Segway RMP 210 V3, User Manual

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10
Introduction
RMP 210
Abbreviations
ABB Auxiliary Battery Board — a PCB used to gather and report performance information from the auxiliary battery.
BCU Battery Control Unit — a PCB inside the battery pack that manages the charge of the individual cells.
BSA Balance Sensor Assembly — a group of PCBs used to obtain information about the vehicle's orientation.
CAN Controller Area Network — a message-based protocol used for communication between microcontrollers.
CCU Centralized Control Unit — a PCB that houses the SP, UIP, and NVM; it controls the RMP and handles communication.
CRC Cyclic Redundancy Check — a type of error-detection used to verify the accuracy of transmitted data.
DLC Data Length Code — a part of the CAN message header that specifies the size of the data packet being sent.
DTZ Decelerate To Zero — an operational mode in which the RMP comes to a stop and powers down.
LE Large Enclosure — a unified chassis/enclosure for 4-wheeled RMP models.
MCU Motor Control Unit — a PCB that controls the electric motors that turn the wheels.
NVM Non-Volatile Memory — a type of digital memory that can retain the stored information even when not powered.
OCU Operator Control Unit — software and hardware that provide an interface between the user and the RMP.
PCB Printed Circuit Board — a thin board with conductive pathways and electronic components 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.
ROS Robot Operating System — a set of open-source Linux tools for building and manipulating 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 0% (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.
UI
User Interface — the means by which an operator interacts with a device.
UIP User Interface Processor — a microcontroller on the CCU that communicates with the OCU.
USB Universal Serial Bus — an industry-standard bus for communication and power supply between computers and peripherals.
VAB Vicor Adapter Board — a PCB that interfaces with Vicor DC-DC converters.