Segway PT i2, Reference Manual

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Balance Sensor Assembly
Figure 14 shows the location of the Balance Sensor Assembly.
Figure 14. Location of Balance Sensor Assembly
The Balance Sensor Assembly contains five angular rate sensors
(solid state gyroscopes) and two tilt sensors. The Balance Sensor
Assembly sends information about the Segway PT’s orientation to the
Controller Boards. All sensors are constantly monitored by the
Segway PT to ensure each is operating correctly. If one of these
sensors fail, the Segway PT will perform a Safety Shutdown.
For more information on Safety Shutdown, see “Safety
Shutdown” on page 55 .