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Segway Robotics RMP 440 Omni V3 User Manual

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User Manual
Segway
Robotics Mobility Platform
®
RMP 440 Omni V3
Robotics

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Summary of Contents for Segway Robotics RMP 440 Omni V3

  • Page 1 User Manual Segway Robotics Mobility Platform ® RMP 440 Omni V3 Robotics...

  • Page 3: Table Of Contents

    Contents Copyright, Disclaimer, Trademarks, Patent, and Contact Information ..............6 Introduction Additional Information ............................7 Safety..................................8 Abbreviations ..............................10 RMP 440 Omni Included Components............................11 Capabilities ................................. 12 Physical Characteristics ............................ 13 Pivot Joint ................................14 Recommended Traversable Surfaces ........................ 14 Mounting Locations ............................15 User Interface Panel ............................
  • Page 4 Charging Using the External Power Supply ........................27 Charge Status LEDs ............................28 Powering On/Off Powering On ...............................29 Powering Off ...............................29 Connecting Connector I ................................. 31 Connector II ................................32 Connector IV...............................33 Ethernet Connection ............................33 Internal Connections Hardware Controls .............................35 Mode Selection ..............................36 Status Indicators ..............................36 Coin Cell Battery ..............................36 Maintenance...
  • Page 5 Troubleshooting Reporting Problems to Segway .........................43 Extracting the Faultlog ............................43 Reading the Faultlog ............................43 Faults ..................................44 Charging Faults ..............................48 Other Issues ...............................48 User Manual...

  • Page 6: Copyright, Disclaimer, Trademarks, Patent, And Contact Information

    Copyright, Disclaimer, Trademarks, Patent, and Contact Information Copyright © 2015 Segway Inc. All rights reserved. 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 "flyguy"...

  • Page 7: Introduction

    Introduction The RMP 440 Omni 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

    Introduction 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: Warns you about actions that could result in death or serious injury.
  • Page 9 Introduction 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. •...

  • Page 10: Abbreviations

    Introduction Abbreviations Auxiliary Battery Board — a PCB used to gather and report performance information from the auxiliary battery. Battery Control Unit — a PCB inside the battery pack that manages the charge of the individual cells. Balance Sensor Assembly — a group of PCBs used to obtain information about the vehicle's orientation. Controller Area Network —...

  • Page 11: Rmp 440 Omni

    RMP 440 Omni RMP 440 Omni The RMP 440 Omni is a battery-powered Robotics Mobility Platform (RMP) meant to be used as the propulsion system for a robotic product. It has four 10-inch Mecanum wheels and two powerbases mounted on side rails. Electrical components are mounted inside a User Interface (UI) box at the rear of the platform.

  • Page 12: Capabilities

    RMP 440 Omni 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 440 Omni can move in any direction (forward, reverse, sideways, etc.) and can turn in place. This is accomplished by using Mecanum wheels (a type of wheel with rollers mounted at an angle).

  • Page 13: Physical Characteristics

    RMP 440 Omni 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: Flex Omni Physical Characteristics Characteristic Value Overall...

  • Page 14: Pivot Joint

    RMP 440 Omni Pivot Joint One of the features of the Omni is the pivot joint that provides one degree of freedom along the roll axis. This enables the platform to cross small gaps, overcome small obstacles, and transition between slopes at an angle. The pivot joint significantly reduces the possibility of any wheels losing contact with the ground.

  • Page 15: Mounting Locations

    RMP 440 Omni Mounting Locations Light equipment can be mounted to the RMP by drilling holes in the cover. The cover is made of .125 inch thick aluminum and is secured to the top rails by six M6 fasteners. Heavy equipment should be mounted to the upper rails using the provided holes. Holes on the outside of the rails are M6 threaded holes.

  • Page 16: User Interface Panel

    RMP 440 Omni 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 17: Powerbase Connections

    RMP 440 Omni Powerbase Connections On the reverse side of the enclosure there are two powerbase connectors. Connector V goes to the front powerbase; Connector VI goes to the rear powerbase. If there is only one powerbase, Connector V is used. Powerbases must be plugged into the proper connectors for the charge status LEDs to be correct.

  • Page 18: Performance Specifications

    RMP 440 Omni Performance Specifications The RMP is driven by four independent and fully redundant brushless DC drive motors. It can operate both outdoors and indoors on relatively flat surfaces. For information on what surfaces the platform can operate on, see "Recommended Traversable Surfaces," p. Table 3: Performance Specifications Characteristic Omni...

  • Page 19: Endurance

    RMP 440 Omni 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 20: Transportation And Shipping

    RMP 440 Omni 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,"...

  • Page 21: Electrical Overview

    Electrical Overview Electrical Overview This section describes the RMP components and how they interact. System Components A brief overview of each component is provided to help you become familiar with these components and their functions. Centralized Control Unit The Centralized Control Unit (CCU) contains the Segway Processor (SP) and the User Interface Processor (UIP).
  • Page 22 Electrical Overview Smart Charger Board The Smart Charger Board (SCB) distributes charging current from the External Power Supply to the ABB and both powerbases. It controls multiple high current smart chargers and manages charging. It has 5 monitored channels at 100 VDC each and can perform fault detection down to the level of the power supply, board, and battery.

  • 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: Using The External Power Supply

    Charging Charging Table 8: External Power Supply Input/Output WARNING! Do not plug in the charger if the charge port, power cord, or AC power Characteristic Value outlet is wet. You risk serious bodily injury or death from electric shock as Input Voltage 100-250 VAC 50/60 Hz well as damage to the RMP.

  • Page 28: Charge Status Leds

    Charging 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. See Table 9 for a complete list of what the LEDs indicate. Battery is not charging.

  • 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 Omni...

  • Page 31: Connecting

    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 two Power Converters in the RMP 440 Omni. 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 Iv

    Connecting Connector IV This connector is used in conjunction with the External Power Supply. Charging is accomplished by connecting the External Power Supply to the RMP and then plugging the External Power Supply into a standard AC outlet. The pinout for this connector is provided for completeness.
  • Page 34 Connecting RMP 440 Omni...

  • Page 35: Internal Connections

    Internal Connections Internal Connections This section describes the hardware connections inside the Segway RMP enclosure. Some of these connections are used within the RMP for internal communication between components. Other connections are for external communication and can be used to control the RMP.

  • Page 36: Mode Selection

    Internal Connections Hardware DTZ A Decel To Zero (DTZ) can be initiated in hardware via Pin 2 of J8 on the CCU. This signal is normally pulled low by a 10K Ohm resistor. If this pin is pulled up to +5 V then the system will immediately begin to decelerate. The rate of deceleration is set in software; refer to the RMP V3 Interface Guide .

  • Page 37: Maintenance

    Maintenance Maintenance To ensure that your RMP continues to function optimally, please follow these routine maintenance guidelines. CAUTION! • Before performing any maintenance, verify that the Segway RMP is unplugged and powered off. It is not safe to perform maintenance while the RMP is powered on or charging: the RMP could move unexpectedly and could result in personal injury or damage to the RMP.

  • Page 38: Parts List

    Maintenance Parts List Use the diagram and table below to identify part names and numbers. 12 X 16 X 14 X 12 X 20 X Figure 26: Flex Omni Parts Breakdown Table 23: Components Table 24: Fasteners Label Name Part No. Description Label Fastener Location Part No.

  • Page 39: Harnesses

    Maintenance Harnesses Table 25: Harnesses Name Part No. Each platform requires harnesses connecting the Enclosure (UI Module) to the powerbases. The Rigid Omni ships with two 16 in. Starter Breakout Harness 23205-00001 powerbase harnesses (part no. 23080-00004). The Flex Omni ships Disable Button 23084-00001 with one 32 in.

  • Page 40: Cleaning

    Maintenance Cleaning WARNING! Do not use a power washer or high pressure hose to clean your RMP. Use of these devices could force water into components that must stay dry. See "Safety," p. 8, for more information. Failure to do so could expose you to electric shock, injury, burns, or cause a fire.

  • Page 41: Battery Care

    Batteries Batteries A pair of propulsion batteries mount to the bottom of each powerbase. An auxiliary battery mounts to the enclosure. Auxiliary Battery Front Battery 3 Battery 2 Battery 1 Battery 0 Figure 28: Flex Omni Battery Locations 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.

  • Page 42: Installation And Removal Instructions

    Batteries Replacing Batteries 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

    Troubleshooting Troubleshooting This section covers common problems and their solutions. 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. To ensure a prompt and helpful response from Segway, please include the following when posting to the forum: •...

  • Page 44: Faults

    Troubleshooting 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 Troubleshooting CRITICAL_FAULT_ABB_SHUTDOWN This indicates that the ABB experienced a fault. The response will include four bitmaps: ABB Status, Battery Hazards, Battery Faults, and Build ID. All four of these bitmaps are packed into the two Data bitmaps in the faultlog. They are arranged as such: ABB Status Data[0] High Battery Hazards Data[0] Low...
  • Page 46 Troubleshooting The mask for Battery Hazards is 0x0000EE00 on Data[0]. Table 29: Battery Hazard 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.

  • Page 48: Charging Faults

    Troubleshooting Charging Faults If the Charge Status LEDs blink red, there is a fault with the battery. The following table provides the meanings of the blink patterns and some suggested actions. Table 30: Battery Charging Faults LED Status Meaning Action Red blink 1 time every 5 seconds.
  • Page 49 Troubleshooting User Manual...
  • Page 50 Robotics 24931-00001 aa...

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