Segway RMP 210 V3, User Manual

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User Manual
Internal Connections
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.
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, but remains powered on. These
modes can also be set via software commands (refer to the
RMP V3 Interface Guide). CCU J8 provides connections for both signals.
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).
J8 Pin Name
1 +5 V
2 DECEL_REQUEST
3 #DISABLE_5V
4 DGND
Table 17: CCU J8
Hardware Disable
On the CCU there are four optically isolated outputs (J2, J3, J4, and J5) which allow for control of the hardware disable function on
the MCUs inside the Segway powerbases.
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:
CCU J2, J3, J4, J5 Name
1 Collector (more positive)
2 Emitter (more negative)
Table 18: MCU Hardware Disable