorl Parameter Units Boolean Stored in NVM No Default Value N A RMP CMD RESET INTEGRATORS Table 33 Position Reset Bitmap This command is used to reset the position data on the RMP The parameter Data to Reset Value is a bitmap of which integrators to reset See Table 33 for details about the RESET LINEAR POSITION 0x00000001 bitmap RESET_RIGHT_FRONT_POSITION 0 00000002 Command ID 34 Parameter Type 132 T RESET LEFT FRONT POSITION 0x00000004 Parameter Range 0x0000001F valid mask RESET RIGHT REAR POSITION 0x00000008 Parameter Units Unitless RESET LEFT REAR POSITION 0x00000010 Stored in NVM No Default Value N A RESET ALL POSITION DATA 0x0000001F RMP CMD RESET PARAMS TO DEFAULT This command is used to reset all the parameters stored in NVM to their default values Command ID 35 Parameter Type 032 T Parameter Range 0 value ignored Parameter Units Unitless Stored in NVM No Default Value N A NOTE Some parameters including Ethernet settings tire diameter wheel base track width and transmission ratio will not take effect until after the machine has been power cycled rebooted Copyright 2013 Segway Inc All rights reserved 51 SEGWAY Configuration Commands cont RMP 440 SE The table below provides a list of all the configuration commands and their parameters Table 34 Configuration Commands Command Name RMP_CMD_NONE RMP_CMD_SET_MAXIMUM_VELOCITY RMP_CMD_SET_MA
23. Valuel U32_T byteO lt lt 24 amp OxFF000000 Data Length Always 8 bytel lt lt 16 amp OxOOFF0000 Data Bytes Bytes 0 3 Value 1 byte2 lt lt 8 amp OxOOOOFFOO Bytes 4 7 Value 2 byte3 amp 0x000000FF Value2 U32_T byte4 lt lt 24 amp OxFF000000 byted lt lt 16 amp OxOOFF0000 byte6 lt lt 8 0 0000 00 byte7 amp 0x000000FF Copyright 0 2013 Segway Inc All rights reserved 37 SEGWAY RMP 440 SE General Command Structure cont USB and UDP The USB interface acts as a standard Serial RS232 emulator The Ethernet interface uses User Datagram Protocol UDP The structure for messaging over both interfaces is the same Each command packet always contains a Message ID two 32 bit values and a CRC 16 Message ID Data 0 Data 1 Valuel Data 2 Data 5 Table 20 USB and UDP Message Structure Value 2 Data 6 Data 9 CRC16 Data 10 Data 1l Item Description Data Length Always 12 The packet is assembled as such Message ID Bytes 0 1 Message ID U16 T byteO lt lt 8 amp OxFFOO Data Bytes bs 2 5 E bytel amp OxOOFF ytes 6 9 Value byte3 lt lt 16 amp 0 00 0000 byte4 lt lt 8 8 0 0000 00 byte5 amp 0x000000FF Value2 U32 T byte6 lt lt 24 amp OxFF000000 byte7 lt lt 16 amp OxOOFF0000 byte8 lt lt 8 amp 0x0000FF00 byte9 amp 0x000000FF CRC 16 U16 T bytel0
24. the DISABLE 5V signal must be pulled up to 5 V which is what the provided Disable Button achieves Otherwise the RMP will fail the startup check and fault For more information on these signals see Operational Model p 24 and Hardware Controls p 87 This is a MIL DTL 38999 24FB98SN socket Mating connector is Table 14 Connector Pinout MIL DTL 38999 24FB98PN plug Signal Pin DECEL REQUEST 27 pe ec DGND B oS Figure 35 6 Pin Connector 00 1 BOOT2 Chassis Ground Disable Button The Disable Button is a normally closed pushbutton that attaches to Connector II When the RMP boots it checks if the DISABLE 5V signal has been pulled up to 5 V The Disable Button achieves this by connecting pins and C If the DISABLE_5V signal is not pulled up to 5 V e g the Disable Button is absent or has been pressed the RMP immediately powers down Additional Signals The connector can also be used with a custom harness to send Decel requests as well as Bootl and Boot2 signals Boot is used for entering diagnostic mode Boot2 is used for entering bootloader mode For more information see Operational Model p 24 and Hardware Controls p 87 Figure 36 Disable Button Copyright 2013 Segway Inc All rights reserved 32 SEGWAY RMP 440 SE Connector IV This connector is used in conjunction with the External Power Supply Charging is accomplished by connecting the
25. 0x00000019 0 00008030 Table 40 RMP Response Example 3 Item UDFB Variable Name Variable 5 UDFB3 bit4 mcu_O_inst_power_W Variable 6 UDFB3 bit5 mcu_l_inst_power_W Variable 7 UDFB3 bit15 fram_dtz_decel_limit_ mps2 Variable 0 0000 CRC 57 SEGWAY RMP 440 SE RMP Response cont CAN Response Structure The CAN interface is structured as in Table 41 Each CAN message always contains two 32 bit values Table 41 CAN Response Structure The values are assembled as such Item Description Valuel U32_T byteO lt lt 24 amp OxFF000000 Baud Rate 1 Mbps bytes io Standard 11 bit CAN identifier byte2 lt lt 8 8 0 0000 00 byte3 amp 0x000000FF Data tel BINOS Value2 U32 T byte4 lt lt 24 amp OxFFO00000 Md byte5 lt lt 16 8 0 00 0000 byte6 lt lt 8 0 0000 00 byte7 amp 0x000000FF CAN response messages start with the Message ID The first message in the CAN response will have a Message ID of 0x0502 This message will contain the first two 32 bit values in the response array The Message ID will then increment by 1 and send the next two items This process will continue until the entire array plus the CRC 16 has been sent If the length of the feedback array plus the CRC 16 is odd the last message will contain the CRC 16 in value 1 and nothing in value 2 This is because two 32 bit values are sent in each message In th
26. 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x08000000 0x10000000 0x20000000 0x40000000 Fault Status Definitions cont COMM CU BCU LINK DOWN MCU COMM INITIALIZATION FAILED COMM FAILED CAL EEPROM MCU POWER SUPPLY TRANSIENT FAULT MCU POWER SUPPLY 12V FAULT MCU POWER SUPPLY 5V FAULT POWER SUPPLY FAULT MCU JUNCTION TEMP FAULT MCU MOTOR WINDING TEMP FAULT MCU MOTOR DRIVE FAULT MCU MOTOR DRIVE HALL FAULT MCU MOTOR DRIVE AMP FAULT MCU MOTOR DRIVE AMP ENABLE FAULT MCU MOTOR DRIVE AMP OVERCURRENT FAULT MCU MOTOR DRIVE VOLTAGE FEEDBACK FAULT MCU FRAME FAULT MCU BATTERY FAULT MCU MOTOR STUCK RELAY FAULT MCU ACTUATOR POWER CONSISTENCY FAULT MCU ACTUATOR HALT PROCESSOR FAULT ACTUATOR DEGRADED FAULT All the fault groups are packed into four 32 bit fault status words The following defines how they are packed into the words Fault status word 0 FSW_ARCH FAULTS INDEX 0 FSW ARCH FAULTS SHIFT 0 FSW ARCH FAULTS MASK 0x00000FFF FSW CRITICAL FAULTS INDEX 0 FSW CRITICAL FAULTS SHIFT 12 FSW CRITICAL FAULTS MASK OxFFFFF000 Copyright 2013 Segway Inc All rights reserved RMP 440 SE 76 SEGWAY Fault Status Definitions cont Fault status word 1 FSW COMM FAULTS INDEX FSW COMM FAULTS SHIFT FSW COMM FAULTS MASK FSW INTERNAL FAULTS INDEX FSW INTERNAL
27. 440SE 220 210 Installing the Software The installer creates a file structure that includes documentation drivers and demo applications Included in the software package are e Documentation RMP_Applications Setup Choose Install Location U S B d rivers Choose the Folder in which to install RMP Applications 4 ootl oa d era p pl icat 10n an d re ea se bi naries Setup will install RMP Applications in the following Folder To install in a different Folder click rowse and select another Folder Click Next to continue e OCU demo application and source code ABB demo application and source code Destination Folder The installer also includes Python and all the modules needed to run the demo See o software from source Included Python packages are Python 2 7 2 e pygame 1 9 2 lt Back I Next gt Cancel pyserial 2 6 2 069 Figure 47 RMP Applications Installer py2exe 0 6 For a more detailed list of what is included in the software package see READ FIRST pdf included with the software That file also includes general instructions on how to use the demo software To install the software run the RMP Applications exe installer program 1 Accept the software licence 2 Select which components to install default is all components 3 Specify a destination folder The default folder is C Program Files Segway 4 Click Install to c
28. Board Y Motor Balance Motor Control Sensor Control 1 BSA only in front Unit Assembly Unit powerbase Front Rear Powerbase Figure 18 System Architecture Diagram System Power The RMP runs on rechargeable batteries Power is routed from the batteries to the various components of the system DC power is available for customer use Auxiliary Battery 12V Smart Charger DC IN Connector IV Board Bes 60 100V D Y Y oar Rear Front 12V Powerbase Powerbase 72 72V Y Y 5V Power 12V Power Battery Battery Battery Battery Converter Converter 12V Centralized 2 2 Control Unit 7 2N Battery 5 5V USB Optional Voltage is user selectable at time of purchase 2 Optional Figure 19 System Power Diagram Connector Copyright O 2013 Segway Inc All rights reserved 21 SEGWAY RMP 440 SE System Components A brief overview of each component is provided to help you become familiar with these components and their functions Centralized Control Unit The Centralized Control Unit CCU contains the Segway Processor SP and the User Interface Processor UIP These processors use synchronized timing to control the RMP in real time They communicate via a Serial Peripheral Interface SPI link Segway Processor The SP controls es
29. Default Value N A When this command is set to 1 the response will contain the following feedbackl 0x00000000 feedback2 0x00000000 feedback3 feedback4 0x00000000 Responses thereafter will contain this data until the parameter is set to 0 at which point the feedback reverts to the user defined feedback See User Defined Feedback Bitmaps p 56 for details Copyright 2013 Segway Inc All rights reserved 49 SEGWAY RMP 440 SE Configuration Commands cont RMP_CMD_SET_AUDIO_COMMAND This command requests an audio song from the RMP motor unit If the RMP determines that it is able to play the song it will do so If it is internally using the audio or the current limit is folded back the RMP will not play the commanded audio Audio song requests should be momentary i e they only need to be sent once The songs that are not persistent will be cleared by the CCU If the song is persistent it must be cleared by sending the MOTOR_AUDIO_PLAY_NO_SONG parameter See Table 31 for a list of available audio songs Command ID 31 Parameter Type 132 T Table 31 Audio Songs Parameter Range 0 16 Audio Song Value Must Be Cleared Parameter Units Unitless 242 MOTOR AUDIO PLAY NO SONG Default Value N A MOTOR AUDIO PLAY POWER ON SONG MOTOR AUDIO PLAY POWER OFF SONG MOTOR AUDIO PLAY ALARM SONG MOTOR AUDIO PLAY UP SONG MOTOR AUDIO PLAY MODE DOWN
30. Ethernet IP gateway address of the RMP The parameter must be converted from a dotted quad address to integer representation The RMP must be power cycled rebooted for the change to take effect Command ID 16 Parameter Type 032 Parameter Range Valid IP Gateway Address Parameter Units Unitless Stored in NVM Yes Default Value 0 0100 8 0 192 168 0 1 integer first octet x 16777216 second octet x 65536 third octet x 256 fourth octet For the IP gateway address 192 168 0 1 integer 1 x 16777216 0 x 65536 168 x 256 192 0x0100A8CO RMP CMD SET USER FB 1 BITMAP This command updates the User Defined Feedback Bitmap 1 It is used to select feedback from the list of variables defined in User Defined Feedback Bitmap 1 p 60 See User Defined Feedback Bitmaps p 56 for details on how these bitmaps work Command ID 17 Parameter Type 032 T Parameter Range OxFFFFFFFF valid mask Parameter Units Unitless Stored in NVM Yes Default Value OxFFFFFFFF RMP CMD SET USER FB 2 BITMAP This command updates the User Defined Feedback Bitmap 2 It is used to select feedback from the list of variables defined in User Defined Feedback Bitmap 2 p 62 See User Defined Feedback Bitmaps p 56 for details on how these bitmaps work Command ID 18 Parameter Type 032 T Parameter Range OxFFFFFFFF valid mask Parameter Units Unitless Stored in NVM Yes Default Value OxFFFFFF
31. FAULTS SHIFT FSW INTERNAL FAULTS MASK Fault status word 2 FSW SENSORS FAULTS INDEX FSW SENSORS FAULTS SHIFT FSW SENSORS FAULTS MASK FSW BSA FAULTS INDEX FSW BSA FAULTS SHIFT FSW BSA FAULTS MASK Fault status word 3 FSW MCU FAULTS INDEX FSW MCU FAULTS SHIFT FSW MCU FAULTS MASK Fault group index definitions FAULTGROUP TRANSIENT FAULTGROUP CRITICAL FAULTGROUP COMM FAULTGROUP SENSORS FAULTGROUP BSA FAULTGROUP MCU FAULTGROUP ARCHITECTURE FAULTGROUP INTERNAL NUM OF FAULTGROUPS ug OW A UL MN Copyright 2013 Segway Inc All rights reserved 1 0 0x0000FFFF 1 16 0x000F0000 2 0 0x0000FFFF 2 16 OxFFFF0000 3 0 OxFFFFFFFF RMP 440 SE 77 SEGWAY RMP 440 SE Internal Connections This section describes the hardware connections inside the Segway RMP enclosure Some of these connections are used within the RMP for internal communication between components Other connections are for external communication and can be used to control the RMP Additional connections are for sending power between components Part numbers are supplied for Segway harnesses Please reference the harness part number when ordering new harnesses Centralized Control Unit tx a 3 E ql Us Segway RMP is designed to allow for the ultimate in flexibility and control over the platform Part of this design is the Centralized Control Unit CCU which controls how the RMP functions and co
32. Floating Point and Integer Representation p 67 Copyright O 2013 Segway Inc All rights reserved 36 SEGWAY RMP 440 SE General Command Structure This section describes how commands are structured CAN is described alone USB and UDP are described together Each time a valid command is received the RMP will send a response packet See RMP Response p 56 for details about the response packet The RMP only accepts one command per frame There are two types of commands motion commands and configuration commands Motion commands are used to send normalized velocity and yaw rate commands to the platform Configuration commands are used to send non motion machine parameters such as changing modes and setting parameters There are two types of motion commands standard motion commands and omni motion commands Standard motion commands apply to models with standard tires Omni motion commands only apply to models with mecanum wheels Because of the unique geometry of the mecanum wheels omni platforms can move left and right without turning making them fully omni directional CAN The CAN interface is structured as in Table 19 Each CAN command always contains a Message ID a data length code and two 32 bit values Message ID 11 bit CAN identifier DataLength 8 Value 1 Data 0 Data 3 Table 19 CAN Message Structure Baud Rate 1 Mbps Value 1 and Value 2 are assembled as such Message ID Standard 11 bit CAN identifier
33. The power used while performing a maneuver describes the power used by a single battery Because all four propulsion batteries are used evenly the runtime of a single battery can be used to approximate the runtime of the entire propulsion system In many cases the propulsion batteries will limit the runtime of the RMP However there are some scenarios in which the auxiliary battery will be the limiting factor Such cases include stationary operation and situations in which additional equipment is using the auxiliary battery as a power source To calculate the energy used by a given maneuver first determine the length of time the maneuver will be performed Then multiply that time in hours by the Watts used while performing the maneuver This will give you the Watt hours used Subtract those Watt hours from the Watt hours remaining in the battery Maximum battery capacity is 380 Watt hours Stationary Power Usage When the RMP is maintaining a stationary position on level ground the auxiliary battery is the limiting factor when calculating runtime The internal RMP components use approximately 16 Watts allowing the auxiliary battery to last nearly 24 hours In contrast the propulsion motors require only 7 Watts to maintain position on level ground leaving 55 SOC left in the propulsion batteries after 24 hours During actual use the power used by the propulsion batteries may be greater especially if maintaining position ona slope Straight L
34. Value 0 2800 8 0 192 168 0 40 integer first octet x 16777216 second octet x 65536 third octet x 256 fourth octet For the IP address 192 168 0 40 integer 40 x 16777216 0 x 65536 168 x 256 192 0 2800 8 0 RMP SET PORT NUMBER This command updates the Ethernet IP port number for the PC to RMP connection Both the host computer and the RMP must communicate over this port The RMP must be power cycled rebooted for the change to take effect Command ID 14 Parameter Type 032 T Parameter Range Valid Ethernet Port Number Parameter Units Unitless Stored in NVM Yes Default Value 8080 RMP SET SUBNET MASK This command updates the Ethernet IP subnet mask of the RMP The parameter must be converted from a dotted quad address to integer representation The RMP must be power cycled rebooted for the change to take effect Command ID 15 Parameter Type 032 Parameter Range Valid Subnet Mask Parameter Units Unitless Stored in NVM Yes Default Value OxOOFFFFFF 255 255 255 0 integer first octet x 16777216 second octet x 65536 third octet x 256 fourth octet For the IP subnet mask 255 255 255 0 integer 0 x 16777216 255 x 65536 255 x 256 255 OxOOFFFFFF Copyright O 2013 Segway Inc All rights reserved 47 SEGWAY RMP 440 SE Configuration Commands cont RMP_CMD_SET_ETH_GATEWAY This command updates the
35. and whether to check and warn for charger present at startup When the audio silence bit is set the RMP will become silent and not issue any audio indications For an explanation of input mapping see Controller Input Mapping p 53 Command ID Parameter Type Parameter Range Parameter Units Stored in NVM Default Value 12 U32 T 0x0000000F valid mask Unitless Yes 0x00000001 YAW ALAT SCALE MAPPING YAW ALAT LIMIT MAPPING VELOCITY BASED MAPPING ACCELERATION BASED MAPPING ALLOW MACHINE AUDIO SILENCE MACHINE AUDIO ENABLE AC PRESENT CSI DISABLE AC PRESENT CSI YAW INPUT MAPPING SHIFT VEL INPUT MAPPING SHIFT AUDIO SILENCE REQUEST SHIFT DISABLE AC PRESENT CSI SHIFT Copyright O 2013 Segway Inc All rights reserved 46 SEGWAY RMP 440 SE Configuration Commands cont DEFAULT_CONFIG_BITMAP YAW_ALAT_LIMIT_MAPPING lt lt YAW_INPUT_MAPPING_SHIFT VELOCITY_BASED_MAPPING lt lt VEL_INPUT_MAPPING_SHIFT ALLOW_MACHINE_AUDIO lt lt AUDIO_SILENCE_REQUEST_SHIFT ENABLE AC PRESENT CSI lt lt DISABLE AC PRESENT CSI SHIFT RMP CMD SET ETH IP ADDRESS This command updates the Ethernet IP address on the RMP The parameter must be converted from a dotted quad address to integer representation The RMP must be power cycled rebooted for the address change to take effect Command ID 13 Parameter Type 032 T Parameter Range Valid IP Address Parameter Units Unitless Stored in NVM Yes Default
36. authority to operate this device under FCC regulations and must not be made SEGWAY RMP 440 SE Abbreviations ABB Auxiliary Battery Board a PCB used to gather and report performance information from the auxiliary battery BCU Battery Control Unit a PCB inside the battery pack that manages the charge of the individual cells BSA Balance Sensor Assembly a group of PCBs used to obtain information about the vehicle s orientation CAN Controller Area Network a message based protocol used for communication between microcontrollers CCU Centralized Control Unit a PCB that houses the SP UIP and NVM it controls the RMP and handles communication CRC Cyclic Redundancy Check a type of error detection used to verify the accuracy of transmitted data DLC Data Length Code a part of the CAN message header that specifies the size of the data packet being sent DTZ Decelerate To Zero an operational mode in which the RMP comes to a stop and powers down LE Large Enclosure a unified chassis enclosure for 4 wheeled RMP models MCU Motor Control Unit a PCB that controls the electric motors that turn the wheels NVM Non Volatile Memory a type of digital memory that can retain the stored information even when not powered OCU Operator Control Unit software and hardware that provide an interface between the user and the RMP PCB Printed Circuit Board a thin board with conductive pathways and electronic components
37. battery 0 4000 BCU BATTERY HOT HAZARD The internal battery temperature is too Turn the RMP off and let the battery cool high for operation down 0x8000 BATTERY WARM The battery is approaching the Move the battery to a cooler place HAZARD threshold for hot operation SENSOR FAULT 7P2V VBAT RANGE FAULT The voltage differential between the two cells in the 7 2 V battery exceeds the allowed threshold Replace the battery SENSOR FAULT 7P2V VBAT INBALANCE FAULT Something is wrong with the 7 2 V battery Charge the RMP for 24 hours If the error persists replace the battery SENSOR FAULT 7P2V TEMPERATURE FAULT Battery temperature has gone outside the recommended range See the RMP operating temperature range Environmental Specifications p 17 Physically inspect the battery for damage BSA FAULT SIDE A RATE SENSOR SATURATED The RMP has exceeded the acceleration rate threshold 0 7 g If driving over rough terrain do so more slowly BSA FAULT SIDE B RATE SENSOR SATURATED The RMP has exceeded the acceleration rate threshold 0 7 g If driving over rough terrain do so more slowly BSA FAULT SIDE A TILT SENSOR SATURATED The RMP has exceeded the tilt rate threshold 6 2 rad s If driving over rough terrain do so more slowly BSA FAULT SIDE B TILT SENSOR SATURATED The RMP has exceeded the tilt rate threshold 6 2 rad s If driving over rough terrain do so more slowly ARCHITECT FAULT COMMANDE
38. cleared during runtime There are currently no transient faults for the RMP transient_fault_decode dict 0x00000000 Critical faults These faults are latching critical_fault_decode dict 0x00000000 0x00000001 CRITICAL FAULT INIT 0x00000002 CRITICAL FAULT INIT UIP COMM 0x00000004 CRITICAL FAULT INIT PROPULSION 0x00000008 CRITICAL FAULT INIT TIMEOUT 0x00000010 CRITICAL FAULT FORW SPEED LIMITER HAZARD 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 0x00000800 0x00001000 CRITICAL FAULT AFT SPEED LIMITER HAZARD CRITICAL FAULT CHECK STARTUP CRITICAL FAULT APP VELOCITY CTL FAILED CRITICAL FAULT APP POSITION CTL FAILED CRITICAL FAULT ABB SHUTDOWN CRITICAL FAULT AP MODE TRANS TIMEOUT CRITICAL FAULT PITCH ANGLE EXCEEDED CRITICAL FAULT ROLL ANGLE EXCEEDED Copyright 2013 Segway Inc All rights reserved 72 SEGWAY Fault Status Definitions cont Communication faults These faults are latching comm fault decode dict 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 n COMM FAULT MISSING DATA COMM FAULT UIP UNKNOWN MESSAGE RECEIVED COMM FAULT UIP BAD CHECKSUM COMM FAULT UIP TRANSMIT COMM FAULT UI BAD MOTION CMD COMM FAULT UI UNKOWN CMD COMM FAULT UI BAD PACKET CHECKSUM MCU faults These faults are latch
39. each word of the message and update the CRC Start with the value chosen for CRC initialization for count 0 count lt crc_index count t The new CRC is checked against that stored in the buffer received crc byte buffer crc index lt lt 8 amp OxFF00 received crc byte _buffer crc_index 1 amp 0x00FF new crc tk crc calculate crc 16 new crc byte buffer count if received crc new crc 1 success TRUE else 1 success FALSE return success compute crc table value brief computes the table value for a given byte param the byte the byte index in the table return void Copyright 2013 Segway Inc All rights reserved 70 SEGWAY Cyclic Redundancy Check CRC 16 cont 016 table value k the byte table value 0 for j20 j lt 8 j 1 if table value k amp 0x0001 0x0001 table value table value gt gt 1 ADJUSTMENT else table value gt gt 1 k gt gt 1 return table value Copyright 2013 Segway Inc All rights reserved RMP 440 SE 7 SEGWAY RMP 440 SE Fault Status Definitions RMP Fault definitions This section is used to define the decoding of fault status words sent by the RMP The meaning of specific faults can be found in the interface guide NO_FAULT 0x00000000 ALL_FAULTS OxFFFFFFFF Transient faults These faults are not latching and can be asserted and then
40. ignite a fire Do not use a battery if the battery casing is broken or if the battery emits an unusual odor smoke or excessive heat or leaks any substance Avoid contact with any substance seeping from the battery Batteries contain toxic and corrosive matrials that could cause serious injury Observe and follow all safety information on the warning label found on the battery Failure to do so could result in death serious injury or property damage Donotuse cables that are frayed or damaged You could shock yourself and or damage the RMP Use only Segway approved fasteners on the RMP Other fasteners may not perform as expected and may come loose Failure to do so could expose you to risk of personal injury or property damage Useassistance when moving or lifting the RMP Single person lifting could result in serious injury Copyright 2013 Segway Inc All rights reserved 7 SEGWAY RMP 440 SE A CAUTION Be responsible about setting performance parameters Read the relevant sections of this manual before changing any performance parameters The RMP follows commands issued to it and it is the responsibility of the user to properly safeguard their controls Failure to charge the batteries could result in permanent damage to them Left unplugged the batteries could fully discharge over time causing permanent damage Use only charging devices approved by Segway and never attempt to bypass or override their charging protectio
41. in NVM that affect this type of input mapping 1 RMP SET MAXIMUM TURN RATE the value against which the normalized input command is scaled to generate desired yaw rate 2 RMP SET MAXIMUM TURN ACCEL the rate of change limit for the yaw rate target Copyright 2013 Segway Inc All rights reserved 54 SEGWAY RMP 440 SE Controller Input Mapping cont Yaw Controller Lateral Acceleration Based Input Mapping Lateral acceleration based yaw controller input mapping is primarily intended for teleoperation of the platform This type of input mapping scales the normalized input against the lateral acceleration limit set in code 1 0 g From the lateral acceleration command and the present velocity a yaw rate command is generated This reduces the yaw rate sensitivity of the input as the speed increases in order to keep the lateral acceleration sensitivity constant It allows the user to utilize the full scale 1 0 to 1 0 input command through the entire velocity range without saturating the yaw rate This type of mapping is generally ideal for manual driving direct or teleoperated where the user wants to reduce input sensitivity to yaw rates as the speed increases meaning for finer adjustments with larger input as speed increases The plot of yaw rate target versus vehicle velocity for this input mapping is shown below where the yaw rate target is a function of user command and vehicle velocity Yaw Rate Later
42. inside the RMP You risk serious bodily injury from electric shock as well as damage to the RMP Do not submerge the RMP batteries or powerbases in water Do not use a power washer or high pressure hose to clean a RMP Avoid getting water into any of the connectors If you suspect the batteries or powerbase have been submerged or experienced water intrusion call Segway Technical Support immediately at 1 866 473 4929 prompt 2 Until you receive further instructions store the RMP upright outdoors and away from flammable objects Failure to do so could expose you to electric shock injury burns or cause a fire Unplug or disconnect the RMP from AC power before removing or installing batteries or performing any service Never work on any part of the RMP when it is plugged into AC power You risk serious bodily injury from electric shock as well as damage to the RMP The cells within the batteries contain toxic substances Do not attempt to open batteries Do not insert any object into the batteries or use any device to pry at the battery casing If you insert an object into any of the battery s ports or openings you could suffer electric shock injury burns or cause a fire Attempting to open the battery casing will damage the casing and could release toxic and harmful substances and will render the battery unusable Aswith all rechargeable batteries do not charge near flammable materials When charging the batteries heat up and could
43. it to a stop then proceeds as in a Disable request These modes can also be set via software commands see RMP_CMD_SET_OPERATIONAL_MODE p 50 CCU J8 provides connections for both signals Table 62 CCU J8 J8 Pin Name Hardware Disable On the CCU there are four optically isolated outputs J2 J3 J4 and J5 which allow for control of the hardware disable function on the MCUs inside the Segway powerbases Table 63 MCU Hardware Disable CCU J2 J3 J4 J5 Collector more positive Emitter more negative The MCUs have a weak pull up resistor such that if the disable input is allowed to float the MCU will immediately stop providing power to the motors The CCU prevents this from occurring during normal operation by powering up the diode inside the opto coupler and thereby connecting the collector to the emitter Control of the opto couplers is accomplished by two different methods Method 1 Internal Segway Logic At any point if the Segway processor logic needs to immediately disable the system it can do so by releasing one of its DIO lines This will stop current flowing and prevent the opto couplers from pulling down on the disable input Method 2 External Disable Signal The opto coupler is powered by Pin 3 of J8 5 V must be provided to Pin 3 of J8 continuously to prevent the CCU from disabling the motor drives Conveniently 5 V is provided as an output from the CCU on Pin 1 of J8 Therefore it is poss
44. lt lt 8 amp OxFFOO bytell amp OxOOFF Message ID The Message ID is used to distinguish between the various types of messages sent to from the RMP Message types include Standard Motion Commands page 39 Omni Motion Commands page 40 Configuration Commands page 42 and UDFB Response messages page 56 The following table provides a list of possible Message IDs Table 21 Message IDs Message ID Description 0x0500 Standard Motion Command 0x0600 Omni Motion Command 0x0501 Configuration Command CAN response only Copyright O 2013 Segway Inc All rights reserved 38 SEGWAY RMP 440 SE Standard Motion Commands Standard motion commands control models with tires not mecanum Table 22 Standard Motion Command Structure wheels A standard RMP cannot use mecanum wheels Item Description The motion command packet is used to command machine velocity and yaw rate The commands are normalized 1 0 1 0 The command variable format is Float32 The normalized values are scaled against the user configurable parameters associated with the controller The parameter against which the command is scaled depends on the input mapping type For details on input mapping see Controller Input Mapping p 53 The basic motion command structure is shown in Table 22 Both variables are formatted as Float32 with a range of 1 0 1 0 For details on converting floating point values to integer representation in IEEE754 format s
45. second fault as Fault 1 and so on until the 20 fault is recorded as Fault 19 At this point there are no empty slots remaining in the faultlog so the 21 fault overwrites Fault 0 Similarly the 22 4 fault overwrites Fault 1 in the log This process continues indefinitely so that only the latest 20 faults are present in the log For your convenience the latest entry is listed in the header In the example below the latest entry is 4 so Fault 4 is the most recent fault If a fault provides more information that information is available in Data O and Data 1 Often these contain bitmaps which can be decoded to provide additional information RMP CCU Faultlog Filename Filessegway RMP Applications eMP Demo OCLI Application RMP FAULTLOGS RMP CCLI 11212012 105208 html Log Version 00000001 LogSize Bytes 1244 Number of Entries 5 LatestEntry 4 Serial Humber 111312020001 4581 SP SW Build ID 1224 UIP SW Build ID 1274 Accumulated Time 2 16 06 Odometer m 2508 Power Cycles 21 Faults are listed in the order they appear in the fault log not in the order in which they have occurred Fault 0 Time Stamp 11 15 2012 15 05 35 EST Runtime Stamp 0 09 41 Power Cycle 5 Transient Faults 00000000 Critical Faults 00000000 Communication Faults 00000000 Sensor Faults 00000000 BSAFaults 00000000 Motordrive Faults 00000000 Architecture Faults x00000010 x00000010
46. state the SP checks for various parameters that will gate entry to Standby Mode When the RMP detects an issue Standby Mode entry is gated and the RMP will emit a tone and blink the LEDs for five seconds before failing initialization If the issue is corrected in this time the transition to Standby Mode will be allowed The following issues will gate transition to Standby Mode e An MCU declares a fault e The RMP is charging this can be overridden see RMP SET INPUT CONFIG BITMAP p 46 MCU battery open circuit voltage is below the operational threshold e An MCU battery state of charge is below the operational threshold e 72VDC battery if present has low or high voltage e Any detected machine motion RMP moving un commanded e Tractor mode request is present from the user BSA communication has not been established Copyright O 2013 Segway Inc All rights reserved 25 SEGWAY RMP 440 SE Diagnostic Mode In Diagnostic Mode the RMP stays in the Init System state without transitioning to Standby Mode In this mode the RMP has initialized the CCU and ABB but has not initialized propulsion The user can communicate with the RMP but cannot command it to move This mode allows the user to update configuration parameters and extract the faultlog without fully initializing the RMP this is useful when a fault causes the RMP to shutdown before entering Standby Mode In this state the RMP will remain on as long as p
47. to the default state It is good practice to leave this file unchanged and create a new config whenever you make any modifications If you cannot connect to the RMP at all it is recommended that you revert to the default config and use a USB connection to upload the config file to the RMP This is particularly relevant when you do not know what IP address has been set on the RMP Changing the Config 1 Run the OCU Demo application 2 Click Modify Config 3 Selecta config file 4 Click through the various screens taking particular note of the comm interface 5 Finally click Continue to save the config 6 Power cycle the RMP to reset the IP address 7 Use the OCU Demo application to connect to the RMP NOTICE The factory default config can be downloaded from the RMP forum http rmp segway com forum NOTICE Make sure the physical connection matches the connection specified in the config Copyright 2013 Segway Inc All rights reserved RMP 440 SE J Segway RMP OCU Demo v1 0 Welcome to the RMP Demo OCU Configuration File C Program Files Segway RMP_Applications RMP_ Browse Force Configuration Upload Run OCU Create Config Modify Config Extract Faultlog Exit Figure 51 OCU Demo Welcome Screen Do You Want To Save These Settings Video Server Online 0 Video Server IP Address 192 168 0 212 Video Server Username root Video Server Password password OCU Contoler Type
48. way to think of it is that you are always running cruise control To get the desired behavior of a coast down for zero input you add it in deliberately summed into the desired acceleration from the normalized input The coast down acceleration needs to be managed appropriately with speed so it is always applied in the correct direction opposing vehicle motion One method of achieving this is to link the coast down to system speed In acceleration based input mapping it is also desirous to have some interlock between forward motion and reverse motion This is due to the common input for acceleration and deceleration When braking from speed the vehicle should not start moving backwards once it comes to zero speed This can be accomplished through various means including a gesture of the input analogous to a double tap or double click This method requires returning the input command to zero before allowing a change in fore aft direction The following parameters affect this type of input mapping 1 RMP SET MAXIMUM VELOCITY serves as the velocity limit 2 RMP SET MAXIMUM ACCELERTION the value against which the normalized input command is scaled when the velocity target is moving away from zero velocity 3 RMP SET MAXIMUM DECELERATION the value against which the normalized input command is scaled when the velocity target is moving toward zero velocity 4 RMP SET COASTDOWN ACCEL the rate at which the v
49. will continue to operate unless the other MCU in the powerbase goes down as well Copyright 2013 Segway Inc All rights reserved 24 SEGWAY RMP 440 SE Initialization Initialization is composed of three sub states Init Hardware Init Propulsion and Check Startup Issues First the hardware is initialized this includes the CCU and ABB Then propulsion is initialized the MCUs and BSA If there are no issues with the system the RMP transitions to Standby Mode Otherwise it shuts down If the or BOOT2 signal is pulled low the RMP will enter Diagnostic Mode or Bootloader Mode respectively Init Hardware During Init Hardware the following steps are performed 1 UIP and SP initialize hardware interrupts and software 2 UIP SP synchronize their timing 3 UIP SP communication is established 4 SP reads configuration parameters from NVM initializes dependent data and passes the parameters to the UIP for UIP dependent data initialization e UIP and SP verify configuration validity 6 SPextracts the faultlog from NVM and relays the faultlog array to the UIP for user access Init Propulsion During Init Propulsion the SP initializes each MCU using a state machine Each state verifies a certain MCU operational status If any MCU is not operating as expected the RMP will transition to Disable Mode and power off Information regarding the failure is stored in the faultlog Check Startup Issues In this sub
50. 000200 0x00000400 0x00000800 n ARCHITECT FAULT SPI RECEIVE ARCHITECT FAULT SPI TRANSMIT ARCHITECT FAULT SPI RECEIVE OVERRUN ARCHITECT FAULT SPI RX BUFFER OVERRUN ARCHITECT FAULT COMMANDED SAFETY SHUTDOWN ARCHITECT FAULT COMMANDED DISABLE ARCHITECT FAULT KILL SWITCH ACTIVE ARCHITECT FAULT FRAM CONFIG INIT FAILED ARCHITECT FAULT FRAM CONFIG SET FAILED ARCHITECT FAULT BAD MODEL IDENTIFIER ARCHITECT FAULT BAD CCU HW REV ARCHITECT FAULT DECEL SWITCH ACTIVE Internal faults These faults are latching internal fault decode dict 0x00000000 0x00000001 INTERNAL FAULT HIT DEFAULT CONDITION 0x00000002 INTERNAL FAULT HIT SPECIAL CASE MCU specific faults These faults are detected locally by the MCU mcu Specific fault decode dict 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 n MCU TRANS BATTERY TEMP WARNING MCU TRANS BATTERY COLD REGEN MCU UNKNOWN MCU UNKNOWN MCU TRANS LOW BATTERY MCU TRANS OVERVOLTAGE MCU CRITICAL OVERVOLTAGE MCU CRITICAL EMPTY BATTERY MCU CRITICAL BATTERY TEMP Copyright 2013 Segway Inc All rights reserved RMP 440 SE 75 SEGWAY 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000
51. 00800000 fram config bitmap U32 T Unitless Input mapping and audio silence configuration bitmap stored in NVM CMD SET INPUT _ BITMAP Copyright 0 2013 Segway Inc All rights reserved 64 SEGWAY RMP 440 SE RMP Response cont Table 48 User Defined Feedback Bitmap 3 cont Bit Value Variable Name Format Unit Description 0x01000000 fram eth ip address U32_T Unitless RMP Ethernet IP address stored in NVM SET ETH IP ADDRESS 0x02000000 fram eth port number U32_T Unitless RMP Ethernet port number stored in NVM RMP CMD SET ETH PORT NUMBER 0x04000000 fram eth subnet mask U32_T Unitless RMP Ethernet subnet mask stored in NVM RMP_CMD_SET_ETH_SUBNET_MASK 0x08000000 fram eth gateway U32_T Unitless RMP Ethernet gateway stored in NVM RMP_CMD_SET_ETH_GATEWAY 0x10000000 user feedback bitmap 1 U32_T Unitless User Defined Feedback Bitmap 1 stored in NVM RMP SET USER FB 1 BITMAP 0x40000000 user feedback bitmap 3 U32_T Unitless User Defined Feedback Bitmap 3 stored in NVM RMP_CMD_SET_USER_FB_3_BITMAP 0 80000000 user feedback bitmap 4 U32_T Unitless User Defined Feedback Bitmap 4 stored in NVM RMP CMD SET USER FB 4 BITMAP 1 Note that on systems without an ABB this data is set to zero 0x20000000 user feedback bitmap 2 U32_T Unitless User Defined Feedback Bitmap 2 stored in NVM RMP_CMD_SET_USER_FB_2_BITMAP 2 Note tha
52. 2 0x00001000 fram vel limit mps Float32 m s User velocity limit stored in NVM SET MAXIMUM VELOCITY 0x00002000 fram accel limit mps2 Float32 m s User acceleration limit stored in NVM SET MAXIMUM ACCELERATION 0x00004000 fram decel limit mps2 Float32 m s User defined deceleration limit stored in NVM RMP SET MAXIMUM DECELERATION 0x00008000 frame dtz decel limit Float32 m s User defined DTZ decel limit stored in NVM mps2 RMP SET MAXIMUM DTZ DECEL RATE 0x00010000 fram coastdown Float32 m s Acceleration based mapping coastdown acceleration stored mps2 RMP SET COASTDOWN ACCEL 0x00020000 fram yaw rate limit rps Float32 rad s User defined yaw rate limit stored in NVM RMP_CMD_SET_MAXIMUM_TURN_RATE 0x00040000 fram yaw accel limit rps2 Float32 rad s User yaw acceleration limit stored in NVM _ SET MAXIMUM TURN ACCEL 0x00080000 fram tire diameter m Float32 m RMP tire diameter stored in NVM RMP SET TIRE DIAMETER 0x00100000 ram wheel base length m Float32 m RMP wheel base length stored in NVM RMP SET WHEEL BASE LENGTH 0x00200000 fram wheel track width m Float32 m RMP track width lateral distance between tires stored in NVM RMP CMD SET WHEEL TRACK WIDTH 0x00400000 fram transmission ratio Float32 Unitless RMP transmission gearbox ratio stored in NVM ratio RMP_CMD_SET_TRANSMISSION_RATIO 0x
53. 2 T 0x00000000 Unitless valid mask 2 3 4 5 6 7 8 OxFFFFFFFF 9 OxOFFFFFFF 20 0x00000000 30 A Co e 0x0000001F valid mask Unitless IRMP must be power cycled for parameter to take effect Copyright 2013 Segway Inc All rights reserved 52 SEGWAY RMP 440 SE Controller Input Mapping The RMP has two input mapping methods for the velocity controller and two for the yaw controller The type of mapping used for each controller can be set using the configuration command RMP_SET_INPUT_CONFIG_BITMAP page 46 The inputs to each controller are the normalized motion commands see Standard Motion Commands p 39 The commands are scaled depending on the input mapping selected for the machine Each type of input mapping is described in detail below Velocity Controller Velocity Based Input Mapping This type of input mapping is particularly useful for autonomous operation where direct velocity is desired to be commanded This type of input mapping proportionally scales the normalized velocity controller command to the velocity limit The target is then rate limited by the acceleration and deceleration limits e Asthe velocity target moves away from zero the maximum acceleration limit is applied e Asthe velocity target moves toward zero the maximum deceleration limit is applied This means that although the input can move stepwise the ta
54. 3 bit4 Variable4 UDFB2 bitl5 rear base 2 soc UDFB3 bit5 UDFB3 bit15 CRC 16 Variable 5 UDFB3 bit4 mcu O inst power W Or with variable names from the UDFB tables Variable 6 UDFB3 bit5 mcu 1 inst power W fault status word 1 right rear vel mps left rear vel mps Variable7 UDFB3 bitl5 fram dtz limit rear base batt 2 soc mcu 0 inst power W mcu 1 inst power W mps2 fram dtz decel limit mps2 CRC 16 Variable8 0x0000 CRC 16 USB and UDP response messages are composed of one large packet containing all the variables Table 44 RMP Response The actual message received is shown in Table 45 Table 45 USB and UDP Omni Motion Commands Data Byte Item Description Data 30 Data 31 Variable 8 Data 30 Data 31 0x0000 Data 32 Data 33 CRC 16 Copyright 2013 Segway Inc All rights reserved 59 SEGWAY RMP 440 SE RMP Response cont User Defined Feedback Bitmap 1 The following table describes the variables defined by each bit in UDFB1 The masks associated with UDFBI for ease of implementing parsing algorithm are FLOATING POINT MASK OxFF7FF900 INTEGER MASK 0x008006FF Table 46 User Defined Feedback Bitmap 1 Bit Value Variable Name Format Unit Description 0x00000200 operational state U32 T Unitless CCU Init Init Propulsion Check Startup Issues Standby Mode Tractor Mode Disable Power 0x00000400 dynamic response U32_T Unitless No Response
55. 32767 8191 OxIFFF Item Description angle cmd 45 0 0x42340000 IEEE754 integer representation Baud Rate 1 Mbps Example packet Message ID 0x0600 MessagelD 0 0600 Data Length Bo DataLength 8 Data 0 Data 1 Normalized Scaled Data 0 Ox5F Velocity Datal OxFF Data 2 Data 3 Normalized Scaled Data 2 OxIF Yaw Rate Data 3 OxFF Dal O2 Datel Data Data 5 0x34 Data 6 0x00 Data 7 0x00 Copyright 2013 Segway Inc All rights reserved 40 SEGWAY RMP 440 SE Omni Motion Commands cont USB and UDP The USB and UDP interfaces mimic the CAN interface with the addition of a CRC 16 The packet is sent in a byte array See Table 27 Example vel cmd 0 75 0 75 x 32767 24575 Ox5FFF cmd 0 25 0 25 x 32767 8191 OXIFFF Table 27 USB and UDP Omni Commands angle_cmd 45 0 0x42340000 IEEE754 integer representation Item Description Packet Length 12 bytes Data 0 Data 1 0x0600 M ID Datal0 0x06 ata 0 Data 1 X Message ID Datall 0x00 Data 2 Data 3 Normalized Scaled Data 2 Ox5F Velocity Data 3 OxFF Data 4 Data 5 Normalized Scaled Data 4 OxIF Yaw Rate 2 0218160980 ange Data 6 0x42 ate 6 Date 9 ngle Data 7 0 34 Data 10 Data 11 CRC 16 Data 8 0x00 Data 9 0x00 Data 10 OxAE Data 11 0x19 Copyright 2013 Segway Inc All rights reserved 41 SEGWAY RMP 440 SE Configuration Comma
56. ARNING Extreme care must be taken when setting the safe states on the Spektrum radio The RMP could move in an uncontrolled way This could cause death serious injury or property damage The CCU allows for the connection of a remote control hobby radio for the purpose of demonstrating the platform in a closed environment Due to the nature of the hobby radio protocol and the lack of deterministic error detection the hobby radio input has the ability to create un commanded motion by the RMP For example a user could set the safe state on their radio to the equivalent of full speed ahead if communication with the radio is lost the RMP will go full speed ahead even if though this may not be the desired result The hobby radio input is compatible with Spektrum 6 channel air receivers The input from each channel of the hobby radio is combined together using diode OR logic to create one signal which is measured and decoded by the user interface processor For this reason it does not matter in what order the channels are connected as long as all 6 channels are connected This interface is located at CCU J7 and on Connector see Connector I p 30 Table 59 CCU Hobby Radio J7 Pin Name 5 V out to receiver PWM radio control signals DGND connect to receiver ground Table 60 Connector Hobby Radio Con Pin Name jn ROO 0 5 0 0 P JRADOGND The hobby radio interface has only been tested with a Spektrum AR6115 receiv
57. AZARD System speed exceeds the user defined forward limit If speed limit is set to zero and RMP is moved you may see this fault CRITICAL_FAULT_AFT_SPEED_LIMITER_HAZARD System speed exceeds the user defined reverse limit If speed limit is set to zero and RMP is moved you may see this fault CRITICAL_FAULT_CHECK_STARTUP There was a fault during startup The output of Data 0 indicates the specific fault that occurred Table 73 Startup Faults Data 0 0x00000001 One of the MCUs has faulted 0x00000002 The RMP is plugged in and the Check AC Present flag is set 0 00000004 Low battery voltage attempt to charge the system 0x00000008 Low battery voltage attempt to charge the system 0x00000010 The system must be stationary during startup Movement was detected CRITICAL FAULT APP VELOCITY FAILED This indicates that the RMP is moving at a different speed than what was commanded for a period of time This can occur if you are commanding zero velocity while towing the RMP Copyright O 2013 Segway Inc All rights reserved 105 SEGWAY RMP 440 SE Faults cont CRITICAL_FAULT_ABB_SHUTDOWN This indicates that the ABB experienced a fault The response will include four bitmaps ABB Status Battery Hazards Battery Faults and Build ID All four of these bitmaps are packed into the two Data bitmaps in the faultlog They are arranged as such ABB Status Data 0 High Battery Hazards Data 0 Low Ba
58. B Drivers 5 Theinstall process will begin Choose this option to select the device driver from a list Windows does not guarantee that 6 the driver you choose will be the best match for your hardware Don t search will choose the driver to install When the Windows Logo warning pops up click Continue Anyway 7 Click Finish to close the wizard NOTICE Generally the RMP uses a USB driver that allows it to operate as a CDC device with an RS232 emulator However in Bootloader mode the RMP uses a USB HID device driver lt Back Next gt Cancel Figure 40 Select the USB_Drivers Folder Copyright 2013 Segway Inc All rights reserved 35 SEGWAY RMP 440 SE Communication The RMP communicates over three interfaces Controller Area Network CAN Universal Serial Bus USB and Ethernet User Datagram Protocol UDP The messaging structure is similar across all three interfaces with the only difference being the addition of a CRC 16 for the USB and UDP interfaces For the C C implementation of the CRC algorithm see Cyclic Redundancy Check CRC 16 p 68 The RMP communicates using a polling method It requires the host to send a command packet to which the RMP will respond with a data packet containing all the present system information defined by the user The update frequency must fall within the range of 0 5Hz 100Hz If the commands are updated slower than the minimum rate the commands will tim
59. D DISABLE The RMP received a user commanded disable signal See SET OPERATIONAL p 50 ARCHITECT FAULT COMMANDED SAFETY SHUTDOWN RMP received a user commanded DTZ signal See RMP SET OPERATIONAL p 50 ARCHITECT FAULT DECEL SWITCH ACTIVE The hardware DTZ button has been pressed Copyright O 2013 Segway Inc All rights reserved 107 SEGWAY RMP 440 SE Faults cont ARCHITECT_FAULT_KILL_SWITCH_ACTIVE The disable button has been pressed or is not present ARCHITECT_FAULT_BAD_MODEL_IDENTIFIER The wrong code is loaded in the machine Check the serial number in the fault log header against the serial number on the RMP The last 7 bits of the serial number on the RMP should match the last 7 bits of the serial number in the fault log MCU_TRANS_BATTERY_TEMP_WARNING This fault occurs as the battery temperature approaches the limit See the RMP operating temperature range Environmental Specifications p 17 MCU_CRITICAL_BATTERY_TEMP This fault occurs when the battery temperature reaches or exceeds the limit See the RMP operating temperature range Environmental Specifications p 17 Physically inspect the battery for damage MCU_TRANS_BATTERY_COLD_REGEN As temperature drops battery resistance increases which in turn increases the current required for regeneration The battery has a limit for regeneration current under low temperatures Warm up the battery or move the
60. External Power Supply to the RMP and then plugging the External Power Supply into a standard AC outlet The pinout for this connector is provided for completeness For more information on charging see Using the External Power Supply p 28 This is a MIL DTL 38999 24FD19PA plug Mating connector is a MIL DTL 38999 26FD19SA socket Table 15 Connector IV Pinout Signal Pin on wi e Figure 37 19 Pin Connector GN Copyright 0 2013 Segway Inc All rights reserved 33 SEGWAY Connecting To the RMP There are three interfaces for connecting to the RMP broken out on the Starter Breakout Harness e Ethernet e CAN e USB All three methods provide the same functionality in regards to controlling the RMP and receiving feedback messages from the RMP NOTICE Actual connection procedures may vary depending on which operating system is used If you have any installation issues please contact RMP support see Reporting Problems to Segway p 103 Ethernet The RMP has a 10 Mbps Ethernet connection It uses a static Ethernet address that can be changed by modifying user configurable parameters see Configuration Commands p 42 When connecting to a router configure the RMP like any other device with a static IP address When connecting directly to a computer e Computer IP address and RMP base address must match but computer and RMP must have unique addresses e Computer subnet and RMP
61. FAULT COMMANDED SAFETY SHUTDOWN Internal Faults x00000000 Data 0 00000000 0 000000 Data 1 00000004 0 000000 Figure 62 Faultlog Example 1 Fault 4 Latest Entry Time Stamp 11 19 2012 15 34 13 EST Runtime Stamp 0 32 16 Power Cycle 18 Transient Faults 00000000 Critical Faults 00000000 Communication Faults 00000000 Sensor Faults 00000000 BSA Faults 00000000 Motordrive Faults 00000000 Architecture Faults 00000040 00000040 ARCHITECT_FAULT_KILL_SWITCH_ACTIVE Internal Faults 00000000 Data 0 00000004 0 000000 Data 1 00000000 0 000000 5 empty Fault 6 Fault 10 emply Fault 11 emply Figure 63 Faultlog Example 2 Copyright O 2013 Segway Inc All rights reserved 104 SEGWAY RMP 440 SE Faults Descriptions of the most common faults are provided below These descriptions may provide sufficient information for users to solve problems on their own As always if you need help please see Reporting Problems to Segway p 103 The RMP stores all faults in four 32 bit fault status words Fault status can be transmitted as part of the RMP response see RMP Response p 56 Faults are sent as part of User Defined Feedback Bitmap 1 CRITICAL_FAULT_INIT_PROPULSION There is a problem initializing the propulsion system Make sure everything is properly connected the batteries are charged and the RMP is resting on a level surface CRITICAL_FAULT_FORW_SPEED_LIMITER_H
62. FF RMP SET USER FB 3 BITMAP This command updates the User Defined Feedback Bitmap 3 It is used to select feedback from the list of variables defined in User Defined Feedback Bitmap 3 p 64 See User Defined Feedback Bitmaps p 56 for details on how these bitmaps work Command ID 19 Parameter Type 032 T Parameter Range OxOFFFFFFF valid mask Parameter Units Unitless Stored in NVM Yes Default Value OxOFFFFFFF Copyright O 2013 Segway Inc All rights reserved 48 SEGWAY RMP 440 SE Configuration Commands cont RMP_CMD_SET_USER_FB_4_BITMAP This command updates the User Defined Feedback Bitmap 4 It is used to select feedback from the list of variables defined in User Defined Feedback Bitmap 4 p 66 See User Defined Feedback Bitmaps p 56 for details on how these bitmaps work Command ID 20 Parameter Type 032 Parameter Range 0 00000000 valid mask Parameter Units Unitless Stored in NVM Yes Default Value 0x00000000 RMP FORCE CONFIG FEEDBACK BITMAPS This command forces the feedback to contain all the configurable parameters stored in NVM It is used when verifying that parameters have been successfully set and for general verification at startup Set this parameter to 1 to force all feedback to contain configurable items set it to O to stop forcing the feedback Command ID 30 Parameter Type 032 T Parameter Range 1 Parameter Units Boolean Stored in NVM No
63. ID USB_GND SERIAL TX SERIAL CANIL RADIO1 RADIO2 2 rc INot fully supported at time of printing Copyright 2013 Segway Inc All rights reserved Q Power Serial Hobby Radio eo LCD Screen Figure 29 56 Pin Connector 3 Kk powera m M P K DD EE m 30 SEGWAY RMP 440 SE Starter Breakout Harness The RMP is supplied with a breakout harness that connects to the 56 pin connector This harness screws onto Connector and provides all the connections necessary to communicate with the RMP It provides Ethernet USB Type A and CAN plugs as well as leads for power The connector is fully mated when the red stripe on Connector is no longer visible Figure 30 Starter Breakout Harness Power Figure 31 Starter Breakout Harness Pins Ethernet 10 Mbps Ethernet is available on the 56 pin connector see pinout Table 10 The starter breakout harness includes a male RJ45 Ethernet plug Table 10 Ethernet Pinout RJ45 Pin Signal Connector Pin 2 Ethernet TX b 6 EthemetRx fo Figure 32 RJ45 Plug USB USB 2 0 compliant interface is available on the 56 pin connector see pinout Table 11 The starter breakout harness includes a male USB Type A plug Table 11 USB Pinout USB Pin Signal Connector Pin 3 D a 800 Controller Area Networ
64. NNECTOR C9 Lif O STATUS 21 Q OFF Q 50 SEGWAYRM P USER INTERFACE MODULE Figure 13 Interface Panel ON OFF Switch Use this switch to power on and off the RMP Power and Status LEDs These two LEDs indicate what mode the RMP is in They can be used to troubleshoot startup issues See Powering On Off p 29 for a list of what the LEDs indicate Connector This connector is used for communication and for auxiliary power Communication available through this connector includes Ethernet USB and CAN Auxiliary power available depends on the Power Converters installed Up to two different DC voltages can be made available The Starter Breakout Harness connects here Connector II The Disable Button connects here The Disable signal must be sent for normal operation Other signals include the Decel Request used to initiate a Decel to Zero DTZ the Boot signal used to enter Diagnostic mode and the 42 signal used to enter Bootloader mode Connector IV This connector is used in conjunction with the External Power Supply for charging the batteries of the RMP For more information on charging see Charging p 28 Charge Status LEDs When charging the batteries the Charge Status LEDs will light up indicating the status of each of the batteries Each LED corresponds to a specific battery For more information see Charging p 28 Auxiliary Battery B
65. OOT signal If connected at startup the CCU will enter Diagnostic mode For details see Diagnostic Mode p 26 Bootloader Mode Connecting Pin 2 to Pin 3 sends the BOOT2 signal If connected at startup the CCU will enter Bootloader mode For details see Bootloader Mode p 26 If both pins 1 and 2 are connected to pin 3 ground the CCU will enter Bootloader mode Status Indicators There are two staus indicators on the CCU that are intended to be connected to LEDs the Power LED and the Status LED on the UI Panel On the UI Panel the Power indicator is a bicolor yellow red LED and the Status indicator is a green LED For information on the indicator LEDs and what their patterns mean see Powering On p 29 Status indicators are connected at CCU J16 Table 65 Status Indicators J16 Pin Power Indicator Yellow bicolor LED Status Indicator Green LED Power Indicator Red bicolor LED Copyright 2013 Segway Inc All rights reserved 88 SEGWAY RMP 440 SE CCU Input Power The CCU can receive power from a variety of sources The table below describes all methods for providing the CCU with power for operation Table 66 CCU Input Power Options Name DC Voltage Connection Min V Nominal V Current Charges 72 Boots CCU Drawn A V Battery 12 V Input 12 J21Pin1 12 0 13 0 150 Yes Yes J21 Pin 5 72 V Input 72 J6 Pin 6 45 72 0 050 Yes No J6 Pin 4 USB Input 5 J13 P
66. RMP inside MCU_TRANS_BATTERY_LOW_BATTERY The battery is low Charge the battery MCU_TRANS_BATT_OVERVOLTAGE The RMP will generate power when driving downhill This fault occurs when the voltage approaches the threshold for damage MCU_CRITICAL_BATT_OVERVOLTAGE ZNWARNING Avoid contact with any substance seeping from the battery Do not use battery if the battery casing is broken or if the battery emits an unusual odor smoke or excessive heat or leaks any substance Similar to TRANS OVERVOLTAGE the RMP will generate power when driving downhill This fault occurs when the voltage reaches or exceeds the threshold for damage Physically inspect the battery for damage MCU COMM CU BCU LINK DOWN Aconnection to the battery cannot be reliably established Check to make sure the battery is properly connected and the fasteners are fully tightened For proper torque see Maintenance p 98 MCU JUNCTION TEMP FAULT You may be overloading the RMP Try reducing the payload mass See the RMP operating temperature range Environmental Specifications p 17 MCU MOTOR WINDING TEMP FAULT The motor temperature has reached or exceeded the threshold for damage Try reducing the payload mass See the RMP operating temperature range Environmental Specifications p 17 MCU BATTERY FAULT The battery has an internal error Replace the battery MCU ACTUATOR POWER CONSISTENCY FAULT The RMP is operating at its limits Redu
67. Rail 232770001 inverted 18 FrontPowerbase 23088 00001 2MB Wheel Assembly 23378 00001 Tire and Hub Copyright 2013 Segway Inc All rights reserved 99 SEGWAY RMP 440 SE Removing Wheel Assemblies A 1 Make sure the RMP is powered off and unplugged 2 Raise the RMP up so the tires are not touching the ground 3 Loosen the three wheel nuts that connect the hub adapter to the gearbox flange 4 tire hub assembly can now be removed Replacing Wheel Assemblies A 1 Make sure the RMP is powered off and unplugged 2 Raise the RMP up off the ground 3 Slide the tire hub assembly onto the gearbox flange so the three fasteners on the gearbox flange fit through the holes in the tire hub 4 Install the three wheel nuts using a torque wrench with a 13 mm hex bit and tighten to 35 0 N m 25 8 ft Ibf Cleaning A WARNING Do not use a power washer or high pressure hose to clean your RMP Use of these devices could force water into components that must stay dry See Safety p 7 for more information Failure to do so could expose you to electric shock injury burns or cause a fire The outside of the RMP can be cleaned by scrubbing with soap and water to remove any dirt and grime Avoid getting water in the connectors Do not submerge in water If the inside of the RMP needs to be cleaned contact Segway see Contact Information p 5 Do not use water or any liquid cleaning agents inside the enclosure Soft
68. SONG MOTOR AUDIO PLAY ENTER ALARM SONG 6 No MOTOR AUDIO PLAY EXIT ALARM SONG MOTOR AUDIO_PLAY FINAL SHUTDOWN SONG 8 No 7 MOTOR AUDIO PLAY_CORRECTISSUE o fn RMP_CMD_SET_OPERATIONAL_MODE This command is used to request mode transitions for the RMP The modes are listed in Table 32 The persistence Table 32 Operational Mode Requests of the request is managed internally by the CCU i e the Mode Request Parameter Value Valid From command need only be sent once For more information on modes see Operational Model p 24 DISABLE REQUEST Any State Command D 32 POWERDOWN REQUEST Any State Parameter Type 032 T DTZ REQUEST Any State Parameter Range 1 5 22 STANDBY REQUEST Tractor Mode Parameter Units Unitless StoredinNVM No TRACTOR REQUEST Standby Mode Default Value N A Copyright 2013 Segway Inc All rights reserved 50 SEGWAY RMP 440 SE Configuration Commands cont RMP_CMD_SEND_SP_FAULTLOG This command is used to request the faultlog from the RMP Setting the parameter to 1 indicates a new request O indicates a subsequent request The entire faultlog requires six packets the first request should have the parameter set to 1 the next five requests should have the parameter set to O See faultlog_extractor py in the RMP Demo OCU source code for details on extracting and parsing the faultlog Command ID 33 Parameter Type 032 T Parameter Range
69. TION This command is used to set the user defined maximum acceleration limit See Controller Input Mapping p 53 for how this value will affect velocity commands Command ID 2 Parameter Type Float32 Parameter Range 0 0 7848 Parameter Units m s Stored in NVM Yes Default Value 3 923 RMP CMD SET MAXIMUM DECELERATION A WARNING Setting the maximum deceleration limit to zero will result in the machine not being able to stop This could cause death serious injury or property damage This command is used to set the user defined maximum deceleration limit See Controller Input Mapping p 53 for how this value will affect velocity commands Command ID 3 Parameter Type Float32 Parameter Range 0 0 7848 Parameter Units m s Stored in NVM Yes Default Value 3 923 Copyright 2013 Segway Inc All rights reserved 43 SEGWAY RMP 440 SE Configuration Commands cont RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE ZNWARNING Setting the maximum Decel To Zero DTZ deceleration limit to zero will result in the machine not being able to stop during DTZ This could cause death serious injury or property damage This command is used to set the user defined maximum Decel To Zero DTZ deceleration rate When a DTZ is commanded either via a mode command through hardware or as a fault response this is the maximum rate at which the machine will come to a stop Command ID 4 Parameter Type Float32 Paramete
70. The CCU microprocessors do not need to be powered up for the 7 2 V battery to charge The microprocessors be started by connecting J21 Pin 4 to J21 Pin 3 As long as those two pins are connected the CCU will use the 7 2 V battery pack Coin Cell Battery The coin cell battery on the CCU maintains power to the Real Time Clock RTC If the battery is removed while the RMP is powered off the RTC will reset This battery is not user replacable Removing this battery will result in zeroing the clock and will void your warrantee Copyright 2013 Segway Inc All rights reserved 89 SEGWAY RMP 440 SE Included Software Segway provides demonstration software so that users may test the RMP and see examples of how to communicate with the RMP The software is provided as an example and is not suitable for controlling the RMP in an unstructured environment Segway does not warrantee or guarantee the performance of this software Users must create their own software to control the RMP The demonstration software provides a reliable configuration that can be used to verify RMP performance during system integration with anew host computer system Where to Get the Software The software is available as a Windows Installer package and is compatible with Windows XP Windows Vista and Window 7 The installer is available on the forum at http rmp segway com forum in the subforum Technical Info for centralized controller based platforms 440LE
71. User Manual Segway Robotics Mobility Platform SEGWAY 440 SE SEGWAY RMP 440 SE Contents Copyright Disclaimer Trademarks Patent and Contact Information seen 5 Introduction 7 PAN OVS MMOL hss haa cite 9 RMP 440 SE Included 10 Capabilities PCT 11 Coordinate Syster ase RTT 12 Physical Characteristics do ds E RET 13 Moiiritine Locations a e due EE 14 M usc TE EE ce 15 PoWwerbase 16 Pertormance Specifications NN 17 Environmental SBeCNICOG Sus 17 PE BMX OG E E I 18 Transportation and 20 Electrical Overview TEN NOT 21 SV FU PONE Gu 21 System COMPONENTS cascada dun Bodo EDU 22 Operational Model Operational 24 24 Initialization 25 iei res t d o NNI 26 Bootloader o 0
72. XIMUM_ACCELERATION RMP_CMD_SET_MAXIMUM_DECELERATION RMP_CMD_SET_MAXIMUM_DTZ_DECEL_RATE RMP_CMD_SET_COASTDOWN_ACCEL RMP_CMD_SET_MAXIMUM_TURN_RATE RMP_CMD_SET_MAXIMUM_TURN_ACCEL RMP_CMD_SET_TIRE_DIAMETER RMP_CMD_SET_WHEEL_BASE_LENGTH RMP_CMD_SET_WHEEL_TRACK_WIDTH RMP CMD SET TRANSMISSION RATIO SET INPUT CONFIG BITMAP CMD SET ETH IP ADDRESS CMD SET ETH PORT NUMBER CMD SET SUBNET CMD SET ETH GATEWAY CMD SET USER FB 1 BITMAP CMD SET USER FB 2 BITMAP SET USER FB 3 BITMAP CMD SET USER FB 4 BITMAP CMD FORCE CONFIG FEEDBACK BITMAPS CMD SET AUDIO COMMAND SET OPERATIONAL MODE CMD SEND SP FAULTLOG CMD RESET INTEGRATORS CMD RESET PARAMS DEFAULT Stored in Units NVM ID Range Default Value 0 27 O valueignored Unitless 6 N A 2 2352 3 923 3 923 3 923 1 961 28 274 0 483616 0 5842 0 7112 24 2667 8 Floats2 0355610 m 9 osmio U32 T OxO000000F Unitiess Yes Oxl valid mask U32 T Valid IP Address U32 T Valid Ethernet Unitiess Yes 8080 Port Number Valid IP Subnet OxOOFFFFFF 0 2800 8 0 192 168 0 40 0 0100 8 0 192 168 0 1 U32 T Unitless OxFFFFFFFF valid mask OxFFFFFFFF U32_T valid mask OxOFFFFFFF U32 T valid mask U3
73. ace panel Plugging in the USB connector will also power on the RMP When successfully powered on the RMP enters Standby mode which is indicated by a blinking yellow LED and a solid green LED 1 sure the disable button is connected and has not been pressed 2 Flip the toggle switch to ON or connect via USB 3 Wait for the RMP to enter Standby mode NOTICE Auxiliary power will not be available unless the toggle switch is ON fthered LED blinks rapidly and then turns off double check the disable button see Troubleshooting p 103 If powered from USB try disconnecting USB cable and toggling on off switch ON Table 7 shows the various operational modes and LED indicator patterns Table 7 Indicator LEDs Mode Power LED Status LED System Initialization Yellow Blinking Standby Mode Yellow Blinking Green Solid Tractor Mode Yellow Blinking Green Blinking Powering Off There are a few ways that the RMP can be powered off Each is described in Table 8 below ZNWARNING When the RMP powers off it may continue to move for example it could roll downhill This could cause personal injury and or property damage Table 8 Power Down Methods Method Resulting Behavior User commanded Power Down The RMP powers down normally performing housekeeping tasks No fault is logged User commanded Disable The RMP logs the disable request as a fault and powers down User commanded Decel To Zero DTZ The RMP comes to a stop logs t
74. al Acceleration Based Input Mapping 5 Norm Yaw 0 21 H5 pe SSS SS k Norm Yaw Cmd 0 4 4 x Norm Yaw Cmd 0 6 S Norm Yaw 0 8 Norm Yaw 1 0 a eS EC EAS E T 3 5 7 Xx ba S 3 s 4 X 025 BE CN 1 B X gt g M S 26 1 S gt 154 s poc rm 4 tb S Re A A m 05 0 1 i 1 1 1 1 1 0 1 2 3 5 6 7 8 4 Vehicle Velocity m s Figure 42 Yaw Rate Target vs Vehicle Velocity Lateral Acceleration Based Mapping There are two configurable parameters stored in NVM that affect this type of input mapping 1 RMP CMD SET MAXIMUM TURN RATE this shifts the transition velocity and limits the target for the yaw rate 2 RMP CMD SET MAXIMUM TURN ACCEL the rate of change limit for the yaw rate target Copyright 2013 Segway Inc All rights reserved 55 SEGWAY RMP 440 SE RMP Response For every valid command received the RMP will respond with the data specified by the User Defined Feedback Bitmaps UDFBs It is important that one understands how the UDFBs function before trying to interpret the feedback in the response For details on setting these bitmaps see RMP SET USER FB 1 p 48 RMP CMD SET USER FB 2 48 e RMP CMD SET USER FB 3 48 RMP SET USER FB 4 BITMAP p 49
75. anual The following safety messaging conventions are used throughout this document A WARNING Warns you about actions that could result in death or serious injury CAUTION Warns you about actions that could result in minor or moderate injury Indicates information considered important but not related to personal injury Examples include NOTICE 4 messages regarding possible damage the RMP or other property or usage tips A WARNING e Keep out of reach of children and pets Unanticipated movement by the RMP could result in death or serious injury Do not sit stand or ride on the RMP Doing so could result in death or serious injury Do not drive the RMP at people or animals A collision could result in death or serious injury Always alert people in the vicinity when an RMP is operating An unexpected collision with the RMP could result in death or serious injury Avoid powering off on a slope The RMP cannot hold its position when powered off and may roll downhill causing serious injury death or property damage The RMP can accelerate rapidly It is recommended that the RMP be securely raised so the wheels are off the ground or remove the wheels until the user becomes familiar with the controls Unanticipated movement by the RMP could result in death or serious injury Becareful when working with the DC power connections You could shock yourself and or damage the RMP Remove batteries before working
76. ation guide for your product 3 Plug in your Kvaser device The USB connector plugs into a USB port on your computer The DB9 connector attaches to one of the leads on the RMP The Found New Hardware Wizard will appear Choose Install software automatically and click Next Click Finish to close the wizard The Kvaser USB to CAN Figure 39 Kvaser USB to CAN Adapter connector is now installed NOTICE Kvaser installs a new icon in the Control Panel USB USB drivers are included with the RMP software see Included Software p 90 These are custom Segway drivers and will not install automatically When the Found New Hardware Wizard appears the Sound Mew Hardware Wizard folder containing the drivers must be explicitly selected Please choose your search and installation options Ch S 1 Connect a USB cable from the RMP to your computer The Found New Hardware Wizard will appear Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local 2 paths and removable media The best driver found will be installed 3 Select Install from a list or specific location and click Next C Search removable media floppy CD ROM 4 v Include this location in the search C Program Files SegwaySRMP_Applications USB_ sv Browse Point the installer to the USB Drivers folder default location is C Program FilesNSegwayNRMP Applications NUS
77. attery 3 Battery 2 Battery 1 Battery 0 Figure 14 Battery Locations Copyright 2013 Segway Inc All rights reserved 15 SEGWAY RMP 440 SE Powerbase Connections On the side of the enclosure there are two powerbase connectors The left hand connector goes to the front powerbase the right hand one goes to the rear powerbase If there is only one powerbase the left hand connector is used Powerbases must be plugged into the proper connectors for the charge status LEDs to be correct CONNECTOR V CONNECTOR VI O OQ SECS ANZ EM Figure 15 Powerbase Connections Connector V Connect the primary front powerbase to this jack Connector VI Connect the secondary rear powerbase to this jack Copyright 2013 Segway Inc All rights reserved 16 SEGWAY Performance Specifications RMP 440 SE The RMP is driven by four independent and fully redundant brushless DC drive motors It can operate both outdoors and indoors although the tires may damage carpet and scuff flooring Traversable terrain includes asphalt sand grass rocks and snow All measurements are based on a standard RMP 440 SE with 21 inch wheels Table 3 Performance Specifications Characteristic Value Mobility Turn Envelope 1295 4 mm 51 in Max Slope Peak Torque 100 N m 74 lb ft Each Wheel Wading Depth 248 mm 9 7 in Standard Gearbox Wading Depth 406 mm 16 0 in In
78. battery is at maximum charge its LED blinks See Table 6 for a complete list of what the LEDs indicate NOTICE If the RMP is already charging and the RMP is powered on the RMP will error and turn itself off This is to prevent users from turning on the RMP and driving it away while it is still plugged in This functionality can be changed by disabling the AC Present CSI in the Input Config Bitmap see RMP CMD _ SET INPUT CONFIG p 46 Table 6 Battery LEDs LED Status Meaning Battery is not charging Battery is charging Green Blinking Battery in balance mode The time between blinks gets longer as the cells come into balance Red Fault or battery not present Red Blinking Charging fault See Charging Faults p 109 Copyright 2013 Segway Inc All rights reserved RMP 440 SE Table 5 External Power Supply Input Output Characteristic Value Input Voltage 100 250 VAC 50 60 Hz Max Input Current 2 4 A 100 VAC per channel Output Voltage 57 95 VDC Output Current 2 1A per channel CONNECTOR Q CONNECTOR IV wo F a ton CONNECTOR 1 2047 BDO SEGWAY RMP USER INTERFACE MODULE Figure 26 RMP 440 SE Interface Panel Figure 28 External Power Supply Back 28 SEGWAY RMP 440 SE Powering On Off This section describes how to turn the RMP on and off Powering On The RMP can be turned on and off using the toggle switch mounted on the interf
79. ce the performance parameters Reduce the mass on the RMP Copyright O 2013 Segway Inc All rights reserved 108 SEGWAY RMP 440 SE Charging Faults If the Charge Status LEDs blink red there is a fault with the battery The following table provides the meanings of the blink patterns and some suggested actions Table 76 Battery Charging Faults LED Status Meaning Action Red blink 1 time every 5 seconds HV input is out of range Check charger connection If problem persists contact Segway Red blink 2 times every 5 seconds HV output is out of range Check connections to the powerbase Red blink 3 times every 5 seconds DC reference is out of range Contact Segway Red blink 4 times every 5 seconds Temperature is out of range Move the platform to a warmer or cooler area If problem persists contact Segway Red blink 5 times every 5 seconds Output current is out of range Contact Segway Other Issues RMP doesn t drive in a straight line Check the tire pressures on your RMP Slight differences in pressure can cause changes in tire diameter which can cause the RMP to track right or left RMP still doesn t drive straight If you are using a joystick or hand held controller check if it is sending slight yaw rate signals even when not commanded to Some joysticks do not hold center very well and will continuously send small signals Cannot communicate with RMP over Ethernet 1 Power cycle the RMP turn off the
80. cessor CAN 1 This CAN channel is primarily used for communication between the RMP and an outside source This CAN channel is located at CCU J13 Table 52 UIP CAN 1 J13 Pin Notes can High CAN Low 2 15 CAN_GND Must be connected to CAN BUS GND User Interface Processor CAN 2 This CAN channel is primarily used for communication between the CCU and the ABB if equipped This CAN channel is located at CCU J13 Table 53 UIP CAN 2 J13 Pin Name Notes 17 19 GND Must be connected to CAN BUS GND Segway Processor CAN 1 This CAN channel is strictly for Segway peripherals This information is provided for completeness only Please contact Segway if you believe you have a problem with this CAN channel This CAN Channel is located at CCU J9 Table 54 SP CAN 1 J9 Pin Notes 1 fea High 27 S 3 Must be connected to CAN BUS GND Copyright 2013 Segway Inc All rights reserved 8l SEGWAY RMP 440 SE Segway Processor CAN 2 This CAN channel is reserved for future Segway peripherals This information is provided for completeness only Please contact Segway if you believe you have a problem with this CAN channel This CAN channel is located at CCU J20 Table 55 SP CAN 2 J20 Pin Name Notes ONHEh CAN Low 2 3 CAN_GND Must be connected to CAN BUS GND ABB CAN The Auxiliary Battery Board ABB has one CAN chann
81. e RMP Tool required 3 mm hex wrench 1 Tip the RMP onto its side so the outside two wheels lay flay against a clean smooth surface 2 Seatbatteries on chassis with curved edge facing outside of chassis 3 Secure batteries to chassis with fasteners 4 per battery install center fasteners first and tighten with 3 mm hex wrench Torque fasteners to 1 6 N m 1 18 Ib ft NOTICE Do not cross thread or over tighten fasteners Tighten only to the prescribed torque To avoid risk of damage do not use a power tool to thread in or tighten fasteners Use only Segway approved fasteners Transportation and Shipping Lithium ion batteries are regulated as Hazardous Materials by the U S Department of Transportation For more information contact the U S Department of Transportation at http www phmsa dot gov hazmat regs or call 1 800 467 4922 Proper Disposal The Li ion batteries used in the Segway RMP can be recycled Recycle or dispose of batteries in accordance with local environmental regulations Do not place in fire or incinerate For more information contact Segway at 1 866 4SEGWAY 1 866 473 4929 or visit our website at http rmp segway com Copyright 2013 Segway Inc All rights reserved 102 SEGWAY Troubleshooting This section covers common problems and their solutions Reporting Problems to Segway The RMP forum http rmp segway com forum is the best way to contact Segway about troubleshooting issues and problems See
82. e rear wheels Inside each powerbase are two Motor Control Units MCUs Only the front powerbase contains a BSA The powerbase is not serviceable by the user this information is provided for completeness only Motor Control Unit The MCU is a Segway motor drive It utilizes the robustness of the Segway PT propulsion system as a motor drive Each MCU has two motor drives that drive half of a dual hemisphere Segway motor Each MCU performs its own internal fault detection and communicates with the SP via CAN interface The user does not have access to the MCU interface Balance Sensor Assembly The BSA provides redundant raw three axis inertial data to the SP The SP uses this information to compute the Pitch State Estimate PSE The PSE algorithm estimates the machine orientation and movement based on the combined raw inertial information and wheel odometry Figure 21 Segway Powerbases Copyright 2013 Segway Inc All rights reserved 22 SEGWAY Smart Charger Board The Smart Charger Board SCB distributes charging current from the External Power Supply to the ABB and both powerbases It controls multiple high current smart chargers and manages charging It has 5 monitored channels at 100 VDC each and can perform fault detection down to the level of the power supply board and battery Auxiliary Battery Board
83. e system This also pertains to propulsion battery data If there is only one powerbase only the front powerbase data will be available all other powerbase data will be set to zero Note that on single powerbase machines with only one MCU the front powerbase rear battery does not exist therefore the data is set to zero 3 Only valid on Omni platforms Note that on systems without an ABB this data is set to zero Copyright 0 2013 Segway Inc All rights reserved 63 SEGWAY RMP 440 SE RMP Response cont User Defined Feedback Bitmap 3 The following table describes the variables defined by each bit in UDFB3 The masks associated with UDFB3 for ease of implementing a parsing algorithm are FLOATING POINT MASK Ox1FE4700F INTEGER MASK 0xOO1BSFFO Table 48 User Defined Feedback Bitmap 3 Bit Value Variable Name Format Unit Description 0100000001 0100000002 0100000004 0000000008 0100000010 0100000020 0 00000100 O total energy Wh Float32 Watt hours Total energy consumed by MCUO 0x00000040 2 inst power W Float32 nstantaneous power consumed by MCU2 0x00000200 1 total energy Wh Float32 Watt hours Total energy consumed by MCUP 0x00000800 3 total energy Wh Float32 Watt hours Total energy consumed by MCU3 0x00000080 3 inst power W Float32 nstantaneous power consumed by MCU3 0x00000400 2 total energy Wh Float32 Watt hours Total energy consumed by MCU
84. ear accel msp2 Float32 Linear acceleration derived from wheel velocities Float32 Linear velocity of the RMP 0x08000000 vel 0x20000000 right front vel mps Float32 Right front wheel velocity 0x40000000 left front vel mps Float32 Left front wheel velocity 0x80000000 right rear vel Float32 Right rear wheel velocity Note that the MCU data available is dependent on the number of MCUs in the RMP Note that the availability of inertial data is dependent BSA being present in the RMP If your system does not have a BSA this data will be set to zero BSA upgrades are available from Segway Inc 0x10000000 differential wheel vel rps Float32 rad s Differential wheel speed yaw rate of the RMP derived using wheel velocities Copyright 0 2013 Segway Inc All rights reserved 61 SEGWAY RMP 440 SE RMP Response cont User Defined Feedback Bitmap 2 The following table describes the variables defined by each bit in UDFB2 The masks associated with UDFB2 for ease of implementing a parsing algorithm are FLOATING POINT MASK Ox3FFFFFFF INTEGER MASK 0xC0000000 Table 47 User Defined Feedback Bitmap 2 Bit Value Variable Name Format Unit Description 0100000020 0100000000 0100000080 0100000100 0100000200 0100000400 0 00000800 right front current limit Float32 0 Minimum right front motor current limit each motor is redundant 0x00001000 left front currrent limit Fl
85. ee IEEE754 32 bit Floating Point and Integer Representation p 67 CAN Motion commands sent on the CAN interface follow the structure listed in Table 23 Example vel cmd 0 75 Ox3F400000 IEEE754 integer representation yaw cmd 0 25 Ox3E800000 IEEE754 integer representation Example packet Table 23 CAN Standard Motion Commands Message ID 0x0500 Item Description Data Length 8 Baud Rate 1 Mbps Data 0 Ox3F Data 1 0x40 Message ID 0x0500 Data 2 0x00 Data Length Bo Data 3 0x00 Data 0 Data 3 Normalized Velocity Data 4 Ox3E Data 5 0x80 Data 4 Data 7 Normalized Yaw Rate Data 6 0x00 Data 7 0x00 USB and UDP The USB and UDP interfaces mimic the CAN interface with the addition of a CRC 16 The packet is sent in a byte array See the command structure shown in Table 24 Example vel cmd 0 75 Ox3F400000 IEEE754 integer representation yaw cmd 0 25 Ox3E800000 IEEE754 integer representation Table 24 USB and UDP Standard Motion Commands Example packet Item Description un a Packet Length 12 bytes ata Ox Data Ox3F Data 0 Data 1 0x0500 Message ID Data 3 0 40 Data 2 Data 5 Normalized Velocity Data 4 0x00 Data 6 Data 9 Normalized Yaw Rate 25 Dato Data 7 0x80 Data 8 0x00 9 0x00 Data 10 0x80 Data ll OxIE Copyright O 2013 Segway Inc All rights reserved 39 SEGWAY RMP 440 SE Omni Motion Commands Omni mo
86. efined Feedback Bitmaps p 56 Table 1 BSA and PSE Variables UDFB Variable Symbol Measurement inertial x acc g Angular Velocity Copyright O 2013 Segway Inc All rights reserved 12 SEGWAY RMP 440 SE Physical Characteristics For product dimensions please refer to the diagrams below A summary of the major dimensions is provided in Table 2 Note product options may change the characteristics of the RMP Table 2 Physical Characteristics Characteristic Value oean mms c 177 990 60 1104 90 697 39 00 43 50 Fo NM 71 Figure 8 RMP 440 SE Top View i jio Oo ro H gt S gt Q S IAN Q mim qopti 524 18 607 13 i i 0 0 d 40670 20 64 23 90 H H Dd 284 64 1601 a 0 Bd Q PI 505 18 19 89 53340 305 10 673 60 21 00 12 01 26 52 571 50 842 01 22 50 33 15 Figure 9 RMP 440 SE Back View Figure 10 RMP 440 SE Side View Copyright 2013 Segway Inc All rights reserved 13 SEGWAY RMP 440 SE Mounting Locations Equipment can be mounted to the RMP using the p
87. el accessible from both J2 and J3 This CAN channel is used for communication between the ABB and the CCU If using the ABB without a CCU this channel can be used to communicate directly with the ABB Table 56 ABB CAN J2 Pin J3 Pin Notes 20r5 CAN GND be connected to CAN BUS GND Copyright 2013 Segway Inc All rights reserved 82 SEGWAY RMP 440 SE USB There is one user accessible USB 2 0 compliant interface on the CCU It can be connected to a standard computer and used as a communication interface Windows drivers are supplied with the RMP Demo software see USB p 35 CCU USB This USB interface is primarily used for communication between the RMP and an outside source This interface is located at CCU J13 Table 57 CCU USB J13 Pin Name USB Plug Pin USB_VBUS VCC 8 USB_D o 1The shield wire must be connectd to the housing of the USB plug and to the chassis of the RMP Ethernet There is one 10 Mbps Ethernet interface on the CCU For details on how to connect to the RMP over an Ethernet connection see Ethernet p 34 CCU Ethernet This Ethernet interface is primarily used for communication between the RMP and an outside source This interface is located at CCU J13 Table 58 CCU USB J13 Pin Name RJ45 Pin eT RX de Copyright 2013 Segway Inc All rights reserved 83 SEGWAY RMP 440 SE Hobby Radio A W
88. elocity target goes to zero with zero input command Copyright 2013 Segway Inc All rights reserved 53 SEGWAY Controller Input Mapping cont Yaw Controller Yaw Rate Limit Based Input Mapping This type of mapping is generally ideal for autonomous driving where the user wants within limits the same input sensitivity through all velocities RMP 440 SE This type of input mapping scales the normalized input against the yaw rate limit set in NVM It saturates the yaw command to an envelope on the yaw rate linear velocity plane This envelope is derived from a maximum lateral acceleration limit of 1 0 g In this mapping calculation yaw rate is mapped linearly to input command and saturated at the envelope The plot of the yaw rate target versus vehicle velocity for this input mapping is shown below where the yaw rate target is a function of user command and vehicle velocity Yaw Rate Limit Based Input Mapping T T T T I Norm Yaw 0 2 5 poem SS Norm Yaw 0 4 Norm Yaw 0 6 P Norm Yaw Cmd 0 8 Norm Yaw 1 0 3 5 3 lt N 9 25 S I 9 2L E E 215 En c 1 be 0 5 0 I 1 0 1 2 3 4 5 6 7 Vehicle Velocity m s Figure 41 Yaw Rate Target vs Vehicle Velocity Limit Based Mapping There are two configurable parameters stored
89. en Control of the RMP occurs via command and response messages sent over Ethernet CAN or USB interfaces Commands are used to control movement set configuration parameters and control response data Response messages provide detailed information about the current status of the RMP Segway has chosen to allow users to control overall RMP movement but not individual wheels motors This frees users to treat the RMP as a single unit rather than a collection of components and allows Segway to provide a more robust predicatable mobility platform To allow for the greatest possible control over the RMP s behavior a variety of configuration parameters can be modified However it is possible to set these parameters to unsafe values so care must be taken when setting parameters to reduce the risk of damage or injury It is the user s responsibility to set configuration parameters to safe values Be sure to follow all safety instructions in this document This manual describes the capabilities of the RMP and explains how to communicate with it Integrators and engineers can use this information to mount equipment on the RMP and write software for controlling the RMP Copyright 2013 Segway Inc All rights reserved 6 SEGWAY RMP 440 SE Safety Improper use of the RMP can cause personal injury death and or property damage from loss of control collision and falls To reduce risk of injury read and follow all instructions and warnings in this m
90. eout and the user will experience intermittent motion If commands are issued faster than the maximum rate the commands will be ignored as if the host is not present For USB and UDP if the command packet CRC is not valid the RMP will ignore the command See Cyclic Redundancy Check CRC 16 p 68 for details on how to calculate a command packet CRC The response packet is formed using the User Defined Feedback Bitmaps It is important that the user understand how this works before trying to interpret the feedback packets Please see RMP Response p 56 for details Much of the information contained in this section is also available in system_defines py as part of the RMP Demo OCU source code ZNWARNING The user has the ability to change configuration variables and machine limits in a range from zero to maximum Care must be taken when setting these limits as they could result in damage or injury For example if the deceleration rate is set to O the RMP will not stop This is to allow for maximum flexibility but also requires that users be especially careful when setting the parameters The following shorthand will be used to represent the different types of numbers used when communicating with the RMP Table 18 Number Types Shorthand Definition Float32 32 bit floating point number represented as a IEE754 32 bit integer 516 T 16 bit signed integer Ul6 T 16 bit unsigned integer U32 T 32 bit unsigned integer 1 See IEEE754 32 bit
91. er U32 T bytes in buffer 1 U32 T count U32 T crc index bytes in buffer 2 016 T new crc INITIAL We ll loop through each word of the message and update the CRC Start with the value chosen for CRC initialization for count 0 count lt crc_index count Now we ll send each byte to the CRC calculation new crc tk crc calculate crc 16 new crc byte buffer count J new CRC is saved in the last word byte buffer crc index U8 T new crc amp OxFF00 gt gt 8 byte buffer crc index 1 08 T new crc amp 0x00FF tk crc byte buffer crc is valid Copyright 2013 Segway Inc All rights reserved 69 SEGWAY RMP 440 SE Cyclic Redundancy Check CRC 16 cont brief This function computes the CRC 16 value for the passed in buffer This new CRC is compared to the last value stored in the buffer which is assumed to be the CRC 16 for the buffer param byte buffer pointer to the byte buffer which we want check the CRC bytes in buffer number of bytes in the buffer return TRUE if CRC is valid FALSE otherwise BOOLEAN tk crc byte buffer crc is valid U8 T byte buffer U32 T bytes in buffer i U32_T count 032 crc index bytes in buffer 2 016 T new crc INITIAL 016 T received crc INITIAL CRC BOOLEAN T success We ll loop through
92. er and a Spektrum DX6i transmitter Other models are not guaranteed to work Be aware that the location of the receiver will affect its ability to receive radio signals Placing the receiver on the side of the RMP may create one or more blind spots Placing the receiver inside the enclosure may block it from receiving any signals at all Copyright 2013 Segway Inc All rights reserved 84 SEGWAY RMP 440 SE Hobby Radio Configuration Follow this procedure to configure a Spektrum hobby radio for use with the RMP ZNWARNING Extreme care must be taken when setting the safe states on the Spectrum radio The RMP could move in an uncontrolled way To avoid death serious injury or property damage raise the RMP so the wheels are off the ground before proceeding to configure the hobby radio Avoid contact with the wheels while they are spinning These instructions assume that you are familiar with using the hobby radio For more detailed instructions please refer to the manufacturer s documentation for your hobby radio 1 Raise the RMP so the wheels are off the ground This will prevent the RMP from moving unexpectedly while configuring the hobby radio 2 Onthetransmitter create a new model with the following attributes a Goto the Setup List i Model ii Model RMP iii Reverse Ailerons Reversed b Go to the Adjust List select Flaps and set the following settings i Norm 0 ii Land 100 3 Bindthe t
93. g not in the order in which they have occurred NOTICE The Real Time Clock RTC does not take into account daylight savings time The RTC is set to Eastern Daylight Time Copyright 2013 Segway Inc All rights reserved Tess J RMP CCU C gt Y file C Program 20Files Segway RMP_Applications RMP_Demo_OCU_Application RMP_CCU_FAULTLOGS 3 RMP CCU Faultlo am Fi 01 lesiSegway RMP Applications RMP Demo OCU ApplictioniRMP CU FAULTLOGSRMP FAULTOG 08082012 105319 html 93 SEGWAY RMP 440 SE Running the OCU Demo Clicking Run OCU will cause the OCU Demo to attempt to connect to the SEM Operetionaitime RMP The default method of connecting is via Ethernet see Ethernet p 34 but this can be changed in the config see Configuration p 92 When the OCU Demo is up and running three windows appear e Splash Screen e Console e Control Screen SEGWAY Splash Screen Robotics The splash screen Figure 54 displays the mode of the RMP the uptime and the battery status If a video server e g IP camera is configured the video feed is displayed here Figure 54 Splash Screen Console T console Figure 55 displays the status of the many variables and parameters for more information about these parameters see RMP 00 yaw rate imt ros 0 0 front base 1 soc 96094 fram eth gateway R
94. he DTZ request as a fault and powers down On Off switch is set to off Power is immediately removed from the system No housekeeping tasks are performed The RMP immediately shuts down Disable button is pressed The RMP logs the disable button press as a fault and powers down Hardware DTZ input The RMP comes to a stop logs the DTZ Input as a fault and powers down NOTICE A fault response may also result in the machine powering off Copyright 2013 Segway Inc All rights reserved 29 SEGWAY Connecting RMP 440 SE This chapter describes how to connect to the RMP Included are the pinouts for all the panel connectors as well as detailed descriptions of the Starter Breakout Harness and the Disable Button Connector Connector is the largest external connector on the RMP This approximately 2 inch diameter connector is a MIL DTL 38999 24FJ4SN connector with 56 pins It houses all the communication interfaces to the platform and provides power available for customer loads Communication interfaces passing through this connector are Ethernet USB and CAN Power available is dependent upon which Power Converters have been selected Power is only available when the auxiliary battery option is included This is a MIL DTL 38999 24FJASN socket Mating connector is a MIL DTL 38999 26FJ4PN plug Table 9 Connector Pinout Pin Signal A ETHERNET TX ETHERNET TX ETHERNET RX ETHERNET RX USB_VBUS USB_D USB_D USB_
95. ible to connect a normally closed switch between Pin 3 and Pin 1 to control the disable response This allows for the simple connection of a Disable Button such as the one provided with the RMP Hardware DTZ A Decel To Zero DTZ can be initiated in hardware via Pin 2 of J8 on the CCU This signal is normally pulled low by a 10K Ohm resistor If this pin is pulled up to 5 V then the system will immediately being to decelerate The rate of deceleration is set in software see RMP_ CMD_SET_MAXIMUM_DTZ_DECEL_RATE p 44 Conveniently 5 V is provided on Pin 1 of J8 allowing the user to easily connect a normally open momentary type switch between Pin 2 and Pin 1 of J8 and control the deceleration request Segway has found this useful when connecting some types of remote control disable systems After the RMP has stopped moving the system will enter Disable mode and the RMP will shutdown Copyright 2013 Segway Inc All rights reserved 87 SEGWAY RMP 440 SE Mode Selection The CCU defaults to normal operation however for the purpose of fault troubleshooting or for reloading code the user can change the mode Mode selection is via CCU J1 Table 64 CCU J1 Function BOOT1 Diagnostic Mode Bootloader Mode Normal Operation With Pin 1 and Pin 2 both floating the CCU operates normally Connecting either Pin 1 or Pin 2 after the system is running will have no effect Diagnostic Mode Connecting Pin 1 to Pin 3 sends the B
96. ifference is in the N A location of the sticks Just like with the Xbox 360 controller the left stick is used for controlling movement forward and reverse The right stick is used for turning The user must hold the deadman switch to make the RMP move at all Balance Mode Tractor Mode Standby Mode Audio Song Switching between RMP modes is accomplished by the 1 3 and 4 Velocity Steering buttons Pressing 2 will initiate an audio song for more on audio Input Input songs see RMP_CMD_SET_AUDIO_COMMAND p 50 Decel NOTICE The Logitech controller has a mode button on the front center of the controller The mode light must be off to control the RMP s movement Deadman Switch N A Disable Figure 58 Logitech GamePad Controls Copyright 2013 Segway Inc All rights reserved 96 SEGWAY RMP 440 SE Software License Agreement COPYRIGHT 2013 SEGWAY INC Software License Agreement The software supplied herewith by Segway Inc the Company for its RMP Robotic Platforms is intended and supplied to you the Company s customer for use solely and exclusively with Segway RMP products The software is owned by the Company and or its supplier and is protected under applicable copyright laws All rights are reserved Any use in violation of the foregoing restrictions may subject the user to criminal sanctions under applicable laws as well as to civil liability for the breach of the terms and conditions of thi
97. in 7 4 5 5 5 5 0 400 No Yes J13 Pin 22 Battery Charge 72 J21 Pin 6 72 13 0 168 Yes No J21 Pin 5 72V Battery 072 22 seebelow 55 66 0 023 Vs 1472 V Input is not currently used by any RMP platform f pins 3 and 4 on J21 are connected The CCU is designed so that when a particular voltage is applied all voltages less than that voltage are automatically generated when the board is powered on For example when 72 V is applied the board self generates 12 V 5 V 3 3 V and starts charging the small two cell battery if present Small amounts of current can be taken from these supplies to run logic or support circuitry The user should contact Segway if more than a few Watts are needed from any one supply see Contact Information p 5 NOTICE While the 72 V input can power the entire CCU it does not have the ability to boot the board without some other voltage being present That voltage typically comes from the battery supply CCU Battery Supply The CCU can be self powered from a 7 2 V pack made from two series 3 6 V lithium iron phosphate cells Use only Segway approved battery packs Connection to the CCU is via J22 Table 67 CCU Battery Supply J22 Pin Function 72 series cell 2 3 6 V series cell 1 side of 10 K thermistor side of 10 K thermistor Battery return The CCU will charge the two cell battery whenever it has enough power and sufficient voltage to do so
98. ine Power Usage The following empirical relationships can be used to provide a rough estimate of power usage when travelling in a straight line These relationships are based on tests performed on dry level pavement and represent best case scenarios Actual performance may vary Power draw for an unloaded platform W 29 38 W Power Draw Watts p Tire Pressure psi v Velocity m s Power draw for a platform with 400 1 5 additional mass W 96 x B x W Power Draw Watts p Tire Pressure psi v Velocity m s Turn in Place Power Usage Due to the nature of scrub steering the RMP uses considerable power when turning in place The information provided here is based on tests performed on dry level pavement with tire pressure at 6 psi and 12 psi Tests were performed at 1 rad s Greater speeds caused the RMP to become unstable and are not recommended Actual performance may vary Above 400 Watts the RMP cannot turn continuously This is represented by the grey area in the graph below Turn in place power usage at 1 rad s be approximated using the Turn in Place Power Usage following equation 800 _ 700 W 2 24m 181 fe DENS ER W Power Draw Watts 400 4 n m Additional Mass lbs 300 8 200 a 100 0 T T T 0 50 100 150 200 250 Additional Mass Ibs Figure 16 Turn in Place Power Usage Copyright 2013 Segway Inc All rights
99. ing mcu fault decode dict 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000 n MCU FAULT MCU 0 IS DEGRADED MCU FAULT MCU 0 IS FAILED MCU FAULT MCU 0 REQUESTS REDUCED PERFORMANCE MCU FAULT MCU 0 REQUESTS ZERO SPEED MCU FAULT MCU 1 IS DEGRADED MCU FAULT MCU 1 IS FAILED MCU FAULT MCU 1 REQUESTS REDUCED PERFORMANCE MCU FAULT MCU 1 REQUESTS ZERO SPEED MCU FAULT MCU 2 IS DEGRADED MCU FAULT MCU 2 IS FAILED MCU FAULT MCU 2 REQUESTS REDUCED PERFORMANCE MCU FAULT MCU 2 REQUESTS ZERO SPEED MCU FAULT MCU 3 IS DEGRADED MCU FAULT MCU 3 IS FAILED MCU FAULT MCU 3 REQUESTS REDUCED PERFORMANCE MCU FAULT MCU 3 REQUESTS ZERO SPEED MCU FAULT MISSING MCU 0 DATA MCU FAULT MISSING MCU 1 DATA MCU FAULT MISSING MCU 2 DATA MCU FAULT MISSING MCU 3 DATA MCU FAULT UNKNOWN MESSAGE RECEIVED Copyright 2013 Segway Inc All rights reserved RMP 440 SE 73 SEGWAY Fault Status Definitions cont Define a mask to indicate that the CCU has detected the fault and not the MCU CCU DETECTED MCU FAULT MASK 0x001F0000 Sensor faults These faults are latching sensor fault decode dict BSA bsa 0x00000000
100. is a battery powered Robotics Mobility Platform RMP meant to be used as the propulsion system for a robotic product It has four 21 inch all terrain tires and two powerbases mounted on side rails Electrical components are mounted inside a User Interface UI box on the rear powerbase Propulsion batteries are mounted to the bottom of the powerbases The auxiliary battery is mounted to the top of the UI box The on off switch external connectors and indicator lights are mounted on an interface panel at the rear of the machine Communication with the RMP can occur over Ethernet CAN and USB Inside the UI box are the Centralized Control Unit CCU Auxiliary Battery Board ABB Smart Charger Board SCB and Power Converter s Cables run from the UI box to the powerbases Figure 1 RMP 440 SE Included Components The RMP 440 SE comes with a Disable Button Starter Breakout Harness and External Power Supply The Disable Button must be connected for the RMP to enter Standby Mode When pressed the Disable Button will cause the RMP to immediately shut down The Starter Breakout Harness provides Ethernet CAN and USB connectors as well as leads for DC power The External Power Supply is used to charge the RMP When connected indicator lights on the UI box show the charge status of each battery Figure 2 Disable Button Figure 3 Starter Breakout Harness Figure 4 External Power Supply Copyright 2013 Segway Inc All rights reserved 10
101. is case value 2 should be discarded it is not part of the array For a C C implementation of the CRC see Cyclic Redundancy Check CRC 16 p 68 Example Set the UDFBs as shown below Information on setting UDFBs is found in Configuration Commands p 42 Information on the feedback bitmaps themselves is found on page 48 UDFB1 0x80000001 bits 0 31 Table 42 RMP Response UDFB2 0x00008001 bits 0 15 Item UDFB Variable Name UDFB3 0x00008030 bits 4 5 15 UDFB4 0x00000000 none Variable1 UDFB1 bitO fault status word 1 After the UDFBs are set all RMP response messages will contain the Variable2 UDFBI bit31_ rear vel mps following variables Variable 3 UDFB2 bitO left rear vel mps UDFBI bitO UDFB1 bit31 UDFB2 bitO UDFB2 bit15 UDFB3 bit4 Variable 4 UDFB2 bitl5 rear_base batt 2 soc Variable 5 UDFB3 bit4 mcu 0 inst power W Or with variable names from the UDFB tables fault status word 1 right rear vel mps left rear vel mps Variable 6 UDFB3 bit5 meu 1 inst power W rear base batt 2 soc mcu 0 inst power W mcu 1 inst power W Variable 7 UDFB3 bitl5 fram dtz limit fram dtz decel limit mps2 CRC 16 mps2 CAN response messages are broken into packets containing two Variable 8 0 0x0000 CRC variables each In this example response messages contain eight variables so four packets are sent The actual message received is shown in Tab
102. is command causes the RMP to decelerate and come to a stop before powering down Payload Users can mount equipment to the rails along the sides of the RMP Mounting holes are provided along the tops of the rails and on the ends of the rails The maximum total payload is 180 kg 400 Ibs evenly distributed Communication Communication with the RMP can occur over Ethernet CAN or USB If using Ethernet the IP address port number subnet mask and gateway can all be configured For both Ethernet and USB communications a Cyclic Redundancy Check CRC is performed which verifies the accuracy of the transmitted data The RMP communicates via a polling method the user sends a command and the RMP responds Commands can be either motion commands that tell the RMP to move or configuration commands that set user configurable parameters Some of these parameters the User Defined Feedback Bitmaps control what information is sent in the RMP response allowing the user to receive only the relevant data The RMP expects to receive commands within a frequency range 0 5 Hz 100 Hz If commands are issued too frequently the RMP will ignore them If commands are updated too slowly the RMP will slew the commands to zero Power With an auxiliary battery the RMP can provide power for additional equipment The RMP 440 SE has space for two Power Converters For more information see Power Converter p 23 Control Interface The user is
103. k connection is available on the 56 pin connector see pinout Table 12 The starter breakout harness includes a male DB9 connector for CAN communication is Table 12 CAN Pinout DBO9 Pin Signal Connector Pin CANIH cane CANT GND Figure 34 Male DB9 Connector Copyright 2013 Segway Inc All rights reserved 31 SEGWAY RMP 440 SE Power The auxiliary battery feeds Power Converters number of converters varies from depending on RMP model At time of purchase the customer has the option to select the output voltage of the Power Converters Possible options are 5 VDC 12 VDC 24 VDC 36 VDC and 48 VDC One of the options selected must be 12 VDC in order to power the CCU Specifics about the regulation available current and available power can be found by reviewing the datasheet for the 72 V micro family DC DC regulators from Vicor http cdn vicorpower com documents datasheets ds 72vin micro family pdf Available DC voltages Table 13 Power Pinout 16 AWG Contacts 5V Wire Color Voltage Connector Pin 36V Purple 48 There are multiple slots for Power Converters One slot must be 12 VDC DD all others may be chosen from the above options at time of purchase Power2 Return Power3 Return Connector This panel connector provides pins for the disable button the DTZ Decelerate To Zero signal and for entering Bootloader mode and Diagnostic mode During normal operation
104. le 43 Table 43 Example CAN Response Message CAN SID Value 1 Value 2 1 0x0502 fault_status_word_1 right_rear_vel_mps 2 0x0503 left_rear_vel_mps rear_base_batt_2_soc 3 0x0504 mcu_0_inst_power_W mcu 1 inst power W 0x0505 fram dtz limit mps2 0x0000 CRC Copyright 2013 Segway Inc All rights reserved 58 SEGWAY RMP 440 SE RMP Response cont USB and UDP Response Structure USB and UDP responses are a byte array representing the array of 32 bit response values plus the CRC 16 All values are 32 bits Each value can be decoded as Value i 032 byte ix4 lt lt 24 0 000000 byte ix4 1 lt lt 16 0 00 0000 byte ix4 2 lt lt 8 0 0000 00 byte ix4 3 amp 0x000000FF Where iis the index of the value in the response array The response array will always contain the number of 32 bit values specified by the UDFBs and a CRC 16 Example Set the UDFBs as shown below This is the same configuration as in the example for CAN Response Structure p 58 UDFB1 0x80000001 bits 0 31 UDFB2 0 00008001 bits 0 15 Item UDFB Variable Name UDFB3 0x00008030 bits 4 5 15 Variable1 UDFBI bitO fault status word 1 UDFB4 0x00000000 none Variable 2 UDFBI bit31 right rear vel mps al the 2 set all RMP response messages will contain the Variable 3 UDFB2 bitO left rear vel mps ollowing variables UDFBI bitO UDFBI bit31 UDFB2 bitO UDFB2 bit15 UDFB
105. mmunicates The CCU has two processors on the board each with a unique function and purpose The Segway Processor controls the propulsion system safety kernel and other essential functions The User Interface Processor controls the Auxiliary Battery Board and external communication interfaces Table 49 CCU Connectors and Signals Connector Signal s Harness Destination s Hardware Disbie E F 23078 00002 72256 00001 5222 DebugHeaders Segway Use oniy sseyuseony 23072 00002 Programming J Segway Use Only Segway Use nly LEDs 2307 00002 Power LED StatusLED mao e mago dS ca et 2307500002 72 VDC 22528 00002 72 V Battery Copyright 2013 Segway Inc All rights reserved 78 SEGWAY RMP 440 SE Auxiliary Battery Board The Auxiliary Battery Board ABB communicates with the auxiliary battery controls the Power Converters and communicates with the CCU The ABB can operate either independently or in conjunction with a CCU NOTICE Incorrectly connecting power to the ABB can damage the board Observe polarity on all inputs and outputs when connecting Fuseis not replacable If fuse blows the board must be replaced Figure 44 Auxiliary Battery Board Table 50 ABB Connectors and Signals Connector Signal s Harness Destination s Notes _
106. mounted on it PSE Pitch State Estimate a 3 axis inertial estimate of the orientation of the RMP RMP Robotics Mobility Platform a propulsion system that can be used as a platform for making mobile robots SCB Smart Charger Board a PCB that controls battery charging functions SE Small Enclosure a box that contains all of the electrical components of the RMP SID Standard ID a CAN identifier that indicates the type of message being sent SOC State Of Charge a measurement of battery charge from 096 empty to 100 full SP Segway Processor a microcontroller on the CCU that contains proprietary Segway code for controlling the RMP SPI Serial Peripheral Interface a synchronous serial data link standard that operates in full duplex mode UDP User Datagram Protocol a simple transaction oriented network protocol on top of TCP IP UDFB User Defined Feedback Bitmap a stored value that indicates what feedback data should be sent to the user Ul User Interface the means by which an operator interacts with a device UIP User Interface Processor a microcontroller on the CCU that communicates with the OCU USB Universal Serial Bus an industry standard bus for communication and power supply between computers and peripherals VAB Vicor Adapter Board a PCB that interfaces with Vicor DC DC converters Copyright 2013 Segway Inc All rights reserved 9 SEGWAY RMP 440 SE RMP 440 SE The RMP 440 SE
107. n circuits Always protect against electrostatic discharge ESD when working inside the RMP The RMP could become damaged NOTICE Copyright 2013 Segway Inc All rights reserved This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna e Increase the separation between the equipment and receiver e Connect the equipment into an output on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help This Class B digital apparatus complies with Canadian ICES 003 Cet appareil num rique de la classe b est conforme la norme NMB 003 du Canada Modifications not expressly approved by Segway may void the user s
108. n connector for the full pinout see S S S Connector Il p 32 3 Usethe USB cable to connect the RMP to the computer The RMP will Welcome to the Segway CCU Bootloader To program the CCU please Follow these steps power on 1 Jump Boot 2 signal on CCU 2 Plug CCU USB into PC 4 Verity that the Power LED is toggling yellow red and the Status LED 3 for processor getting uploaded is off 4 Select Upgrade CCU 5 Repeat steps 3 and 4 for next processor Updating the Software 1 Run the Bootloader application CCU_BL exe 2 Click Connect The bootloader application will connect to the RMP NOTICE If the RMP is not in bootloader mode an error will pop up see Figure 50 Ensure that the RMP is in bootloader mode and try again 3 Click Select Hex File for Upload Figure 49 The Bootloader Application The file name indicates the board and processor the software was built for as well as the date of the build and the build number board proc yyyy mm dd build hex 4 Browseto and select the relevant hex file default location C Program FilesNSegwayNRMP Applications WRelease Binaries NOTICE The Bootloader Application screen should read Hex file loaded No CCU connected successfully Warning CCU may not be in bootloader mode 5 Click Upgrade CCU If the same software version is already on the RMP the message screen will read The application selected is already loaded
109. n turn on This verifies that all Ethernet settings are updated 2 Ping the RMP e g ping 192 168 0 40 This verifies that there is a path to the RMP and that you are using the correct IP address 3 Check the port settings The RMP will send and receive commands only on the port specified by RMP_CMD_SET_ETH_ PORT_NUMBER p 47 Copyright 2013 Segway Inc All rights reserved 109 3 SEGWAY Robotics 23595 00001 aa
110. nds The configuration command is used to perform a variety of functions including requesting mode transitions retrieving the fault log resetting position data setting stored configurable parameters in non volatile memory and requesting audio tones Configuration parameters which are set using configuration commands are stored in Non Volatile Memory NVM These values are pulled from memory at startup and used to initialize various parameters in the system Once a value is set in NVM the value does not need to be set again unless it needs to be changed Configuration commands are composed of two variables Table 28 Configuration Command Structure e Value command ID is formatted as 032 Item Description e Value 2 parameter is 32 bits long its format depends on the Message ID 0x0501 command being issued Command ID The command ID is always a 32 bit unsigned integer U32 T CAN Configuration commands sent on the CAN interface follow the structure listed in Table 29 Example gp cmd RMP CMD SET OPERATIONAL MODE 0x00000020 gp param TRACTOR REQUEST format integer 0 00000005 Table 29 CAN Configuration Commands Example packet Item Description Message ID 0 0501 Baud Rate 1 Mbps DataLength 8 Message ID 0x0501 DARE Datalength 8000002 Data 1 0x00 Data Length Data 2 0x00 Data 0 Data 3 Command ID Data 3 0x20 Data 4 Data 7 Data 4 0x00 Data 5 0x00 Da
111. neral Command Structure p 37 Some faults will also cause a transition to Disable Mode Copyright 2013 Segway Inc All rights reserved 27 SEGWAY Charging A WARNING Do not plug in the charger if the charge port power cord or AC power outlet is wet You risk serious bodily injury or death from electric shock as well as damage to the RMP AXCAUTION Failure to charge the batteries could result in damage to the batteries Left unplugged the batteries could fully discharge over time causing permanent damage Use only charging devices approved by Segway The RMP 440 SE requires the External Power Supply to charge the batteries This power supply converts AC power to DC power for use by the RMP The Smart Charger Board inside the RMP distributes this power as needed to the batteries for charging Charging requires that the temperature be within 0 C 50 C and the humidity be 9096 non condensing Using the External Power Supply An External Power Supply is supplied with the RMP 440 SE The charge port Connector IV is located on the interface panel next to the Charger Status LEDs 1 Connect the External Power Supply to the charge port on the RMP Connector IV Plug the External Power Supply into a standard AC wall outlet Turn on the External Power Supply by toggling the switch Charge Status LEDs There is one LED for each 72 V Segway battery attached to the RMP When charging the LEDs turn green If a
112. o signal while in use a Use the joysticks to command full motion b While commanding motion turn off the transmitter TheRMP s wheels should stop moving Deadman Up Left to Drive Figure 46 Hobby Radio Controls 1 the left stick in the upper left corner causes the RMP to move even when not using the right stick to command movement follow steps 6 and 7 to adjust the sub trim and re bind the transmitter and receiver 7 Adjustthe sub trim a Gotothe Adjust List and select Sub Trim b Holdthe left stick in the upper left corner c Adjust the ailerons until all wheels are moving at the same speed in the same direction d Adjustthe elevators until all wheels are stopped 8 Re bind the transmitter and receiver a Repeatthe bind procedure step 3 above to save these adjusted values Table 61 Hobby Radio Controls Control Action Gear Switch 0 Send Disable command 1 Don t send Disable command Flap Switch 0 Standby Mode 1 Tractor Mode Left Joystick Acts as a deadman switch Disables movement if not held to far left Disables movement if brought all the way down Right Joystick Controls RMP motion Copyright 2013 Segway Inc All rights reserved 86 SEGWAY RMP 440 SE Hardware Controls The RMP is designed to accept hardware Disable and DTZ requests in case of emergency A Disable request immediately cuts power to the motor drives and turns off the RMP A DTZ request decelerates the RMP and brings
113. oat32 0 Minimum left front motor current limit each motor is redundant 0x00002000 right rear current limit Float32 A o peak Minimum right rear motor current limit each motor is AOpk redundant 0x00004000 left_rear_current_limit Float32 A O peak Minimum left rear motor current limit each motor is AOpk redundant 0 00008000 motor current limit Float32 A 0 peak Minimum motor current limit of all motors 0100010000 0100020000 0100040000 0100080000 0x00100000 front_base_batt_1_temp Float32 Front powerbase front battery temperature degC 0x00200000 front_base_batt_2_temp Float32 Front powerbase rear battery temperature degC 0x00400000 rear_base_batt_1_temp Float32 Rear powerbase front battery temperature degC 0x00800000 rear_base_batt_2_temp Float32 Rear powerbase rear battery temperature degC 0x01000000 vel_target_mps Float32 Velocity controller target 0x02000000 yaw_rate_target_rps Float32 Yaw controller target Copyright 2013 Segway Inc All rights reserved 62 SEGWAY RMP 440 SE RMP Response cont Table 47 User Defined Feedback Bitmap 2 cont Bit Value Variable Name Format Unit Description 0x04000000 angle target deg Float32 Angle target for omni platforms 0x80000000 aux batt voltage V Float32 Auxiliary battery voltage Note that the motor data available is dependent on the number of powerbases in th
114. ontrolling the RMP Shown here is the method of controlling the RMP with the mouse For more information on how to control the RMP see Controls Tractor Mode p 95 apes nee NOTICE The Balance Mode button will only cause a mode transition if Balance Mode is __ Disable Request available and the transition is allowed Decel Request Make Noise Figure 56 Control Screen Copyright 2013 Segway Inc All rights reserved 94 SEGWAY RMP 440 SE Controls The RMP can be controlled in a wide variety of ways Segway provides some example control interfaces that are compatible with the Demo OCU but many other methods are possible A WARNING The RMP can accelerate rapidly risking personal injury and or property damage It is recommended that the RMP be securely raised so the wheels are off the ground until the user becomes familiar with the controls Table 68 OCU Demo Controls Command Keyboard Mouse Xbox 360 Logitech GamePad enous standby Mode Dese gt Keyboard The keyboard controls in the OCU Demo are very simple Numbers 1 4 are used to switch modes and the arrow keys are used for movement and turning 0 eit St Spacebar acts as a deadman switch you must hold down the spacebar while pressing the arrow keys for the RMP to move Pressing and holding an arrow key will cause the RMP to move at increasing speed Mou
115. ower is available To enter Diagnostic Mode 1 Turn the RMP off 2 Connect pins D and E on the 6 pin connector for the full pinout see Connector II 32 3 Usethe USB cable to connect the RMP to the computer The RMP will power on This will pull the signal low The RMP will begin initialization but will stop at Init System and remain there Bootloader Mode In Bootloader Mode the RMP remains in the bootloader stage without continuing on to the RMP applications The user can then load new applications into either of the processors using the Bootloader Application see RMP CCU Bootloader Application p 91 In this state the RMP will stay powered as long as USB power is available To enter Bootloader Mode 1 Turnthe RMP off 2 Connect pins D and F on the 6 pin connector for the full pinout see Connector Il p 32 3 Usethe USB cable to connect the RMP to the computer The RMP will power on This will pull the BOOT2 signal low The RMP will stop at the bootloader stage without loading any applications or beginning initialization Standby Mode In Standby Mode the RMP is fully functional with the exception that motion commands are not executed The MCUs are enabled the controllers are initialized and the RMP is holding its position Any motion commands issued will not be executed by the platform Standby mode is entered automatically after successful initialization From here the user can initiate a transition
116. r Range 0 0 7848 Parameter Units m s Stored in NVM Yes Default Value 3 923 RMP SET COASTDOWN ACCEL A WARNING Setting the coastdown acceleration to zero will result in the machine maintaining constant velocity even when no velocity is commanded when using acceleraton based input mapping This could cause death serious injury or property damage This command is used to set the user defined coastdown acceleration value for acceleration based input mapping See Controller Input Mapping p 53 for how this value will affect velocity commands Command ID 5 Parameter Type Float32 Parameter Range 0 0 1 961 Parameter Units m s Stored in NVM Yes Default Value 1 961 RMP SET MAXIMUM TURN RATE A WARNING Setting the maximum turn rate to zero will result in the RMP not being able to turn This could cause death serious injury or property damage This command is used to set the user defined yaw rate limit See Controller Input Mapping p 53 for how this value will affect yaw rate commands Command ID 6 Parameter Type Float32 Parameter Range 0 0 4 5 Parameter Units rad s Stored in NVM Yes Default Value 3 0 Copyright 2013 Segway Inc All rights reserved 44 SEGWAY RMP 440 SE Configuration Commands cont RMP_CMD_SET_MAXIMUM_TURN_ACCEL WARNING Setting the maximum turn acceleration to zero will result in the RMP not being able to turn This could cause death serious injury or prope
117. ransmitter and receiver a Preparethe transmitter i Set all switches to 0 ii Lower the throttle left joystick to the lowest position iii Make sure the transmitter is powered off b Prepare the receiver i Insert the bind plug into the BATT BIND receptacle ii Connect 5V DC power to the receiver iii The receiver s LED flashes when the receiver is ready to bind c Bind i While holding the Trainer switch power on the transmitter ii Keep holding the trainer switch until the receiver s LED stays illuminated this indicates the receiver is bound to the transmitter d Finish i Remove the bind plug from the receiver 4 Connectto the RMP a Connectthe receiver to the RMP see Table 59 and Table 60 b Flipthe Gear switch on the transmitter to 1 This will prevent the RMP from immediately shutting down once the radio connection is established c Turnonthe transmitter d Turnonthe RMP The receiver will turn on after the RMP has started up Copyright 2013 Segway Inc All rights reserved 85 SEGWAY RMP 440 SE Hobby Radio Configuration cont 5 Test the controls a Flip the Flap switch to 1 to enter Tractor Mode b Push the left joystick up and to the left This joystick acts as the deadman switch and must be held left and up for the RMP to accept drive commands Use the right stick to command movement 6 Test the safe state This test determines what will happen when the RMP loses the radi
118. reate an RMP Applications subfolder within the destination folder specified 5 When prompted install Python and its components 6 When the installation is complete click Finish To access the software use the links on the desktop or the links in the Segway folder in the Start menu NOTICE By installing this software you have agreed to the software licence agreement C Program Files Segway RMP_Applications Segway_RMP_SW_LICENSE txt Copyright 2013 Segway Inc All rights reserved 90 SEGWAY RMP 440 SE RMP CCU Bootloader Application The Bootloader Application allows the user to upgrade the software on the Eo a Centralized Control Unit CCU The application connects to the bootloader on De ec the CCU and allows the user to upload new software releases to the RMP Figure 48 6 Pin C t The RMP contains a USB enabled bootloader for re flashing both processors i id This allows the user to update code as new releases become available The latest release is located in the installer package and on the RMP forum It is up to the user to check for the latest installer package Software is available at C Program FileSegwayNRMP Applications WRelease Binaries E CCU Bootloader Application V1 1 http rmp segway com forum There are two bootloaders one for the Segway Processor SP and one for the User Interface Processor UIP Entering Bootloader Mode Lum the of 2 Connect pins D and F on the 6 pi
119. reserved 18 SEGWAY RMP 440 SE Endurance cont Turning Power Usage When driving in circles or turning power usage is based on the turning radius and the speed The information provided here is based on tests performed on dry level pavement with tire pressure at 6 psi and 12 psi The smaller the radius the more power is used Actual performance may vary Figure 17 shows the power usage for an RMP with no additional mass As mass increases power usage also increases The equations below can be used to estimate power usage for an unloaded platform and for a platform with 100 Ibs additional mass Turning Power Usage Unloaded gt o o w a 300 2 2 250 D 1m 2 200 5 li 2m s 5 150 3 m s 100 4m s 0 5 10 15 20 Turning Radius meters Figure 17 Turning Power Usage Unloaded The following empirical relationships can be used to approximate power usage when driving in circles Power draw for an unloaded platform W 215v 145 r W Power Draw Watts v Velocity m s r Radius m Power draw for a platform with 100 Ibs additional mass W 410v 364 r 15 W Power Draw Watts v Velocity m s r Radius m Copyright O 2013 Segway Inc All rights reserved 19 SEGWAY RMP 440 SE Transportation and Shipping NOTICE Lithium ion batteries are regulated as Hazardous Materials by the U S Department of Transporta
120. response packet Each bit in each bitmap corresponds to a piece of data an array If one lines up the binary values for the UDFBs in order UDFB1 UDFB2 UDFB3 UDFB4 there would be one 96 bit value with each bit representing one piece of data in the array If the bit is set the data will be broadcast in the next index if the bit is cleared the data will be skipped and the next set bit will determine the next piece of data in the response The bitmap tables containing variable names meaning type and range for each bit in each bitmap can be found starting on page 60 Usage Examples The following examples demonstrate the concept of the User Defined Feedback Bitmaps First the UDFBs are set using the appropriate configuration commands see page 48 Thereafter every RMP Response will contain the information specified by the UDFBs Depending on whether the communication is over CAN USB or UDP the response may be multiple packets or a single large packet The following examples demonstrate the connection between setting the bitmaps and the variables sent in the response Example 1 First set the UDFBs as shown below Table 35 provides the information Table 35 Setting UDFBI Example 1 required to set UDFB1 Adjust the Command ID and Parameter as required Item Description when setting UDFB2 UDFB3 and UDFB4 see page 48 Message ID 0x0501 ONE ___ UDFB2 0 00000000 none UDFB3 0 00000000 none
121. responsible for creating an interface for communicating with and controlling the RMP Details on how to communicate with the RMP and interpret its responses are described later in this document see Communication p 36 To make this process easier Segway provides an OCU Demo Application and source code see OCU Demo Application p 92 This application is fully functional but is not intended to be an end solution Instead it is meant to be used as a functional example of how to interface with the RMP Turn radius is dependent upon the friction between the RMP tires and the ground In some circumstances the RMP may not be able to turn in place Copyright O 2013 Segway Inc All rights reserved 11 SEGWAY RMP 440 SE Coordinate System The Balance Sensor Assembly BSA uses accelerometers and gyroscopes to determine the position and movement of the RMP all of which are used to create the Pitch State Estimate PSE This data is available to the user The RMP has a coordinate system relative to forward reverse pitch roll and yaw This coordinate system is used when controlling the RMP The diagrams below show the RMP s axes and coordinate system d Forward Figure 7 RMP 440 SE Pitch Axis The variables listed below provide momentary information about the state of the RMP For information on how to receive this data see User D
122. rget can only change at the rates specified in the NVM The following parameters affect velocity based input mapping 1 RMP CMD SET MAXIMUM VELOCITY serves as the velocity limit 2 RMP SET MAXIMUM ACCELERATION the value against which the normalized input command is scaled when the velocity target is moving away from zero velocity 3 RMP SET MAXIMUM DECELERATION the value against which the normalized input command is scaled when the velocity target is moving toward zero velocity Velocity Controller Acceleration Based Input Mapping This type of input mapping is primarily intended for teleoperation of the platform For this input mapping the command is scaled by the user configurable acceleration or deceleration depending on the sign of the command and a desired acceleration is generated Because the velocity controller requires a velocity target this desired acceleration is integrated to produce the velocity target Additionally this desired acceleration command is attenuated as the machine approaches some region of operation near the velocity limit This provides feedback to the driver that they are approaching the limit and helps to smooth the transition from accelerating to steady state at the speed limit Another characteristic is the coast down behavior for zero input Due to the nature of closed loop velocity control a zero input is interpreted as zero acceleration and thus constant speed A simplified
123. rovided in Table 69 Table 69 440 SE Fastener Torque Specifications Fastener Location Fastener Type Drive Torque Wheel Nut 8 Flange Nut Hub Adapter M10 x 22 SHCS Battery Fastener M4 x 30 SHCS Enclosure Cover Enclosure to Bracket Bracket to Rail Gearbox Tire Pressure Ideal tire pressure for the supplied tires depends on both the surface being driven across and the payload being carried Because every situation is different Segway recommends keeping the tire pressure within the range of 6 12 psi Do not allow the tire pressure to exceed what s stated on the sidewall of the tire To ensure that the RMP tracks straight all tires must be inflated to the same pressure When inflating tires to a different pressure be sure to update the tire diameter see RMP_CMD_SET_TIRE_DIAMETER 45 The tire diameter is used internally when calculating velocity acceleration position and differential wheel speed Copyright 2013 Segway Inc All rights reserved 98 SEGWAY RMP 440 SE Parts List Use the diagram and table below to identify part names and numbers Figure 59 RMP 440SE Parts Breakdown Table 70 440 SE Components Table 71 440 SE Fasteners Label Name Part No Description Label Fastener Location Part No Description UI Module Wheel Nut 2M B Hub Adapter 20991 00001 MIO x 30SHCS Li ion D EndosureCover _ 23313 00001 5 10 5 Standard 6 Gearbox 7 20919 00002 Standard 7
124. rovided mounting locations Tapped holes are located on the tops of the rails and on the ends of the rails Tapped holes are M8x12 Dimensions are mm in HREADS 876 30 34 50 774 70 C 30 50 673 10 26 50 CH M8 x 12 THREADS 22 50 488 95 19 25 50 80 387 35 2 00 15 25 i 304 80 i k 12 00 203 20 L 3 8 00 330 50 98 14 13 01 3 86 0 Y 00 Figure 12 RMP 440 SE End Mounting Holes OO S Figure 11 RMP 440 SE Mounting Holes NOTICE Only mount equipment via the provided mounting locations Drilling holes in the enclosure or other modifications to the RMP may adversely affect the FCC rating IP rating and or structural integrity of the RMP Copyright 2013 Segway Inc All rights reserved 14 SEGWAY RMP 440 SE User Interface Panel The power switch LEDs and external connectors for the RMP are all located on the User Interface Panel on the rear of the RMP Users should familiarize themselves with the various connectors and LEDs For information on the connectors and what plugs into them see Connecting p 30 CONNECTOR CONNECTOR IV POWER CO
125. rty damage This command is used to set the user defined yaw acceleration limit This value limits the rate at which the yaw rate target can change Command ID 7 Parameter Type Float32 Parameter Range 0 0 28 274 Parameter Units rad s Stored in NVM Yes Default Value 28 274 RMP CMD SET TIRE DIAMETER ZNWARNING This value must match the actual tire diameter on the RMP Failure to do so will result in undetermined behavior and invalid feedback This could cause death serious injury or property damage This command updates the tire diameter used in software to calculate velocity acceleration position and differential wheel speed yaw rate The RMP must be power cycled rebooted for the change to take effect Command ID 8 Parameter Type Float32 Parameter Range 0 3556 10 Parameter Units Stored in NVM Yes Default Value 0 483616 RMP CMD SET WHEEL BASE LENGTH ZNWARNING This value must match the actual wheel base length on the RMP Failure to do so will result in undetermined behavior and invalid feedback This could cause death serious injury or property damage This command updates the wheel base length fore aft distance between the tires used in software to calculate lateral acceleration and differential wheel speed yaw rate The RMP must be power cycled rebooted for the change to take effect Command ID 9 Parameter Type Float32 Parameter Range 0 4142 1 0 Parameter Units Stored in NVM Ye
126. s Default Value 0 5842 Copyright O 2013 Segway Inc All rights reserved 45 SEGWAY RMP 440 SE Configuration Commands cont RMP_CMD_SET_WHEEL_TRACK_WIDTH A WARNING This value must match the actual track width on the RMP Failure to do so will result in undetermined behavior and invalid feedback This could cause death serious injury or property damage This command updates the track width lateral distance between the tires used in software to calculate lateral acceleration and differential wheel speed yaw rate The RMP must be power cycled rebooted for the change to take effect Command ID 10 Parameter Type Float32 Parameter Range 0 506476 1 0 Parameter Units Stored in NVM Yes Default Value 0 7112 RMP_CMD_SET_TRANSMISSION_RATIO A WARNING This value must match the actual gear ratio on the RMP Failure to do so will result in undetermined behavior and invalid feedback This could cause death serious injury or property damage This command updates the gearbox transmission ratio It is used in software to convert from motor speed to gearbox output speed The RMP must be power cycled rebooted for the change to take effect Command ID 11 Parameter Type Float32 Parameter Range 1 0 200 0 Parameter Units Unitless Stored in NVM Yes Default Value 24 2667 RMP SET INPUT CONFIG BITMAP This command updates RMP behavior configurations It updates the input mapping audio silence settings
127. s license The Company may immediately terminate this Agreement upon your use of the software with any products that are not Segway products The software was written using Python programming language Your use of the software is therefore subject to the terms and conditions of the OSI approved open source license viewable at http www python org You are solely responsible for ensuring your compliance with the Python open source license You shall indemnify defend and hold the Company harmless from any claims demands liabilities or expenses including reasonable attorneys fees incurred by the Company as a result of any claim or proceeding against the Company arising out of or based upon i The combination operation or use of the software by you with any hardware products programs or data not supplied or approved in writing by the Company if such claim or proceeding would have been avoided but for such combination operation or use ii The modification of the software by or on behalf of you iii Your use of the software THIS SOFTWARE IS PROVIDED IN AN AS IS CONDITION NO WARRANTIES WHETHER EXPRESS IMPLIED OR STATUTORY INCLUDING BUT NOT LIMITED TO IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE THE COMPANY SHALL NOT IN ANY CIRCUMSTANCES BE LIABLE FOR SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR ANY REASON WHATSOEVER Copyright 2013 Segway Inc All rights reserved 97
128. se When the mouse interface is chosen the OCU Demo creates an SEF additional GUI window Buttons provide a click friendly way of Balance Mode switching between modes and issuing commands A pair of crosshairs with a circle at the intersection provide the nd interface for moving the RMP Click and drag the circle and down to move the RMP forward and back Drag it left and right to turn Tractor Mode Moving the circle farther from center increases the speed at which the RMP moves Audio Song Xbox 360 Steering The OCU Demo application allows the RMP to be controlled by an input Xbox 360 controller wired or wireless In this configuration the left stick is used for controlling forward and reverse movement The right Switch stick is used for turning The user must hold the deadman switch Left Trigger to make the RMP move at all Deadman Decel Disable Switching between modes for more on modes see Operational Model p 24 is accomplished by the X and B buttons Pressing A will initiate an audio song for more on audio songs see RMP_CMD_ SET_AUDIO_COMMAND p 50 Figure 57 Xbox 360 Controls Copyright 2013 Segway Inc All rights reserved 95 SEGWAY RMP 440 SE Logitech GamePad RumblePad The OCU Demo can be set to use a Logitech GamePad wired or Exit Shutdown wireless to control the RMP The Logitech GamePad looks and acts Mode very similar to the Xbox 360 controller The major d
129. sential system functions including timing management control algorithms safety kernel functions redundancy management estimation algorithms and Segway hardware interfaces In addition a real time clock and Non Volatile Memory NVM allow for diagnostic fault logging Figure 20 Centralized Control Unit User Interface Processor The UIP controls the interaction between the user and the RMP It allows the user to command RMP motion configure machine parameters and access faultlog information The UIP consists of four layers System layer O layer Toolkit layer and Application layer 1 System layer manages hardware specific functionality like interrupts and timing 2 Thel O layer manages all processor 1 0 including GPIO ADC DAC CCP USB UDP CAN RS232 TTL Serial and the SPI link The 1 0 layer is responsible for gathering all raw UIP data and presenting it to the Toolkit layer 3 Toolkit layer abstracts the information gathered by the 1 0 layer and interprets it into meaningful system level data The Toolkit layer then relays that information to various interfaces for consumption by the user 4 The Application layer consists of an application stump for future expansion and development of the system Powerbase The powerbase is one of the main components of the Segway PT and has been leveraged for use as the propulsion unit of the RMP Each RMP 440 SE has two powerbases one for the front wheels and one for th
130. subnet must match e Computer gateway and RMP gateway must match See Table 17 for recommended computer settings The RMP uses UDP port 8080 to communicate over the Ethernet connection The port number is user configurable see _ SET PORT NUMBER p 47 The RMP sends and receives data on that port so a connected computer must send and receive data on the same port as the RMP The RMP will only connect to one host computer at a time A 30 second communication timeout is required when changing hosts The RMP will respond to ICMP ping requests Copyright 2013 Segway Inc All rights reserved RMP 440 SE Figure 38 Starter Breakout Harness Table 16 Default RMP Ethernet Settings Parameter Default Value Table 17 Recommended Computer Settings Parameter Default Value IP Address 192 168 0 100 Subnet Mask 255 255 255 0 19216801 34 SEGWAY RMP 440 SE CAN The RMP can communicate with any CAN enabled device However the included demo applications require a Kvaser USB to CAN adapter to be used Other brands of USB to CAN adapters will not work with the demo applications To install a Kvaser adapter 1 Download the Kvaser drivers from http www kvaser com en downloads html As of the current printing the drivers for all of Kvaser s products are available in a single install file 2 Install the Kvaser drivers For details on how to install the drivers see the Kvaser install
131. t on systems without a 7 2 V battery this data is set to zero 3 Since power on Copyright 2013 Segway Inc All rights reserved 65 SEGWAY RMP 440 SE RMP Response cont User Defined Feedback Bitmap 4 UDFB4 is for future expansion and therefore contains no valid bits The masks associated with UDFBA for ease of implementing a parsing algorithm are FLOATING POINT MASK 0x00000000 INTEGER MASK 0x00000000 Copyright 2013 Segway Inc All rights reserved 66 SEGWAY RMP 440 SE IEEE754 32 bit Floating Point and Integer Representation For background on the IEEE754 standard see http en wikipedia org wiki IEEE_754 2008 For a 32 bit CPU or Microprocessor that conforms to the IEEE754 format the following functions would be used to convert back and forth between integer and floating point representation Where U32 T is a 32 bit unsigned integer and Float32 is a 32 bit single precision floating point number convert float32 to u32 Nbrief Converts a Float32 value to U32 T in the same bit pattern param Float32 to be converted Nreturn Converted value U32 T convert float32 to u32 Float32 value Convert the pointer to the Float value to 032 T pointer and return the dereferenced value lint save e740 return U32 T amp value lint restore I Fan cla aati a quit xcu 77 convert u32 to floa
132. t32 Nbrief Converts a U32 T value to Float32 in the same bit pattern Nparam U32 T to be converted Nreturn Converted value Di EE MM M LE Float32 convert u32 to float32 U32 T value 1 Convert the pointer to the Float value to 032 pointer and return the dereferenced value lint save e740 return Float32 amp value lint restore Copyright 2013 Segway Inc All rights reserved 67 SEGWAY RMP 440 SE Cyclic Redundancy Check CRC 16 For information about CRC calculations see http en wikipedia org wiki Cyclic_redundancy_check COPYRIGHT 2011 SEGWAY Inc Contains confidential and proprietary information which may not be copied disclosed or used by others except as expressly authorized in writing by SEGWAY Inc Mile tk crc c Nbrief This module contains basic functions for data transfer level error checking Nplatform RMP Auxiliary Battery Board include defines h include tk crc h include types h CRC table defines define ADJUSTMENT 0xA001 define TABLE SIZE 256 define INITIAL 0 The CRC table static 016 crc table CRC TABLE SIZE Private function prototypes static U16 T compute crc table value U16 T the byte E ara iecur tune edd te
133. ta 6 0x00 Data 7 0x05 USB and UDP The USB and UDP interfaces mimic the CAN interface with the addition of a CRC 16 The packet is sent in a byte array See the command structure Table 30 USB and UDP Configuration Commands shown in Table 30 Tem Description gp cmd SET OPERATIONAL MODE 0x00000020 Data 0 Data 1 gp param TRACTOR REQUEST format integer 0 00000005 Data 2 Data 5 Example packet Data 6 Data 9 Data 0 0x05 Data 10 Data 1 0x01 Data 2 0x00 Data 3 Data 4 Data 5 0x20 Data 6 0x00 Data 7 0x00 Data 8 0x00 9 0x05 Data 10 0 4 1 0x51 Copyright 2013 Segway Inc All rights reserved 42 SEGWAY RMP 440 SE Configuration Commands cont RMP_CMD_NONE This command is used to poll the RMP for data without issuing a command that will result in an action This command does nothing but is valid and will solicit a response Command ID 0 Parameter Type 032 Parameter Range 0 value ignored Parameter Units Unitless Stored in NVM No Default Value N A RMP_CMD_SET_MAXIMUM_VELOCITY This command is used to set the user defined maximum velocity limit See Controller Input Mapping p 53 for how this value will affect velocity commands Command ID 1 Parameter Type Float32 Parameter Range 0 0 8 047 Parameter Units m s Stored in NVM Yes Default Value 2 2357 RMP SET MAXIMUM ACCELERA
134. tes interact Each of these states is discussed in more depth on the following pages s PowerOn Initialization Init Init __Initialization__ j Hardware Propulsion Successful User Requested Mode Change DTZ Requested Tractor Mode Standby Mode Issues ser Commanded Disable Fault Detected BOOT Signal BOOTI Signal Bootloader BOOT2 Diagnostic PELLEM Mode Mode DTZ Requested User Commanded Disable Disable User CommandedDisable Mode Fault Detected Figure 25 System State Diagram Faults Faults occur in response to events that impact the RMP This could include anything from receiving a user commanded DTZ signal to detecting a failed battery Sometimes faults are the result of a problem that needs to be resolved Other times they are merely informative In response to a fault the RMP may simply log the fault or it may take an action There are four types of fault responses e Nofault response fault is logged No change in RMP behavior e DIZresponse fault initiates a Decel To Zero RMP comes to a stop logs the fault and powers off e Disable response fault causes RMP to power off RMP logs the fault and powers off immediately e Disable MCU response fault causes a single MCU to go down RMP
135. tion For more information contact the U S Department of Transportation at http www phmsa dot gov hazmat regs or call 1 800 467 4922 To prevent damage to your RMP always ship it in the original crate it came in The crate disassembles for storage If you do not have the original crate contact Segway for a replacement see Contact Information p 5 Copyright 2013 Segway Inc All rights reserved 20 SEGWAY RMP 440 SE Electrical Overview This section describes the components of the RMP and shows how they interact System Architecture The RMP combines the robustness of the Segway powerbase with a versatile Centralized Control Unit CCU The powerbase is the same proven technology used in the Segway Personal Transporter Segway PT It controls the wheels senses the RMP s orientation and provides a mounting location for the batteries The Centralized Control Unit coordinates the RMP s movement and controls communication among all the components It acts as the interface between the RMP and the outside world The diagram below shows how these components communicate with each other Centralized Control Unit Timing and Frame Synchronization p Tes Ethernet q Bot EN Boot 2 5 9 a CAN User Interface Segway E Processor Processor Disable E USB 8 iz Decel S 4 Disable v Auxiliary Battery peen m
136. tion commands control models with mecanum wheels not tires An omni directional RMP cannot use tires The motion command packet is used to command machine velocity and yaw rate The commands are normalized and scaled to 16 bits 32768 32768 then packed into a U32_T The normalized values are scaled against the user configurable parameters associated with the controller Example vel 1 0 1 0 cmd f 10 1 0 Q15 32767 vel cmd 516 T vel cmd f x 015 yaw cmd S16 T yaw cmd f x 015 Valuel 32 T vel cmd lt lt 16 amp OxFFFFOOOO cmd amp OxOOOOFFFF The angle command variable format is Float32 The angle command is not Table 25 Omni Motion Command Structure normalized and has a range of 0 360 Item Description The basic motion command structure is shown in Table 25 Variables 1 High MessagelD 0060 and 1 Low are formatted as S16_T with a range of 32768 32768 Variable 2 is 2 formatted Float32 with a range of 0 360 Value 1 High Normalized Scaled Velocity For details on converting floating point values to integer representation Value 1 Low Normalized Scaled Yaw Rate in IEEE754 format see IEEE754 32 bit Floating Point and Integer Representation p 67 CAN Motion commands sent on the CAN interface follow the structure listed in Table 26 Example Table 26 CAN Omni Motion Commands vel cmd 075 0 75 x 32767 24575 OxbFFF yaw cmd 0 25 0 25 x
137. to tractor mode or disable the RMP Tractor Mode In Tractor Mode the RMP will accept motion commands from the user This is the only mode in which the RMP can be commanded to move In this state the MCUs are enabled and the controllers are running Motion commands issued by the user will be accepted Tractor Mode can only be entered from Standby Mode as the result of a user mode request see _ SET OPERATIONAL p 50 From here the user can initiate a transition back to Standby Mode or can disable the RMP Copyright O 2013 Segway Inc All rights reserved 26 SEGWAY RMP 440 SE Disable Mode A WARNING When the RMP powers off it may continue to move for example it could roll downhill This could cause personal injury and property damage In Disable Mode the RMP performs housekeeping functions and then powers off In this mode the propulsion drives are disabled and all user commands are ignored In this mode the following actions are performed 1 Drives are disabled via software and hardware 2 The ABB shuts down the protected 72 V output 3 processors go into reset 4 The RMP powers off If the RMP is powered off via the on off switch none of the above housekeeping functions are performed The recommended way to power off the RMP is to send a powerdown request see RMP_CMD_SET_OPERATIONAL_MODE p 50 and Powering Off p 29 Disable Mode can be entered at any time via user command see Ge
138. ttery Faults Data 1 High Build ID Data 1 Low The following tables provide the bitmaps for ABB Status Data O High and Battery Hazards Data 0 Low If Battery Faults Data 1 Low is anything other than 0x0000 contact Segway to purchase a replacement battery The mask for ABB Status Bitmap is Ox1FFFOOO on Data 0 Table 74 ABB Status Bitmap Data 0 High Bit Description Action 0x0000 ABB ABB is operational 0x0001 COMM INIT TIMEOUT The ABB was not able to start Check ABB connection to battery communications with the battery BCU 0x0002 LOW BATTERY SOC The battery State Of Charge is lower Charge the battery than 5 0x0004 LOW BLOCK VOLTAGE Battery has detected low block voltage Charge the battery If this error occurs internally on one of its banks frequently replace the battery 0x0008 BATTERY IS HOT The internal battery temperature is too Turn off the RMP and let the battery cool high for operation down 0 0010 BATTERY_IS_COLD internal battery temperature is too Turn off the RMP warm the battery up low for operation 0 0020 INTERNAL_BCU_FAULT Internal Battery Control Unit fault Replace the battery 0 0040 LOW PACK VOLTAGE Battery pack voltage has dropped below Charge the battery its operating range 0 0080 ABB OVER CURRENT ABB has detected that the current draw Reduce external load Check for shorts has exceeded the fuse rating for a period of time
139. ver all 3 interfaces this setting only affects the OCU Demo application Performance Defines all the user configurable dynamic characteristics of the machine Sets the maximum velocity acceleration rates deceleration rates turning rate and other similar parameters Machine Parameters Defines the physical characteristics of the RMP that are used for calculating odometry and inertial estimates Extracting the Fault Log Input Mapping Defines how various commands and actions are interpreted by the RMP Network Settings Provides the IP port subnet and gateway settings for the RMP to use Network settings do not go into effect until the RMP restarts Feedback Determines which parameters the RMP will provide when asked for a status update Any item not included is not sent by the RMP when responding to status requests Confirmation Provides a summary of the settings and allows the user to save the config or discard the changes On the OCU Demo welcome screen Figure 51 p 92 there is a button for extracting the fault log from the RMP Pressing this button will open a connection with the RMP and save the fault log to your computer l Click Extract Faultlog 2 Select your connection interface 3 Selecta save location Default location is C Program Files Segway RMP_Applications RMP_Demo_OCU_Application RMP_CCU_FAULTLOGS The fault log is saved as an html file Faults are listed in the order they appear in the fault lo
140. verted Gearbox 50m Gom aw Up to 24 hours Charge Time Battery Chemistry LiFePO Propulsion Battery 380 Wh each Capacity Auxiliary Battery 380 Wh Capacity Payload E Max Payload 180 kg 400 Ibs centered All Terrain Payload 90 kg 200 Ibs centered Turn in place capability and turning radius are dependent on the load conditions operating surface type tire friction etc Based on an unloaded platform 3 Based on an unloaded platform with 6 psi tires travelling in a straight line on level pavement Actual performance may vary Run time based on internal battery power Extended run time is possible with charger connected 5 Turn in place and tight radius turns are not possible when operating on high traction surfaces with payloads at or near the maximum 6 The maximum payload that will allow the RMP to turn in place even on high traction surfaces Environmental Specifications The Segway RMP was designed to withstand environmental conditions both indoors and outdoors Table 4 Environmental Specifications Characteristic Value Operating Temp Range 0 50 C Storage Temp Range 20 50 C Ingress Protection Designed to meet IP66 NEMA 4 7 Batteries must be installed in order for enclosure to be fully sealed Copyright 2013 Segway Inc All rights reserved 17 SEGWAY RMP 440 SE Endurance Platform endurance is determined by measuring battery draw while performing various maneuvers
141. ware Updates Periodically Segway releases new software updates for the RMP New software may improve performance and or change how the RMP functions Always read the release notes before upgrading Some upgrades may require users to change their user created software as well To check if a software update is available go to the RMP forum at http rmp segway com forum and click on the subforum titled Technical Info for centralized controller based platforms 440LE 440SE 220 210 Software releases are posted as announcements at the top of the subforum Copyright 2013 Segway Inc All rights reserved 100 SEGWAY RMP 440 SE Batteries A pair of propulsion batteries mount to the bottom of each powerbase An auxiliary battery mounts to the enclosure Auxiliary Battery Battery 3 Battery 2 Battery 1 Battery 0 Figure 61 Battery Locations Replacing Batteries Whenever you replace a propulsion battery consider replacing all propulsion batteries Replacing only one battery will not necessarily increase the performance or range of your Segway RMP because the Segway RMP is designed to operate only at the level allowed by the lower energy battery Therefore you should replace all propulsion batteries together except in the unusual situation where a battery is replaced because of damage or defect and the others are relatively new Table 72 Lithium ion Battery Specifications Characteristic Value Charging Time

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