Segway RMP 210 V3, User Manual

Page: 46 / 50

46
Troubleshooting
RMP 210
SENSOR_FAULT_7P2V_VBAT_RANGE_FAULT
The voltage differential between the two cells in the 7.2 V battery exceeds the allowed threshold. Replace the battery.
SENSOR_FAULT_7P2V_VBAT_INBALANCE_FAULT
Something is wrong with the 7.2 V battery. Charge the RMP for 24 hours. If the error persists, replace the battery.
SENSOR_FAULT_7P2V_BATT_TEMPERATURE_FAULT
Battery temperature has gone outside the recommended range. See the RMP operating temperature range ("Environmental
Specifications," p. 17). Physically inspect the battery for damage.
BSA_FAULT_SIDE_A_RATE_SENSOR_SATURATED
The RMP has exceeded the acceleration rate threshold (0.7 g). If driving over rough terrain, do so more slowly.
BSA_FAULT_SIDE_B_RATE_SENSOR_SATURATED
The RMP has exceeded the acceleration rate threshold (0.7 g). If driving over rough terrain, do so more slowly.
BSA_FAULT_SIDE_A_TILT_SENSOR_SATURATED
The RMP has exceeded the tilt rate threshold (6.2 rad/s). If driving over rough terrain, do so more slowly.
BSA_FAULT_SIDE_B_TILT_SENSOR_SATURATED
The RMP has exceeded the tilt rate threshold (6.2 rad/s). If driving over rough terrain, 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 a user-commanded DTZ signal. Refer to the RMP V3 Interface Guide.
ARCHITECT_FAULT_DECEL_SWITCH_ACTIVE
The hardware DTZ button has been pressed.
Bit Name Description Action
0x0000 BCU_NO_HAZARD ABB is operational. None.
0x0200 BATTERY_COLD_CHARGE_
LIMIT_HAZARD The battery is too cold to charge. Move the battery to a warmer place to
charge.
0x0400 BCU_BATTERY_COLD_HAZARD The battery is too cold to operate. Turn off the RMP and warm the
battery up.
0x0800 BCU_BATTERY_COOL_HAZARD The battery is approaching the
threshold for cold operation.
Move the battery to a warmer place.
0x2000 BCU_BATTERY_LOW_BLOCK_
VOLTAGE_HAZARD A battery bank voltage has dropped
below its operating range. Charge the battery. If this error occurs
frequently, replace the battery.
0x4000 BCU_BATTERY_HOT_HAZARD The internal battery temperature is too
high for operation. Turn the RMP off and let the battery
cool down.
0x8000 BCU_BATTERY_WARM_
HAZARD The battery is approaching the
threshold for hot operation. Move the battery to a cooler place.
Table 28: Battery Hazard Bitmap (Data[0] Low)
The mask for Battery Hazards is 0x0000EE00 on Data[0].