Segway RMP 210, RMP 220 User Manual

User Manual

Segway® Robotics Mobility Platform

210/220

RMP 210/220

Contents

Copyright, Disclaimer, Trademarks, Patent, and Contact Information .................................................................... 6

Introduction

Safety.......................................................................................................................................................................... 8

Abbreviations ........................................................................................................................................................... 10

RMP 210 and 220

Included Components............................................................................................................................................... 11

Capabilities ................................................................................................................................................................12

Coordinate System ...................................................................................................................................................13

Physical Characteristics – 210 .................................................................................................................................14

Physical Characteristics – 220 ................................................................................................................................15

Mounting Locations — 210 .......................................................................................................................................16

Mounting Locations — 220 .......................................................................................................................................16

Turn Envelope ............................................................................................................................................................ 17

User Interface Panel ..................................................................................................................................................18

Powerbase Connections ...........................................................................................................................................19

Performance Speciﬁcations .................................................................................................................................... 20

Environmental Speciﬁcations..................................................................................................................................20

Transportation and Shipping ....................................................................................................................................21

Balancing

Payload Gain Schedules .......................................................................................................................................... 23

Balance Mode Requirements .................................................................................................................................. 24

Entering Balance Mode ............................................................................................................................................ 24

Exiting Balance Mode............................................................................................................................................... 25

Performance Limits ................................................................................................................................................. 25

Interaction With The Environment .......................................................................................................................... 27

Balance Mode Faults .................................................................................................................................................31

Hardware Balance Request ......................................................................................................................................31

Velocity Filter .............................................................................................................................................................31

Electrical Overview

System Architecture ................................................................................................................................................32

System Power ........................................................................................................................................................... 32

System Components ............................................................................................................................................... 33

RMP 210/220

Operational Model

Operational States ................................................................................................................................................... 35

Faults ........................................................................................................................................................................36

Initialization ..............................................................................................................................................................36

Diagnostic Mode ...................................................................................................................................................... 37

Bootloader Mode...................................................................................................................................................... 37

Standby Mode .......................................................................................................................................................... 37

Tractor Mode ............................................................................................................................................................ 37

Balance Mode ........................................................................................................................................................... 37

Disable Mode ............................................................................................................................................................38

Decel To Zero (DTZ) Mode .......................................................................................................................................38

Charging

Using the External Power Supply ............................................................................................................................39

Charge Status LEDs .................................................................................................................................................39

Powering On/Off

Powering On .............................................................................................................................................................40

Powering Off ............................................................................................................................................................. 40

Connecting

Connector I ................................................................................................................................................................41

Starter Breakout Harness ........................................................................................................................................42

Connector II ..............................................................................................................................................................43

Disable Button ..........................................................................................................................................................43

Additional Signals ....................................................................................................................................................43

Connector IV.............................................................................................................................................................44

Connecting To the RMP ............................................................................................................................................ 45

Communication

General Command Structure ..................................................................................................................................48

Standard Motion Commands ..................................................................................................................................50

Conﬁguration Commands ........................................................................................................................................51

Standard Input Mapping .......................................................................................................................................... 62

RMP Response .........................................................................................................................................................66

IEEE754 32-bit Floating Point and Integer Representation .................................................................................... 77

Cyclic Redundancy Check (CRC)-16 ....................................................................................................................... 78

Fault Status Deﬁnitions ...........................................................................................................................................82

RMP 210/220

Internal Connections

Centralized Control Unit ..........................................................................................................................................88

Auxiliary Battery Board ............................................................................................................................................89

Smart Charger Board ............................................................................................................................................... 90

Communication.........................................................................................................................................................91

Hardware Controls ................................................................................................................................................... 97

Mode Selection ........................................................................................................................................................98

Status Indicators ...................................................................................................................................................... 98

CCU Input Power ...................................................................................................................................................... 99

CCU Battery Supply ................................................................................................................................................. 99

Coin Cell Battery ......................................................................................................................................................99

Included Software

Installing the Software ........................................................................................................................................... 100

RMP CCU Bootloader Application ..........................................................................................................................101

OCU Demo Application .......................................................................................................................................... 102

Software License Agreement .................................................................................................................................107

Maintenance

Fastener Torque ...................................................................................................................................................... 108

Tire Pressure .......................................................................................................................................................... 108

Parts List — 210 .....................................................................................................................................................109

Use the diagram and table below to identify part names and numbers. ............................................................. 109

Parts List — 220 ......................................................................................................................................................110

Use the diagram and table below to identify part names and numbers. .............................................................. 110

Removing Wheel Assemblies ...................................................................................................................................111

Replacing Wheel Assemblies ...................................................................................................................................111

Cleaning ....................................................................................................................................................................111

Software Updates .....................................................................................................................................................111

Batteries

Replacing Batteries ................................................................................................................................................. 112

Installation and Removal Instructions ...................................................................................................................113

Transportation and Shipping .................................................................................................................................. 113

Proper Disposal ....................................................................................................................................................... 113

RMP 210/220

Troubleshooting

Reporting Problems to Segway .............................................................................................................................. 114

Extracting the Faultlog ............................................................................................................................................ 114

Reading the Faultlog ............................................................................................................................................... 115

Faults .......................................................................................................................................................................116

Charging Faults ...................................................................................................................................................... 120

Other Issues ........................................................................................................................................................... 120

RMP 210/220

Copyright, Disclaimer, Trademarks, Patent, and Contact Information

Disclaimer

The Segway RMP is not a consumer product. Usage examples shown on rmp.segway.com have not necessarily been reviewed nor approved by Segway Inc. ("Segway"). Segway is not responsible for end customer modiﬁcations or additions.

Trademarks

Segway owns a number of trademarks including, but not limited to, Segway and the Segway "Rider Design" logo that have been registered in the United States and in other countries. Those trademarks followed by ® are registered trademarks of Segway. All other marks are trademarks or common law marks of Segway. Failure of a mark to appear in this guide does not mean that Segway does not use the mark, nor does it mean that the product is not actively marketed or is not signiﬁcant within its relevant market. Segway reserves all rights in its trademarks. All other trademarks are the property of their respective companies.

Xbox® is a registered trademark of Microsoft Corporation.

Logitech® is a registered trademark of Logitech International SA.

Segway Patent Information

The Segway RMP is covered by U.S. and foreign patents. For a patent listing, see http://rmp.segway.com/RMPPatents.pdf.

Contact Information

For support, please contact Segway Customer Care or use the RMP forum at http://rmp.segway.com/forum.

Segway Customer Care: 866-4SEGWAY (866-473-4929) Fax: 603-222-6001 E-mail: technicalsupport@segway.com Website: http://rmp.segway.com

RMP 210/220

Introduction

The Segway Robotics Mobility Platform (RMP) is a robotic vehicle chassis and power-train designed to be integrated with additional components to create robotic products. It is intended to be the mobility component for any number of robotic applications and as such was designed with versatility, durability, and performance in mind.

Segway engineers have led the way with electric drive propulsion systems in the ﬁelds of battery management, advanced sensing, driveby-wire control, and dynamic stabilization. The RMP beneﬁts from some of the same proprietary technology that has been deployed and proven around the world as part of the Segway Personal Transporter (Segway PT) line of products.

The RMP can handle high payloads, a variety of environmental conditions, and a wide range of operational scenarios. The chassis is designed to handle a certain amount of abuse consistent with operation over rough terrain and in industrial environments. Control parameters can be tweaked to make it easy to drive slowly around obstacles, at high speed in open spaces, or in any environment in between.

Control of the RMP occurs via command and response messages sent over Ethernet, CAN, or USB interfaces. Commands are used to control movement, set conﬁguration parameters, and control response data. Response messages provide detailed information about the current status of the RMP. Segway has chosen to allow users to control overall RMP movement, but not individual wheels/motors. This frees users to treat the RMP as a single unit rather than a collection of components, and allows Segway to provide a more robust, predictable mobility platform.

To allow for the greatest possible control over the RMP's behavior, a variety of conﬁguration parameters can be modiﬁed. However, it is possible to set these parameters to unsafe values, so care must be taken when setting parameters to reduce the risk of damage or injury. It is the user's responsibility to set conﬁguration parameters to safe values. Be sure to follow all safety instructions in this document.

This manual describes the capabilities of the RMP and explains how to communicate with it. Integrators and engineers can use this information to mount equipment on the RMP and write software for controlling the RMP.

RMP 210/220

Safety

Improper use of the RMP can cause personal injury, death and/or property damage from loss of control, collision, and falls. To reduce risk of injury, read and follow all instructions and warnings in this manual.

The following safety messaging conventions are used throughout this document:

WARNING!

CAUTION!

NOTICE

WARNING!

• Keep out of reach of children and pets. Unanticipated movement by the RMP could result in death or serious injury.

• Do not sit, stand, or ride on the RMP. Doing so could result in death or serious injury.

• Do not drive the RMP at people or animals. A collision could result in death or serious injury.

• Always alert people in the vicinity when an RMP is operating. An unexpected collision with the RMP could result in death or serious injury.

• Avoid powering off on a slope. The RMP cannot hold its position when powered off and may roll downhill, causing serious injury, death, or property damage.

• The RMP can accelerate rapidly. It is recommended that the RMP be securely raised so the wheels are off the ground (or remove the wheels) until the user becomes familiar with the controls. Unanticipated movement by the RMP could result in death or serious injury.

• Be careful when working with the DC power connections. You could shock yourself and/or damage the RMP.

• Remove batteries before working inside the RMP. You risk serious bodily injury from electric shock as well as damage to the RMP.

• Do not submerge the RMP, batteries, or powerbases, in water. Do not use a power washer or high-pressure hose to clean a RMP. Avoid getting water into any of the connectors. If you suspect the batteries or powerbase have been submerged or experienced water intrusion, call Segway Technical Support immediately at 1-866-473-4929, prompt #2. Until you receive further instructions, store the RMP upright, outdoors, and away from ﬂammable objects. Failure to do so could expose you to electric shock, injury, burns, or cause a ﬁre.

• Unplug or disconnect the RMP from AC power before removing or installing batteries or performing any service. Never work on any part of the RMP when it is plugged into AC power. You risk serious bodily injury from electric shock as well as damage to the RMP.

• The cells within the batteries contain toxic substances. Do not attempt to open batteries. Do not insert any object into the batteries or use any device to pry at the battery casing. If you insert an object into any of the battery's ports or openings you could suffer electric shock, injury, burns, or cause a ﬁre. Attempting to open the battery casing will damage the casing and could release toxic and harmful substances, and will render the battery unusable.

• As with all rechargeable batteries, do not charge near ﬂammable materials. When charging, the batteries heat up and could ignite a ﬁre.

• Do not use a battery if the battery casing is broken or if the battery emits an unusual odor, smoke, or excessive heat or leaks any substance. Avoid contact with any substance seeping from the battery. Batteries contain toxic and corrosive matrials that could cause serious injury.

• Observe and follow all safety information on the warning label found on the battery. Failure to do so could result in death, serious injury, or property damage.

• Do not use cables that are frayed or damaged. You could shock yourself and/or damage the RMP.

• Use only Segway approved fasteners on the RMP. Other fasteners may not perform as expected and may come loose. Failure to do so could expose you to risk of personal injury or property damage.

• Use assistance when moving or lifting the RMP. Single person lifting could result in serious injury.

Warns you about actions that could result in death or serious injury.

Warns you about actions that could result in minor or moderate injury.

Indicates information considered important, but not related to personal injury. Examples include messages regarding possible damage to the RMP or other property, or usage tips.

RMP 210/220

CAUTION!

• Be responsible about setting performance parameters. Read the relevant sections of this manual before changing any performance parameters. The RMP follows commands issued to it, and it is the responsibility of the user to properly safeguard their controls.

• Read and understand the Balancing chapter of this manual before operating the RMP in Balance Mode. The RMP's behavior while balancing is not always intuitive and may result in unexpected or undesired motion.

• Failure to charge the batteries could result in permanent damage to them. Left unplugged, the batteries could fully discharge over time, causing permanent damage.

• Use only charging devices approved by Segway and never attempt to bypass or override their charging protection circuits.

• Always protect against electrostatic discharge (ESD) when working inside the RMP. The RMP could become damaged.

NOTICE

• This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

• Reorient or relocate the receiving antenna.

• Increase the separation between the equipment and receiver.

• Connect the equipment into an output on a circuit different from that to which the receiver is connected.

• Consult the dealer or an experienced radio/TV technician for help.

• This Class B digital apparatus complies with Canadian ICES-003. Cet appareil numérique de la classe b est conforme à la norme NMB-003 du Canada.

• Modiﬁcations not expressly approved by Segway may void the user's authority to operate this device under FCC regulations and must not be made.

RMP 210/220

Abbreviations

ABB Auxiliary Battery Board — a PCB used to gather and report performance information from the auxiliary battery.

BCU Battery Control Unit — a PCB inside the battery pack that manages the charge of the individual cells.

BSA Balance Sensor Assembly — a group of PCBs used to obtain information about the vehicle's orientation.

CAN Controller Area Network — a message-based protocol used for communication between microcontrollers.

CCU Centralized Control Unit — a PCB that houses the SP, UIP, and NVM; it controls the RMP and handles communication.

CRC Cyclic Redundancy Check — a type of error-detection used to verify the accuracy of transmitted data.

DLC Data Length Code — a part of the CAN message header that speciﬁes the size of the data packet being sent.

DTZ Decelerate To Zero — an operational mode in which the RMP comes to a stop and powers down.

LE Large Enclosure — a uniﬁed chassis/enclosure for 4-wheeled RMP models.

MCU Motor Control Unit — a PCB that controls the electric motors that turn the wheels.

NVM Non-Volatile Memory — a type of digital memory that can retain the stored information even when not powered.

OCU Operator Control Unit — software and hardware that provide an interface between the user and the RMP.

PCB Printed Circuit Board — a thin board with conductive pathways and electronic components mounted on it.

PSE Pitch State Estimate — a 3-axis inertial estimate of the orientation of the RMP.

RMP Robotics Mobility Platform — a propulsion system that can be used as a platform for making mobile robots.

SCB Smart Charger Board — a PCB that controls battery charging functions.

SE Small Enclosure — a box that contains all of the electrical components of the RMP.

SID Standard ID — a CAN identiﬁer that indicates the type of message being sent.

SOC State Of Charge — a measurement of battery charge from 0% (empty) to 100% (full).

SP Segway Processor — a microcontroller on the CCU that contains proprietary Segway code for controlling the RMP.

SPI Serial Peripheral Interface — a synchronous serial data link standard that operates in full duplex mode.

UDP User Datagram Protocol — a simple, transaction-oriented network protocol on top of TCP/IP.

UDFB User Deﬁned Feedback Bitmap — a stored value that indicates what feedback data should be sent to the user.

UI User Interface — the means by which an operator interacts with a device.

UIP User Interface Processor — a microcontroller on the CCU that communicates with the OCU.

USB Universal Serial Bus — an industry-standard bus for communication and power supply between computers and peripherals.

VAB Vicor Adapter Board — a PCB that interfaces with Vicor DC-DC converters.

RMP 210/220

RMP 210 and 220

The RMP 210 and RMP 220 are battery-powered Robotics Mobility Platforms (RMPs) meant to be used as the propulsion systems for robotic products. The major difference between the two models is the number of Motor Control Units (MCUs) in the powerbase and the presence or absence of a Balance Sensor Assembly (BSA). The RMP 210 has one MCU, one propulsion battery, and no BSA. The RMP 220 has two MCUs, two propulsion batteries, and a BSA. The second MCU provides component-level redundancy: one MCU can fail and the platform will continue to operate. The second battery provides additional range and operational time. The BSA contains sensors that provide the orientation data necessary for balancing.

The RMP 210 is a compact, non-balancing platform with three wheels: two propulsion wheels and one caster wheel. It has only one Motor Control Unit (MCU) and one propulsion battery, making it suitable for low payload applications that don't require redundancy.

The RMP 220 is taller than the 210 and is capable of running in either Tractor Mode (with a third wheel) or in Balance Mode (balancing on two wheels). When in Balance Mode it operates much like the Segway PT, leaning slightly in the direction of movement. The platform has two MCUs and two propulsion batteries, allowing it to operate at higher payloads and over longer distances. With two MCUs the propulsion system is completely redundant, allowing one MCU to fail without losing control of the platform. At the top of the RMP 220 is a mounting plate with drilled and tapped holes for users to mount their equipment.

The powerbase contains the MCUs and Balance Sensor Assembly (BSA). Additional electrical components are mounted inside a User Interface (UI) box located above the powerbase. Propulsion batteries are mounted to the bottom of the powerbase. The auxiliary battery is mounted to the top of the UI box.

The on/off switch, external connectors, and indicator lights are mounted on an interface panel at the front of the machine. Communication with the RMP can occur over Ethernet, CAN, and USB.

Inside the UI box are the Centralized Control Unit (CCU), Auxiliary Battery Board (ABB), Smart Charger Board (SCB), and Power Converter(s). A cable runs from the UI box to the powerbase.

Figure 2: RMP 220Figure 1: RMP 210

Included Components

The RMP 220 comes with a Disable Button, Starter Breakout Harness, and External Power Supply. The Disable Button must be connected for the RMP to power on and enter Standby Mode. When pressed, the Disable Button will cause the RMP to immediately shut down. The Starter Breakout Harness provides Ethernet, CAN, and USB connectors as well as leads for DC power. The External Power Supply is used to charge the RMP. When connected, indicator lights on the UI box show the charge status of each battery.

Figure 3: Disable Button Figure 4: Starter Breakout Harness Figure 5: External Power Supply

RMP 210/220

Capabilities

The RMP is meant to be used by integrators when creating mobile robotic products. As such, the RMP was designed with ﬂexibility and expandability in mind.

Driving

The RMP can drive forward, reverse, and can turn in place. A variety of parameters can be adjusted for easier driving in different circumstances, making it possible to have ﬁne control at slow speeds and at high speeds. Adjustable parameters include maximum velocity, maximum acceleration, maximum deceleration, maximum turn rate, and maximum turn acceleration.

Velocity control can either be velocity-based (m/s) or acceleration-based (m/s2). With velocity-based control the user continually sends the desired velocity command (e.g. by holding a joystick steady to achieve a steady velocity). With acceleration-based control, acceleration commands are sent until the RMP reaches the desired speed. Then an acceleration of zero is commanded in order to maintain that speed. This is similar to using cruise control on the highway. See "Standard Input Mapping," p. 62, for more information on the different types of control.

For safety, a disable button is provided with the RMP. When pressed, the disable button will cause the RMP to shut down. A Decel To Zero (DTZ) command can also be sent, either by hardware button (not supplied) or by software command. This command causes the RMP to decelerate and come to a stop before powering down.

Payload

Users can mount equipment to the rails along the sides of the RMP. Mounting holes are provided along the tops of the rails and on the ends of the rails. On the RMP 220, users can mount equipment to the mounting plate at the top of the RMP.

The maximum total payload is 180 kg (400 lbs), evenly distributed.

Communication

Communication with the RMP can occur over Ethernet, CAN, or USB. If using Ethernet the IP address, port number, subnet mask, and gateway can all be conﬁgured. For both Ethernet and USB communications, a Cyclic Redundancy Check (CRC) is performed, which veriﬁes the accuracy of the transmitted data.

The RMP communicates via a polling method: the user sends a command and the RMP responds. Commands can be either motion commands (that tell the RMP to move) or conﬁguration commands (that set user-conﬁgurable parameters). Some of these parameters — the User Deﬁned Feedback Bitmaps — control what information is sent in the RMP response, allowing the user to receive only the relevant data.

The RMP expects to receive commands within a frequency range (0.5 Hz - 100 Hz). If commands are issued too frequently the RMP will ignore them. If commands are updated too slowly the RMP will slew the commands to zero.

Power

With the auxiliary battery, the RMP can provide power for additional equipment. Each RMP has space for two Power Converters. For more information see "Power Converter," p. 34.

Control Interface

The user is responsible for creating an interface for communicating with and controlling the RMP. Details on how to communicate with the RMP and interpret its responses are described later in this document (see "Communication," p. 47).

To make this process easier, Segway provides an OCU Demo Application and source code (see "OCU Demo Application," p. 102). This application is fully functional, but is not intended to be an end solution. Instead it is meant to be used as a functional example of how to interface with the RMP.

RMP 210/220

Coordinate System

The Balance Sensor Assembly (BSA) uses accelerometers and gyroscopes to determine the position and movement of the RMP, all of which are used to create the Pitch State Estimate (PSE). This data is available to the user.

The RMP has a coordinate system relative to forward/reverse, pitch, roll, and yaw. This coordinate system is used when controlling the RMP. The diagrams below show the RMP's axes and coordinate system.

Both the RMP 210 and 220 share the same coordinate system. An RMP 210 is pictured below.

Ψ'

Figure 7: RMP Roll Axis, Rear View

Figure 6: RMP Axes

Φ'

Θ'

Figure 8: RMP Pitch Axis, Right Side View

(Forward)

The variables listed below provide momentary information about the state of the RMP. For information on how to receive this data see "User Deﬁned Feedback Bitmaps," p. 66.

Table 1: BSA and PSE Variables

UDFB Variable Symbol Measurement Units

inertial_x_acc_g X Linear Acceleration g

inertial_y_acc_g Y Linear Acceleration g

inertial_x_rate_rps X Angular Velocity rad/s

inertial_y_rate_rps Y Angular Velocity rad/s

inertial_z_rate_rps Z Angular Velocity rad/s

pse_pitch_deg

pse_pitch_rate_dps

pse_roll_deg

pse_roll_rate_dps

pse_yaw_rate_dps

Θ'

Φ'

Ψ'

Angle (From Normal) deg

Angular Velocity deg/s

Angle (From Normal) deg

Angular Velocity deg/s

RMP 210/220

Physical Characteristics – 210

For product dimensions, please refer to the diagrams below. A summary of the major dimensions is provided in Table 2.

NOTICE

Product options may change the characteristics of the RMP.

625

24.6

419

16.5

360

14.2

216

8.5

594

23.4

423

16.7

Table 2: RMP 210 Physical Characteristics

Characteristic Value

Overall

Length 625 mm (24.6 in)

Width 637 mm (25.1 in)

Height 481 mm (18.9 in)

Chassis

Length 419 mm (16.5 in)

Width 423 mm (16.7 in)

Height 212 mm (8.3 in)

Clearance 93 mm (3.7 in)

Tires

Tire Size 19 in Segway i2 Tire

Wheel Base N/A

Track Width 544 mm (21.4 in)

Recommended Tire Pressure

6–15 psi

Other

Weight 52 kg (115 lbs)

Figure 9: RMP 210 Top View

637

25.1

385

15.2

212

8.3

Figure 10: RMP 210 Side View Figure 11: RMP 210 Rear View

481

18.9

450

17.7

416

16.4

3.7

152

6.0

3.7

RMP 210/220

Physical Characteristics – 220

For product dimensions, please refer to the diagrams below. A summary of the major dimensions is provided in Table 3. The RMP is shown here with a caster plate attached; the caster plate is an optional accessory for non-balancing RMPs.

NOTICE

Product options may change the characteristics of the RMP.

665

26.2

626

24.6

3.0

559

22.0

419

16.5

Figure 12: RMP 220 Top View

423

16.7

Table 3: RMP 220 Physical Characteristics

Characteristic Value

Overall

Length 664 mm (26.1 in)

Width 637 mm (25.1 in)

Height 761 mm (30.0 in)

Chassis

Length 419 mm (16.5 in)

Width 423 mm (16.7 in)

Height 212 mm (8.3 in)

Clearance 93 mm (3.7 in)

Tires

Tire Size 19 in Segway i2 Tire

Wheel Base N/A

Track Width 544 mm (21.4 in)

Recommended Tire Pressure

6–15 psi

Other

Weight 73 kg (161 lbs)

481

18.9

212

8.3

385

15.2

Figure 13: RMP 220 Side View

343

13.5

279

11.0

761

30.0

555

21.8

Figure 14: RMP 220 Rear View

6.0

152

430

16.9

366

14.4

450

17.7

637

25.1

215

8.5

3.7

RMP 210/220

419

229

Mounting Locations — 210

Equipment can be mounted to the RMP using the provided mounting locations. Tapped holes are located on the tops and ends of the rails. Tapped holes are M8x12. Dimensions are mm [in].

260

362

14.3

16.5

Figure 15: Top Mounting Holes

NOTICE

Only mount equipment via the provided mounting locations. Drilling holes in the enclosure or other modiﬁcations to the RMP may adversely affect the FCC rating, IP rating, and/or structural integrity of the RMP.

10.3

159

6.3

2.3

407

16.0 423

16.7

16.0

423

16.7

407

1.0 76

3.0

Figure 16: End Mounting Holes

Mounting Locations — 220

The RMP 220 has all the same mounting locations as the 210. In addition, it includes a mounting plate at 761 mm (30.0 in) high. Tapped holes are M8 through holes. Dimensions are in mm [in].

559

22.0

3.0

152

6.0

229

9.0

761

30.0

546

21.5

1.0

3.0

423

16.7

407

16.0

229

9.0 152

6.0 76

3.0 0

3.0

152

6.0

229

9.0

Figure 18: End Mounting Holes

9.0

152

6.0

3.0

Figure 17: Mounting Plate

Turn Envelope

771

The RMP can turn in place, so its turn envelope is very small. Both the 210 and the 220 have the same turn envelope.

The caster plate is designed to ﬁt within the turn envelope.

RMP 210/220

30.4

Figure 19: Turn Envelope, RMP 210

771

30.4

Figure 20: Turn Envelope, RMP 220

RMP 210/220

User Interface Panel

The power switch, LEDs, and external connectors for the RMP are all located on the User Interface Panel on the rear of the RMP. Users should familiarize themselves with the various connectors and LEDs. For information on the connectors and what plugs into them see "Connecting," p. 41.

Figure 21: Interface Panel

ON/OFF Switch

Use this switch to power on and off the RMP.

Power and Status LEDs

These two LEDs indicate what mode the RMP is in. They can be used to troubleshoot startup issues. See "Powering On/Off," p. 40, for a list of what the LEDs indicate.

Connector I

This connector is used for communication and for auxiliary power. Communication available through this connector includes Ethernet, USB, and CAN. Auxiliary power available depends on the Power Converters installed. Up to two different DC voltages can be made available. The Starter Breakout Harness connects here.

Connector II

The Disable Button connects here. The Disable signal must be sent for normal operation. Other signals include: the Decel Request, used to initiate a Decel to Zero (DTZ); the Boot1 signal, used to enter Diagnostic mode; and the Boot2 signal, used to enter Bootloader mode.

Connector IV

This connector is used in conjunction with the External Power Supply for charging the batteries of the RMP. For more information on charging see "Charging," p. 39.

Charge Status LEDs

When charging the batteries, the Charge Status LEDs will light up, indicating the status of each of the batteries. Each LED corresponds to a speciﬁc battery. For more information see "Charging," p. 39.

Auxiliary Battery

Front

Figure 22: Battery Locations, 210

Battery 0

Front

NOTICE

Caster Plate is not standard on the RMP 220.

Battery 0 Battery 1

Figure 23: Battery Locations, 220

RMP 210/220

Powerbase Connections

On the side of the enclosure there are two powerbase connectors. The left-hand connector goes to the powerbase; the right-hand one is unused. If two powerbases are used, the right-hand connector goes to the rear powerbase. The powerbase must be plugged into the proper connector for the charge status LEDs to be correct.

Figure 24: Powerbase Connections

Connector V

Connect the powerbase to this jack.

Connector VI

Cover this jack with the protective cap.

RMP 210/220

Performance Speciﬁcations

The RMP is driven by two independent and fully redundant brushless DC drive motors. It can operate both outdoors and indoors. Traversable terrain includes asphalt, sand, grass, rocks, and snow.

Table 4: Performance Specications

Characteristic 210 220

Mobility

Max. Speed 8.0 m/s (18 mph) 8.0 m/s (18 mph)

Max. Speed Balancing N/A 4.5 m/s (10 mph)

Turn Radius 0 minimum 0 minimum

Turn Envelope 771 mm (30.4 in) 771 mm (30.4 in)

Max. Slope

Peak Torque

20°

50 N-m (37 lb-ft) 100 N-m (74 lb-ft)

(Each Wheel)

Maximum Range

25 km (15 mi) 50 km (30 mi)

Power

Batteries

Run Time

1 Propulsion Battery 1 Auxiliary Battery

Up to 24 hours Up to 24 hours

Charge Time 2-3 hours 2-3 hours

Battery Chemistry LiFePO

Propulsion Battery

380 Wh each 380 Wh each

Capacity

Auxiliary Battery

380 Wh 380 Wh

Capacity

Payload

Max. Payload 400 lbs

10° non-balancing 5° balancing

2 Propulsion Batteries 1 Auxiliary Battery

LiFePO

100 lbs4 (Balance Mode) 400 lbs (Tractor Mode)

Based on an unloaded platform.

Based on an unloaded platform with 15 psi tires travelling in a straight line on level pavement. Actual performance may vary.

Run time based on a stationary RMP running on internal battery power. Extended run time is possible with charger connected.

Maximum payload in Balance Mode is determined by the gain schedule (page 23). It is possible to use higher payloads with custom gain schedules.

Environmental Speciﬁcations

The Segway RMP was designed to withstand environmental conditions both indoors and outdoors.

Table 5: Environmental Specications

Characteristic Value

Operating Temp. Range 0°–50° C

Storage Temp. Range -20°–50° C

Ingress Protection

Batteries must be installed in order for enclosure to be fully sealed.

Designed to meet IP66 / NEMA 4

RMP 210/220

Transportation and Shipping

NOTICE

Lithium-ion batteries are regulated as "Hazardous Materials" by the U.S. Department of Transportation. For more information, contact the U.S. Department of Transportation at http://www.phmsa.dot.gov/hazmat/regs or call 1-800-467-4922.

To prevent damage to your RMP, always ship it in the original crate it came in. The crate disassembles for storage. If you do not have the original crate, contact Segway for a replacement (see "Contact Information," p. 6).

RMP 210/220

Balancing

In Balance Mode the RMP balances on two wheels and accepts motion commands. As in Tractor Mode, it can be commanded to drive forward, backward, and turn left/right. When moving, the RMP tilts slightly in the direction of motion (see Figure 25).

Figure 25: Driving to the Right

In order to enter Balance Mode a mode transition is commanded (see "RMP_CMD_SET_OPERATIONAL_MODE," p. 59). Then the RMP is tipped upright. When it is vertical, the RMP will begin balancing. At this point the RMP may rock back and forth as it gains its balance. Do not hold onto the RMP or restrict its movement in any way. Allow it to balance on its own.

NOTICE

When standing still, the RMP may rock forward and backward slightly. This is normal. The RMP is simply maintaining its balance.

Any outside force applied to the RMP while it is balancing will cause it to react. For example, if the RMP is standing still and you press down on the front of the mounting plate the RMP will tilt. The RMP will push back, attempting to drive forward and tipping the front of the mounting plate up. For more information on how the RMP will act in a variety of situations, read the rest of this chapter.

RMP 210/220

Payload Gain Schedules

In order to balance safely and accurately the controller's gain schedules must be precisely tuned for a given payload and weight distribution. Four pre-deﬁned gain schedules can be selected, and Segway can create custom gain schedules for speciﬁc applications.

CAUTION!

The Tall conﬁguration requires extra care. Small tilt angles can result in large relative displacements of the wheel and upper payload.

Each gain schedule has been optimized for a particular payload at a particular height. For best performance, the user should endeavor to combine their payload with ballast to reproduce mass properties that are close to the conﬁgurations deﬁned below.

In general, all gain schedules operate with a wide range of payloads. Choosing the gain schedule that best ﬁts a user's payload has one main advantage: the handling and dynamics of the RMP will be better damped and more predictable. While each of the gain schedules can balance a wide variation in payload, the degree of oscillation and control activity will change as the payload is altered. For example, both the Light and Heavy gain schedules can handle a 75 lb payload on the mounting plate, however the response of each controller will be slightly different in the presence of disturbances. Note that the Tall payload conﬁguration will not balance with the Light or Heavy gain schedules.

The gain schedule is assigned when the RMP enters Balance Mode. Changes to the gain schedule cannot be performed while in Balance Mode. The RMP will have to enter Tractor Mode for the gain schedule to change.

25 lbs

750 mm

25 lbs

Figure 26: Unloaded Figure 27: Light Figure 28: Tall Figure 29: Heavy

Unloaded (Default)

Use this gain schedule for an RMP with no additional mass loaded onto it. This is the default gain schedule.

NOTICE

This physical playform conﬁguration represents the minimum mass ballast required for safe operation in Balance Mode.

Light

Use this gain schedule for an RMP with a 50 lb (22.7 kg) payload mounted directly on the mounting plate.

Tall

Use this gain schedule for an RMP with 25 lbs (11.3 kg) mounted on the mounting plate and an additional 25 lbs (11.3 kg) mounted

Custom

Custom gain schedules can be created for speciﬁc applications and payloads. The gain schedule parameters are stored in NVRAM so they will not be forgotten across reboots. Contact Segway for more information ("Contact Information," p. 6).

750 mm (29.5 in) above the mounting plate.

Heavy

Use this gain schedule for an RMP with 100 lbs (45.4 kg) mounted directly on the mounting plate.

100 lbs50 lbs

RMP 210/220

Balance Mode Requirements

In order to safely balance, the RMP must meet the following requirements.

• Ability to tip to 45° (to safely allow the RMP full maneuverability).

• Correct weight distribution as per the gain schedule selected (see "Payload Gain Schedules," p. 23).

CAUTION!

The Balance Frame Assembly (Tube Frame, U-Bracket for high mounting of User Interface Box, and Mounting Plate) provides the minimum mass ballast required for operating in Balance Mode and must be installed as shown before entering Balance Mode. Optional brackets for mounting the User Interface Box low are available, but are not compatible with Balance Mode operation.

Also, before entering Balance Mode the Balance Enable Bit must be set to 1. See "RMP_CMD_SET_INPUT_CONFIG_BITMAP," p. 55. The purpose of this bit is to lock out Balance Mode in situations where it would be unsafe to enter Balance Mode.

Entering Balance Mode

The RMP will enter Balance Mode if:

• Balance Mode is enabled (see "RMP_CMD_SET_INPUT_CONFIG_BITMAP," p. 55).

• A Balance Mode transition is commanded.

• The BSA is initialized.

• The RMP crosses the vertical axis.

The BSA initializes when the RMP is within 30° of vertical and takes a few seconds to occur. During this time the RMP should remain stationary.

1. Verify that the RMP meets the Balance Mode Requirements.

2. Turn on the RMP.

3. Command a transition to Balance Mode (see "Hardware Balance Request," p. 31 and "RMP_CMD_SET_OPERATIONAL_MODE," p. 59). The RMP will make a emit a beep-beep sound if the BSA is not initialized.

4. Tip the RMP upright until it is vertical (see Figure 30). Once the BSA initializes, the beep-beep sound will change to a repeating beep. The RMP will beep with increasing frequency as it approaches vertical.

5. Allow the RMP to balance on its own. You can now send motion commands.

Figure 30: Tip the RMP Upright When Entering Balance Mode

RMP 210/220

Exiting Balance Mode

When exiting Balance Mode the RMP will stop balancing and will tip over. Be prepared to catch the RMP if you do not want it to slam into the ground.

1. Bring the RMP to a stop.

2. Exit Balance Mode by commanding a mode transition (see "RMP_CMD_SET_OPERATIONAL_MODE," p. 59).

3. Catch the RMP as it begins to tip over.

WARNING!

Do not let the RMP fall onto your foot or other part of your body. The mounting plate is heavy and could cause injury.

The RMP can exit Balance Mode in a variety of ways. Any mode transition out of Balance Mode will cause the RMP to stop Balancing (transitioning to Standby Mode, Tractor Mode, Disable Mode, etc.). Also, toggling the Power Switch OFF will cause the RMP to stop balancing.

Performance Limits

Roll Over

In order to balance the RMP needs to have its payload mounted relatively high. This is because the RMP operates as an inverted pendulum while balancing. Unfotunately, the property that helps the RMP to balance (a high center of mass) also makes the RMP more likely to roll over.

Figure 31 shows how velocity and yaw rate combine to make the RMP roll over. The area above the curve(s) is where the RMP is likely to roll over. This graph assumes that the RMP is operating on level ground. Any slope, however slight, will increase the likelihood of roll-over.

Roll Over Performance Limits

2.5

1.5

yaw rate [rad/s]

0.5

0 0.5 1 1.5 2 2.5 3 3.5 4

Unloaded Light Tall Heavy

velocity [m/s]

4.5

Figure 31: Roll Over Performance Limits

RMP 210/220

Turn Radius

The RMP's speed and yaw rate can be used to calculate the turn radius. Higher speeds increase the turn radius while higher yaw rates decrease it. Be sure not to exceed the Roll Over limit described above.

R =

V Y

Where, R = Turn Radius (m) V = Velocity (m/s) Y = Yaw Rate (rad/s)

This equation provides the turn radius to the center of the RMP. To calculate the radius to the outside of the RMP just add half of the RMP's width (~0.32 m) to the ﬁnal radius.

Using this equation and the Roll Over limit, the minimum safe turn radius can be determined for a variety of speeds.

Stopping Distance

Changing the deceleration limit can have a big effect on how far the RMP travels as it slows to a stop. If the RMP cannot stop soon enough it may collide with obstacles. If it stops too quickly it may tip far enough and fast enough to jostle equipment or startle bystanders. Because of this it is important to reach a balance between stopping distance and tip angle.

These same principles also apply to the DTZ deceleration limit and the acceleration limit. The DTZ decleration limit controls the rate at which the RMP will come to a stop when a DTZ command is issued or when a fault triggers a DTZ response. The acceleration limit affects how far the RMP travels while coming up to speed. Remember to set the DTZ deceleration limit high enough to stop the RMP quickly in case of an emergency.

To calculate the stopping distance from the velocity and deceleration rate, use the following formula:

D =

Where, D = Distance Travelled (m) V = Initial Velocity (m/s) A = Acceleration/Deceleration Rate (m/s2)

RMP 210/220

Interaction With The Environment

When the RMP makes contact with other objects in the environment, the results can be counter-intuitive at ﬁrst. For recommended tire pressure please refer to page 108.

WARNING!

Read and understand this section before operating an RMP in Balance Mode. Proper understanding of how the RMP will act is necessary to avoid personal injury and property damage.

Displacement

If the RMP is displaced from its desired position, it will lean against the displacement force, creating a new equilibrium position. The harder it is pushed, the more it will lean.

∆X ∆X

Desired Position

Figure 32: Displacement Direction

2∆X

∆X

Figure 33: Displacement Magnitude

RMP 210/220

Unable to Right Itself

If an external force causes the RMP to tip forward or backward, the RMP will attempt to right itself. This simple concept can have some surprising consequences.

If a downward force is applied to the mounting plate, the RMP will drive in the direction that it is tipped. This could occur if someone presses down on the mounting plate, or if the payload center of gravity is off-center. See Figure 34.

Figure 34: Downward Force

Something similar happens when the RMP gets caught under something, as is shown in Figure 35 where the mounting plate is caught under a table. In this case the RMP will push up against the table in an attempt to right itself. The force applied by the RMP can be quite strong, lifting the table or tipping it over.

Figure 35: Caught Under a Table

RMP 210/220

Unable to Right Itself (cont.)

The situation shown in Figure 36 is very different from a dynamic standpoint, but the controller cannot differentiate between this conﬁguration and the ones in Figure 34 and Figure 35. In this case the RMP will accelerate faster and faster to the right trying to bring the machine to a level equilibrium. It will quickly trip the position error limit of 12 feet and Disable.

Figure 36: Caster Wheel

A caster wheel can cause the RMP to accelerate rapidly even if it does not normally contact the ground. If the RMP hits an obstacle or encounters a slope, the caster wheel will tip the RMP and start it accelerating in the opposite direction.

Figure 37: Caster Wheel on a Slope

RMP 210/220

Obstacles

When the RMP needs to roll over an obstacle, the CG of the RMP must tilt forward over the contact point. When the tire makes contact with the obstacle, it stops rolling and the frame tilts forward. Once the CG is over the contact point with the obstacle, the RMP will roll over the obstacle (provided the obstacle is small and sufﬁcient traction exists). Because torque is required to hold the tilted position, there is a tendency to overshoot the obstacle. Approaching obstacles with a small initial velocity typically helps in traversing obstacles.

Figure 38: Crossing an Obstacle

WARNING!

• If the RMP is traveling too fast over an obstacle, the wheels could leave the ground. When this happens the RMP will have difﬁculty maintaining its balance and will move very quickly trying to right itself. This could result in death or serious injury to bystanders, or property damage.

• If there are multiple obstacles in a row, the RMP must be able to catch its balance after each one. When obstacles are too close together the RMP will not be able to maintain its balance and will move very quickly trying to right itself. This could result in death or serious injury to bystanders, or property damage.

+ 92 hidden pages

Segway RMP 210, RMP 220 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Copyright, Disclaimer, Trademarks, Patent, and Contact Information

Introduction

Safety

Abbreviations

RMP 210 and 220

Included Components

Capabilities

Coordinate System

Physical Characteristics – 210

Physical Characteristics – 220

Mounting Locations — 210

Mounting Locations — 220

Turn Envelope

User Interface Panel

Powerbase Connections

Transportation and Shipping

Balancing

Payload Gain Schedules

Balance Mode Requirements

Entering Balance Mode

Exiting Balance Mode

Performance Limits

Interaction With The Environment