Segway®HT
reference manual
>i Series
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welcome to the evolution of personal mobility.
about this manual
Congratulations on the purchase of your new Segway Human Transporter (HT)! You are about to
experience human mobility like you never have before. This manual describes the technology and
engineering incorporated into your Segway HT. It also includes information on battery charging,
maintenance, and troubleshooting. The Reference Manual does not contain instructions on how to ride
the Segway HT.
Use this manual for the following Segway HT models: i Series, p Series, Segway Cross-Terrain
Transporter (XT) and Segway Golf Transporter (GT).
To assemble and charge your Segway HT for the first time, follow the separate Assembly Instructions
included with your Segway HT. If you don’t have the Assembly Instructions for your Segway HT model,
contact an Authorized Segway Dealer.
If you have any questions, or need the user materials for any Segway HT model, contact an Authorized
Segway Dealer. For a list of Dealers, visit www.segway.com. Check the website for updates to
Segway HT user materials: www.segway.com.
© 2005 Segway LLC
3
the risk of injury
To learn to ride your Segway HT i Series, p Series, Segway XT or Segway GT model, you must read and
follow all instructions and warnings in the Riders’ Guide and you must watch the Safety Video. If you don’t
have the Riders’ Guide for your Segway HT model or the Safety Video, contact an Authorized Segway Dealer.
For a list of Dealers, visit www.segway.com.
Segway contact information
Segway Customer Operations: 1-866-4SEGWAY (1-866-473-4929).
Fax: 1-603-222-6001
Email: technicalsupport@segway.com.
Website: www.segway.com.
WARNING!
RISK OF DEATH OR SERIOUS INJURY
Whenever you ride the Segway HT, you risk death or serious injury from loss of control, collisions and falls. To
reduce risk of injury, you must read and follow all instructions and warnings in the Riders’ Guide for your
Segway HT model and you must watch the Safety Video.
4
icon legend
record your serial number and key code
To order replacement Keys, you must have both the Serial Number of your
Segway HT, and the Key Code. The Serial Number is the 12-digit number
beginning with “0” located on the left side of the bar code label on the rear
edge of the Platform.
The Key Code is a 16-digit number located on the
bar coded tag included with your Keys.
Record these numbers and store them in a confidential location, separate
from your Segway HT.
WARNING!
WARNING indicates a potentially
hazardous situation that, if not
avoided, could result in serious
injury or death.
notes
Look for this icon for
important information.
troubleshooting
Look for this icon for guidance in
troubleshooting problems with
your Segway HT.
SM
012345678901 SER MOD 1680400011
0123456789012345
5
content s
contents
your Segway HT ................................................................. 6
Segway HT specifications................................................... 7
chapter 1: how the Segway HT works............................... 12
chapter 2: helpful hints.................................................... 19
chapter 3: battery packs .................................................. 22
chapter 4: troubleshooting and display icons................... 29
chapter 5: service ............................................................ 37
chapter 6: frequently asked questions............................. 42
chapter 7: contact and legal information ......................... 43
index ................................................................................ 46
6
your Segway HT
your Segway HT
Top View of Handlebar
Steering
Grip
Mode Button
Key Port
Display
Fixed Grip
Charge Port
Indicators
Charge Port
Mat
Platform
Back View of Platform
Handlebar
Trim
Handlebar
Height Adjustment Collar
Control Shaft
Control Shaft Clamp Bolt
Tire/Wheel
Assembly
Battery Packs
Fender
Parking
Stand
(i180 shown)
Control Shaft Base
Front Trim
p Series
Segway XT
Segway GT
Splashguard
Wheel Insert
7
Segway HT specifications
Segway HT specifications
Model Specifications p Series i Series Segway XT Segway GT
Rider Weight and Cargo Limits *
max. payload (rider plus all cargo): 210 lbs (96 kg) 260 lbs (118 kg) 260 lbs (118 kg) 260 lbs (118 kg)
min. rider weight: 100 lbs (45 kg) 100 lbs (45 kg) 100 lbs (45 kg) 100 lbs (45 kg)
max. handlebar cargo weight: 10 lbs (4.5 kg) 10 lbs (4.5 kg) 10 lbs (4.5 kg) 10 lbs (4.5 kg)
Performance
max. speed: 10 mph (16 km/h) 12.5 mph (20 km/h) 12.5 mph (20 km/h) 12.5 mph (20 km/h)
energy (rechargeable battery packs): NiMH NiMH or Li-ion Li-ion Li-ion
range on a full charge- NiMH: ** 6 to 10 mi (10 to 16 km) 8 to 12 mi (13 to 19 km) NiMH not available NiMH not available
range on a full charge- Li-ion: ** Li-ion not available 16 to 24 mi (26 to 39 km) 9 to 12 mi (14 to 19 km) 8 to 24 mi (13 to 39 km)
turning radius: Zero. The wheels can rotate in opposite directions, enabling the Segway HT to turn in place.
tire inflation pressure: 22 psi (150 kPa) 15 psi (105 kPa) 4 psi (28 kPa) 15 psi (105 kPa)
power requirements (worldwide): 100 to 240 V, 50 to 60 HZ 100 to 240 V, 50 to 60 HZ 100 to 240 V, 50 to 60 HZ 100 to 240 V, 50 to 60 HZ
* See page 9 for information about why Segway sets these weight limits.
** See page 10 to read about maximizing the distance you can travel on your Segway HT, and factors that can increase or reduce your range.
8
Segway HT specifications
Dimensions
machine weight without battery packs: 55 lbs (25 kg) 68 lbs (29 kg) 82 lbs (37 kg) 74 lbs (33.5 kg)
battery pack weight: See Battery Pack Specifications on page 23.
ground clearance (unloaded)- NiMH: 3.0 in (7.6 cm) 4.0 in (10.2 cm) NiMH not available NiMH not available
ground clearance (unloaded)- Li-ion: Li-ion not available 3.0 in (7.6 cm) 4.5 in (11.4 cm) 3.0 in (7.6 cm)
machine length and width: 16 x 22 in (41 x 55 cm) 19 x 25 in (48 x 64 cm) 21 x 30.5 in (53 x 77 cm) 33 x 37 in (84 x 94 cm)
handlebar height: 35.5-48.5 in (90-123 cm) 37-50 in (94-127 cm) 38-51 in (97-130 cm) 37-50 in (94-127 cm)
platform height (unloaded): 6.7 in (17 cm) 8.0 in (20 cm) 9.5 in (24 cm) 8.0 in (20 cm)
tire diameter: 16 in (41 cm) 19 in (48 cm) 21 in (53 cm) 19 in (48 cm)
tire type: Standard Standard All-terrain Enhanced Traction
Model Specifications (Continued) p Series i Series Segway XT Segway GT
9
Segway HT specifications
Weight Limits for Riders and Cargo
Segway sets weight limits for two reasons: rider safety and to reduce risk of damage to the Segway HT.
Dynamic Weight Limits
To keep the Segway HT and rider upright, the
Segway HT must always have enough power to be able
to turn its wheels forward and backward. Exceeding the
weight limits, especially when combined with other
variables that require more power (see list below), will
increase your risk of falling or damaging the
Segway HT. Variables that require more power include:
> Higher payloads (weight of rider and all cargo)
> Steeper slopes
> Bumpier surface conditions
>Higher speeds
> Abrupt maneuvers
Since the Segway HT can monitor the amount of power
being used, the Segway HT will engage the Speed
Limiter (and potentially perform the Stick Shake
Warning) in response to these variables. It is important
that all riders learn to anticipate and recognize when
the Segway HT is reaching the limits of performance.
Minimum Weight Limit
The rider’s weight must not be less than 100 lbs.
(45 kg). If the rider is below the minimum rider weight
limit, she may not be able to ride safely because she
cannot shift her weight far enough back (behind the
centerline of the wheels) to safely slow down and stop,
especially when riding downhill. Also, riders below the
minimum weight limit might fail to properly activate the
Segway HT’s balancing system.
Handlebar Cargo
The total weight of any Handlebar payload plus any
other attachments hanging from the Handlebar should
not exceed 10 lbs (4.5 kg). Exceeding this limit
interferes with the Segway HT’s balancing ability and
could cause the Segway HT to accelerate on its own,
risking injury and damage.
Structural Weight Limits
Increased risk of damage to the Segway HT is another
consequence of exceeding the maximum weight limits.
Heavier payloads place greater stresses on the Segway
HT. Segway’s testing has shown that the stresses
created by a payload within the total payload weight
limit (with any cargo not exceeding the applicable cargo
weight limits), ridden on a wide variety of terrain in
accordance with the instructions in the Segway HT
Riders’ Guide, the Segway HT Reference Manual, and
the Segway HT Safety Video, will not damage the
Segway HT.
Just like the dynamic weight limits, several factors
affect the loads transmitted to the Segway HT:
> Skill level of the rider
> Payload (weight of the rider and all cargo)
> Surface condition (obstacle height, etc.)
The stresses created by exceeding the rider or cargo
weight limits, especially when riding on uneven terrain,
could damage the Segway HT.
10
Segway HT specifications
Maximizing Range
Only experienced riders riding in optimum conditions will reach the maximum range distances stated on page 7. The range of your Segway HT is affected by many variables,
including:
> Ter ra in: Riding on smooth, flat terrain improves
range; riding on hilly terrain and unpaved surfaces
reduces range. For example, the Segway GT’s
estimated range on a golf course is 8 to 10 miles (13
to 16 km); on pavement, the estimated range is 16
to 24 miles (26 to 39 km).
> Speed and Riding Style: Consistent, moderate
speed increases range; frequent starting, stopping,
acceleration, and deceleration decreases range.
> Tire Inflation Pressure: Riding with tire pressure
below the specified limit reduces range.
> Rider Weight and Cargo: Lighter riders with less
cargo get better range than heavier riders with
more cargo.
> Temperature: Storing, charging and riding nearest
the center of the recommended temperature range
improves range. Riding in colder temperatures
reduces range significantly.
> Battery Pack Condition: Properly charged and
maintained Battery Packs provide greater range;
old, cold, heavily used, or poorly maintained Battery
Packs provide less range.
> Wind: Tailwind increases range; headwind reduces
range.
11
Segway HT specifications
Model Descriptions
You should first learn to ride using the Beginner Key in an area with no obstructions and a level, smooth riding surface with good traction. See the Riders’ Guide and watch the
Safety Video for instructions and warnings about learning to ride.
i Series p Series Segway XT Segway GT
The i Series model is optimized for
indoor/outdoor use in a wide variety of
environments. Weight limits, range and
top speed are higher than on the
p Series model. The i Series may use
either two NiMH Battery Packs or two
Li-ion Battery Packs. Older i Series
models, originally equipped with NiMH
Battery Packs, require a software
upgrade to switch to Li-ion Battery
Packs.
The p Series model is optimized for
indoor/outdoor use in densely
populated environments. The p Series
model is lighter than other models, has
a smaller wheel diameter, Motors,
Batteries, and Platform. This model
uses NiMH Battery Packs only.
The Segway XT is optimized for outdoor
use. The Segway XT has larger wheels
and wider tires with knobby treads, and
is intended for use on more varied and
rugged terrain than other models. The
Segway XT’s wider stance and low
pressure tires provide increased
stability and traction on rough terrain.
This model uses Li-ion Battery Packs
only. The Segway XT is not intended for
use on sidewalks.
The Segway GT is optimized for use
on Golf Courses. It ships with
Enhanced Traction Tires, the Golf
Bag Carrier kit and Li-ion Battery
Packs. The Golf Bag Carrier kit ships
in a separate box, which includes
additional instructions and warnings
for proper installation and use. To
reduce risk of injury, be sure to
follow those separate instructions
when installing and riding with the
Golf Bag Carrier.
12
how the Segway HT works
chapter 1: how the Segway HT works
The Segway HT works like the human body. If you lean
forward, you take a step forward to keep your balance.
If you lean back, you step back. Substitute wheels for
feet, and you have an empowered pedestrian on a
Segway HT.
The Segway HT uses technology called dynamic
stabilization. When you lean forward, your center of
gravity moves forward of the contact patch (the place
where the tire contacts the ground) causing the
Segway HT to tilt forward. The Segway HT’s systems
sense this change (measuring 100 times per second),
and power the wheels to keep them underneath you.
The Segway HT’s technology balances forward and
backward but not side-to-side. That means that if the
rider tilts the Segway HT onto one wheel, it will not
dynamically bring itself underneath the rider. It could
fall over. The rider is responsible for dynamically
stabilizing laterally while riding the Segway HT.
Leaning into turns and leaning uphill when riding
across a slope are the rider’s responsibility (see the
Riders’ Guide for details).
Redundant Subsystems
The Segway HT has been designed with the utmost
concern for the safety of the rider and those who may
be nearby. Redundant subsystems are provided to
maintain controlled operation of the Segway HT in the
unlikely event of a component failure. If one of the
redundant components fails, the other component
continues to operate, bringing the rider to a safe stop.
Five of the subsystems in the Segway HT are designed
with a redundant architecture: Controller Boards,
Motors, Battery Packs, the Balance Sensor Assembly,
and Handlebar Electronics.
13
how the Segway HT works
> Controller Boards
The two Controller Boards receive input from the
gyroscopes and other sensors, and from the Handlebar
Electronics. They also monitor battery condition. The
Controller Boards send commands to the Motors. The
Controller Boards are interchangeable. They are
connected to the Control Shaft Cords, the Balance
Sensor Assembly, the Batteries, and the Motors, so
that if there is a malfunction in any of these
components or the connections between them, the
Segway HT will perform a Safety Shutdown.
> Motors
Each wheel is independently driven by redundant, highspeed electric Motors that produce no pollution
emissions. The brushless design employs computer
technology to precisely regulate motion. The Motors
have been tested to power levels of two horsepower.
Each Motor is wound as two separate electrical
circuits, capable of independent operation, acting as
one mechanical entity.
The Motor for each wheel (right/left) is connected to the
front and rear drive systems. This allows either the
front or the rear drive system to produce torque on the
Motor shaft. The system uses independent controllers
for the front and rear drive systems. If either Motor
fails, the Segway HT will perform a Safety Shutdown.
For information about Safety
Shutdown, see page 17.
14
how the Segway HT works
> Battery Packs
The two Battery Packs are sealed units that require no
maintenance besides proper charging and storage.
Either Battery Pack can be installed in the front or back
of the Platform. Both Battery Packs must be of the
same chemistry (for example, you cannot mix one
NiMH Battery Pack with one Li-ion Battery Pack).
Li-ion Battery Packs are larger than NiMH Battery
Packs. If either Battery Pack fails, the Segway HT will
perform a Safety Shutdown.
> Balance Sensor Assembly
The Balance Sensor Assembly contains five angular
rate sensors (solid state gyroscopes) and two tilt
sensors. These sensors gather information about the
orientation of the Platform in all three planes (pitch,
roll, and yaw). This information is sent to the Controller
Boards. All five of the rate sensors are constantly
checking each other to ensure each is operating
correctly. The two tilt sensors check each other in the
same manner. If any of these sensors fails, the
Segway HT will perform a Safety Shutdown.
> Handlebar Electronics
The Handlebar contains redundant communication
systems and redundant sensors in the Steering Grip
and Mode Button. If there is a malfunction in either the
Steering Grip or Mode Button sensors, or any of the
other electronics in the Handlebar, the Segway HT will
perform a Safety Shutdown. Each system in the
Handlebar communicates information to the Controller
Boards via an independent Control Shaft Cord. If either
cord malfunctions, the Segway HT will perform a Safety
Shutdown.
For information about Safety
Shutdown, see page 17.
15
how the Segway HT works
Speed Limiter
The Segwa y HT wi ll pus h its H andlebar ba ck to s low the
rider down. The speed at which the Segway HT pushes
the Handlebar back depends on a variety of factors
including riding style, terrain, payload, the Key used to
start the Segway HT, Battery Pack condition, and other
factors (see list at right). When you reach the maximum
allowed speed, based on these factors, the Segway HT
will push the Handlebar back to slow you down. This is
called the Speed Limiter.
When the Segway HT reduces performance, the Display
will show the following:
WARNING!
Read and follow all the instructions in the
Riders’ Guide and watch the Safety Video for
important safety information about Speed
Limiter, Stick Shake and Safety Shutdown.
The speed at which the Speed Limiter will tilt
the Handlebar back depends upon the Key
used to power on the Segway HT. Other
conditions may cause the Speed Limiter to tilt
the Handlebar back at slower than the
maximum Key speeds. These conditions
include:
> Riding up a steep hill.
> Riding on bumpy terrain.
> Low Battery Pack charge.
> Riding down a hill with fully charged
Battery Packs. (Because of regenerative
charging, if the Battery Packs are fully
charged, the Segway HT will engage the
Speed Limiter to avoid overcharging.)
> The first few seconds after power on.
> Inadequate foot pressure on the Platform.
> The Battery Packs are too hot or too cold.
Display
Icon
(green)
Definition
The Segway HT is operating at
reduced performance levels due to a
temporary condition. The speed
limit has been lowered until the
condition clears.
User
Response
If you feel the Speed Limiter push
the Handlebar back, stop leaning
forward and slow down. You should
always leave a gap between yourself
and the Handlebar. Riding against
the Handlebar can cause loss of
control, collisions, falls and injury.
16
how the Segway HT works
Stick Shake Warning
One of the ways the Segway HT notifies you that you are at risk of falling is by shaking the Handlebar and making growling noises. This is called the Stick Shake Warning. The
Stick Shake Warning will occur if you ride backward too fast or if you demand too much power from the Segway HT, such as by riding on a steep slope, on rough terrain, against
an obstacle or by accelerating or decelerating abruptly. Stick Shake Warning is more likely to occur when your Battery Packs are low, cold, heavily used, or poorly maintained.
Stick Shake Warning can happen both when you are on and off the Segway HT, as described in the following table:
Action User Response
Riding aggressively, accelerating or
stopping abruptly.
Ease up! Ride more gently, smoothly and slowly.
Riding against the Handlebar.
Ease up! Leave a gap!
Riding on rough terrain or steep
slopes.
The terrain is too demanding or steep. Ride on smoother, flatter terrain. If on a slope, turn perpendicular to the
slope, step off, and proceed in Power Assist Mode.
Riding against an obstruction.
Stop pushing against the obstruction. Stop, step off, and proceed in Power Assist Mode.
Riding backward.
Stop, turn in place, and proceed forward.
During Safety Shutdown.
Come to a controlled stop and safely step off within 10 seconds.
Moving a Segway HT with no rider on
the Platform while in Balance Mode.
When moving your Segway HT in Balance Mode with no rider on the Platform, you must move very slowly, or
switch to Power Assist Mode. (See Rider Detection on page 18 for more detail.)
Stepping on the Platform while in
Power Assist Mode.
Remove your foot. Level the Platform. Tap the Mode Button to enter Balance Mode. Check the Display for the
green smiling face. Move the Handlebar to make sure that the wheels respond. Try stepping on again.
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