Segway RMP Lite 220 User Manual
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Segway RMP Lite 220 User Manual

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User Manual
Segway RMP
(Robot Mobile Platform)
RMP Lite 220
©2021 Segway-Ninebot All Rights Reserved
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Do you have a question about the RMP Lite 220 and is the answer not in the manual?

Questions and answers

Ethan
February 20, 2025

The problem I **** currently facing is that these lights stay on continuously after turning on the power. How can I solve this problem

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1 comments:
Mr. Anderson
May 14, 2025

If the lights on the Segway RMP Lite 220 stay on continuously after turning on the power, it may indicate that the receiver is not paired correctly with the remote control. To fix this:

1. Place the remote control and receiver horizontally about 50cm apart.
2. Turn on the power switch of the remote control to supply power to the receiver. The receiver’s LED should flash slowly.
3. Press and hold the pairing code button (ID SET) on the side of the receiver for more than 1 second. The LED will flash quickly, indicating pairing mode.
4. Wait for the LED to stop flashing. If it stops, pairing is successful. If it flashes slowly again, pairing failed and needs to be repeated.

Ensure that pairing is successful for normal operation.

This answer is automatically generated

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Summary of Contents for Segway RMP Lite 220

  • Page 1 User Manual Segway RMP (Robot Mobile Platform) RMP Lite 220 ©2021 Segway-Ninebot All Rights Reserved...
  • Page 2 The Robot Mobile Platform（RMP）provides general or integrated robot chassis solutions for enterprises or third-party developers, with versatility, durability and performance in mind. RMP Lite 220 (hereinafter referred to as RMP) is a mobile robot chassis product designed for indoor and outdoor distribution, inspection, service, cleaning, and warehousing AGV.
  • Page 3 Safety Incorrect use of RMP may cause loss of control, collision or fall of the RMP, resulting in property damage, personal injury, and even death. Therefore, in order to reduce risks and avoid injury, please read and follow all instructions and warnings in this manual. The following secure messaging conventions are used in this document：...
  • Page 4  When RMP is running, remind people nearby at all times. Accidental collision with RMP may cause injury or even death.  Avoid power failure on slopes. RMP cannot maintain its position on the slope when the power is off. The power off will cause RMP to slide, which may cause injury or even death.
  • Page 5  Do not charge the battery may cause permanent damage to the battery.  Only can use the charger that is provided with RMP Lite 220 to charge the batter.  Before operating RMP, please be sure to read the user’ s manual and be familiar with the operation of RMP and various precautions.

  • Page 6: Table Of Contents

    Table Of Contents 1 Product introduction ......................7 1.1Product diagram ......................7 1.2 Component description .................... 8 1.3 Remote control ......................9 1.3.1 Remote control diagram ................. 9 1.3.2 Receiver pairing ....................10 1.3.3 Remote control control car instructions ............11 1.3.4 Upper computer control car instructions ............12 2 Software introduction ......................

  • Page 7: Product Introduction

    1 Product introduction 1.1Product diagram Figure 1 Figure 2...

  • Page 8: Component Description

    1.2 Component description Table 1 Component name Description On：Hold down, when power button and indicator light are always on and accompanied by a beep, chassis boots successfully. At this time, the chassis is in lock mode, and the Power button indicator light is steady yellow.

  • Page 9: Remote Control

    1.3 Remote control 1.3.1 Remote control diagram Figure 3 *The forward or backward of the remote control input (throttle or rudder) can be realized by flipping the enable switch under the T8FB. Coach interface / Simulator interface / Firmware upgrade interface Battery cover Figure 4...

  • Page 10: Receiver Pairing

    *The alarm voltage of the remote control is adaptive to 2S, 3S, 4S lithium batteries and 4 NI-MH batteries. That is, if T8FB is powered by 2S, 3S, 4S lithium batteries or 4 NI-HM batteries, after connecting the battery, T8FB will automatically set the low voltage alarm value according to the battery type.

  • Page 11: Remote Control Control Car Instructions

    nearest remote control to pair the code; （4）When the receiver’s LED light stops flashing, it means that pairing the code is completed. If the receiver ’ s LED light flashes slowly, it means that pairing the code has failed, the code needs to be paired again.

  • Page 12: Upper Computer Control Car Instructions

    Table 2: Car control and remote control operation Car control Remote control operation Turn left/ right Rudder lever Move Throttle lever forward/backward Emergency stop/ exit Emergency stop switch：At the top: exit the emergency stop; emergency stop At the bottom: start the emergency stop Maximum angular velocity adjustment knob: Turn left: the Adjust the maximum maximum...
  • Page 13 （ 3 ） In the upper computer, give permissions to “ /sdcard/ segway/ hardware_log/”folder, otherwise it will fail to create a new log file; give permissions to all files in the “/catkin_ws/ src/ RosCode/ segwayrmp/ lib/”directory（no need to reset after first setup） :...
  • Page 14 `target_link_libraries(SmartCar` `${catkin_LIBRARIES}` `#${PROJECT_SOURCE_DIR}/lib/libctrl_arm64-v8a.so //in x86_64 platform ， comment out this line ， in arm platform, do not comment out this line` `${PROJECT_SOURCE_DIR}/lib/libctrl_x86_64.so //in arm platform，comment out this line，in x86_64 platform, do not comment out this line` （5）Enter ROS system，run the following command to compile the “segway_msgs”...
  • Page 15 roscore 2 ） Create a new terminal ， run the following command, SmarCar node: cd catkin_ws source devel/setup.bash rosrun segwayrmp SmartCar 3 ） Create a new terminal ， run the following command, routine test node: cd catkin_ws source devel/setup.bash rosrun segwayrmp ChassisResponseTest...

  • Page 16: Software Introduction

    2 Software introduction This chapter introduces relevant documents, software interface functions and fault code information provided by RMP. 2.1 Documents provided to users Table 3 Documents provided Document Function Provide C/C++ chassis-related Libctrl_x86_64.so interfaces in x86 platform Provide C/C++ chassis-related Libctrl_arm64-v8a.so interfaces in arm platform C/C++ API interface header file...
  • Page 17 int16_t r_speed; int16_t car_speed; int16_t turn_speed; }chassis_speed_data_ typedef struct{ Chassis encoder int32_t l_ticks; Chassis_Data_Ticks information int32_t r_ticks; }motor_ticks_t; typedef struct{ Chassis_Data_Odom_ Odom pose float pos_x; Pose_xy information float pos_y; }odom_pos_xy_t; typedef struct{ Chassis_Data_Odom_ Odom Euler float euler_x; Euler_xy x/y axis information float euler_y;...
  • Page 18 board start up completed PadPowerOffEvent Chassis shutdown OnEmergeStopEvent Enter emergency stop OutEmergeStopEvent Exit emergency stop OnLockedRotorProtectEvent Locked rotor event occurs Locked rotor event OutLockedRotorProtectEvent removes OnLostCtrlProtectEvent Lost control event occurs OutLostCtrlProtectEvent Lost control event removes Calibrate the gyroscope CalibrateGyroSuccess success CalibrateGyroFail Calibrate the gyroscope fail Calibrate phase current...

  • Page 19: Ros Interface Introduction-Smartcar

    milliradian per second(mrad/s)) getIapTotalProgress Get IAP progress iapCentralBoard Upgrade the central control board IAP iapMotorBoard Upgrade the motor board IAP isHostIapOver Check if IAP is over Get the IAP result (3: completed; 4: failed: 5: getHostIapResult interrupted; 0: meaningless) getHostIapErrorCode Get IAP error code Get whether the chassis is in the hang mode (0: not in get_chassis_hang_mode...
  • Page 20 int16 bat_soc int16 bat_charging Battery related Bms_fb Segway_msgs/ Bms_fb int32 bat_vol information int32 bat_current int16 bat_temp Chassis control uint16 Chassis_ctrl Segway_msgs/ command chassis_ctrl_cmd_sr _src_fb Chassis_ctrl_src_fb source Chassis_mil Segway_msgs/ Chassis uint32 eage_meter Chassis_mileage_meter mileage vehicle_meters Chassis_mo Segway_msgs/ uint16 Chassis mode de_fb Chassis_mode_fb chassis_mode uint32 host_error...
  • Page 21 chassis Linear.x //m/s movement Table 9 service client Function Service name Message type Message type info Description chassis_se chassis_send_ev Send time Segway_msgs/chas nd_event_s ent_id number sis_send_event ros_is_received Table 10 Service server Function Service name Message type Message type info Description ros_get_load_param Segway_msgs/ ros_get_load_pa...

  • Page 22: Error Code Information Table

    _result ros_set_chassis_poweroff_c ros_set_chassis Set chassis Segway_msgs/ _poweroff_cmd_ shutdown ros_set_chassis_ command poweroff_cmd chassis_set_poweroff_result ros_set_load_param Segway_msgs/ #0:no_load, 1: full_load ros_set_load_par Set chassis ros_set_load_par am_cmd_srv load state am_cmd chassis_set_load_param_res ros_set_remove_push_cmd Set remove Segway_msgs/ ros_set_remove_ chassis push ros_set_remove_ push_cmd_srv chassis_set_revove_push_re command push_cmd sult ros_set_forward_max_vel Set the Segway_msgs/ ros_set_backward_max_vel...
  • Page 23 “uint32_t get_err_state(board_name_e board_name)” interface, and the corresponding information is as follows: Table 12 Error code Board name Error info 0x00000000 No error 0x00000001 Loss of control board host Unplug the serial port 0x00000002 module 0x00000000 No error Car control command 0x00000001 communication interrupted...
  • Page 24 0x00000001 Phase current fault 0x00000002 Phase voltage fault 0x00000004 Lack of phase 0x00000008 Under voltage 0x00000010 Over voltage 0x00000020 Over current 0x00000040 Over temperature 0x00000080 Locked rotor 0x00000100 Electrical angle fault 0x00000200 Excessive power fault 0x00000400 Over speed fault Rotational speed 0x00000800 sensor fault 0x00001000...

  • Page 25: Firmware Upgrade And Version Upgrade

    3 Firmware upgrade and version upgrade IAP is a software function module of the system, that is, in application programming, that means upgrade the single chip computer program online. This function uses the upper computer to burn the new version bin file to the single chip computer (including the central control board, the motor drive board, etc.) when the program is running.
  • Page 26 Enter the path where the upper computer program is located, and check whether the upper computer executable file exists. As shown in the figure below, they are arm executable file, x86 executable file, arm dynamic library, and x86 dynamic library: Figure 5 （2）Check the software version of each lower computer board...
  • Page 27 password, and then hit the enter key, as shown in the figure below: Figure 6 2）When communication fails, the version number is 0，as shown in the figure below: Figure 7 3）When the communication is successful, the version number is printed as follows, and it is a non-zero number. At this time, the communication between the upper computer and the single chip computer is normal, and the online upgrade can be performed:...

  • Page 28: Version Upgrade

    3.2 Version upgrade （1）S bin file placement ingle chip computer Put the board’s bin file which will be upgraded into the “/sdcard/firmware” path of the upper computer, for example, the central control board’ s bin file “central.bin” , as shown in the following figure: Figure 9 （2）Online burning of bin file in lower computer...
  • Page 29 the following commands (use ‘s’ when using the serial port; use ‘c’ when using the CAN port): Central control board upgrade command： “ ./ ctrl_x86_64 s –iap central” Motor board upgrade command： “ ./ ctrl_x86_64 s –iap motor” Take the central control board as an example, enter the command: “./ ctrl_x86_64 s –iap central”to upgrade, as shown in the figure below：...
  • Page 30 Figure 12 （3）Test the online upgrade result of the IAP version： Perform step 1, test and check the software version number, enter the command: “./ ctrl_x86_64 s -test central”, in the path where the upper computer program is located, as shown below： At this time, the software version number of the central control board is 0x1000, indicating that the online upgrade has been successful, and the communication between the upper...

  • Page 31: Appendix I System Parameters And Mode Switching Logic

    Appendix I: System parameters and mode switching logic Table 1 System parameters Length*Width*Height（mm） Size 730*500*280 Wheelbase*Tread*Ground clearance（mm）： Structural parameters 513.5*414*68 Tire size 11Inch（280mm）hub motor Structural Weight (with battery) 27.2kg parameter Nominal load 50kg Obstacle surmounting 4cm/8°Slope/Deceleration zone Overhang 4mm Rear overhang Gear train structure Front drive, differential steering Protection level...
  • Page 32 Chassis Enter Implement Exit mode The default mode of An unrecoverable chassis power on exception 0 speed closed errorcode is Default mode after emergency stop recovery loop, shield detected and In control car mode, when speed enters the error Locked car recoverability abnormality command, and mode...
  • Page 33 command, the mode status indicator light flashes red Braking, releasing force, shielding speed Unrecoverable exception Restart Error mode and enable errorcode detected commands. The indicator light is keeps red...

  • Page 34: Appendix Ii Connector Welding Instructions

    Appendix II Connector welding instructions (I) Preparatory work 1、 Tools Electric soldering iron, solder wire 2、 Materials 8pin connector, 2pin connector, 2 AWG16 cables, 8 AWG26 cables, as shown in Figure 1. Figure 1 (II) Welding instructions (take 8pin connector as an example) Figure 2 shows the 8pin connector received by the customer.
  • Page 35 Figure 3 2. Take out the part shown in Figure 4, which is the part that needs to be welded; Figure 4 3. As shown in Figure 5, the pin angle number of the connector can be seen from one side of the component, and then rotate it 180 °, which is the part needs to be welded;...
  • Page 36 Figure 6 5. Take out the two parts shown in Figure 7 and put them on the welded parts, as shown in Figure 8； Figure 7 Figure 8 6. Take out the part shown in Figure 9, put them on the previously assembled parts, and tighten them, as shown in Figure 10；...

  • Page 37: Appendix Iii Connector Pin Angle Definition Instructions

    Appendix III Connector pin angle definition instructions Connector Pin number Define Wire size Remark Color CANH AWG26 CANL AWG26 Gray AWG26 Blue AWG26 Serial port Green 8pin AWG26 White AWG26 Brown Remote AWG26 control Black receiver S.B PPM AWG26 Yellow power supply Power+ AWG16...

  • Page 38: Appendix Iv C/C++ Apireference Documents

    Appendix IV C/C++ APIReference documents int Init_Comcore(void) Function: initialization of host computer dynamic link library Parameter: none Return value: 0: initialization succeed; Other: initialization fail void exit_Comcore(void) Function: exit initialization of host computer dynamic link library Parameter: none Return value: none void aprctrl_ datastamped_ jni_ register(s aprctrl datastamped t* f)
  • Page 39 Function: registration via the callback function provided by parameter, and this callback function conducts the sensor data processing. Parameter: f is a struct pointer, and this struct includes the unique function pointer member variables. Return value: none void aprctrl_ eventcallback _jni_ register(s aprctrl event t* f) Function: registration via the callback function provided by parameter, and this callback function conducts the processing of event code.
  • Page 40 Parameter is one of the following values: Host computer ID Motor board ID Central board ID BMS ID Return value: error code int16 t get _bat_soc(void) Function: acquire percentage of battery remaining capacity Parameter: none Return value: percentage of battery remaining capacity (1~100) int16 t get _bat_charging(void) Function: inquire whether the battery is in charging state Parameter: none...
  • Page 41 int16 t get _bat_mvol(void) Function: acquire real-time voltage of battery Parameter: none Return value: voltage value, unit mV int16 t get _bat_mcurrent(void) Function: acquire real-time current of battery Parameter: none Return value: current value, unit mA int16 t get _bat_temp(void) Function: acquire battery temperature Parameter: none Return value: temperature value, unit degree Celsius...
  • Page 42 Parameter: none Return value: 1: motor in augmentation; 0: motor not in augmentation int16 t get _chassis_ load _state(void) Function: acquire setting value of chassis based on controlling parameter of different loading Parameter: none Return value: 0: no-load control parameter; 1: full load controlling parameter int16 t get _chassis_mode(void) Function: acquire working mode of chassis finite state machine...
  • Page 43 1 vehicle control mode; 2 pushing mode; 3 emergency stop mode; 4 error mode int16 t get _ctrl_ cmd _src(void) Function: acquire command origin of motor chassis control Parameter: none Return value: 0: control vehicle with remote controller; 1: control vehicle with host computer int16 t get _vehicle_meter(void) Function: acquire the mileage since the chassis is power up Parameter: none...
  • Page 44 uint16 t get _host_version(void) Function: acquire the host computer software version Parameter: none Return value: host computer software version number uint16 t get_chassis_central_version (void) Function: acquire the central board firmware version Parameter: none Return value: the central board firmware version number uint16 t get_chassis_motor_version (void) Function: acquire the motor board firmware version Parameter: none...
  • Page 45 Function: acquire the forward speed limiting feedback value of the chassis Parameter: None Return value: the forward speed limiting feedback value of the chassis int16_t get_line_backward_max_vel_fb (void) Function: acquire the backward speed limiting feedback value of the chassis Parameter: None Return value: the backward speed limiting feedback value of the chassis int16_t get_angular_max_vel_fb (void)
  • Page 46 Return value: the angular speed limiting feedback value of the chassis int16_t getIapTotalProgress (void) Function: Get the progress of IAP upgrades Parameter: None Return value: IAP upgrade failed 0: IAP upgrades are idle or started or interrupted 100: IAP upgrade completed Other: Percentage of IAP upgrade progress void iapCentralBoard (void) Function: IAP upgrade of the central board firmware of the chassis...
  • Page 47 Note: You need to place the central board firmware "central.bin" in the path of "/sdcard/firmware/" in advance. void iapMotorBoard (void) Function: IAP upgrade of the motor board firmware of the chassis Parameter: None Return value: none Note: You need to place the motor board firmware "motor.bin" in the path of "/sdcard/firmware/"...
  • Page 48 Function: acquire the reason for the end of IAP Parameter: None Return value: 3: IAP completes 4: IAP fails 5: IAP is interrupted Others: IAP not started or in progress Int16_t getHostIapErrorCode (void) Function: Gets the error code for IAP failure Parameter: None Return value: the error code for IAP failure int16_t get_chassis_hang_mode(void)
  • Page 49 1: The chassis is in hang_mode 0: The chassis is not in hang_mode int16_t get_charge_mos_ctrl_status (void) Function: Gets the status of switch for charging MOS on the central board. Parameter: None Return value: 1: The MOS opened 0: The MOS closed void set_ cmd _vel(double linear x,double angular z) Function: set up the command value of chassis target speed, which needs to be regular transmit once the chassis is enabled.
  • Page 50 Return value: none void set_ line _forward_ max _vel(double linear forward max_x) Function: set up the max forward linear velocity value of chassis. Parameter: linearforwardmax_x: max forward linear velocity value of chassis, unit m/s, range 0-3 Return value: none void set_ line _backward_ max _vel(double linear backward max_x) Function: set up the max backward linear velocity value of chassis.
  • Page 51 Parameter: angularmaxz: the max angular velocity command value, unit rad/s, range 0-3 Return value: none void set_ enable _ctrl(uint16 t enable flag) Function: set up to enable the chassis to control the vehicle. Parameter: enable_flag: 1 enable the vehicle control; 0 exit the vehicle control Return value: none void set_ smart _car_ serial(const char * serial no)
  • Page 52 void set_comu_interface (comu_choice_e comu_choice ) Function: Set up the communication interface between the host computer and the chassis, including serial communication and CAN communication Parameter: comu_choice : ‘comu_serial’ Use a serial port for communication ‘comu_can’ Use a CAN port for communication Return value: none void set_ chassis _load_ state(int16 t newLoadSet) Function: set up the parameter of chassis control based on the...
  • Page 53 void set_chassis_poweroff (void) Function: chassis power off controlled by host computer. Parameter: none Return value: none void set_ remove _push_cmd(void) Function: when the chassis is in the pushing mode, it can exit this mode under the control of host computer. Parameter: none Return value: none void setHostIapCanceled (void)
  • Page 54 void set_chassis_hang_mode(int16_t enterHand) Function: The chassis is configured to be in hang test mode. When in hang_ode, the chassis can be controlled normally. Parameter : enterHand： 1： Config the chassis to be in hang_mode; 0： Config the chassis to be in non hang_mode. Return value: none void set_charge_mos_ctrl (bool on) Function: Sets the switch for charging MOS on the central board.

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