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1. 20 Environmental SS CCHS A CONS xeu na ARE RA 20 Transportation and Shipping Pla oo den 21 Balancing Gall Schedules aeaea touc a ttis va 23 Balance Mode 24 Entering Balance 24 Balance 24 5 5 np di 25 Interaction With The boe pls tn ev Ecke au pur d 27 Balance Mode Falls RR MEX NE erba bet agian epe rate ea marae 3l Hardware Balance Request dada snl ead 31 31 Electrical Overview System Architect re eir eue oon ppt 32 System SUNSET RTT Sty badass pa TETUER 32 System Components 33 Copyright 2014 Segway Inc All rights reserve
2. 95 CONTIG ATOM tocaba ui 96 Hardware 102 Mode Selectionner nn Dope 103 Status debet te 103 COL IBDUCPOWBI 104 CCU Battery SBDply soon enean EUR RR 104 ARE INANA A e 104 Included Software Installing th SOTBWATO ui a x eect ocean etes p oaa aai sum tegebat usus 105 idol tr Pura la rrr diente aa 106 OCU Demo Applicat O d tata street Mte eh ces d Ld etica dau 107 Software License Agreement 12 seed 113 idu chic A C NS 113 Parte LOS te 14 Use the diag
3. 5 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 velocity target goes to zero with zero input command Copyright O 2014 Segway Inc All rights reserved 64 SEGWAY Standard 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 210 220 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 Norm Yaw 0 2 Norm Yaw
4. 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 TILT SENSOR SATURATED PSE FAULT COMPARISON Copyright 2014 Segway Inc All rights reserved RMP 2107 7220 89 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 0x00000200 0x00000400 0x00000800 wu 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 ARCHIT
5. 0 4 amp Norm Yaw 0 6 4r amp o A Norm Yaw 0 8 N Norm Yaw 1 0 35r E x E 25 pow I ess 5 2L in E 215 C WE 1 0 5 0 1 1 1 0 1 2 3 4 5 6 7 Vehicle Velocity m s Figure 61 Yaw Rate Target vs Vehicle Velocity Limit Based Mapping There are two configurable parameters stored in NVM that affect this type of input mapping 1 RMP CMD SET MAXIMUM TURN RATE the value against which the normalized input command is scaled to generate desired yaw rate 2 RMP CMD SET MAXIMUM TURN ACCEL the rate of change limit for the yaw rate target Copyright 2014 Segway Inc All rights reserved 65 SEGWAY RMP 210 220 Standard 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 t
6. 4 0 Strafe Left Right Turn Left Right Figure 87 Logitech Extreme 3D Controls Copyright 2014 Segway Inc All rights reserved 111 SEGWAY RMP 210 220 Software License Agreement Copyright 2014 Segway Inc All rights reserved Redistribution and use in source and binary forms with or without modification are permitted provided that the following conditions are met 1 Redistributions of source code must retain the above copyright notice this list of conditions and the following disclaimer 2 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution 3 Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY
7. 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 2014 Segway Inc All rights reserved 10 SEGWAY RMP 2107 7220 RMP 210 and 220 The RMP 210 and RMP 220 are battery powered Robotics Mobility Platforms RMPs meant to be used as the propulsion systems for robotic products The major difference between the two models is the number of Motor Control Units MCUs in the powerbase and the presence or absence of a Balance Sensor Assembly BSA The RMP 210 has one MCU one propulsion battery and no BSA The RMP 220 has two MCUs two propulsion batteries and a BSA The second MCU provides component level redundancy one MCU can fail and the platform will continue to operate The second battery provides additional range and operational time The BSA contains sensors that provide the orientation data necessary for balancing The RMP 210 is a compact non balancing platform with three wheels two propulsion wheels and one caster wheel It has only one Motor Control Unit MCU and one propulsion battery making it suitable for low payload applications that don t require redundancy The RMP 220 is taller than the 210 and is capable of running in either Tractor Mode with a third wheel or in Balance Mode balancing on two wheels W
8. disclosed or used by others except as expressly authorized in writing by SEGWAY Inc Mile tk_cre 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 pie A ce side uu e ues Mix E Sui d Tues tk crc initialize Nbrief Initialize the crc table Nparam void Nreturn void ff eee e ve ene nas e eite a void tk crc initialize void U16 T byte for byte 0 byte TABLE SIZE byte 1 crc table byte compute crc table value byte a C tk crc calculate crc 16 Nbrief This computes an updated CRC 16 given the current value of Copyright 2014 Segway Inc All rights reserved 83 SEGWAY RMP 210 220 Cyclic Redundancy Check CRC 16 cont the CRC 16 and a new data byte param old crc the CRC f
9. Extract the Faultlog 1 Double click 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 2014 Segway Inc All rights reserved RMP 210 7220 119 SEGWAY RMP 210 220 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 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 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 C Program FilesSegway RMP Applications eMP Demo OCLI Application RMP FAULTLOGS RMP 11212012 105208 html Log Version 00000001 LogSize Bytes 1244 Number of Entries 5 LatestEntry 4 Serial lumber 111312020001 4581
10. p 64 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 This 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 On the RMP 220 users can mount equipment to the mounting plate at the top of the RMP 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 r
11. rear base batt 2 soc mcu 0 inst power W mcu 1 inst power W Variable 7 UDFB3 bitl5 fram dtz limit fram dtz limit mps2 CRC 16 mps2 CAN response messages are broken into packets containing two Variable 8 I 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 Table 45 Table 45 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 limit mps2 0 0000 CRC Copyright O 2014 Segway Inc All rights reserved 73 SEGWAY RMP 210 220 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 amp OxOOOOFFOO byte ix4 3 amp OxOOOOOOFF Where is 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 73 UDFB1 0x800
12. 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 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 Standard Input Mapping p 64 Command ID 12 Parameter Type 032 T Parameter Range 0 0000000 valid mask Parameter Units Unitless Stored in NVM Yes Default Value 0x00000001 YAW ALAT SCALE MAPPING YAW ALAT LIMIT MAPPING uo VELOCITY BASED MAPPING ACCELERATION BASED MAPPING uo ALLOW MACHINE AUDIO SILENCE MACHINE AUDIO uo ENABLE AC PRESENT CSI DISABLE AC PRESENT CSI Wo BALANCE_MODE_DISABLED BALANCE_MODE_EN
13. Each LED corresponds to a specific battery For more information see Charging p 28 Auxiliary Battery Auxiliary Battery Front 0 Battery 0 1 Figure 22 Battery Locations 210 Figure 23 Battery Locations 220 Copyright O 2014 Segway Inc All rights reserved 18 SEGWAY RMP 210 220 Powerbase Connections On the side of the enclosure there are two powerbase connectors The left hand connector goes to the powerbase the right hand one is unused If two powerbases are used the right hand connector goes to the rear powerbase The powerbase must be plugged into the proper connector for the charge status LEDs to be correct CONNECTOR V CONNECTOR VI 2 SECS ANT 14 MAILE Figure 24 Powerbase Connections Connector V Connect the powerbase to this jack Connector VI Cover this jack with the protective cap Copyright 2014 Segway Inc All rights reserved 19 SEGWAY RMP 210 220 Performance Specifications The RMP is driven by two independent and fully redundant brushless DC drive motors It can operate both outdoors and indoors Traversable terrain includes asphalt sand grass rocks and snow Table 4 Performance Specifications Characteristic 210 220 Mobitity Turn Envelope 771 mm 30 4 in
14. 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 42 Segway Powerbase Copyright 2014 Segway Inc All rights reserved 33 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 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 t
15. Fastener Torque Specifications Fastener Location Fastener Drive Type Torque 10N m 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 Table 72 Tire Pressure the tire pressure within the range of 6 15 psi Do not allow the tire pressure to exceed what s Payload Tire Pressure stated on the sidewall of the tire For best results tire pressure should be adjusted to match the Obs Ok payload and the environment In general lower pressures increase traction and roll damping and 0155 0 kg 6 psi higher pressures increase range and roll stiffness 50 Ibs 20 kg To ensure that the RMP tracks straight both tires must be inflated to the same pressure 100 Ibs 45 kg When inflating tires to a different pressure be sure to update the tire diameter see RMP 200 Ibs 90 kg SET TIRE DIAMETER p 56 The tire diameter is used internally when calculating velocity acceleration position and differential wheel speed Copyright 2014 Segway Inc All rights reserved 113 SEGWAY RMP 210 220 Parts List 210 Use the diagram and table below to identify part names and numbers Figure 88 RMP 210 Parts Breakdown Table 73 Components 210 Table 74 Fasteners 210 Label Name Part No Description 4 Gearbox Label Fastener Location Part N
16. Parameter Default Value Table 18 Recommended Computer Settings Parameter Default Value IP Address 192 168 0 100 Subnet Mask 255 255 255 0 19216801 45 SEGWAY RMP 2107 7220 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 installation guide for your product 3 Plugin 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 59 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 105 These are custom Segway drivers and will not install automatically When the Found New Hardware Wizard appears the Sound Mew Hardware Wizard folder containing
17. 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 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 BSA Faults 00000000 Motordrive Faults 00000000 Architecture Faults 00000010 x00000010 ARCHITECT_FAULT_COMMANDED_SAFETY SHUTDOWN Internal Faults 00000000 Data 0 00000000 0 000000 Data 1 00000004 0 000000 Figure 93 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 x00000040 ARCHITECT_FAULT_KILL_SVVITCH_ACTIVE Internal Faults 00000000 Data 0 00000004 0 000000 Data 1 00000000 0 000000 Fault 5 Fault 10 emply Fault 11 empty Figure 94 Faultlog Example 2 Copyright 2014 Segway Inc All rights reserved 120 SEGWAY RMP 210 220 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
18. 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 Nparam Float32 to be converted Nreturn Converted value U32 T convert float32 to u32 Float32 value 1 Convert the pointer to the Float value to a U32 T pointer and return the dereferenced value lint save e740 return U32 T amp value f lint restore Uy wi aa mier NUUS AS els convert u32 to float32 Nbrief Converts a U32 T value to Float32 in the same bit pattern param U32_T to be converted return Converted value Le EE eta a sc ao LL ake See yeaa 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 2014 Segway Inc All rights reserved 82 SEGWAY RMP 2107 7220 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
19. 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 manual 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 messages regarding possible damage the RMP or other property or usage tips A WARNING 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
20. 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 2 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 and 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 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 Mod
21. 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 the 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 dispos
22. 26 Omni Motion Command Structure normalized and has a range of 0 360 Description The basic motion command structure is shown in Table 26 Variables 1 High MesagelD 0x0600 and 1 Low are formatted as S16 T with a range of 32768 32768 Variable 2 is 2888 090 formatted Float32 with range of 0 360 ValuelHigh 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 82 CAN Motion commands sent on the CAN interface follow the structure listed in Table 27 Example Table 27 Omni Motion Commands vel cmd 0 75 0 75 x 32767 24575 OxbFFF Dm yaw cmd 0 25 0 25 x 32767 8191 OxIFFF Item Description angle cmd 45 0 0x42340000 IEEE754 integer representation Baud Rate 1Mbps Example packet Message ID 0x0600 Message ID 0 0600 Data Length Be c O DataLength 8 Data 0 Data 1 Normalized Scaled Data 0 0x5F Velocity Datal OxFF Data 2 Data 3 Normalized Scaled Data 2 OxIF Yaw Rate Data 3 OxFF Data 4 0x42 Data 4 Data 7 Data 5 0x34 Data 6 0x00 Data 7 0x00 Copyright 2014 Segway Inc All rights reserved 51 SEGWAY RMP 210 220 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 i
23. 41 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 1 0 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 I O 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 220 has one powerbase that controls both wheels Inside the powerbase are two Motor Control Units MCUs and a BSA The powerbase is not serviceable by the user this information is provided for completeness only Motor Control Unit Front The MCU is a Segway motor drive It utilizes the robustness of the Segway PT propulsion system as a motor drive
24. 771 mm 30 4 in Max Slope 20 10 non balancing 5 balancing Peak Torque 50 N m 37 Ib ft 100 N m 74 Ib ft Each Wheel 25 km 15 mi 50 km 30 mi Up to 24 hours Up to 24 hours Charge Time Battery Chemistry LiFePO LiFePO Propulsion Battery 380 Wh each 380 Wh each Capacity Auxiliary Battery 380 Wh 380 Wh Capacity Max Payload 400 Ibs 400 Ibs Based on an unloaded platform Based on an unloaded platform with 15 psi tires travelling in a straight line on level pavement Actual performance may vary 3 Run time based on a stationary RMP running on internal battery power Extended run time is possible with charger connected Environmental Specifications The Segway RMP was designed to withstand environmental conditions both indoors and outdoors Table 5 Environmental Specifications Characteristic Operating Temp Range 0 50 C Storage Temp Range 20 50 C Ingress Protection Designed to meet IP66 NEMA 4 Batteries must be installed in order for enclosure to be fully sealed Copyright O 2014 Segway Inc All rights reserved 20 SEGWAY RMP 210 220 Transportation and Shipping NOTICE 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 To prevent damage to your RMP always ship it in the origin
25. Copyright 2014 Segway Inc All rights reserved 77 SEGWAY RMP 210 220 RMP Response cont Table 49 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 0x10000000 aux batt current A Float32 0 Auxiliary battery current 0x20000000 aux batt temp degC Float32 Auxiliary battery temperature 0 40000000 abb system status U32 T ABB system status Ox80000000 aux batt status U32 T ABB battery status Note that the motor data available is dependent on the number of powerbases in the 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 O 2014 Segway Inc All rights reserved 78 SEGWAY RMP 210 220 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 0xOO1
26. EM 416 116 4 93 d 3 7 152 94 6 0 3 7 Figure 10 RMP 210 Side View Figure 11 RMP 210 Rear View Copyright 2014 Segway Inc All rights reserved 14 SEGWAY RMP 210 220 Physical Characteristics 220 For product dimensions please refer to the diagrams below A summary of the major dimensions is provided in Table 3 NOTICE Product options may change the characteristics of the RMP Table 3 RMP 220 Physical Characteristics Characteristic Value 665 a 2 Length 664 mm 26 1 in 76 Width 637 mm 25 1 in 3 0 Height 761 mm 30 0 in 1222 2 71 Width 423 mm 16 7 in Height 212 mm 8 3 in Wes 19 in Segway i2 Tire Length 419 mm 16 5 in N 559 220 Recommended s ome 71 Figure 12 RMP 220 Top View Weight 73 kg 161165 343 215 E p 18 5 87 Ni 152 4 93 385 60 450 3 7 15 2 17 7 637 Figure 13 RMP 220 Side View 25 1 Figure 14 RMP 220 Rear View Copyright 2014 Segway Inc All rights reserved 15 SEGWAY RMP 2107 7220 Mounting Locations 210 Equipment can be mounted to the RMP using the provided mounting locations Tapped holes are located on the tops and ends of the rails T
27. 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 55 UIP CAN 2 J13 Pin Notes 17 CANHEh H8 19 CAN 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 56 SP CAN 1 J9 Pin Name Notes Ho JONHgh 2 can tow 3 CAN_GND Must be connected to CAN BUS GND Copyright 2014 Segway Inc All rights reserved 96 SEGWAY RMP 210 220 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 57 SP CAN 2 J20 Pin Name Notes 1 CAN Low 2 3 CAN_GND Must be connected to CAN BUS GND ABB CAN The Auxiliary Battery Board ABB has one CAN channel 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 58 ABB CAN J2 Pin J3 Pin Notes ofS O 20r5 CAN GND be con
28. Sets the maximum velocity acceleration rates deceleration rates turning rate and other similar parameters Extracting the Fault Log Machine Parameters Defines the physical characteristics of the RMP that are used for calculating odometry and inertial estimates 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 79 p 107 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 1 Click Extract Faultlog 2 Select your connection interface 3 Selecta save location Default location is C Program FilesNSegwayNRMP ApplicationsNNMP Demo OCU ApplicationNRMP FAULTLOGS The fault log is saved as an html file Faults are listed in the order they appear in the fault log 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 Ea
29. THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Copyright 2014 Segway Inc All rights reserved 112 SEGWAY RMP 210 7220 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 e Use only Segway approved fasteners on the RMP Other fasteners may not perform as expected may come loose Always use thread lock on fasteners to keep them from coming loose Insert fasteners slowly and carefully Do not cross thread or over tighten fasteners Tighten only to the prescribed torque Donot attempt to repair any stripped or damaged screw hole Instead replace the part If a replacement part is not available do not reassemble Failure to heed these warnings could lead to death serious injury or property damage Fastener Torque A CAUTION 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 provided in Table 71 Table 71
30. battery unusable As with all rechargeable batteries do not charge near flammable materials When charging the batteries heat up and could 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 Do not use 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 Use assistance when moving or lifting the RMP Single person lifting could result in serious injury Copyright 2014 Segway Inc All rights reserved RMP 2107 7220 SEGWAY RMP 2107 7220 AC NOT Copyright 2014 Segway Inc All rights reserved AUTION 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 Read and understand the Balancing chapter of this ma
31. can be entered at any time via user command see General Command Structure p 48 Some faults will also cause a transition to Disable Mode Copyright O 2014 Segway Inc All rights reserved 38 SEGWAY Charging ZA 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 A CAUTION 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 10 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 sure the ambient temperature is between 10 C 50 C and the humidity is less than 9096 non condensing Make sure the RMP is powered off Connect the External Power Supply to the charge port on the RMP Connector IV 4 Plugthe power cord into the IEC connecto
32. configurable items set it to O to stop forcing the feedback Command ID 30 Parameter Type 032 T Parameter Range Oor1 Parameter Units Boolean Stored in NVM No Default Value N A When this command is set to 1 the response will contain the following feedback1 0x00000000 feedback2 0x00000000 feedback3 OxFFFFFOOO 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 71 for details Copyright 2014 Segway Inc All rights reserved 60 SEGWAY RMP 210 220 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 32 for a list of available audio songs Command ID 31 Parameter Type 132 T Table 32 Audio Songs Parameter Range 0 16 Audio Song Value Must Be Cleared Parameter Units Unitless MOTOR AUDIO PLAY NO SONG o we Default Value N A MOTOR_AUDIO_PLAY_POWER_ON_
33. 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 10 Connector Pinout Pin Signal Pin A ETHERNET TX ETHERNET TX ETHERNET RX ETHERNET RX USB_VBUS USB_D USB_D USB_ID USB_GND SERIAL TX SERIAL CANIL RADIO1 RADIO2 INot fully supported at time of printing 3 A J ep I r x rc m Copyright 2014 Segway Inc All rights reserved m M No no P K DD EE Ethernet use Q serial Q Hobby Radio Q Power LCD Screen Figure 49 56 Pin Connector Signal 41 SEGWAY RMP 210 220 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 50 Starter Breakout Harnes
34. cont The situation shown in Figure 36 is very different from a dynamic standpoint but the controller cannot differentiate between this configuration and the ones in Figure 34 and Figure 35 In this case the RMP will accelerate faster and faster to the right trying to bring the machine to a level equilibrium It will quickly trip the position error limit of 12 feet and Disable Figure 36 Caster Wheel A caster wheel can cause the RMP to accelerate rapidly even if it does not normally contact the ground If the RMP hits an obstacle or encounters a slope the caster wheel will tip the RMP and start it accelerating in the opposite direction Figure 37 Caster Wheel on a Slope Copyright 2014 Segway Inc All rights reserved 29 SEGWAY RMP 210 220 Obstacles When the RMP needs to roll over an obstacle the CG of the RMP must tilt forward over the contact point When the tire makes contact with the obstacle it stops rolling and the frame tilts forward Once the CG is over the contact point with the obstacle the RMP will roll over the obstacle provided the obstacle is small and sufficient traction exists Because torque is required to hold the tilted position there is a tendency to overshoot the obstacle Approaching obstacles with a small initial velocity typically helps in traversing obstacles Figure 38 Crossing an Obstacle ZNWARNING e Ifthe RMP is traveling too fast over an obstacle the wheels could leave the ground When
35. 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 this 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 83 Example Set the UDFBs as shown below Information on setting UDFBs is found in Configuration Commands p 53 Information on the feedback bitmaps themselves is found on page 59 UDFB1 0x80000001 bits 0 31 Table 44 RMP Response UDFB2 0x00008001 bits 0 15 Item UDFB Variable Name UDFB3 0x00008030 bits 4 5 15 UDFB4 0x00000000 none Variable1 UDFBI bitO fault status word 1 After the UDFBs are set all RMP response messages will contain the Variable 2 UDFBI bit31_ right_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 base 2 soc OPES MEO aeons Variable5 UDFB3 bit4 mcu_O_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 UDFBS bit meu_Linst_power_W
36. down 0 0010 BATTERY_IS_COLD internal battery temperatureistoo Turn off the RMP warm the battery up low for operation 0 0020 INTERNAL_BCU_FAULT Internal Battery Control Unit fault Replace the battery 0x0040 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 0 0100 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 0x0400 ABB HOST COMMANDS The Host has commanded the ABB to None If it was unintentional check the host SHUTDOWN shutdown code 7 i 10 x0800 GOING TO SHUTDOWN A condition has triggered the ABB to Check the condition in this bitmap shutdown 0x1000 IS PRESENT The ABB has detected that a charger is This is informational only connected and charging the battery Copyright O 2014 Segway Inc All rights reserved 122 SEGWAY RMP 210 220 Faults cont The mask for Battery Hazards is 0 0000 00 on Data 0 Table 80 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 c
37. 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 Ul box show the charge status of each battery ae Figure 2 Disable Button Figure 3 Starter Breakout Harness Figure 4 External Power Supply Copyright 2014 Segway Inc All rights reserved SEGWAY RMP 210 220 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 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 Standard Input Mapping
38. help please see Reporting Problems to Segway p 119 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 71 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 HAZARD 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 78 Startup Faults Data 0 Meaning 0 00000001 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
39. masks associated with UDFBI for ease of implementing parsing algorithm are FLOATING POINT MASK OxFF7FF900 INTEGER MASK 0x008006FF Table 48 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 0 00000000 Zero Speed 0x00000002 Limit Speed 0x00000004 Decel to Zero 0x00000008 Disable MCUO 0x00000100 Disable MCU1 0x00000200 Disable MCU2 0x00000400 Disable MCU3 0x00000800 Disable Response 0x00001000 0x00000800 The minimum of all propulsion battery states of charge 0x00002000 inertial Float32 g The raw x axis acceleration OxO0004000 inertial y acc g 0 32 g The rawy axis acceleration O 0x00008000 0x00080000 0x00400000 0x00020000 inertial z rate rps Float32 The raw z rotational rate Lace g 5 0 00010000 inertial y rate rps Float32 The raw y rotational rate 0x00040000 pse pitch deg Float32 The estimated inertial pitch angle m Copyright O 2014 Segway Inc All rights reserved 75 SEGWAY RMP 210 220 RMP Response cont Table 48 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
40. 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 55 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 2014 Segway Inc All rights reserved 102 SEGWAY RMP 210 220 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 66 CCU J1 Function BOOTI 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 sends the BOOT 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
41. octet For the IP subnet mask 255 255 255 0 integer 0 x 16777216 255 x 65536 255 x 256 255 OxOOFFFFFF RMP SET GATEWAY This command updates the 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 T Parameter Range Valid IP Gateway Address Parameter Units Unitless Stored in NVM Yes Default Value 0x0100A8CO 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 75 See User Defined Feedback Bitmaps p 71 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 77 See User Defined Feedback Bitmaps p 71 for details on how
42. provide a click friendly way of switching between modes and issuing commands Velocity t Standby Mode Input A pair of crosshairs with a circle at the intersection provide the interface for moving the RMP Click and drag the circle up and down Tractor Mode to move the RMP forward and back Drag it left and right to turn Moving the circle farther from center increases the speed at which Audio Song the RMP moves Xbox 360 quee Input The OCU Demo application allows the RMP to be controlled by an Xbox 360 controller wired or wireless In this configuration the left pude Stick is used for controlling forward and reverse movement The right stick is used for turning The user must hold the deadman switch hem Left Trigger to make the RMP move at all Switching between modes for more on modes see Operational Model p 27 is accomplished by the X and B buttons Pressing will initiate an audio song for more on audio songs see RMP_CMD_ SET AUDIO COMMAND p 61 Figure 85 Xbox 360 Controls Copyright O 2014 Segway Inc All rights reserved 110 SEGWAY RMP 2107 7220 Logitech GamePad RumblePad The OCU Demo can be set to use a Logitech GamePad wired or Exit OCU Shutdown wireless to control the RMP The Logitech GamePad looks and acts very similar to the Xbox 360 controller The major difference is in the location of the sticks Just like with the Xbox 360 controller the left stick is used fo
43. the RMP will attempt to hold position when no movement is commanded If the RMP is unable to hold position for any reason and the wheels rotate too far from the original resting location an equivalent of 12 feet of displacement the RMP will Disable and power off This could happen if the wheels are slipping a force pushes the RMP away from the equilibrium position or some other condition is preventing the RMP from reaching its equilibrium position e g the RMP is lifted off the ground Velocity Control Failed During normal operation the RMP will attempt to match the commanded velocity or hold position if no velocity is commanded If the RMP s actual velocity moves outside of the acceptable range the RMP will Disable and power off This could occur if the RMP is trying to regain its balance after losing traction or if some condition is preventing the RMP from reaching its equilibrium position e g the RMP is lifted off the ground Hardware Balance Request A Balance Mode transition can also be commanded via a hardware button While in Standby Mode momentarily sending a Boot signal will initiate the Balance Mode request A Boot signal is sent by connecting pins D and E on Connector See Connector p 43 Velocity Filter When in Balance Mode the RMP can tip quite suddenly especially when large changes in velocity are commanded To mitigate this a velocity filter can be applied that smooths velocity transitions by limitin
44. this happens the RMP will have difficulty maintaining its balance and will move very quickly trying to right itself fthereare multiple obstacles in a row the RMP must be able to catch its balance after each one When obstacles are too close together the RMP will not be able to maintain its balance and will move very quickly trying to right itself Copyright 2014 Segway Inc All rights reserved 30 SEGWAY RMP 2107 7220 Balance Mode Faults There are some faults that occur only in Balance Mode Pitch Angle Exceeded If the RMP tips forward or backward greater than 30 from normal see page 13 the RMP will Disable and power off This is because the 5 5 Pitch State Estimate is only accurate within this range Furthermore if the RMP tips past 30 it is likely that it will be difficult or impossible for it to right itself Roll Angle Exceeded If the RMP tips sideways greater than 30 from normal see page 13 the RMP will Disable and power off This is because the RMP will not be able to right itself and is in the process of falling over Speed Limiter Hazard In order to maintain its balance the RMP must sometimes move very quickly Usually this is acceptable however if the RMP tries to move too fast it is an indicator that the RMP is having difficulty righting itself When the actual speed exceeds the the speed limiter value the RMP will Disable and power off Position Control Failed During normal operation
45. 00001 bits 0 31 UDFB2 0 00008001 bits 0 15 Item UDFB Variable Name UDFB3 0 00008030 bits 4 5 15 Variable1 UDFBI bitO fault status word 1 UDFB4 0x00000000 none Variable 2 UDFBI bit31 right rear vel mps al the wis are set all RMP response messages will contain the Variable 3 UDFB2 bitO rear vel mps ollowing variables UDFBI bitO UDFBI bit31 UDFB2 bitO UDFB2 bit15 UDFB3 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 46 RMP Response The actual message received is shown in Table 47 Table 47 USB and UDP Omni Motion Commands Data Byte Item Description Data 2 Data Data 30 Data 31 Variable 8 Data 30 Data 31 0x0000 Data 32 Data 33 CRC 16 Copyright O 2014 Segway Inc All rights reserved 7A SEGWAY RMP 2107 7220 RMP Response cont User Defined Feedback Bitmap 1 The following table describes the variables defined by each bit in UDFB1 The
46. 0040000 0x00080000 0x00100000 wu 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 O 2014 Segway Inc All rights reserved RMP 2107 7220 88 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 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
47. 1 0x51 Copyright 2014 Segway Inc All rights reserved 53 SEGWAY RMP 210 220 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 U32_T 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 Standard Input Mapping p 64 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 ACCELERATION This command is used to set the user defined maximum acceleration limit See Standard Input Mapping p 64 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 Standard Input Mapping p 64 for how this value will affect velocity
48. 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 67 Status Indicators J16 Pin Power Indicator Yellow bicolor LED Status Indicator Green LED Power Indicator Red bicolor LED Copyright O 2014 Segway Inc All rights reserved 103 SEGWAY RMP 210 220 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 68 CCU Input Power Options Name DC Voltage Connection Min V Nominal V V Current Charges 7 2 Boots CCU Drawn A V Battery 12 V Input 12 J21Pin1 11 12 0 13 0 150 Yes Yes J21 Pin 5 72 V Input 72 J6 Pin 6 4 45 72 0 050 Yes No J6 Pin 4 USB Input 5 J13 Pin 7 4 5 5 5 5 0 400 No Yes J13 Pin 22 Battery Charge 72 J21 Pin 6 7 2 13 0 168 Yes No J21 Pin 5 72V Battery 02 22 seebelow 55 66 jio 0278 No ws 1472 V Input is not currently used by any RMP platform f pins 3 and 4 on J21 are connected The CCU
49. 2 J3 J4 and J5 which allow for control of the hardware disable function on the MCUs inside the Segway powerbases Table 65 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 possible 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
50. 20 a 121 Charging FAUS RN 125 Other SS abe tht dade de 125 Copyright 2014 Segway Inc All rights reserved 5 SEGWAY RMP 210 220 Copyright Disclaimer Trademarks Patent and Contact Information Copyright 2014 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 Rider Design 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
51. 4 Tire Diameter 0 483616 Wheel Track Width m 0 7112 Gearbox Ratio 24 2667 Config Bitmap 0x1 RMP IP Address 192 168 0 40 RMP 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 80 Save or Discard Changes 107 SEGWAY RMP 210 220 Configuration Screens 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 53 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 Logitech Extreme 3D Mouse or Keyboard The Logitech Extreme 3D can only be used with Omni platforms Only one controller may be used at a time Comm Interface Defines which interface the OCU Demo communicates over The RMP always communicates over all three interfaces this setting only affects the OCU Demo application Performance Defines all the user configurable dynamic characteristics of the machine
52. 51 CCU Connectors and Signals Connector Signal s Harness Destination s 23078 00002 Hardware Disbie mw E F o 23078 00002 72256 00001 DebugHeaders i semeny I EC 23072 00002 Programming J Segway Use Only Segway Use Only LEDs 12307100002 _ Power LED StatusLED mago oo Oo 5 C Sa 2307500002 72 VDC 22528 00002 7 2 V Battery Copyright 2014 Segway Inc All rights reserved 93 SEGWAY RMP 210 220 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 e Fuse is not replacable If fuse blows the board must be replaced Figure 72 Auxiliary Battery Board Table 52 ABB Connectors and Signals Connector Signal s Harness Destination s Notes o seau _ 5 fps 16 DebugHeaders J Segway Use Only Programming f Segway Use Only HV 2307600001 PowrSwtch Copyright 2014 Segway Inc All rights reserved 94 SEGWAY RMP 210 220 Smart
53. ABLE Copyright 2014 Segway Inc All rights reserved 57 SEGWAY Configuration Commands cont BALANCE_GAINS_DEFAULT 0x00000000 BALANCE_GAINS_LIGHT 0x00000001 BALANCE_GAINS_TALL 0 00000002 BALANCE_GAINS_HEAVY 0x00000004 BALANCE_GAINS_CUSTOM 0x00000008 VALID_BALANCE_GAINS_MASK 0x0000000F VEL_MAPPING_NO_FILTER 0x00000000 VEL_MAPPING_4HZ_FILTER 0x00000001 VEL_MAPPING_1HZ_FILTER 0x00000002 VEL MAPPING 05HZ FILTER 0x00000004 VEL MAPPING 02HZ FILTER 0x00000008 VALID VEL MAPPING FILTER MASK 0x0000000F YAW INPUT MAPPING SHIFT 0 VEL INPUT MAPPING SHIFT 1 AUDIO SILENCE REQUEST SHIFT 2 DISABLE AC PRESENT CSI SHIFT 3 BALANCE GAIN SCHEDULE SHIFT 4 BALANCE MODE LOCKOUT SHIFT 8 VEL MAPPING FILTER SHIFT 9 DEFAULT CONFIG BITMAP RMP 2107 7220 ALAT LIMIT MAPPING lt lt YAW INPUT MAPPING SHIFT VELOCITY BASED MAPPING VEL INPUT MAPPING SHIFT ALLOW MACHINE AUDIO AUDIO SILENCE REQUEST SHIFT ENABLE AC PRESENT CSI BALANCE GAINS DEFAULT BALANCE MODE DISABLED VEL MAPPING NO FILTER RMP CMD SET ETH IP ADDRESS DISABLE AC PRESENT CSI SHIFT BALANCE GAIN SCHEDULE SHIFT BALANCE MODE LOCKOUT SHIFT VEL MAPPING FILTER SHIFT 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 reboote
54. BSFFO Table 50 User Defined Feedback Bitmap 3 Bit Value Variable Name Format Unit Description 0100000001 0100000002 0100000004 0000000008 010000000 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 MCU2 0x00001000 fram vel limit mps Float32 m s User velocity limit stored in NVM RMP CMD SET MAXIMUM VELOCITY 0x00002000 fram accel limit mps2 Float32 m s User acceleration limit stored in NVM RMP CMD 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 limit Float32 m s User defined DTZ decel limit stored in NVM mps2 RMP SET MAXIMUM DTZ RATE 0x00010000 fram coastdown decel Float32 m s Acceleration based mapping coastdown acceleration stored mps2 NVM RMP_CMD_SET_COASTDOWN_ACCEL 0 00020000 fram yaw rate limit rps Float32 rad s User defined yaw rate limit stored in NVM
55. Bootloader BOOT2 Diagnostic Y le Mode Mode DTZ Requested _ Disable lt User Commanded Disable A User Commanded Disable Fault Detected 4 Power Switch Of _ Off Figure 46 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 DIZresponse fault initiates a Decel To Zero RMP comes to a stop logs the fault and powers off 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 will continue to operate unless the other MCU in the powerbase goes down as well Copyright 2014 Segway Inc All rights reserved 35 SEGWAY RMP 210 220 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
56. 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 _ 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 0x00800000 fram config bitmap U32_T Unitless Input mapping and audio silence configuration bitmap stored in NVM RMP_CMD_SET_INPUT_CONFIG_BITMAP Copyright 2014 Segway Inc All rights reserved 79 SEGWAY RMP 210 220 RMP Response cont Table 50 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 RMP_CMD_SET_ETH_IP_ADDRESS 0 02000000 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 RM
57. 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 Figure 73 Smart Charger Board Table 53 SCB Connectors and Signals Connector Signal s Harness Destination s Notes 7221 0000 ew a5 cwmmneon Segway use oniy LED 23320 00002 Copyright 2014 Segway Inc All rights reserved 95 SEGWAY RMP 2107 7220 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 120 Ohm terminator between CAN High and CAN Low User Interface Processor 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 54 UIP CAN 1 J13 Pin Notes can High CAN Low 0 2 15 CAN_GND Must be connected to CAN BUS GND User Interface
58. ECT 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 wu 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 O 2014 Segway Inc All rights reserved RMP 2107 7220 90 SEGWAY 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x00040000 0x00080000 0x00100000 0x00200000 0x00400000 0x00800000 0x01000000 0x02000000 0x08000000 0x10000000 0x20000000 0x40000000 Fault Status Definitions cont COMM CU BCU LINK DOWN MCU COMM INITIALIZATION FAILED MCU COMM FAILED CAL EEPROM MCU POWER SUPPLY TRANSI
59. EGWAY 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 112 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 79 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 default config files for all modes of RMP Be sure to select the appropriate config file for your RMP 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 connecti
60. ENT FAULT MCU POWER SUPPLY 12V FAULT MCU POWER SUPPLY 5V FAULT MCU POWER SUPPLY 3V 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 FSW ARCH FAULTS SHIFT FSW ARCH FAULTS MASK FSW CRITICAL FAULTS INDEX FSW CRITICAL FAULTS SHIFT FSW CRITICAL FAULTS MASK 0 0 0x00000FFF 0 12 OxFFFFF000 Copyright 2014 Segway Inc All rights reserved RMP 2107 7220 91 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 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 FAUL
61. ICAL FAULT FORW SPEED LIMITER HAZARD INIT PROPULSION INIT TIMEOUT CRITICAL FAULT AFT SPEED LIMITER HAZARD CRITICAL FAULT CRITICAL FAULT CRITICAL FAULT CRITICAL FAULT CRITICAL FAULT CHECK STARTUP APP VELOCITY CTL FAILED APP POSITION CTL FAILED ABB SHUTDOWN AP MODE TRANS TIMEOUT CRITICAL FAULT PITCH ANGLE EXCEEDED CRITICAL FAULT ROLL ANGLE EXCEEDED CRITICAL FAULT BSB INIT FAILED CRITICAL FAULT BSB COMM FAILED CRITICAL FAULT BSB LOST POWER CRITICAL FAULT BSB HW Copyright O 2014 Segway Inc All rights reserved 87 SEGWAY Fault Status Definitions cont Communication faults These faults are latching comm fault decode dict 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 wu COMM FAULT MISSING UIP 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 UNKNOWN CMD COMM FAULT UI BAD PACKET CHECKSUM MCU faults These faults are latching mcu fault decode dict 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 0x00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 0x00020000 0x0
62. M Yes Default Value 1 961 RMP CMD 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 Standard Input Mapping p 64 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 2014 Segway Inc All rights reserved 55 SEGWAY RMP 210 220 Configuration Commands cont RMP_CMD_SET_MAXIMUM_TURN_ACCEL A 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 property 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 R
63. MP must be power cycled rebooted for the change to take effect Command ID 8 Parameter Type Float32 Parameter Range 0 3556 10 Parameter Units m 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 m Stored in NVM Yes Default Value 0 5842 Copyright 2014 Segway Inc All rights reserved 56 SEGWAY RMP 2107 7220 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
64. MP_CMD_SET_OPERATIONAL_MODE p 61 From here the user can initiate a transition back to Standby Mode or can disable the RMP Balance Mode In Balance Mode the RMP will balance on two wheels and will accept motion commands from the user The RMP s actions in Balance Mode are not always intuitive For more information see Balancing p 22 Balance Mode can be entered from both Standby Mode and Tractor Mode as a result of a user mode request see RMP_CMD_SET_ OPERATIONAL_MODE p 61 From here the user can initiate a transition to Standby Mode Tractor Mode or Disable Mode Copyright 2014 Segway Inc All rights reserved 37 SEGWAY RMP 210 220 Disable Mode ZNWARNING 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 TheABB shuts down the protected 72 V output 3 The processors go into reset 4 TheRMP 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 SET OPERATIONAL MODE p 61 and Powering Off p 29 Disable Mode
65. P Ethernet gateway stored in NVM RMP SET ETH GATEWAY 0x10000000 user feedback bitmap 1 U32_T Unitless User Defined Feedback Bitmap 1 stored in NVM RMP_CMD_SET_USER_FB_1_BITMAP 0 20000000 user feedback bitmap 2 U32_T Unitless User Defined Feedback Bitmap 2 stored in NVM RMP_CMD_SET_USER_FB_2_BITMAP 0 40000000 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 2 Note that on systems without a 7 2 V battery this data is set to zero 3 Since power on Copyright 2014 Segway Inc All rights reserved 80 SEGWAY RMP 210 220 RMP Response cont User Defined Feedback Bitmap 4 UDFB4 is for future expansion and therefore contains no valid bits The masks associated with UDFB4 for ease of implementing a parsing algorithm are FLOATING_POINT_MASK 0x00000000 INTEGER_MASK 0x00000000 Copyright 2014 Segway Inc All rights reserved 81 SEGWAY RMP 210 220 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
66. SONG MOTOR_AUDIO_PLAY_POWER_OFF_SONG MOTOR_AUDIO_PLAY_ALARM_SONG MOTOR_AUDIO_PLAY_MODE_UP_SONG MOTOR_AUDIO_PLAY_MODE_DOWN_SONG MOTOR_AUDIO_PLAY_ENTER_ALARM_SONG 6e No MOTOR AUDIO PLAY EXIT ALARM SONG MOTOR AUD PLACFNALSHUTDOWN SONG s No puACcOmECLISUE RMP SET OPERATIONAL MODE This command is used to request mode transitions for the RMP The modes are listed in Table 33 The persistence Table 33 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 27 DISABLE REQUEST Any State Command ID 32 POWERDOWN_REQUEST Any State Parameter 032 DTZ REQUEST Any State Parameter Range 1 5 P EE UE STANDBY REQUEST Tractor Mode Parameter Units Unitless StoredinNVM TRACTOR REQUEST Standby Mode Default Value N A Tractory Mode BALANCE REQUEST Standby Mode Copyright 2014 Segway Inc All rights reserved 61 SEGWAY RMP 210 220 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 0 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 param
67. 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 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
68. TS MASK Fault group index definitions FAULTGROUP TRANSIENT FAULTGROUP CRITICAL FAULTGROUP COMM FAULTGROUP SENSORS FAULTGROUP BSA FAULTGROUP MCU FAULTGROUP ARCHITECTURE FAULTGROUP INTERNAL NUM OF FAULTGROUPS A Copyright 2014 Segway Inc All rights reserved 1 0 0x0000FFFF 1 16 0x000F0000 2 0 0x0000FFFF 2 16 OxFFFF0000 3 0 OxFFFFFFFF RMP 2107 7220 92 SEGWAY RMP 2107 7220 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 The 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 communicates 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
69. 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 Auxiliary Battery 60 100V Board 12V Powerbase 2 72N 72N 7 2N Battery BV Pc DVR 3 Converter Converter Battery 5v 12V Centralized Control Unit MX Connector 5V USB Optional Voltage is user selectable at time of purchase Optional Figure 40 System Power Diagram Copyright 2014 Segway Inc All rights reserved 32 SEGWAY RMP 2107 7220 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 essential 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
70. User Manual Segway Robotics Mobility Platform SEGWAY 210 220 SEGWAY RMP 2107 7220 Contents Copyright Disclaimer Trademarks Patent and Contact Information seen 6 Introduction Sale Ses ber teta etc nta he 8 Abbreviations pU pA Dial 10 RMP 210 and 220 1270 Components sansin nsan naaa aaan 11 Capabilities AA 12 tes oA Dunn der doccia eR 13 Physical Characteristics 210 der Ue toile re ED uti 14 Characters ICS 220 o asa ia enl us 15 MOUNTING LOCATIONS 210 A ud 16 Mounting Locations 720 DEMON tated 16 uude tpa det T CU da El E DM 17 User Interface Pale 18 Powerbase Connections Debet arn vu ER ape Ge ultus 19 Performance Specifications ep RE stets
71. WARNING 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 19 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 Floating Point and Integer Representation p 82 Copyright 2014 Segway Inc All rights reserved 47 SEGWAY RMP 210 220 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 71 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 chan
72. 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 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 2014 Segway Inc All rights reserved 6 SEGWAY RMP 210 220 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 in
73. al 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 6 Copyright 2014 Segway Inc All rights reserved 21 SEGWAY RMP 210 220 Balancing In Balance Mode the RMP balances on two wheels and accepts motion commands As in Tractor Mode it can be commanded to drive forward backward and turn left right When moving the RMP tilts slightly in the direction of motion see Figure 25 The faster it moves the more it tilts tilting the farthest when accelerating and decelerating Figure 25 Driving to the Right In order to enter Balance Mode a mode transition is commanded see RMP_CMD_SET_OPERATIONAL_MODE p 61 Then the RMP is tipped upright When it is vertical the RMP will begin balancing At this point the RMP may rock back and forth as it gains its balance Do not hold onto the RMP or restrict its movement in any way Allow it to balance on its own NOTICE When standing still the RMP may rock forward and backward slightly This is normal The RMP is simply maintaining its balance Any outside force applied to the RMP while it is balancing will cause it to react For example if the RMP is standing still and you press down on the front of the mounting plate the RMP will tilt The RMP will push back attempting to drive forward and tipping the front of the mounting plate up For more information on how the RMP will act in a variet
74. all RMP Applications OCU demo a ppl icat i ona nd Source code Setup will install RMP Applications in the Following folder To install in a different Folder click Browse and select another Folder Click Next to continue e ABB demo application and source code The installer also includes Python and all the modules needed to run the demo software from source Included Python packages are e Python 272 Space required 37 4MB e pygame 192 Space available 12 2GB Destination Folder pyserial 2 6 py2exe 0 6 9 Back I Next gt 1 Figure 75 RMP Applications Installer 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 create an RMP Applications subfolder within the destination folder specified 5 When prompted install Python and its components 6 Whenthe 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 li
75. ange 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 the auxiliary battery the RMP can provide power for additional equipment Each RMP has space for two Power Converters For more information see Power Converter p 23 Control Interface The user is 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 47 To make this process easier Segway provides an OCU Demo Application and source code see OCU Demo Application p 107 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 Copyright 2014 Segway Inc All rights reserved 12 SEGWAY RMP 210 220 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 Both the RMP 210 and 220 share the same coordinate syst
76. apped holes are M8x12 Dimensions are mm in 1 0 76 407 3 0 160 423 16 7 gw gv p Figure 15 Top Mounting Holes Figure 16 End 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 Mounting Locations 220 The RMP 220 has all the same mounting locations as the 210 In addition it includes a mounting plate at 761 mm 30 0 in high Tapped holes are M8 through holes Dimensions are in mm in Figure 17 Mounting Plate Figure 18 End Mounting Holes Copyright 2014 Segway Inc All rights reserved 16 SEGWAY RMP 210 220 Turn Envelope The RMP can turn in place so its turn envelope is very small Both the 210 and the 220 have the same turn envelope The caster plate is designed to fit within the turn envelope 771 304 7 771 m 30 4 N Figure 19 Turn Envelope RMP 210 Figure 20 Turn Envelope RMP 220 Copyright O 2014 Segway Inc All rights reserved 17 SEGWAY RMP 2107 7220 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
77. cence agreement C Program Files Segway RMP_Applications Segway_RMP_SW_LICENSE txt Copyright 2014 Segway Inc All rights reserved 105 SEGWAY RMP 210 220 RMP CCU Bootloader Application The Bootloader Application allows the user to upgrade the software on the Centralized Control Unit CCU The application connects to the bootloader on the CCU and allows the user to upload new software releases to the RMP Figure 76 6 Pin Connector The RMP contains a USB enabled bootloader for re flashing both processors 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 W Release Binaries CCU Bootloader Application V1 1 e 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 A 1 Make sure the RMP is powered off and unplugged 2 Connect pins D and F on the 6 pin connector for the full pinout see Connector p 35 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 i 2 Plug CCU USB into 4 Verify that the Power LED is to
78. ces 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 25 Example vel cmd 0 75 Ox3F400000 IEEE754 integer representation yaw_cmd 0 25 Ox3E800000 IEEE754 integer representation Table 25 USB and UDP Standard Motion Commands Example packet Item Description Su D Packet Length 12 bytes ata Ox Data Ox3F Data 0 Data 1 0x0500 Message ID Data 3 0x40 Data 2 Data 5 Normalized Velocity Data 4 0x00 Data 6 Data 9 Normalized Yaw Rate Dato Data Data 7 0x80 Data 8 0x00 Data 9 0x00 Data 10 0 80 Data 11 OxlE Copyright 2014 Segway Inc All rights reserved 50 SEGWAY RMP 210 220 Omni Motion Commands Omni motion 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 U32_T The normalized values are scaled against the user configurable parameters associated with the controller Example vel cmd f 1 0 1 0 yaw cmd 1 0 1 0 015 32767 vel cmd 516 T vel cmd f x Q15 yaw cmd S16 T yaw cmd f x Q15 Valuel U32_T vel_cmd lt lt 16 amp 0000 cmd amp OxOOOOFFFF The angle command variable format is Float32 The angle command is not Table
79. ck birra 95 703 user feedback bitmar oo front lr 90 po eene The data displayed can be set either in the config or in the Console Menu iaoea sc ene cn or config file tells the RMP what to include and what to omit when responding to Mees 2 status requests The Console Menu allows the user to determine what data is H B displayed on the screen it does not stop the data from being sent e A ONE c ume uum console also includes a logging function Only those messages that TL CT 0 are displayed in console are logged Disabling display of a function also disables logging of that function Figure 83 Console Control Screen The control screen Figure 84 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 controlling 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 Segway RMP OCU Demo v1 0 Tractor Mode p 110 Balance Mode NOTICE eeen The Balance Mode button will only cause a mode transition if Balance Mode is Disable Request available and the transition is allowe
80. 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 2014 Segway Inc All rights reserved 54 SEGWAY RMP 2107 7220 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 Parameter Range 0 0 7848 Parameter Units m s Stored in NVM Yes Default Value 3 923 RMP CMD 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 Standard Input Mapping p 64 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 NV
81. d Decel Request Make Noise Figure 84 Control Screen Copyright 2014 Segway Inc All rights reserved 109 SEGWAY RMP 210 220 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 70 OCU Demo Controls Command Keyboard Mouse Xbox 360 Logitech GamePad Logitech Extreme 3D p Stat Power Down Gio mk o Standby Mode 3 Gut Y Disable Delete GUlButton RightBumper AdioSong GUButton Ja 2 y 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 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 Mouse When the mouse interface is chosen the OCU Demo creates an ee additional GUI window Buttons
82. d 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 61 CCU Hobby Radio J7 Pin Name 5 V out to receiver PWM radio control signals DGND connect to receiver ground Table 62 Connector Hobby Radio Con Pin Name P JRADOGND The hobby radio interface has only been tested with a Spektrum AR6115 receiver 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 an
83. d 2 SEGWAY RMP 210 220 Operational Model Operatlorial States onde o DR Gi das dot den 35 etr DLE 35 s Ee M EROR 36 Diagnostic MOC esee en ceti a 37 PE 37 IV OGLE E E A A 37 Tractor dodge deos bed LE d Lut 37 Balance Modes uo reor octo leute CR 37 B ess o DRIN Re tna Rr PD Se 38 Charging Using the External Power Supply raat Seen cd 39 Charge Status UES d casu pM 39 Powering On Off POWOHHS E sari n es S hr m dium RT us m s GRE 40 POW GNIS DT asic 40 Connecting di eT TEES ETE RPNCREEN 41 Starter Breakout Harness b hei etat ei 42 Connector ea i i cei DU tole Alecia E 43 IB o saei nia 43 To o UBI IET IEEE 43 Connec
84. d 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 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 65536 168 256 192 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 Copyright 2014 Segway Inc All rights reserved 58 SEGWAY RMP 210 7220 Configuration Commands cont RMP_CMD_SET_ETH_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 IP 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
85. dress U32 T Valid Ethernet Unitiess Yes 8080 Port Number Valid IP Subnet OxOOFFFFFF Ox2800A8CO 192 168 0 40 0x0100A8CO 192 168 0 1 U32 T DXFFFFEEEE Unitless OxFFFFFFFF valid mask OxFFFFFFFF Use valid mask OxOFFFFFFF U32_T valid mask 0x00000000 U32 T valid mask 2 3 4 5 6 7 8 OxFFFFFFFF 9 OxOFFFFFFF 0 0x00000000 0 2 3 0x0000001F N valid mask A A A A A N must be power cycled for parameter to take effect Copyright 2014 Segway Inc All rights reserved 63 SEGWAY RMP 2107 7220 Standard 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 57 These types of input mapping only apply to platforms with tires For platforms with Mecanum wheels see Omni Input Mapping p 68 The inputs to each controller are the normalized motion commands see Standard Motion Commands p 50 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 t
86. ds control models with tires not Mecanum Table 23 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 Standard Input Mapping p 64 The basic motion command structure is shown in Table 23 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 see IEEE754 32 bit Floating Point and Integer Representation p 82 CAN Motion commands sent on the CAN interface follow the structure listed in Table 24 Example vel cmd 0 75 Ox3F400000 IEEE754 integer representation yaw cmd 0 25 Ox3E800000 IEEE754 integer representation Example packet Table 24 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 Baud Data 0 Data 3 Normalized Velocity ata Ox Data 5 0x80 Data 4 Data 7 Normalized Yaw Rate Data 6 0x00 Data 7 0x00 USB and UDP The USB and UDP interfa
87. dustrial 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 between 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 predictable 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 2014 Segway Inc All rights reserved 7 SEGWAY Safety Improper use of the RMP can cause personal injury
88. e An MCU declares a fault e The RMP is charging this can be overridden see RMP SET INPUT CONFIG 57 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 2014 Segway Inc All rights reserved 36 SEGWAY RMP 210 220 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 power 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 Use the USB cable to connect the RMP to the computer The RMP will power This will pull the BOOT signal low The RMP will begin initialization but will stop at Init System and remain there Boot
89. e 47 RMP 440 SE Interface Panel Figure 48 External Power Supply Table 7 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 39 SEGWAY RMP 2107 7220 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 interface 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 Make sure the disable button is connected and has not been pressed 2 Flip the toggle switch to ON or connect via USB 3 for the RMP to enter Standby mode NOTICE Auxiliary power will not be available unless the toggle switch is ON If the red 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 8 shows the various operational modes and LED indicator patterns Table 8 Indicator LEDs Mode Power LED Status LED System Initialization Yellow Blinking Standby Mode Yellow Blinking Green Solid Tractor Mode Yellow Blinking Gree
90. e byte index in the table return void Copyright 2014 Segway Inc All rights reserved 85 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 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 2014 Segway Inc All rights reserved RMP 2107 7220 86 SEGWAY Fault Status Definitions RMP 2107 7220 RMP Fault definitions This section is used to define the decoding of by the RMP The meaning of specific faults can Section of the RMP User Manual NO FAULT ALL_ FAULTS 0x00000000 OxFFFFFFFF fault status words sent be found in the Troubleshooting Transient faults These faults are not latching and can be asserted and then cleared during runtime There are currently no transient faults for the RMP transient_fault_decode dict 0x00000000 Critical faults These faults latching critical fault 0 00000000 0 00000001 0 00000002 0 00000004 0 00000008 0 00000010 0 00000020 0 00000040 0x00000080 0x00000100 0 00000200 0 00000400 0 00000800 0x00001000 0x00002000 0x00004000 0x00008000 0x00010000 decode dict wu CRITICAL FAULT CRITICAL FAULT INIT INIT UIP COMM CRITICAL FAULT CRITICAL FAULT CRIT
91. e 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 2014 Segway Inc All rights reserved 118 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 Contact Information p 6 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 3 Usethe USB cable to connect the RMP to the computer The RMP will power on Turn the RMP off
92. e right stick to command movement follow steps 6 and 7 to adjust the sub trim and re bind the transmitter and receiver 7 Adjust the sub trim a Goto the Adjust List and select Sub Trim b Hold the 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 Adjust the elevators until all wheels are stopped 8 the transmitter and receiver a Repeat the bind procedure step 3 above to save these adjusted values Table 63 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 2014 Segway Inc All rights reserved 101 SEGWAY RMP 210 220 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 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 61 CCU J8 provides connections for both signals Table 64 CCU J8 J8 Pin Name Hardware Disable On the CCU there are four optically isolated outputs J
93. eceiver 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 61 and Table 62 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 2014 Segway Inc All rights reserved 100 SEGWAY RMP 210 220 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 radio signal while in use a Use the joysticks to command full motion b While commanding motion turn off the transmitter RMP s wheels should stop moving Deadman Up Left to Drive Figure 74 Hobby Radio Controls 1 the left stick in the upper left corner causes the RMP to move even when not using th
94. em An RMP 210 is pictured below Y Forward Figure 6 RMP Axes Figure 7 RMP Roll Axis Rear View Figure 8 RMP Pitch Axis Right Side View The variables listed below provide momentary information about the state of the RMP For information on how to receive this data see User Defined Feedback Bitmaps p 71 Table 1 BSA and PSE Variables UDFB Variable Symbol Measurement inertial y rate inertial z rate rps B d o Hj inertial x acc g inertial y acc g inertial x rate rps pse pitch deg deg pse pitch rate dps pse roll deg pse roll rate dps Angular Velocity Copyright O 2014 Segway Inc All rights reserved 13 pse yaw rate dps SEGWAY RMP 210 220 Physical Characteristics 210 For product dimensions please refer to the diagrams below A summary of the major dimensions is provided in Table 2 NOTICE Product options may change the characteristics of the RMP Table 2 RMP 210 Physical Characteristics Characteristic Value 24 TB Height 212 mm 8 3 in ases Sim 7 n 14 2 167 T 19 in Segway i2 Tire H e Wheel Base i Track Width 544 mm 214 Recommended Width 423 mm 16 7 in o fi Ll e ET e hN2 Co XN aol Weight 52 kg 115 Ibs 8 5 594 i 23 4 Figure 9 RMP 210 Top View 385 D481 450 152 18 9
95. es in the tire hub 4 Install the three wheel nuts using a torque wrench with a 13 mm hex bit and Figure 90 Wheel Nut Locations 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 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 6 Do not use water or any liquid cleaning agents inside the enclosure Software 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 Centralized Controller Platforms Software releases are posted as announcements at the top of the subforum Copyright 2014 Segway Inc All rights reserved 116 SEGWAY RMP 210 220 Batteries A pair of propulsion batteries mount to the bottom of the po
96. eter set to 0 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 Parameter Range 1 Parameter Units Boolean Stored in NVM No Default Value N A RMP_CMD_RESET_INTEGRATORS Table 34 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 34 for details about the RESET LINEAR POSITION 0x00000001 bitmap RESET_RIGHT_FRONT_POSITION 0x00000002 Command ID 34 Parameter Type 032 T RESET LEFT FRONT POSITION 0 00000004 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 2014 Segway Inc All rights reserved 62 SEGWAY Configuration Commands cont RMP 210 220 The table be
97. faces 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 Data 2 Data 5 Table 21 USB and UDP Message Structure Value 2 Data 6 Data 9 CRC 16 Data 10 Data 11 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 sin bytel amp OxOOFF ytes 6 9 Value byte3 lt lt 16 amp OxOOFF0000 byte4 lt lt 8 amp byte5 amp 0x000000FF Value2 U32 T byte6 lt lt 24 amp OxFF000000 byte7 lt lt 16 amp 0 00 0000 byte8 lt lt 8 amp 0x0000FF00 byte9 amp 0x000000FF CRC 16 U16 T bytel0 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 50 Omni Motion Commands page 51 Configuration Commands page 53 and UDFB Response messages page 71 The following table provides a list of possible Message IDs Table 22 Message IDs Message ID Description 0x0500 Standard Motion Command 0x0600 Omni Motion Command 0x0501 Configuration Command CAN response only Copyright 2014 Segway Inc All rights reserved 49 SEGWAY RMP 2107 7220 Standard Motion Commands Standard motion comman
98. g the rate at which the acceleration rate can change For more information see Velocity Filter p 67 Copyright O 2014 Segway Inc All rights reserved 31 SEGWAY RMP 2107 7220 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 4 re Ethernet Botl ocu gt Boot 2 S 9 a CAN User Interface SPI Link Segway USB Processor Processor Disable BEI Decel S E e x Ww 5 y en nema A Auxiliary Battery i y Y yy Motor Balance Motor Control Sensor Control 1 BSA only in front Unit Assembly Unit powerbase Front Rear Powerbase Figure 39 System Architecture Diagram System Power
99. ggling yellow red and the Status LED 3 Lond hex fie 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 78 Ensure that the RMP is in bootloader mode and try again 3 Click Select Hex File for Upload Figure 77 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 eo 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 To upload the file anyway click Continue CCU Upgrade 6 The hex file will be flashed to the ROM Wait until UPGRADE COMPLETE is displayed in the Bootloader Application 7 Click Disconnect to close the connection with the RMP Figure 78 No CCU Connected Error Copyright 2014 Segway Inc All rights reserved 106 S
100. ging 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 20 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 20 CAN Message Structure Baud Rate 1Mbps Value 1 and Value 2 are assembled as such Message ID Standard 11 bit CAN identifier 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 byte5 lt lt 16 amp byte6 lt lt 8 amp byte7 amp 0x000000FF Copyright 2014 Segway Inc All rights reserved 48 SEGWAY RMP 210 220 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 inter
101. he fuse blows the entire board must be replaced Power Converter The RMP 220 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 2014 Segway Inc All rights reserved RMP 210 7220 Figure 45 Power Converter 34 SEGWAY RMP 2107 7220 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 e Diagnostic Mode Bootloader Mode Standby Mode e Tractor Balance Mode e Disable Mode e Off Figure 46 shows how these states interact Each of these states is discussed in more depth on the following pages User Requested gt Mode Change Balance Power On Mode DTZ Requested _ u User Requested Initialization Mode Change 2 User Requested Init Init lnitialization Standby Mod ch Tractor Startup Successful Mod nbi Mod Hardware Propulsion TE ode DTZ Requested ode 4 Ji Bl E 8 3 E 5 9 8 E 2 E e Q E c o Y 1 25
102. he normalized velocity controller command to the velocity limit The target is then rate limited by the acceleration and deceleration limits e As the 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 target 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
103. hen in Balance Mode it operates much like the Segway Personal Transporter PT leaning slightly in the direction of movement The platform has two MCUs and two propulsion batteries allowing it to operate at higher payloads and over longer distances With two MCUs the propulsion system is completely redundant allowing one MCU to fail without losing control of the platform At the top of the RMP 220 is a mounting plate with drilled and tapped holes for users to mount their equipment The powerbase contains the MCUs and Balance Sensor Assembly BSA Additional electrical components are mounted inside a User Interface UI box located above the powerbase Propulsion batteries are mounted to the bottom of the powerbase 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 front 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 A cable runs from the UI box to the powerbase Figure 1 RMP 210 Figure 5 RMP 220 Included Components The RMP 220 comes with a Disable Button Starter Breakout Harness and External Power Supply The Disable Button must be connected for the RMP to power on and enter Standby Mode When pressed the Disable Button will cause the RMP to immediately shut
104. ing algorithm are FLOATING POINT MASK Ox3FFFFFFF INTEGER MASK 0xC0000000 Table 49 User Defined Feedback Bitmap 2 Bit Value Variable Name Format Unit Description 0100000020 0100000000 0100000080 0100000100 0100000200 0100000400 0x00000800 right_front_current_limit Float32 0 Minimum right front motor current limit each motor is AOpk redundant 0x00001000 left front currrent limit Float32 0 Minimum left front motor current limit each motor is AOpk redundant 0x00002000 right_rear_current_limit Float32 Minimum right rear motor current limit each motor is AOpk redundant 0x00004000 left_rear_current_limit Float32 0 Minimum left rear motor current limit each motor is AOpk redundant 0 00008000 min motor current limit Float32 A 0 peak Minimum motor current limit of all motors 0000010000 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
105. injury Be careful when working with the DC power connections You could shock yourself and or damage the RMP Remove batteries before working 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
106. 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 6 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 69 CCU Battery Supply J22 Pin Function 472 V 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 The CCU microprocessors do not need to be powered up for the 7 2 V battery to charge The microprocessors can 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 mai
107. its 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 batt temp degC abb system status aux batt status CRC 16 The structure of the response packet s is described in CAN Response Structure p 73 and USB and UDP Response Structure p 74 Example 3 Set the UDFBs as shown below Information on setting UDFBs is found in Configuration Commands p 53 Information on the feedback bitmaps themselves is found on page 59 An example of how to set UDFB3 is shown in Table 41 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 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 73 and USB and UDP Response Structure p 74 Co
108. limit the minimum safe turn radius can be determined for a variety of speeds Copyright O 2014 Segway Inc All rights reserved 25 SEGWAY RMP 210 220 Stopping Distance Changing the deceleration limit can have a big effect on how far the RMP travels as it slows to a stop If the RMP cannot stop soon enough it may collide with obstacles If it stops too quickly it may tip far enough and fast enough to jostle equipment or startle bystanders Because of this it is important to reach a balance between stopping distance and tip angle These same principles also apply to the DTZ deceleration limit and the acceleration limit The DTZ decleration limit controls the rate at which the RMP will come to a stop when a DTZ command is issued or when a fault triggers a DTZ response The acceleration limit affects how far the RMP travels while coming up to speed Remember to set the DTZ deceleration limit high enough to stop the RMP quickly in case of an emergency To calculate the stopping distance from the velocity and deceleration rate use the following formula V B 2A Where D Distance Travelled m V Initial Velocity m s A Acceleration Deceleration Rate m s Copyright 2014 Segway Inc All rights reserved 26 SEGWAY RMP 2107 7220 Interaction With The Environment When the RMP makes contact with other objects in the environment the results can be counter intuitive at first A WARNING Read and understand this section before ope
109. loader 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 106 In this state the RMP will stay powered as long as USB power is available To enter Bootloader Mode 1 Turn the RMP off 2 Connect pins D and F on the 6 pin connector for the full pinout see Connector Il p 32 3 Use the USB cable to connect the RMP to the computer The RMP will power 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 to tractor mode or disable the RMP Tractor Mode In Tractor Mode the RMP will accept motion commands from the user In this mode the RMP can be commanded to move 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 R
110. low provides a list of all the configuration commands and their parameters Table 35 Configuration Commands Command Name RMP_CMD_NONE RMP_CMD_SET_MAXIMUM_VELOCITY RMP_CMD_SET_MAXIMUM_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 SET TIRE DIAMETER CMD SET WHEEL BASE LENGTH RMP CMD SET WHEEL TRACK WIDTH CMD SET TRANSMISSION RATIO CMD SET INPUT CONFIG BITMAP RMP CMD SET ETH IP ADDRESS SET ETH PORT NUMBER RMP CMD SET SUBNET MASK SET ETH GATEWAY 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 SET AUDIO COMMAND SET OPERATIONAL MODE CMD SEND SP FAULTLOG CMD RESET INTEGRATORS CMD RESET PARAMS TO DEFAULT Stored in Units NVM ID Range Default Value unitiess 6 2 2352 3 923 3 923 3 923 1 961 Co e 28 274 0 483616 0 5842 8 Floats2 03556310 m 9 04M210 m zi 0 7112 Float32 0 506476 1 0 Float32 10 2000 24 2667 1 032_ OxO000000F Unitiess Yes Ox valid mask U32 T Valid IP Ad
111. ment 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 authority to operate this device under FCC regulations and must not be made SEGWAY RMP 210 220 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
112. n 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 COMMANDED DISABLE The RMP received a user commanded disable signal See SET OPERATIONAL p 61 ARCHITECT FAULT COMMANDED SAFETY SHUTDOWN The RMP received a user commanded DTZ signal See RMP SET OPERATIONAL p 61 ARCHITECT FAULT DECEL SWITCH ACTIVE The hardware DTZ button has been pressed Copyright O 2014 Segway Inc All rights reserved 123 SEGWAY RMP 2107 7220 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
113. n Blinking Powering Off There are a few ways that the RMP can be powered off Each is described in Table 9 below A WARNING 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 9 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 the 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 2014 Segway Inc All rights reserved 40 SEGWAY Connecting RMP 210 7220 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
114. n a byte array See Table 28 Example vel cmd 0 75 0 75 x 32767 24575 Ox5FFF cmd 0 25 0 25 x 32767 8191 OXIFFF Table 28 USB and UDP Omni Commands angle cmd 45 0 0x42340000 IEEE754 integer representation Item Description Packet Length 12 bytes PP 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 OxbF Velocity Data 3 OxFF Data 4 Data 5 Normalized Scaled Data 4 OxIF Yaw Rate Datele Datel Data 6 0x42 ate 6 Date 9 ngle Data 7 2 0 34 Data 10 CRC 16 Data 8 0x00 9 0x00 Data 10 OxAE Data 11 0x19 Copyright 2014 Segway Inc All rights reserved 52 SEGWAY RMP 210 220 Configuration Commands 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 29 Configurati
115. nd 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 14 Power Pinout 16 AWG Contacts e 5V Wire Color Voltage Connector Pin 36V Purple 48 There multiple slots for Power Converters 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 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 15 Connector Pinout MIL DTL 38999 24FB98PN plug Signal Pin z e ae SES De ec E Figure 55 6 Pin Connector BOOT1 2007 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 A e 2 and C If the DISABLE_5V signal is no
116. nected to CAN BUS GND Copyright 2014 Segway Inc All rights reserved 97 SEGWAY RMP 210 7220 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 59 CCU USB J13 Pin Name USB Plug Pin USB_VBUS VCC 8 USB_D e 2 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 60 CCU USB J13 Pin RJ45 Pin de Copyright 2014 Segway Inc All rights reserved 98 SEGWAY RMP 2107 7220 Hobby Radio A WARNING 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 close
117. needs to have its payload mounted relatively high This is because the RMP operates as an inverted pendulum while balancing Unfotunately the property that helps the RMP to balance a high center of mass also makes the RMP more likely to roll over Figure 31 shows how velocity and yaw rate combine to make the RMP roll over The area above the curve s is where the RMP is likely to roll over This graph assumes that the RMP is operating on level ground Any slope however slight will increase the likelihood of roll over Roll Over Performance Limits 3 T T T N T T T T T ME UN N 2 57 ON 1 5 CS NE N 2 ion we EN 2 a 5 M 1 9 fs Ls lr 72 44 05 Unloaded Light DOREM Tall Heavy 0 L L L L L L L 0 0 5 1 15 2 2 5 3 3 5 4 45 velocity m s Figure 31 Roll Over Performance Limits Turn Radius The RMP s speed and yaw rate can be used to calculate the turn radius Higher speeds increase the turn radius while higher yaw rates decrease it Be sure not to exceed the Roll Over limit described above zN Where Turn Radius m V Velocity m s Y Yaw Rate rad s This equation provides the turn radius to the center of the RMP To calculate the radius to the outside of the RMP just add half of the RMP s width 70 32 m to the final radius Using this equation and the Roll Over
118. ntains 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 O 2014 Segway Inc All rights reserved 104 SEGWAY RMP 2107 7220 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 warranty 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 a new 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 online at http rmp segway com forum in the subforum Centralized Controller Platforms Installing the Software The installer creates a file structure that includes documentation drivers and demo applications Included in the software package are e Documentation e USB drivers RMP Applications Setup Choose Install Location e Bootloader application and release binaries Choose the folder in which to inst
119. nual before operating the RMP in Balance Mode The RMP s behavior while balancing is not always intuitive and may result in unexpected or undesired motion 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 protection circuits Always protect against electrostatic discharge ESD when working inside the RMP The RMP could become damaged ICE 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 ncrease the separation between the equipment and receiver e Connect the equip
120. o Description Enclosure to Bracket 23091 00004 M6 x 12 SHCS B Bracket to Rail 23368 00002 M8 x 25 SHCS Caster Mount 23091 00005 M6 x 30 SHCS E 6_ Powerbase 23088 00004 Battery 0967 00001 Battery Hole Cover 20209 00001 ID Caster 23368 00002 M8 x 25 SHCS Gearbox 20919 00002 Standard IE Copyright O 2014 Segway Inc All rights reserved 114 SEGWAY Parts List 220 Use the diagram and table below to identify part names and numbers Figure 89 RMP 220 Parts Breakdown Table 75 Components 220 Label Name Part No Description Rar zare cooor Standard Copyright 2014 Segway Inc All rights reserved RMP 210 220 Table 76 Fasteners 220 Label Fastener Location Part No Description Mounting Plate 23368 00002 M8 x 25 SHCS IB Enclosure to Bracket 23091 00004 6 x12 SHCS p wheelnut 20158 00001 Maange Not 206400002 115 SEGWAY RMP 210 220 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 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 hol
121. o 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 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 53 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 subnet must match e Computer gateway and RMP gateway must match See Table 18 for recommended computer settings The RMP uses UDP port 8080 to communicate over the Ethernet connection The port number is user configurable see RMP SET PORT NUMBER p 58 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 2014 Segway Inc All rights reserved RMP 2107 7220 Figure 58 Starter Breakout Harness Table 17 Default RMP Ethernet Settings
122. occur if you are commanding zero velocity while towing the RMP Copyright O 2014 Segway Inc All rights reserved 121 SEGWAY RMP 210 220 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 Battery Faults Data 1 High Build ID Data 1 Low The following tables provide the bitmaps for ABB Status Data 0 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 79 ABB Status Bitmap Data 0 High Bit Description Action 0x0000 ABB OK ABB is operational 0x0001 BCU 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
123. old 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 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 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 terrai
124. ommands p 51 Note that Omni motion commands differ from standard motion commands M Figure 66 Driving Forward Figure 67 Turning Clockwise Copyright 2014 Segway Inc All rights reserved Figure 68 Strafing Right 68 SEGWAY Omni Input Mapping cont Defining Joystick Input The Omni expects to receive motion commands that contain a velocity vector magnitude and direction and a yaw rate There are many ways to generate these values However for the purpose of this example let s use a 3 axis joystick Such a joystick can tip forward backward can tip left right and can twist around the vertical axis Let s define the axes as follows axis 1 tip forward backward axis 2 tip left right axis 3 twist clockwise counter clockwise When using this joystick the Omni will move in the direction the joystick is tipped Tipping the joystick forward moves the Omni forward Tipping the joystic right moves the Omni right In both cases the Omni does not turn but maintains its orientation while moving around To turn the Omni twist the joystick about its vertical axis Twisting the joystick clockwise turns the Omni to the right For the purpose of this example let s assume that the joystick provides a normalized command in the range of 1 to 1 on each of the axes If your joystick provides a different range of val
125. on Command Structure e Value 1 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 30 Example gp cmd RMP CMD SET OPERATIONAL MODE 0x00000020 gp param TRACTOR REQUEST format integer 0 00000005 Table 30 CAN Configuration Commands Example packet Item Description Message ID 0 0501 Baud Rate 1 Mbps Data Length 8 Message ID 0x0501 DAR ion Datalength 18 Data 1 0 00 Data Length Data 2 0x00 Data 0 Data 3 Command ID Data 3 0x20 Data 4 Data 7 Data 4 0x00 Data 5 0x00 Data 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 31 USB and UDP Configuration Commands shown in Table 31 Item 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 11 Data 1 0x01 Data 2 0x00 Data 3 Data 4 Data 5 0x20 Data 6 0x00 Data 7 0x00 Data 8 0x00 Data 9 0x05 Data 10 0 04 Data 1
126. on 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 2014 Segway Inc All rights reserved RMP 2107 7220 3 Segway RMP OCU Demo v1 0 Configuration File C Program Files Segway RMP_Applications RMP_ Browse Force Configuration Upload Welcome to the RMP Demo OCU Create Config Modify Config Extract Faultlog Exit Figure 79 OCU Demo Welcome Screen Do You Want To Save These Settings EOX Video Server Online 0 Video Server IP Address 192 168 0 212 Video Server Username root Video Server Password password OCU Contoler Type Mouse OCU Comm Interface Ethernet Velocity m s 2 2352 Accel m s 2 3 923 Max Decel m s 2 3 923 DTZ Decel m s 2 3 923 Coastdown Decel m s 2 1 961 Yaw Rate rad s 3 0 Yaw Accel rad s 2 28 27
127. onal Motion The RMP 440 Omni uses Mecanum wheels a type of wheel made up of rollers mounted at 45 degrees around the circumference of the wheel When an individual wheel rolls it creates a force at 45 degrees to the wheel By combining left hand and right hand versions of these wheels in the proper layout a platform can be made to move in any direction This is sometimes called holonomic motion or omni directional motion Moving all four wheels in the same direction causes forward or backward movement Driving the wheels on one side in the opposite direction to those on the other side causes rotation of the vehicle And driving the wheels on one diagonal in the opposite direction to those on the other diagonal causes sideways movement Combinations of these motions allow for motion in any direction with any rotation Controlling the RMP 440 Omni There are three steps to controlling the RMP 440 Omni First the desired RMP 2107 7220 motion is determined Then the command is sent to the RMP Finally the Figure 65 Mecanum Wheel RMP decodes the command into individual wheel velocities Only the first two steps are performed by the user The last step is automatically performed by the RMP It is up to the user to determine the desired motion In the discussion below and in the OCU Demo Segway uses a 3 axis joystick to control the Omni However any control method can be used For more information on motion commands see Omni Motion C
128. one for each redundant side of the BSA If the value is zero PSE data should be discarded No_PSE_valid 0 00000000 PSEI valid 0x00000001 PSE2 valid 0 00000002 0 01000000 yaw rate limit 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 linear accel msp2 Float32 Linear acceleration derived from wheel velocities Float32 Linear velocity of the RMP 0x08000000 linear 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 on a 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 O 2014 Segway Inc All rights reserved 76 SEGWAY RMP 2107 7220 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 pars
129. ons when large changes in velocity are commanded This filter limits the rate at which the acceleration rate can change It is intended to be used primarily in Balance Mode to limit how quickly the platform tips when accelerating and decelerating This is a first order Infinite Impulse Response IIR filter It uses one input data point and the most recent filtered data point to calculate a new filtered value The frequency at which the filter operates can be set at 4 Hz 1 Hz 0 5 Hz or 0 2 Hz At larger frequencies 0 4 Hz the filter s effect is small At lower frequencies 0 2 Hz the filter s effect is much larger Aside effect of using the filter is that velocity commands become delayed At 4 Hz the delay is small but at 0 2 Hz the delay is much larger When using the filter it is important to find a balance between how much filtering is applied and how long the delay is No Velocity Filter Velocity m s Time seconds Rawinput Velocity Target Acceleration Figure 63 Velocity Filter No Filter 1 Hz Velocity Filter Velcoity m s Time seconds Rawinput Velocity Target Unfiltered Velocity Target Filtered Acceleration Unfiltered Figure 64 Velocity Filter 1 Hz Filter Copyright 2014 Segway Inc All rights reserved 67 SEGWAY Omni Input Mapping This section describes the Mecanum transform as used by the Segway RMP 440 Omni Understanding Omni Directi
130. 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 Reduce the performance parameters Reduce the mass on the RMP Copyright 2014 Segway Inc All rights reserved 124 SEGWAY RMP 210 220 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 81 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 d
131. ps 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_CMD_SET_USER_FB_1_BITMAP p 59 RMP_CMD_SET_USER_FB_2_BITMAP 59 RMP_CMD_SET_USER_FB_3_BITMAP p 60 RMP CMD SET USER FB 4 p 60 For details regarding the data meaning format range and description see the UDFB tables starting on page 75 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 83 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 53 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 wo
132. pyright O 2014 Segway Inc All rights reserved RMP 2107 7220 Table 39 Setting UDFB2 Example 2 Item Description Message ID 0x0501 Command ID 0x00000018 0xF0000000 Table 40 RMP Response Example 2 Item UDFB Variable Name Table 41 Setting UDFB3 Example 3 Item Description Message ID 0x0501 Command ID 0x00000019 0x00008030 Table 42 RMP Response Example 3 Item UDFB Variable Name Variable 5 UDFB3 bit4 mcu_O_inst_power_W Variable 6 UDFB3 bit5 mcu 1 inst power W Variable7 UDFB3 bit15 fram dtz decel limit mps2 Variables 1 0x0000 CRC 72 SEGWAY RMP 2107 7220 RMP Response cont CAN Response Structure The CAN interface is structured as in Table 43 Each CAN message always contains two 32 bit values Table 43 CAN Response Structure The values are assembled as such Item Description Valuel U32_T byte0 lt lt 24 amp OxFF000000 Baud Rate 1 Mbps Wbytet se 16 OXDOFFOGUQN Standard 11 bit CAN identifier byte2 lt lt 8 amp byte3 amp 0x000000FF Patakengin Always 8 Value2 U32 T byte4 lt lt 24 amp OxFF000000 byte5 lt lt 16 amp 00 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
133. r 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 Standby Mode Audio Song Switching between RMP modes is accomplished by the 1 3 and 4 Velocity 4 Steering buttons Pressing 2 will initiate an audio song for more on audio Input Input songs see RMP SET AUDIO COMMAND p 61 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 86 Logitech GamePad Controls Logitech Extreme 3D The Logitech Extreme 3D joystick is for use with Omni platforms only This controller must be used when controlling Omni platforms via the Demo OCU The joystick allows the user to control drive forward backward strafe left right and turn rotation In order to initiate movement the user must squeeze the trigger deadman switch Releasing the trigger will cause the RMP to stop moving Buttons on top of the joystick allow the user to switch between modes Button 3 initiates a transition to Standby Mode Button 4 initiates a transition to Tractor Mode Button 5 causes a Decel To Zero Button 6 causes a Disable Decel To Zero Disable Standby Mode Tractor Mode Joystick Controls Trigger Deadman Switch Drive Forward Backward
134. r on the External Power Supply and into a grounded AC outlet 100 240 V 50 60 Hz 5 Toggle the power switch on the External Power Supply to the ON 1 position 6 Charge new batteries for 12 hours To fully charge in use batteries charge for about two hours 7 When charging is complete toggle the power switch to the OFF position unplug the External Power Supply from the grounded AC outlet and disconnect the External Power Supply from the RMP 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 battery is at maximum charge its LED blinks See Table 7 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 57 Copyright 2014 Segway Inc All rights reserved RMP 2107 7220 Table 6 External Power Supply Input Output Characteristic Value Input Voltage 100 240 VAC 50 60 Hz Input Current 12 Maximum Output Voltage 57 95 VDC Output Current 2 1A per channel Tm CONNECTOR Q CONNECTOR IV S C CONNECTOR II 2 e fF 5 SEGWAY RMP USER INTERFACE MODULE Figur
135. ram and table below to identify part names and numbers 114 Parts 220 eie Sal 115 Use the diagram and table below to identify part names and numbers sse 115 Removing Wheel Assemblies eti atf pala er Fu ra aec dou 116 Replacing Wheel ASSEmblIBs rris tete svi ater cito EEEREN 116 1 td Be eee RUPES Se ada adel A 116 Software Ubro S Ez NT HO NETUS 116 Batteries Replacing Batteries cef Doa Stunde tg nals cosets sais ads 117 Installation and Removal Instructions 118 Transportatior alid SPhipplfipi e Sens fe a Ser 118 Proper DISBOSdl sides 118 Copyright 2014 Segway Inc All rights reserved 4 SEGWAY RMP 210 220 Troubleshooting Reporting Problems to Segway Raduno oo ju aS 119 Extracting the wastes ac 119 Re ding the o 1
136. rating an RMP in Balance Mode Proper understanding of how the RMP will act is necessary to avoid personal injury and property damage Displacement If the RMP is displaced from its desired position it will lean against the displacement force creating a new equilibrium position The harder it is pushed the more it will lean Desired Position Figure 32 Displacement Direction Desired Position 2AX AX Figure 33 Displacement Magnitude Copyright 2014 Segway Inc All rights reserved 27 SEGWAY RMP 2107 7220 Unable to Right Itself If an external force causes the RMP to tip forward or backward the RMP will attempt to right itself This simple concept can have some surprising consequences If a downward force is applied to the mounting plate the RMP will drive in the direction that it is tipped This could occur if someone presses down on the mounting plate or if the payload center of gravity is off center See Figure 34 Figure 34 Downward Force Something similar happens when the RMP gets caught under something as is shown in Figure 35 where the mounting plate is caught under a table In this case the RMP will push up against the table in an attempt to right itself The force applied by the RMP can be quite strong lifting the table or tipping it over Figure 35 Caught Under a Table Copyright 2014 Segway Inc All rights reserved 28 SEGWAY RMP 210 220 Unable to Right Itself
137. rive 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 then 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 58 Copyright 2014 Segway Inc All rights reserved 125 3 SEGWAY Robotics 24271 00001 aa
138. rom the last calculation new_byte the new byte to add to the CRC calculation return 016 the new CRC chen et U16 T 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 0x00FF 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 CRC 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 buffer U32 T bytes in buffer 1 U32 T count U32 T crc index bytes in buffer 2 U16 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 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 new is saved in the last word byte buffer crc index U8 T new crc amp OxFF00 gt gt 8 byte buffer crc 11 U8 crc amp tk crc byte buffer crc i
139. s Power Figure 51 Starter Breakout Harness Pins Ethernet 10 Mbps Ethernet is available on the 56 pin connector see pinout Table 11 The starter breakout harness includes a male RJ45 Ethernet plug Table 11 Ethernet Pinout RJ45 Pin Signal Connector Pin 2 b e 3 Ethernet RX 6 EthemetRx Figure 52 RJ45 Plug USB USB 2 0 compliant interface is available on the 56 pin connector see pinout Table 12 The starter breakout harness includes a male Table 12 USB Pinout USB Pin Signal Connector Pin qUBD D 2 usp d USB Type A plug USBGND fe Chassis Ground CAN Controller Area Network connection is available on the 56 pin connector see pinout Table 13 The starter breakout harness includes a male DB9 connector for CAN communication Table 13 CAN Pinout c DB9 Pin Signal Connector Pin CANIH ite CANT GND Figure 54 Male DB9 Connector Copyright 2014 Segway Inc All rights reserved 42 SEGWAY RMP 210 220 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 fou
140. s valid Copyright 2014 Segway Inc All rights reserved 84 SEGWAY RMP 210 220 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 T tk crc byte buffer crc is valid U8 T byte buffer U32 T bytes in buffer 032 count 032 crc index bytes in buffer 2 U16 T new crc INITIAL U16 T received crc INITIAL CRC BOOLEAN T success 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 crc index count 1 new is checked against that stored in the buffer received crc byte buffer crc index lt lt 8 amp OxFF00 received crc byte buffer crc 1 amp 0x00FF new crc tk crc calculate crc 16 new crc byte buffer count if received crc new crc 1 success TRUE 1 lt success FALSE return success compute crc table value brief computes the table value for a given byte param the byte th
141. see Payload Gain Schedules p 23 Entering Balance Mode The RMP will enter Balance Mode if ABalance Mode transition is commanded BSA is initialized e The RMP crosses the vertical axis The BSA initializes when the RMP is within 30 of vertical and takes a few seconds to occur During this time the RMP should remain stationary 1 Verify that the RMP meets the Balance Mode Requirements 2 Turnonthe RMP 3 Command a transition to Balance Mode see RMP SET OPERATIONAL p 61 The RMP will make a emit a beep beep sound if the BSA is not initialized 4 Tipthe RMP upright until it is vertical see Figure 30 Once the BSA initializes the beep beep sound will change to a repeating beep The RMP will beep with increasing frequency as it approaches vertical 5 Allow the RMP to balance on its own You can now send motion commands Figure 30 Tip the RMP Upright When Entering Balance Mode Exiting Balance Mode When exiting Balance Mode the RMP will stop balancing and will tip over Be prepared to catch the RMP if you do not want it to slam into the ground 1 Bringthe RMP toa stop 2 Exit Balance Mode by commanding a mode transition see RMP SET OPERATIONAL p 61 3 Catch the RMP as it begins to tip over Copyright O 2014 Segway Inc All rights reserved 24 SEGWAY RMP 210 220 Performance Limits Roll Over In order to balance the RMP
142. stern Daylight Time Iejel J CCU Faultog C CO file C Program 20Files Segway RMP_Applications RMP_Demo_OCU_Application RMP_CCU_FAULTLOGS 3 RMP CCU Faultlog Filename 2 gram FilestSe way RP Applicetions RMP AppiicationlRMP FAULTLOGSIRMP CCU FAULTOG 08082012 105319 mi 01 0000000 Fault 1 15 00 32 EST 3000000 Fault Log Figure 81 Copyright 2014 Segway Inc All rights reserved 108 SEGWAY RMP 210 220 Running the OCU Demo Clicking Run OCU will cause the OCU Demo to attempt to connect to the Operational time RMP The default method of connecting is via Ethernet see Ethernet p 37 but this can be changed in the config see Configuration p 107 When the OCU Demo is up and running three windows appear Splash Screen e Console e Control Screen SEGWAY Splash Screen Robotics The splash screen Figure 82 displays the mode of the RMP the uptime and the battery status If a video server e g camera is configured the video feed is displayed here Figure 82 Splash Screen Console ass console Figure 83 displays the status of the many variables and parameters for more information about these parameters see RMP 00 rate imt ros 0 0 front base batt 1 soc 96094 fram eth gateway R 71 S p 71 96094 use feedba
143. t 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 Boot also doubles as a Balance Mode toggle on balancing platforms Figure 56 Disable Button Copyright 2014 Segway Inc All rights reserved 43 SEGWAY RMP 210 220 Connector IV This connector is used in conjunction with the External Power Supply Charging is accomplished by connecting the 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 MIL DTL 38999 26FD19SA socket Table 16 Connector IV Pinout Signal Pin pon wi e Figure 57 19 Pin Connector GN 2 Copyright 2014 Segway Inc All rights reserved 44 SEGWAY Connecting To the RMP There are three interfaces for connecting to the RMP broken out on the Starter Breakout Harness Ethernet USB All three methods provide the same functionality in regards t
144. t set the UDFBs as shown below Table 37 provides the information Table 37 Setting UDFBI Example 1 required to set UDFB1 Adjust the Command ID and Parameter as required Item Description when setting UDFB2 UDFB3 and UDFBA see page 59 Message ID 0x0501 0000007 UDFB2 0x00000000 none 000097 UDFB3 000000000 none 0 00000003 UDFB4 0x00000000 none Each command sent to the RMP will trigger a response message The Table 38 RMP Response Example 1 response message contains the values of the UDFB variables currently UDFB Variable Name enabled plus a 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 2 UDFB1 bit1 fault_status_word_2 Or with variable names from the UDFB tables Variable 3 0x0000 CRC 16 fault status word 1 fault status word 2 CRC 16 The structure of the response packet s is described in CAN Response Structure p 73 and USB and UDP Response Structure p 74 Copyright O 2014 Segway Inc All rights reserved 71 SEGWAY RMP Response cont Example 2 Set the UDFBs as shown below Information on setting UDFBs is found in Configuration Commands p 53 Information on the feedback bitmaps themselves is found on page 59 An example of how to set UDFB2 is shown in Table 39 UDFB1 0x00000003 bits 0 1 UDFB2 OxF0000000 b
145. ter Clockwise Clockwise Backward Figure 69 Joystick Axes axisl Figure 70 The Movement Vector 69 SEGWAY RMP 210 220 Omni Input Mapping cont Determining the Yaw Rate Now that the magnitude v and direction 0 of the vector have been determined all that remains is the yaw rate o The yaw rate determines the speed of rotation As discussed above the yaw rate is provided by twisting the joystick axis 3 Twisting the joystick clockwise produces a positive yaw rate Twisting it counter clockwise produces a negative yaw rate Provided that this value is in the range of 1 to 1 the raw value can be used directly Sending Motion Commands A motion command is composed of the Message ID velocity yaw rate and angle The Message ID is always 0x0600 for omni platforms The normalized values for velocity and yaw rate are scaled to 16 bits 32768 32768 and packed into a 032 T The angle is not normalized 0 360 and is packed into a Float32 For more information on how to construct motion commands see Omni Motion Commands p 51 Copyright 2014 Segway Inc All rights reserved Table 36 Omni Motion Command Structure Item Description Message ID 0x0600 Value 1 High Normalized Scaled Velocity Value 1 Low Normalized Scaled Yaw Rate 70 SEGWAY RMP 210 220 RMP Response For every valid command received the RMP will respond with the data specified by the User Defined Feedback Bitma
146. 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 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
147. the Light or Heavy gain schedules The gain schedule is assigned when the RMP enters Balance Mode Changes to the gain schedule cannot be performed while in Balance Mode The RMP will have to enter Tractor Mode for the gain schedule to change Figure 26 Unloaded Figure 27 Light Unloaded Default Use this gain schedule for an RMP with no additional mass loaded onto it This is the default gain schedule Light Use this gain schedule for an RMP with a 50 Ib 22 7 kg payload mounted directly on the mounting plate Custom A 25 Ibs 750 mm Figure 28 Tall Figure 29 Heavy Tall Use this gain schedule for an RMP with 25 Ibs 11 3 kg mounted on the mounting plate and an additional 25 Ibs 11 3 kg mounted 750 mm 29 5 in above the mounting plate Heavy Use this gain schedule for an RMP with 100 Ibs 45 4 kg mounted directly on the mounting plate Segway can create custom gain schedules for specific applications The gain schedule parameters are stored in NVRAM so they will not be forgotten across reboots Copyright 2014 Segway Inc All rights reserved 23 SEGWAY RMP 210 7220 Balance Mode Requirements In order to safely balance the RMP must meet the following requirements Ability to tip to 45 to safely allow the RMP full maneuverability e Correct weight distribution as per the gain schedule selected
148. the connectors and what plugs into them see Connecting p 30 CONNECTOR AUX CONNECTOR IV POWER CONNECTOR II C9 O Lit STATUS or GO SEGWAY IPRIMATIEP USER INTERFACE MODULE Figure 21 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 Boot2 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
149. the drivers must be explicitly selected Please choose your search and installation options iw Y 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 4 C Search removable media floppy CD ROM v Include this location the search C Program Files amp SegwaysRMP ApplicationsNLISB Don t search will choose the driver to install Point the installer to the USB Drivers folder default location is C Program Files Segway RMP_Applications USB_Drivers 5 The install 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 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 60 Select the USB_Drivers Folder Copyright 2014 Segway Inc All rights reserved 46 SEGWAY RMP 2107 7220 Comm
150. 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 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 CMD SET MAXIMUM VELOCITY serves as the velocity limit 2 RMP
151. these bitmaps work Command ID 18 Parameter Type 032 T Parameter Range OxFFFFFFFF valid mask Parameter Units Unitless Stored in NVM Yes Default Value OxFFFFFFFF Copyright O 2014 Segway Inc All rights reserved 59 SEGWAY RMP 210 220 Configuration Commands cont RMP_CMD_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 79 See User Defined Feedback Bitmaps p 71 for details on how these bitmaps work Command ID 19 Parameter Type 032 Parameter Range OxOFFFFFFF valid mask Parameter Units Unitless Stored in NVM Yes Default Value OxOFFFFFFF 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 81 See User Defined Feedback Bitmaps p 71 for details on how these bitmaps work Command ID 20 Parameter Type 032 T 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
152. tor intor DUI E INI ME uL 44 Connecting To the p ase EN ERR 45 Communication General Command LE Ucn oae redet te usu 48 Standard Motion 5 usa aec d oett ec etate Riu rc pcm OU MP e Eu 50 Omni Motion GOImittglitls 3 5 5 ce octet Sto td eet trs isst 51 Configuration Commands 53 Standard Input Mapping taedis gon do LAS ped cu eb Dino ADAE e edunt Td DM RO 64 OmnpInpit ipud octets 68 PUP RESPONSE sea 2 e eE E Pc 71 IEEE754 32 bit Floating Point and Integer 82 Cyclic Redundancy Check 83 Fale Status Definitions 2 eh e D m a eme 87 Copyright O 2014 Segway Inc All rights reserved 3 SEGWAY RMP 2107 7220 Internal Connections Centralized Control LIU dn 93 Auxiliary Battery 52 uec dac 94 Smart Charge
153. ues you will need to scale the output before proceeding Determining the Vector Components To create the vector combine the values for axis 1 and axis 2 Imagine axis 1 and axis 2 as being two sides of a right triangle The hypotenuse of the triangle is the vector The length of the hypotenuse is the magnitude of the vector velocity And the angle between axis 2 and the hypotenuse is the direction of the vector In Figure 70 v represents the lateral velocity how far you tipped the joystick to the right and represents the longitudinal velocity how far you tipped the joystick forward Tipping the joystick left or backward results in a negative value for v or v respectively Total velocity is the hypotenuse of the right triangle The direction 0 is an angle in degrees To calculate the total velocity v use the Pythagorean Theorem as shown below o o2 o v Jo OF To calculate the angle use the arctangent function This provides the angle in degrees If the output of arctangent is in radians multiply it by 180 z to convert it to degrees 0 arctan Ox It is possible for the angle to be negative however the Omni will only recognize an angle within the range of 0 360 Because 0 360 0 the following conditional statement can be used to keep 0 within the desired range if 0 0 then 0 3604 0 Copyright 2014 Segway Inc All rights reserved RMP 2107 7220 Forward Coun
154. uld 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 response packet Each bit in each bitmap corresponds to a piece of data in 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 75 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 59 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 Firs
155. unication 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 83 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 timeout 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 83 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 71 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 ZN
156. werbase An auxiliary battery mounts to the enclosure The RMP 210 only has one battery mounted beneath the powerbase Auxiliary Battery Auxiliary Battery Battery 0 Battery 0 Battery 1 Figure 91 Battery Locations 210 Figure 92 Battery Locations 220 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 77 Lithium ion Battery Specifications Characteristic Value Charging Time 32 122 F 0 C 50 C 50 F 122 F 10 C 50 C 4 F 122 F 20 C 50 C fered Copyright 2014 Segway Inc All rights reserved 117 SEGWAY RMP 2107 7220 Installation and Removal Instructions Z WARNING 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
157. y of situations read the rest of this chapter Copyright O 2014 Segway Inc All rights reserved 22 SEGWAY Payload Gain Schedules RMP 210 220 In order to balance safely and accurately the controller s gain schedules must be precisely tuned for a given payload and weight distribution Four pre defined gain schedules can be selected and Segway can create custom gain schedules for specific applications A CAUTION The Tall configuration requires extra care Small tilt angles can result in large relative displacements of the wheel and upper payload Each gain schedule has been optimized for a particular payload at a particular height For best performance the user should endeavor to combine their payload with ballast to reproduce mass properties that are close to the configurations defined below In general all gain schedules operate with a wide range of payloads Choosing the gain schedule that best fits a user s payload has one main advantage the handling and dynamics of the RMP will be better damped and more predictable While each of the gain schedules can balance a wide variation in payload the degree of oscillation and control activity will change as the payload is altered For example both the Light and Heavy gain schedules can handle a 75 Ib payload on the mounting plate however the response of each controller will be slightly different in the presence of disturbances Note that the Tall payload configuration will not balance with
158. y signals at all Copyright 2014 Segway Inc All rights reserved 99 SEGWAY RMP 2107 7220 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 transmitter 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 Preparethe receiver i Insert the bind plug into the BATT BIND receptacle ii Connect 5V DC power to the receiver iii The r
159. ype 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 Lateral Acceleration Based Input Mapping 5 T T T T Norm Yaw 0 2 deum em SSS Norm Yaw 0 4 4 Norm Yaw 0 6 4 Norm Yaw 0 8 4 Norm Yaw 1 0 ON 4 _ 35 NO P 3h N S J 9 EM 2257 7 J m S i 5 2 Tc 1 z Sask Se 4 tb uc m Bc 05 Eu 52 0 1 1 1 1 0 1 2 3 5 6 7 8 4 Vehicle Velocity m s Figure 62 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 2014 Segway Inc All rights reserved 66 SEGWAY RMP 210 220 Standard Input Mapping cont Velocity Filter A velocity filter can be set that smooths transiti

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