Segway RMP, User Manual

Page 1: ...Segway Robotic Mobility Platform User Guide Segway Inc 14 Technology Drive Bedford NH 03110 Segway is a registered trademark of Segway Inc...

Page 2: ...Balancing Dynamics 16 Interaction With The Environment 16 Fore Aft Motion 19 Turning 23 Configuration and Operation 24 Emergency stop E stop Function 24 Safety Shutdown Function 25 Basic Operation 26...

Page 3: ...ide before turning on the RMP Users of the RMP100 and RMP200 should pay particular attention to Theory of Operation Balancing Dynamics Study and understand the section describing the Emergency Stop E...

Page 4: ...terial in this guide before attempting to use the RMP Do not sit stand or ride on the RMP Do not drive the RMP at people or animals Only enable the balance controller when the platform is free to tilt...

Page 5: ...n Avoid obstacles and any terrain feature that could interfere with wheel movement Disabling the balance controller will cause the RMP to fall over A falling RMP could strike persons or objects nearby...

Page 6: ...lt from loss of control or interaction with the environment The Segway RMP provides both a control command and an emergency stop switch that can stop its forward movement in an emergency Use of the Se...

Page 7: ...dle lighter payloads and is more suitable for flat surfaces The RMP 200 has larger wheels and stronger motors to handle more challenging terrain and larger payloads The RMP200ATV is configured lithium...

Page 8: ...XT RMP 50 based on the p series Segway HT The RMP400 and RMP50 have only one operating mode Tractor Mode Tractor Mode provides statically stable operation with a larger footprint and lower payload he...

Page 9: ...icrocontroller a PC system or other computer based system to initiate commands The user must provide a computer system and write an application to communicate with the RMP The Segway Robotic Mobility...

Page 10: ...0 Volts 50 to 60 Hz Charge Rate 72 Volt nominal 600 milliamps per battery Battery Life Full Charge Discharge Cycles 300 to 500 Operating Temperature Range NiMH 32 F to 122 F 0 C to 50 C Operating Temp...

Page 11: ...plate and side support Propulsion System Motor Torque Constant motor shaft 0 071 Nm amp 0 071 Nm amp 0 054 Nm amp 0 054 Nm amp 0 071 Nm amp Motor Drive Peak Current per wheel 70 amp 35 amp 70 amp Mot...

Page 12: ...ained at the end of this section Minimum Tools needed for assembly 5mm Hex wrench 8mm Hex wrench Recommended tools for easiest assembly Torque wrench 3 8 drive 5mm Hex bit socket 3 8 drive 8mm Hex bit...

Page 13: ...em Qty Part Number Description Comments 1 1 17941 00001 RMP Top Plate 2 1 17507 00001 RMP Ballast Plate 3 2 17506 00001 RMP Vertical Plate 4 6 17512 00001 M6x1x25 SHCS Tighten to 18 N m 13 ft lb 5 4 1...

Page 14: ...Version 2 0 Segway RMP User Guide 20277 00001 aa 14 RMP50 The RMP50 is shipped fully assembled and ready for use An exploded view of the RMP50 frame is supplied should disassembly be required...

Page 15: ...Version 2 0 Segway RMP User Guide 20277 00001 aa 15 RMP400 The RMP400 is shipped fully assembled and ready for use An exploded view of the RMP400 frame is supplied should disassembly be required...

Page 16: ...ue characteristics when compared to other robotic platforms It may take some time to learn to use these dynamics to advantage Read and understand this entire manual before using the Segway RMP Interac...

Page 17: ...ine to move to the right The case shown to the right is very different from a dynamic standpoint but the controller cannot differentiate between this configuration and the one above In this case the R...

Page 18: ...s also applied the force required will diminish Alternatively use the E Stop to disable the motors When the RMP needs to roll over an obstacle the CG of the system must tilt forward over the contact p...

Page 19: ...ced from equilibrium it is trying to return to its start location It will overshoot the desired pitch and position a little before coming to rest The wheels travel faster and farther than the top plat...

Page 20: ...of a forward acceleration creating a delay The wheel speed overshoots the desired speed in order to stop accelerating and maintain constant speed The tilt angle of the RMP is a direct function of the...

Page 21: ...MP User Guide 20277 00001 aa 21 This figure shows the response of the RMP to a step input in the velocity command The commanded speed is 2 mph or 0 88 m sec The Acceleration scale factor was set to 25...

Page 22: ...of the RMP to a series of step inputs in the velocity command The commanded speed is 4 mph or 1 77 m sec The Acceleration scale factor was set to 50 of maximum 8 counts Note the variations in pitch wh...

Page 23: ...ut is used to specify a rotation rate e g radians per second At higher speeds the turning input specifies a lateral acceleration e g m sec2 toward the center of the turn The RMP speed is used to calcu...

Page 24: ...t work properly for your safety Once the E stop switch is opened the RMP will no longer balance You should become familiar with how it may fall so you can make good decisions when utilizing the E stop...

Page 25: ...atter that switches to a continuous tone after approximately 6 8 seconds Disabling motor power two seconds after the continuous tone starts The annunciation alarm is to alert anyone in the vicinity th...

Page 26: ...The propulsion system motors are enabled by pressing the yellow start switch This switch initiates the wake up procedure for the Powerbase s CU boards The yellow panel switch LED will illuminate along...

Page 27: ...e surface directly in front and behind the RMP is free of obstacles To enter Balance Mode hold the RMP approximately level and command balance mode one of two ways by pressing the blue Balance Mode pa...

Page 28: ...r power to the system The RMP motors will power down from either Balance Mode or Tractor Mode The motors may also be turned off by command from the host processor to the UI After motor power is off pr...

Page 29: ...ea away from objects and people Set the torque limit to 32 counts max 256 1 Place a 10 lb object on the edge of the plate the RMP will move to rebalance it self Which way did it move 2 Try pushing hor...

Page 30: ...eet of displacement the RMP will disable Balance Mode and switch to Tractor Mode This condition may occur if the wheels are slipping a disturbance force pushes the RMP away from the equilibrium positi...

Page 31: ...7 0 55 bar 10 15 psi 0 69 1 03 bar 50lb 4 8 psi 0 27 0 55 bar 12 18 psi 0 83 1 24 bar 100lb 8 12 psi 0 55 0 83 bar 15 20 psi 1 03 1 38 bar 200lb 10 15 psi 0 69 1 03 bar Not Recommended 2 6 psi 0 13 0...

Page 32: ...vity will change as the payload is altered For example both the Heavy gain schedule 2 and Light gain schedule 0 controllers can handle a 75 lb payload on the top plate but the response of each control...

Page 33: ...e payload configurations that the RMP200 is designed to handle Controller Gain Schedule 0 Light This controller has been tuned for a 50 lb payload located at the top plate This configuration may be cr...

Page 34: ...e Controller Gain Schedule 0 Light This controller has been tuned for a 25 lb payload located at the top plate This configuration may be created by using 1 of the 25 lb ballast plates As payload is ad...

Page 35: ...may be calculated from the maximum velocity Vmax and maximum acceleration amax Thus large velocities with small accelerations produce large stopping distances Choose your acceleration limits with care...

Page 36: ...bber gloves eye protection and are in a well ventilated area Dispose of the rubber gloves and damaged Battery Pack properly in accordance with regulations governing disposal of toxic materials Shippin...

Page 37: ...installing Battery Packs or performing any service It is hazardous to work on any part of your Segway RMP when it is plugged into AC power You risk serious bodily injury from electric shock as well a...

Page 38: ...t be using your Segway RMP for an extended period of time you should leave it plugged into AC power Otherwise the Battery Packs could fully discharge over time causing them permanent damage Do not sto...

Page 39: ...note faster charging and solid green is the maximum charge rate Stage Li ion Battery Packs NiMH Battery Packs Initial Test Battery Packs immediately proceed to Fast Charge Slow green pulse Lasts for a...

Page 40: ...the charging temperature range Once stabilized within this range the fast charge will begin and the charging indicator will be solid green If the charging indicator lights remain blinking throughout...

Page 41: ...ou operate them nearest the center of the recommended operating temperature range If the Battery Packs on your Segway RMP become too hot or too cold while operating the Segway RMP may reduce the speed...

Page 42: ...necessarily increase the performance or range of your Segway RMP because the Segway RMP is designed to operate only at the level allowed by the lower energy Battery Pack Redundancy is a critical safet...

Page 43: ...ith the 3 mm hex wrench 4 per Battery Pack To avoid risk of damage do not use a power tool to thread in or tighten fasteners Tightening Torque 1 0 N m 8 9 in lb Remove Tire Wheel Assembly Tools Requir...

Page 44: ...B Port Do Not Open the Powerbase or Gearboxes Do not attempt to open the Segway RMP Powerbase sealed with T27 bolts and a steel cover plate There are no user serviceable parts inside By opening the Po...

Page 45: ...73 275 2 375 645 2 382 360 393 418 2 401 488 2 431 070 CH 95911624 5 CN 95197546 3 00812269 5 95197546 3 DE 95911624 5 00916035 9 DK 95911624 5 ES 95911624 5 EP 1123235 1159686 1161214 1161215 1161216...

Page 46: ...in any of its systems The RMP lets its operator know it is performing a safety shutdown by beeping shaking and slowing to a stop A safety shutdown may also be triggered by low battery power Once a saf...