Version 2.0
Segway RMP – User Guide
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Safety Shutdown Function
The Segway RMP has both redundant sensors and a redundant propulsion system that allow it to
detect, isolate and operate during certain failures. The Segway RMP also monitors battery state
of charge to ensure that enough power is available to balance the RMP. For many classes of
faults, the Segway RMP will execute a “Safety Shutdown” if Balance Mode operation can not be
ensured. This may occur due to a fault in the redundant system or a low battery. The Safety
Shutdown consists of:
•
Immediately bringing the RMP to a stop
•
Annunciating with a loud, pulsing chatter that switches to a continuous tone after
approximately 6-8 seconds
•
Disabling motor power two seconds after the continuous tone starts
The annunciation alarm is to alert anyone in the vicinity that the RMP will be disabling power
soon(and falling over unless some support is provided). The pulsing will increase in intensity and
volume and then switch to a continuous tone two seconds before disabling the motors and
turning off.
When the RMP is in Tractor Mode, a Safety Shutdown immediately disables the motor power.
The RMP maintains and reports certain status information that may be helpful in anticipating and
responding to a Safety Shutdown. Consult the “Segway Robotic Mobility Platform Interface
Guide” for a detailed interpretation of RMP data.
It is important to remember that a disabled RMP will fall over
or roll freely.
