Segway RMP 210 V3, Руководство пользователя

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User Manual
Operational Model
Diagnostic Mode
In Diagnostic Mode the RMP stays in the Init System state without transitioning to Standby Mode. In this mode the RMP has
initialized the CCU and ABB, but has not initialized propulsion. The user can communicate with the RMP but cannot command it to
move. This mode allows the user to update configuration parameters and extract the faultlog without fully initializing the RMP; this is
useful when a fault causes the RMP to shutdown before entering Standby Mode.
In this state the RMP will remain on as long as power is available.
To enter Diagnostic Mode:
1. Turn the RMP off.
2. Connect pins D and E on the 6-pin connector (Connector II).
3. Turn the RMP on.
This will pull the BOOT1 signal low. The RMP will begin initialization but will stop at Init System and remain there.
Bootloader Mode
In Bootloader Mode, the RMP remains in the bootloader stage without continuing on to the RMP applications. The user can then load
new applications into either of the processors using the Bootloader Application (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 (Connector II).
3. Turn the RMP on.
This will pull the BOOT2 signal low. The RMP will stop at the bootloader stage without loading any applications or beginning
initialization.
Standby Mode
In Standby Mode the RMP is fully functional with the exception that motion commands are not executed. The MCUs are enabled, the
controllers are initialized, and the RMP is holding its position. Any motion commands issued will not be executed by the platform.
Standby mode is entered automatically after successful initialization. From here the user can initiate a transition to tractor mode or
disable the RMP.
Tractor Mode
In Tractor Mode the RMP will accept motion commands from the user. In this mode the RMP can be commanded to move. The MCUs
are enabled and the controllers are running. Motion commands issued by the user will be accepted.
Tractor Mode can only be entered from Standby Mode as the result of a user mode request (refer to the
RMP V3 Interface Guide).
From here the user can initiate a transition back to Standby Mode or can disable the RMP.