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User Manual

Operational Model

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:

•  Initialization
•  Diagnostic Mode
•  Bootloader Mode
•  Standby Mode
•  Tractor Mode
•  Disable Mode
•  DTZ Mode
•  Off

Figure 20 shows how these states interact. Each of these states is discussed in more depth on the following pages.

Figure 20: System State Diagram

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Summary of Contents for RMP 210 V3

Page 1: ...User Manual Segway Robotics Mobility Platform RMP 210 V3 Robotics...

Page 2: ......

Page 3: ...cs 13 Mounting Locations 14 Turn Envelope 14 User Interface Panel 15 Powerbase Connections 16 Performance Specifications 17 Environmental Specifications 17 Endurance 18 Transportation and Shipping 19...

Page 4: ...Controls 35 Mode Selection 36 Status Indicators 36 Coin Cell Battery 36 Maintenance Fastener Torque 37 Tire Pressure 37 Parts List 38 Use the diagram and table below to identify part names and numbers...

Page 5: ...5 User Manual Troubleshooting Reporting Problems to Segway 43 Extracting the Faultlog 43 Reading the Faultlog 43 Faults 44 Charging Faults 48 Other Issues 48...

Page 6: ...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 no...

Page 7: ...over USB so the RMP V3 can be updated whenever new code is released This manual describes the hardware and capabilities of the RMP V3 A separate communications manual describes the individual message...

Page 8: ...d 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 prom...

Page 9: ...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...

Page 10: ...it 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...

Page 11: ...se The auxiliary battery is mounted to the top of the UI box The on off button external connectors and indicator lights are mounted on an interface panel at the rear of the machine Communication with...

Page 12: ...ware command This command causes the RMP to decelerate and come to a stop Payload Users can mount equipment to the rails along the sides of the RMP Mounting holes are provided along the tops of the ra...

Page 13: ...ght 481 mm 18 9 in Chassis Length 419 mm 16 5 in Width 423 mm 16 7 in Height 212 mm 8 3 in Clearance 93 mm 3 7 in Tires Tire Size 19 in Segway i2 Tire Wheel Base N A Track Width 544 mm 21 4 in Recomme...

Page 14: ...gure 7 Top Mounting Holes 0 0 25 1 0 76 3 0 0 0 16 6 423 16 7 407 16 0 Figure 8 End Mounting Holes NOTICE Only mount equipment via the provided mounting locations Drilling holes in the enclosure or ot...

Page 15: ...p 29 for a list of what the LEDs indicate Connector I This connector is used for communication and for auxiliary power Auxiliary power available depends on the Power Converters installed Up to two dif...

Page 16: ...erbase 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...

Page 17: ...10 Mobility Max Speed 8 0 m s 18 mph Max Speed Balancing N A Turn Radius 0 minimum Turn Envelope 771 mm 30 4 in Max Slope1 20 Peak Torque Each Wheel 50 N m 37 lb ft Maximum Range2 25 km 15 mi Power Ba...

Page 18: ...use approximately 16 Watts allowing the auxiliary battery to last nearly 24 hours In contrast the propulsion motors require only 4 5 Watts to maintain position on level ground leaving 84 SOC left in...

Page 19: ...ment Batteries Separate When shipping the RMP by ground with the batteries packaged separately only the batteries require special accommodation There are no restrictions on packaging and transportatio...

Page 20: ...20 RMP 210 RMP 210...

Page 21: ...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...

Page 22: ...d 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 manage...

Page 23: ...erational States At any given time the RMP will be in one of the following operational states Initialization Diagnostic Mode Bootloader Mode Standby Mode Tractor Mode Disable Mode DTZ Mode Off Figure...

Page 24: ...ameters 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...

Page 25: ...pplication refer to RMP Applications In this state the RMP will remain on as long as power is available To enter Bootloader Mode 1 Turn the RMP off 2 Connect pins D and F on the 6 pin connector Connec...

Page 26: ...e RMP waits for some time to allow any connected computers to shut down 4 The ABB shuts down the protected 72 V output 5 The processors go into reset 6 The RMP powers off Disable Mode can be entered a...

Page 27: ...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 Suppl...

Page 28: ...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 modifyi...

Page 29: ...chine will send a power down signal to any connected computers wait 30 seconds for them to shut down and then turn off the auxiliary power User commanded Disable The RMP logs the disable request as a...

Page 30: ...30 Powering On Off RMP 210...

Page 31: ...cket with 56 pins Mating connector is a MIL DTL 38999 26FJ4PN plug It houses all the communication interfaces to the platform and provides power available for customer loads Power available is depende...

Page 32: ...ng pins A and C 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 23 and Hardware...

Page 33: ...must match but computer and RMP must have unique addresses Computer subnet and RMP subnet must match Computer gateway and RMP gateway must match See Table 16 for recommended computer settings The RMP...

Page 34: ...34 Connecting RMP 210...

Page 35: ...n 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 C...

Page 36: ...2 after the system is running will have no effect Diagnostic Mode Connecting Pin 1 to Pin 3 sends the BOOT1 signal If connected at startup the CCU will enter Diagnostic mode For details see Diagnostic...

Page 37: ...e Cover M5 x 10 FHCS 3 mm Hex 3 N m Enclosure to Bracket M6 x 12 SHCS 5 mm Hex 6 N m Bracket to Rail M8 x 25 SHCS 6 mm Hex 10 N m Gearbox M8 x 34 SHCS T45 Torx 40 N m Powerbase Cover M6 x 25 SHCS 5 mm...

Page 38: ...ub 5 Gearbox 20919 00002 Standard 6 Powerbase 23088 00004 1M 7 Battery 20967 00001 Li ion 8 Battery Hole Cover 20209 00001 Covers Hole Table 23 Components Label Fastener Location Part No Description A...

Page 39: ...ied on new software updates you can watch the software on Github Simply sign in to Github com then navigate to https github com StanleyInnovation and select the software you d like to be notified for...

Page 40: ...40 Maintenance RMP 210...

Page 41: ...attery Care In order to keep your Segway batteries performing at their best fully charge the batteries for at least 12 hours before the first use Charge the batteries after each use or once every eigh...

Page 42: ...per battery 3 Pull the batteries straight off the chassis Installing Batteries CAUTION Replace battery fasteners every time a battery is installed Use only Segway approved fasteners Failure to replac...

Page 43: ...ied the RMP Extracting the Faultlog See the Faultlog Instructions on the ROS wiki at http wiki ros org Robots RMPv3 indigo troubleshooting Reading the Faultlog The faultlog is arranged with a header a...

Page 44: ...p Movement was detected Table 26 Startup Faults CRITICAL_FAULT_APP_VELOCITY_CTL_FAILED This indicates that the RMP is moving at a different speed than what was commanded for a period of time This can...

Page 45: ...this error occurs frequently replace the battery 0x0008 BATTERY_IS_HOT The internal battery temperature is too high for operation Turn off the RMP and let the battery cool down 0x0010 BATTERY_IS_COLD...

Page 46: ...ain do so more slowly ARCHITECT_FAULT_COMMANDED_DISABLE The RMP received a user commanded disable signal Refer to the RMP V3 Interface Guide ARCHITECT_FAULT_COMMANDED_SAFETY_SHUTDOWN The RMP received...

Page 47: ...T_OVERVOLTAGE The RMP will generate power when driving downhill This fault occurs when the voltage approaches the threshold for damage MCU_CRITICAL_BATT_OVERVOLTAGE WARNING Avoid contact with any subs...

Page 48: ...act 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 curren...

Page 49: ...49 User Manual Troubleshooting...

Page 50: ...Robotics 24927 00001 aa...

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