Version 2.0
Segway RMP – User Guide
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Balance Mode
Do not use Balance Mode with a third point of ground contact.
See Balancing Dynamics section for explanation.
It is important that no obstacles be in the way of wheel motion
when entering balance mode.
.
Never attempt to enter balance mode without
frame attached.
Before entering Balance Mode, be sure the RMP is free to tilt 20 degrees
forward and aft. Also make sure that the surface directly in front and behind
the RMP is free of obstacles. To enter Balance Mode, hold the RMP
approximately level and command balance mode one of two ways, by pressing
the blue Balance Mode panel switch on the UI or through a Balance Mode
command from the host computer. The blue Balance Mode panel switch on
the UI will illuminate when the RMP is in Balance Mode.
Some movement may occur while the RMP finds equilibrium. Once Balance Mode is enabled
you do not need to assist the RMP. At this point the RMP is able to balance itself and holding of
the RMP by the user will inhibit this action and may produce unintended behavior.
