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Related Manuals for Segway RMP 440 LE V3
Summary of Contents for Segway RMP 440 LE V3
- Page 1 User Manual Segway Robotics Mobility Platform ® RMP 440 LE V3 Robotics...
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Page 3: Table Of Contents
Contents Copyright, Disclaimer, Trademarks, Patent, and Contact Information ..............6 Introduction Additional Information ............................7 Safety..................................8 Abbreviations ..............................10 RMP 440 LE Included Components............................11 Capabilities ................................. 12 Physical Characteristics ............................ 13 Mounting Locations ............................14 User Interface Panel ............................15 Performance Specifications ..........................16 Environmental Specifications.......................... - Page 4 Battery Care ............................... 41 Installation and Removal Instructions ......................42 Transportation and Shipping ..........................42 Proper Disposal ..............................42 Replacing Batteries ............................42 Troubleshooting Reporting Problems to Segway .........................43 Extracting the Faultlog ............................43 Reading the Faultlog ............................43 Faults ..................................44 Charging Faults ..............................48 Other Issues ...............................48...
- Page 5 User Manual...
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Page 6: Copyright, Disclaimer, Trademarks, Patent, And Contact Information
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. -
Page 7: Introduction
The RMP 440 LE V3 incorporates Stanley Innovation's Robotics Mobility Platform V3 (RMP V3) hardware and software improvements on top of the Segway RMP platform. The result is a product that starts with the robust and durable Segway RMP chassis and adds features to provide greater versatility and ease-of-use. -
Page 8: Safety
• 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. - Page 9 • 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.
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Page 10: Abbreviations
State Of Charge — a measurement of battery charge from 0% (empty) to 100% (full). Segway Processor — a microcontroller on the CCU that contains proprietary Segway code for controlling the RMP. Serial Peripheral Interface — a synchronous serial data link standard that operates in full duplex mode. -
Page 11: Rmp 440 Le
RMP 440 LE RMP 440 LE The RMP 440 LE is a battery-powered Robotics Mobility Platform (RMP) meant to be used as the propulsion system for a robotic product. It has four 21-inch all-terrain tires and two powerbases mounted to a single aluminum enclosure. Electrical components are mounted inside the enclosure. -
Page 12: Capabilities
Central to the RMP's design is the ability for users to expand the platform's capabilities by integrating additional components. To facilitate this Segway has provided communication and power interfaces on both the outside and inside of the platform. For details about connecting to the RMP see "Connecting,"... -
Page 13: Physical Characteristics
RMP 440 LE Physical Characteristics For product dimensions, please refer to the diagrams below. A summary of the major dimensions is provided in Table 1. NOTICE Product options may change the characteristics of the RMP. Table 1: Physical Characteristics Characteristic Value Overall Length... -
Page 14: Mounting Locations
RMP 440 LE Mounting Locations Equipment can be mounted to the RMP using the provided mounting locations. Tapped holes are located on the sides of the enclosure. Threaded studs are provided inside the enclosure. External Mounting There are 12 M6x8 tapped holes on each side of the enclosure. Dimensions are mm [in]. 8.66 8.66 571.47... -
Page 15: User Interface Panel
RMP 440 LE User Interface Panel The power button, 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,"... -
Page 16: Performance Specifications
Turn-in-place and tight radius turns are not possible when operating on high traction surfaces with payloads at or near the maximum. The maximum payload that will allow the RMP to turn in place even on high traction surfaces. Environmental Specifications The Segway RMP was designed to withstand environmental conditions both indoors and outdoors. Table 3: Environmental Specifications Characteristic Value Operating Temp. -
Page 17: Endurance
RMP 440 LE Endurance Platform endurance is determined by measuring battery draw while performing various maneuvers. In many cases the propulsion batteries will limit the runtime of the RMP. However, there are some scenarios in which the auxiliary battery will be the limiting factor. Such cases include stationary operation and situations in which additional equipment is using the auxiliary battery as a power source. - Page 18 RMP 440 LE Turning Power Usage When driving in circles or turning, power usage is based on the turning radius and the speed. The information provided here is based on tests performed on dry, level pavement with tire pressure at 6 psi and 12 psi. The smaller the radius, the more power is used.
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Page 19: Transportation And Shipping
To prevent damage to your RMP, always ship it in the original crate it came in. The crate disassembles for easier storage. If you do not have the original crate, contact Segway for a replacement (see "Contact Information," p. 6). - Page 20 RMP 440 LE RMP 440 LE...
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Page 21: Electrical Overview
Powerbase The powerbase is one of the main components of the Segway PT and has been leveraged for use as the propulsion unit of the RMP. Each RMP 440 LE has two powerbases, one for the front wheels and one for the rear wheels. Inside each powerbase are two Motor Control Units (MCUs). - Page 22 Electrical Overview Charging Options Depending on the configuration, the RMP has either Onboard Chargers or a Smart Charger Board. With Onboard Chargers, the RMP is plugged directly into AC power. With a Smart Charger Board, an External Power Supply is used to connect the RMP to AC power. Onboard Charger The onboard charger takes standard AC power and converts it to DC power for charging the batteries.
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Page 23: Operational Model
Operational Model Operational Model This chapter describes powering on, powering off, and the various modes of operation. Operational States At any given time, the RMP will be in one of the following operational states: • Initialization • Diagnostic Mode • Bootloader Mode •... -
Page 24: Faults
Operational Model Faults Faults occur in response to events that impact the RMP. This could include anything from receiving a user-commanded DTZ signal to detecting a failed battery. Sometimes faults are the result of a problem that needs to be resolved. Other times they are merely informative. -
Page 25: Diagnostic Mode
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. -
Page 26: Disable Mode
Operational Model Disable Mode WARNING! When the RMP powers off it may continue to move (for example, it could roll downhill). This could cause personal injury and property damage. In Disable Mode the RMP performs housekeeping functions and then powers off. In this mode the propulsion drives are disabled and all user commands are ignored. -
Page 27: Charging
The RMP 440 LE comes standard with internal battery chargers and uses the power cord for charging (as opposed to using the External Power Supply). The enclosure houses three 0.6 A two-channel Segway power supplies. The charging port is located on the interface panel below the Charger Status LEDs. -
Page 28: Using The External Power Supply
Figure 25: External Power Supply Charge Status LEDs Table 9: Battery LEDs There is one LED for each 72 V Segway battery attached to the RMP. When charging, the LEDs turn green. If a battery is at maximum charge, LED Status Meaning its LED blinks. -
Page 29: Powering On/Off Powering On
Powering On/Off Powering On/Off Powering On The RMP can be turned on and off using the push button mounted on the interface panel. When successfully powered on, the RMP enters Standby mode, which is indicated by a blinking yellow LED and a solid green LED. To power on the RMP: Make sure the disable button is connected and has not been pressed. - Page 30 Powering On/Off RMP 440 LE...
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Page 31: Connector I
Connecting Connecting This chapter describes how to connect to the RMP. Included are the pinouts for all the panel connectors as well as instructions on how to set up an Ethernet connection with the RMP. Connector I Connector I is the largest external connector on the RMP. This approximately 2-inch diameter connector is a MIL-DTL-38999/24FJ4SN socket with 56 pins. -
Page 32: Connector Ii
Connecting Power The auxiliary battery feeds up to three Power Converters in the RMP 440 LE. At time of purchase, the customer has the option to select the output voltage of the Power Converters. Possible options are: 5 VDC, 12 VDC, 24 VDC, 36 VDC, and 48 VDC. One of the options selected must be 12 VDC, in order to power the CCU. -
Page 33: Connector Iii
Connecting Connector III This connector is used in conjunction with an onboard charger. Charging is accomplished by connecting the power cord to the RMP and then plugging the power cord into a standard AC outlet. The RMP has a universal charger and can accept any input within the range 90-250 VAC, 50-60 Hz. Under normal operation full charge will draw approximately 300 Watts. -
Page 34: Ethernet Connection
Connecting Ethernet Connection Table 17: Default RMP Ethernet Settings The RMP has a 10 Mbps Ethernet connection. Parameter Default Value When connecting to a router, configure the RMP like any other device with a static IP address. IP Address 10.66.171.5 When connecting directly to a computer: Port 8080... -
Page 35: Internal Connections
Method 1 — Internal Segway Logic At any point if the Segway processor logic needs to immediately disable the system it can do so by releasing one of its DIO lines. This will stop current flowing and prevent the opto-couplers from pulling down on the disable input. -
Page 36: Mode Selection
Conveniently, +5 V is provided on Pin 1 of J8, allowing the user to easily connect a normally open momentary type switch between Pin 2 and Pin 1 of J8 and control the deceleration request. Segway has found this useful when connecting some types of remote control disable systems. -
Page 37: Maintenance
RMP is powered on or charging. The RMP could move unexpectedly, causing death, serious injury, or property damage. • Use only Segway approved fasteners on the RMP. Other fasteners may not perform as expected and may come loose. Failure to do so could lead to risk of serious injury, death, or property damage. -
Page 38: Parts List
Maintenance Parts List Use the diagram and table below to identify part names and numbers. 24 X 12 X 24 X 12 X 24 X 16 X 20 X Figure 32: RMP 440LE Parts Breakdown Table 24: 440 LE Components Table 25: 440 LE Fasteners Label Name Part No. -
Page 39: Removing Wheel Assemblies
The outside of the RMP can be cleaned by scrubbing with soap and water to remove any dirt and grime. Avoid getting water in the connectors. Do not submerge in water. If the inside of the RMP needs to be cleaned, contact Segway (see "Contact Information," p. 6). Do not use water or any liquid cleaning agents inside the enclosure. - Page 40 Maintenance RMP 440 LE...
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Page 41: Batteries
Battery Care In order to keep your Segway batteries performing at their best, fully charge the batteries for at least 12 hours before the first use. Charge the batteries after each use or once every eight hours of operation — whichever comes first. Charge your batteries only when they are within the specified charging temperature range (see Table 26). -
Page 42: Installation And Removal Instructions
Whenever you replace a propulsion battery, consider replacing all propulsion batteries. Replacing only one battery will not necessarily increase the performance or range of your Segway RMP because it is designed to operate only at the level allowed by the lower-energy battery. -
Page 43: Troubleshooting
Reporting Problems to Segway The RMP forum ( http://rmp.segway.com/forum ) is the best way to contact Segway about troubleshooting issues and problems. See "Contact Information," p. 6. Please search the forum before posting; your issue may have been discussed previously. -
Page 44: Faults
Descriptions of the most common faults are provided below. These descriptions may provide sufficient information for users to solve problems on their own. As always, if you need help please see "Reporting Problems to Segway," p. 43. The RMP stores all faults in four 32-bit fault status words. Fault status is transmitted as part of the RMP response (refer to the RMP V3 Interface Guide ). - Page 45 The following tables provide the bitmaps for ABB Status (Data[0] High) and Battery Hazards (Data[0] Low). If Battery Faults (Data[1] Low) is anything other than 0x0000, contact Segway to purchase a replacement battery. The mask for ABB Status Bitmap is 0x1FFF000 on Data[0].
- Page 46 Troubleshooting The mask for Battery Hazards is 0x0000EE00 on Data[0]. Table 29: Battery Status Bitmap (Data[0] Low) Name Description Action 0x0000 BCU_NO_HAZARD ABB is operational. None. 0x0200 BATTERY_COLD_CHARGE_ The battery is too cold to charge. Move the battery to a warmer place to LIMIT_HAZARD charge.
- Page 47 Troubleshooting ARCHITECT_FAULT_KILL_SWITCH_ACTIVE The disable button has been pressed, or is not present. ARCHITECT_FAULT_BAD_MODEL_IDENTIFIER The wrong code is loaded in the machine. Check the serial number in the fault log header against the serial number on the RMP. The last 7 bits of the serial number on the RMP should match the last 7 bits of the serial number in the fault log. MCU_TRANS_BATTERY_TEMP_WARNING This fault occurs as the battery temperature approaches the limit.
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Page 48: Charging Faults
Red blink 4 times every 5 seconds. Temperature is out of range. Move the platform to a warmer or cooler area. If problem persists contact Segway. Red blink 5 times every 5 seconds. Output current is out of range. Contact Segway. - Page 49 Troubleshooting User Manual...
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