Segway RMP 210 V3, User Manual

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Operational Model
RMP 210
Disable Mode
WARNING!
When the RMP powers off it may continue to move (for example, it could roll downhill). This could cause serious personal injury and
property damage.
CAUTION!
If the RMP is in Balance Mode, entering Disable Mode will cause the RMP to fall over.
In Disable Mode the RMP performs housekeeping functions and then powers off. In this mode the propulsion drives are disabled and
all user commands are ignored.
In this mode the following actions are performed:
1. Drives are disabled via software and hardware.
2. The RMP broadcasts a shutdown message on the UDP broadcast address for that subnet (e.g. 10.66.171.255).
The shutdown message is a single 32-bit number "0x8756BAEB".
3. The RMP waits for some time to allow any connected computers to shut down.
4. The ABB shuts down the pro72 V output.
5. The processors go into reset.
6. The RMP powers off.
Disable Mode can be entered at any time via user command (refer to the RMP V3 Interface Guide). Some faults will also cause a
transition to Disable Mode.
Decel To Zero (DTZ) Mode
In DTZ Mode, the RMP decelerates at the DTZ Decel Rate (refer to the RMP V3 Interface Guide) until it reaches zero velocity (no
movement). The RMP beeps and holds position indefinitely until the RMP is powered off. In this mode, all motion commands are
ignored.
DTZ Mode can be entered at any time via user command (refer to the
RMP V3 Interface Guide) or by connecting pins A and C on
Connector II. Some faults will also cause a transition to DTZ Mode.
To exit DTZ Mode the RMP must power off. This can be achieved via the power button, a disable request, or the disable button.