Segway RMP 210 V3, User Manual

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Troubleshooting
RMP 210
Faults
Descriptions of the most common faults are provided below. These descriptions may provide sufficient information for users to solve
problems on their own. As always, if you need help please see "Reporting Problems to Segway," p. 43.
The RMP stores all faults in four 32-bit fault status words. Fault status is transmitted as part of the RMP response (refer to the
RMP
V3 Interface Guide).
Data[0] Meaning
0x00000001 One of the MCUs has faulted.
0x00000002 The RMP is plugged in and the "Check AC Present" flag is set.
0x00000004 Low battery voltage — attempt to charge the system.
0x00000008 Low battery voltage — attempt to charge the system.
0x00000010 The system must be stationary during startup. 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 occur if you
are commanding zero velocity while towing the RMP.
CRITICAL_FAULT_INIT_PROPULSION
There is a problem initializing the propulsion system. Make sure everything is properly connected, the batteries are charged, and
the RMP is resting on a level surface.
CRITICAL_FAULT_FORW_SPEED_LIMITER_HAZARD
System speed exceeds the user-defined forward limit. If speed limit is set to zero and RMP is moved, you may see this fault.
CRITICAL_FAULT_AFT_SPEED_LIMITER_HAZARD
System speed exceeds the user-defined reverse limit. If speed limit is set to zero and RMP is moved, you may see this fault.
CRITICAL_FAULT_CHECK_STARTUP
There was a fault during startup. The output of Data[0] indicates the specific fault that occurred.