Search found 58 matches

by Craig
Tue Feb 26, 2013 4:35 pm
Forum: Centralized Controller Platforms
Topic: 440 new firmware issue
Replies: 5
Views: 8139

Re: 440 new firmware issue

Ben,

I would like to add that we see +5V monitor faults which generally indicates that the system is not getting enough voltage from the USB port. This can occur for a variety of reasons but long USB cables are usually the culprit.

/Craig
by Craig
Tue Feb 26, 2013 3:36 pm
Forum: Centralized Controller Platforms
Topic: 440 new firmware issue
Replies: 5
Views: 8139

Re: 440 new firmware issue

Ben, Thanks for your post. I'll try and answer your questions below but first things first. Please extract the fault log and post it here. See this link for a fault log extractor and instructions on how to use it. http://rmp.segway.com/viewtopic.php?f=9&t=80 There is no way you could have accidental...
by Craig
Mon Jan 14, 2013 5:23 pm
Forum: Centralized Controller Platforms
Topic: Can I change the batteries?
Replies: 3
Views: 7414

Re: Can I change the batteries?

Currently the system must have the Segway propulsion battery in place to function properly. There is no way you can run the machine without the propulsion battery in place. We can quote custom development work. Please contact customer service with a detailed request to get that process started. Craig
by Craig
Fri Jan 11, 2013 4:58 pm
Forum: Centralized Controller Platforms
Topic: Can I change the batteries?
Replies: 3
Views: 7414

Re: Can I change the batteries?

Hi, The protocol that the ABB (Aux Battery Board) uses to talk to the Aux Battery is proprietary. If you want to replace the Segway battery which is used to power the Vicor adapter boards then I would suggest you build your own "battery interface board" and communicate with it independent of the Cen...
by Craig
Wed Nov 28, 2012 5:44 pm
Forum: Centralized Controller Platforms
Topic: RMP 440 OMNI PWM commanding
Replies: 4
Views: 9115

Re: RMP 440 OMNI PWM commanding

In general, we do not recommend using the RC radio (PWM) interface for robot control when using a microprocessor. As stated in the Hardware Interface document: Due to the nature of the hobby radio protocol and the lack of deterministic error detection the hobby radio input has the ability to create ...
by Craig
Fri Nov 16, 2012 11:31 am
Forum: Centralized Controller Platforms
Topic: maximum motor's torque
Replies: 1
Views: 4798

Re: maximum motor's torque

The maximum torque at the gearbox output is 100 Nm. Putting larger tires on the platform will reduce the force applied at the contact patch which will reduce the ability to turn in place. It really comes down to the surface you want to operate on. On high traction surfaces you may have trouble with ...
by Craig
Tue Nov 06, 2012 11:55 am
Forum: Deuce Board Platforms
Topic: How to get a quick response ***READ ME FIRST***
Replies: 0
Views: 6653

How to get a quick response ***READ ME FIRST***

We really appreciate your feedback on our platforms and we try very hard to get to every question within 24 hours. However, it may take longer, if you haven't received a response within 3 business days please email support rmp@segway.com How to write a good question: 1.) Tell us what kind of platfor...
by Craig
Tue Nov 06, 2012 11:51 am
Forum: Centralized Controller Platforms
Topic: How to get a quick response ***READ ME FIRST***
Replies: 0
Views: 9226

How to get a quick response ***READ ME FIRST***

We really appreciate your feedback on our platforms and we try very hard to get to every question within 24 hours. However, it may take longer, if you haven't received a response within 3 business days please email support rmp@segway.com How to write a good question: 1.) Tell us what kind of platfor...
by Craig
Tue Nov 06, 2012 11:11 am
Forum: Deuce Board Platforms
Topic: Question about RMP 400 traction
Replies: 5
Views: 14270

Re: Question about RMP 400 traction

To externally close the yaw loop another sensor is required. This could be a magnetometer ( electronic compass). An external controller would then ramp the command up until the platform turns the desired amount. The deuce board architecture platforms are limited in the yaw stiffness we can set. The ...
by Craig
Mon Nov 05, 2012 2:23 pm
Forum: Communications
Topic: How do I communicate with an RMP?
Replies: 7
Views: 32461

Re: How do I communicate with an RMP?

USB issues and the ftd drivers are covered in several places on the forum. It's a known issue that the USB drivers don't work on windows 7 for the demo. As far as linux drivers go you are on your own. We've not done any testing with the older systems using linux drivers. Some of our customers have g...
by Craig
Fri Nov 02, 2012 3:21 pm
Forum: Communications
Topic: How do I communicate with an RMP?
Replies: 7
Views: 32461

Re: How do I communicate with an RMP?

This is not a typical problem, however, USB performance on the Deuce board architecture systems is known to have issues with newer versions of windows. For control of an OMNI platform you should really be using the CAN bus because the timing of the USB is difficult to synchronize. If you want to pus...
by Craig
Thu Oct 25, 2012 5:30 pm
Forum: Centralized Controller Platforms
Topic: How is the turn rate of the RMP computed?
Replies: 8
Views: 11208

Re: How is the turn rate of the RMP computed?

This could be one of two things. If you are using our standard python OCU: The standard OCU apply's a deadband to the input in order to improve performance around 0. This results in the command being about 10% less than the maximum setpoint. If you change the code for the OCU to apply an exponential...
by Craig
Tue Oct 23, 2012 10:29 am
Forum: Centralized Controller Platforms
Topic: Recommended tire pressure for 440LE
Replies: 1
Views: 3705

Re: Recommended tire pressure for 440LE

We recommend 6 psi as the best all around pressure. Heavier loads require additional pressure up to about 9 psi. However, the additional pressure decreases the damping caused by the tires and makes the platform bouncy at high speeds.

/Craig
by Craig
Tue Oct 23, 2012 10:28 am
Forum: Centralized Controller Platforms
Topic: PythonDemoOCU on Linux
Replies: 1
Views: 3791

Re: PythonDemoOCU on Linux

Python is a fairly portable language it should be a trivial task to get the appropriate package installed for linux (depending on the flavor your using). With the exception of the CAN libraries just about all of the libraries are open source.

/Craig
by Craig
Wed Oct 10, 2012 5:47 pm
Forum: Deuce Board Platforms
Topic: Question about RMP 400 traction
Replies: 5
Views: 14270

Re: Question about RMP 400 traction

The gain scheduling is more for the balancing platforms than the non-balancing ones. I don't think that will help. 185lbs on the RMP400 is really not a problem with properly inflated tires. I think if you use higher commands you will have behavior more like you are looking for; 2.2 deg/s would resul...
by Craig
Wed Oct 10, 2012 11:50 am
Forum: Deuce Board Platforms
Topic: Question about RMP 400 traction
Replies: 5
Views: 14270

Re: Question about RMP 400 traction

Hi, Your observation about battery voltage is somewhat un-related to your problem. On high traction surfaces(asphalt or carpet) the current demanded by the motors for scrub steering is quite high. As the system heats up it limits the maximum current and hence the maximum torque which can be applied ...
by Craig
Wed Oct 10, 2012 11:06 am
Forum: Centralized Controller Platforms
Topic: Is there a stop command?
Replies: 6
Views: 12610

Re: Is there a stop command?

Luca, Thank you for taking the time to clarify. I believe I understand much better now. I think your problem is in the conversion to IEEE 754. 1 in IEEE 754 is 0x3F80000 0 in IEEE 754 is 0x0000000 In the RMP commands are normalized -1 to 1 based on the target you set for the maximum velocity or acce...
by Craig
Tue Oct 09, 2012 11:48 am
Forum: Communications
Topic: transmission ratio question
Replies: 3
Views: 8660

Re: transmission ratio question

We only offer the standard gearbox with the 24.26 ratio
by Craig
Tue Oct 09, 2012 11:45 am
Forum: Centralized Controller Platforms
Topic: canlib32.lib and canlib32.dll
Replies: 1
Views: 3834

Re: canlib32.lib and canlib32.dll

These files are used to access the Kvaser USB to CAN hardware. They are not written by Segway but are provided by the Kvaser hardware manufacturer.
by Craig
Tue Oct 09, 2012 11:43 am
Forum: Centralized Controller Platforms
Topic: whats difference in system program between RMP440 and 400
Replies: 8
Views: 18669

Re: whats difference in system program between RMP440 and 40

I am happy to answer direct questions. However, I do not know how to respond to "Please tell me more about what we do when we install the following files". We've run through the install many times and it typically just works. If you are having specific issues getting a module to work or the python c...
by Craig
Tue Oct 09, 2012 11:39 am
Forum: Centralized Controller Platforms
Topic: Is there a stop command?
Replies: 6
Views: 12610

Re: Is there a stop command?

Luca, I am confused by your two posts. In the first post you expressed a concern that the RMP would continue at the maximum speed after you sent 0 velocity. If you are using acceleration based input mapping then the velocity command word is used to send an acceleration not a velocity. If you send 0 ...
by Craig
Tue Oct 09, 2012 11:15 am
Forum: Centralized Controller Platforms
Topic: battery autonomy
Replies: 4
Views: 8155

Re: battery autonomy

Luca, If you are interested in the range of any platform based on time you need to start with the total energy on-board and divide by the instantaneous POWER being used. This will leave you with the duration or time that the system can operate at a particular power level. Hello Craig, I would like t...
by Craig
Fri Oct 05, 2012 1:33 pm
Forum: Centralized Controller Platforms
Topic: battery autonomy
Replies: 4
Views: 8155

Re: battery autonomy

This is a very difficult question indeed. We are working on a propulsion model for range but it is not yet complete. For now I would suggest that you drive the platform and monitor the SOC as reported by the system. Using the delta SOC over a known drive profile should allow you to estimate the rang...
by Craig
Fri Oct 05, 2012 1:31 pm
Forum: Centralized Controller Platforms
Topic: Is there a stop command?
Replies: 6
Views: 12610

Re: Is there a stop command?

Hi, You should be able to set 0 velocity and have the machine decelerate at the deceleration limit until it stops. You need to check / verify several parameters. 1.) Are you using velocity or acceleration based mapping? 2.) What is your decel accelleration limit set at? Please use a CAN sniffing pro...
by Craig
Tue Oct 02, 2012 4:54 pm
Forum: Centralized Controller Platforms
Topic: Measuring battery/motor voltages
Replies: 1
Views: 3240

Re: Measuring battery/motor voltages

Battery and motor voltage are processed internally, to date we haven't thought of a reason why those values would be needed outside the RMP's internal systems. Since every message adds data to the SPI link we have to choose what values we want to transmit over to the user interface processor. Batter...
by Craig
Thu Sep 20, 2012 10:53 am
Forum: Centralized Controller Platforms
Topic: whats difference in system program between RMP440 and 400
Replies: 8
Views: 18669

Re: whats difference in system program between RMP440 and 40

We are aware that the old RMI demo program has problems compiling on newer versions of windows. At this time we cannot provide a different version of the demo code. The compile issues can be fixed but we do not have a new released version at this time. We do not recommend using the old RMI demo code...
by Craig
Thu Sep 13, 2012 5:04 pm
Forum: Centralized Controller Platforms
Topic: Getting started with the 440LE
Replies: 6
Views: 9378

Re: Getting started with the 440LE

All batteries MUST be removed before opening the cover on the RMP.

Segway does NOT recommend re-locating any of the circuit boards.

If you need additional space you should consider building another enclosure and bolting it onto the RMP.
by Craig
Mon Sep 10, 2012 10:22 am
Forum: Centralized Controller Platforms
Topic: Getting started with the 440LE
Replies: 6
Views: 9378

Re: Getting started with the 440LE

The ocu cannot find your Flight Force Feedback joystick because it only supports a Logitech Gamepad / Rumblepad which is not the same driver. Force Feedback system use a different driver. The keyboard commands are explained in the file rmp_interface.py starting around line 255. Note that for the key...
by Craig
Thu Sep 06, 2012 2:40 pm
Forum: Centralized Controller Platforms
Topic: whats difference in system program between RMP440 and 400
Replies: 8
Views: 18669

Re: whats difference in system program between RMPX440 and 4

As mentioned in the release notes the python code is intended only to be used to guide users in developing their own systems. We would not recommend that you change your code base over the the python, but instead, review the python code and how it sends messages to the platform. You will then be in ...
by Craig
Tue Sep 04, 2012 11:46 am
Forum: Centralized Controller Platforms
Topic: whats difference in system program between RMP440 and 400
Replies: 8
Views: 18669

Re: whats difference in system program between RMPX440 and 4

At a very high level view both systems receive motion commands and send feedback data. Migrating a code base from the 400 architecture to the new RMP440 architecture should not be a particularly difficult task, and the new system allows for much better control of the platform. That being said, much ...
by Craig
Wed Aug 29, 2012 11:59 am
Forum: Centralized Controller Platforms
Topic: Getting started with the 440LE
Replies: 6
Views: 9378

Re: Getting started with the 440LE

We don't have a getting started guide released yet. However, we are working on one which should be released in Q1 of 2013. In the mean time please read the documentation in the "RMP Interface Guide (Statically Stable).pdf" which is included in the release package. The files are typically located her...
by Craig
Mon Aug 27, 2012 12:05 pm
Forum: Centralized Controller Platforms
Topic: Charging the RMP X440
Replies: 6
Views: 10372

Re: Charging the RMP X440

Uros, I am the lead electrical engineer for the RMP program. I am also Segway's lead for the battery development. Let me give you some background: In normal operation if the charger is powered up by the AC mains voltage and if there is no battery present there will be two red indicators displayed (O...
by Craig
Thu Aug 23, 2012 9:20 pm
Forum: Centralized Controller Platforms
Topic: Charging the RMP X440
Replies: 6
Views: 10372

Re: Charging the RMP X440

The problem is that the chargers are not consistently getting power. Based on the fact that it worked at one point I would look for an intermittent connection between the AC wall and the platform. You need to verify the connection between the wall and the chargers. Based on the fact that you are not...
by Craig
Thu Aug 23, 2012 3:04 pm
Forum: Centralized Controller Platforms
Topic: Charging the RMP X440
Replies: 6
Views: 10372

Re: Charging the RMP X440

Hi, The auxiliary battery and the propulsion batteries use independent charge circuits so the charge status of one battery will not affect the others. How do you know its not charging? What color lights are you getting on the front panel? Given the states of charge you indicated I would expect you t...
by Craig
Wed May 02, 2012 11:02 am
Forum: Centralized Controller Platforms
Topic: Powering on RMP with USB connected fails
Replies: 3
Views: 6019

Re: Powering on RMP with USB connected fails

I think the only way to make this work is if you supply +12V from an external supply. It may be possible to rig up a DC/DC converter than can power the +12V Disable line from the +5V on the USB. If the DC/DC got its input from the USB power and had its output ground connected to the board ground the...
by Craig
Tue May 01, 2012 3:59 pm
Forum: Centralized Controller Platforms
Topic: Powering on RMP with USB connected fails
Replies: 3
Views: 6019

Re: Powering on RMP with USB connected fails

The USB hub is transferring power to the RMP causing the centralized controller to boot. Since the Kill switch is not powered up from the +5V of the USB the machine assumes the kill switch has been pressed. I believe a potential work around is to remove the +5V line from the USB cable that connects ...
by Craig
Fri Apr 06, 2012 9:44 am
Forum: Centralized Controller Platforms
Topic: Hardware Kill and Decel Request
Replies: 5
Views: 5626

Re: Hardware Kill and Decel Request

There is a mistake in the documentation Section 3.1 "Hardware Kill" is correct: The opto-coupler is powered up by Pin3 of J8. +5V must be provided to Pin 3 of J8 continuously to prevent the CC from disabling the motor drives. Conveniently, +5V is provided as an output from the CC on Pin 1 of J8. The...
by Craig
Fri Mar 09, 2012 4:24 pm
Forum: Deuce Board Platforms
Topic: Kinematic and dynamic models
Replies: 0
Views: 6276

Kinematic and dynamic models

We don’t have kinematic or dynamic models since the operational characteristics of each RMP will vary based end user’s choice of control method and device options.
by Craig
Fri Mar 09, 2012 4:22 pm
Forum: Deuce Board Platforms
Topic: Wet weather use of RMP
Replies: 0
Views: 5902

Wet weather use of RMP

The battery is sealed to the powerbase so that an RMP is water resistant and can be driven through rain, puddles etc. However, if an RMP gets submerged in water (deeper than ~6 inches), then the seal between the user interface box on top and the platform underneath could be compromised and water cou...
by Craig
Fri Mar 09, 2012 4:21 pm
Forum: Deuce Board Platforms
Topic: Trouble power up the unit
Replies: 0
Views: 5748

Trouble power up the unit

When I push in the on button, I can get it to stay on, but only after a couple of tries. At this point, however, the motor button will not stay in regardless of how many times I try to put it in. The issue is likely due a gap between the switch board and the buttons mounted to the User Interface box...
by Craig
Fri Mar 09, 2012 4:20 pm
Forum: Deuce Board Platforms
Topic: Wheel Displacement based on encoders?
Replies: 0
Views: 4861

Wheel Displacement based on encoders?

The Integrated wheel displacement (left,right) field inside the Monitor Data Message 4 is data based on Back-EMF. The integrated wheel displacement (left,right) field inside the Monitor Data Message 4 is based on from Hall sensors, rather than encoders, but the signal output is similar - 2048 counts...
by Craig
Fri Mar 09, 2012 4:20 pm
Forum: Deuce Board Platforms
Topic: UI battery empty after full charge?
Replies: 0
Views: 4796

UI battery empty after full charge?

Yes, it is possible for the UI battery to be almost empty even after a full charge cycle and is likely an indication of a problem with the pack.
by Craig
Fri Mar 09, 2012 4:19 pm
Forum: Deuce Board Platforms
Topic: Is RMP 200 UI battery charged independently
Replies: 0
Views: 4646

Is RMP 200 UI battery charged independently

Yes, there is a separate power supply that charges the UI battery from the one that charges the power base batteries.
by Craig
Fri Mar 09, 2012 4:18 pm
Forum: Deuce Board Platforms
Topic: Will the RMP alarm if the power base batteries are low?
Replies: 0
Views: 4550

Will the RMP alarm if the power base batteries are low?

To prevent over discharging of the 4 power base batteries, the firmware on the CU boards in the power bases will initiate a warning sequence of beeps followed by a shutdown of the power base when the low voltage threshold is reached.
by Craig
Fri Mar 09, 2012 4:18 pm
Forum: Deuce Board Platforms
Topic: How do I know the voltage of the powerbase batteries?
Replies: 0
Views: 4647

How do I know the voltage of the powerbase batteries?

The power base battery voltage is one of the data items contained the USB monitoring messages. An example of this can be observed in the dialog box while running RMI Demo.
by Craig
Fri Mar 09, 2012 4:18 pm
Forum: Deuce Board Platforms
Topic: What is “battery maintenance mode”?
Replies: 0
Views: 5363

What is “battery maintenance mode”?

It's the trickle charge portion of the battery charging cycle. Note: NiMH batteries will stay in continuous trickle charge mode after fast charge and cell balancing mode. However, with Li-Ion, a trickle charge is not ideal so instead the battery control unit will monitor itself and draw current when...
by Craig
Fri Mar 09, 2012 4:17 pm
Forum: Deuce Board Platforms
Topic: What does the next to the tractor mode button indicate?
Replies: 0
Views: 4559

What does the next to the tractor mode button indicate?

That light (with the exclamation point above it) will be green when the unit is powered on without error conditions. It will be red if: - The e-stop clip is not engaged on the switch and power is turned on - There is insufficient UI battery pack charge - There is a problem detected within powerbase
by Craig
Fri Mar 09, 2012 4:17 pm
Forum: Deuce Board Platforms
Topic: What is the RMI demo checkbox "Use remote joystick"
Replies: 0
Views: 3950

What is the RMI demo checkbox "Use remote joystick"

The check box for "use remote joystick" was to enable communications with the old RMI_joy routine. Rmi_joy was developed for our first generation CAN bus RMPs and has been discontinued. It used the Vector CAN card which is no longer being sold. We provide the rmi_demo_VECTOR.exe as Legacy support fo...
by Craig
Fri Mar 09, 2012 4:16 pm
Forum: Deuce Board Platforms
Topic: How do I drive an RMP Omni?
Replies: 0
Views: 3814

How do I drive an RMP Omni?

You'll need two USB ports to talk to the RMP Omni (some laptops need a powered usb hub since the RMP is a high current USB device). I've attached the demo code for the Omni machine. You'll need a windows machine to run RMI_demo_usb.exe In this order: 1. Boot your PC with gamepad joystick attached 2....
by Craig
Fri Mar 09, 2012 4:15 pm
Forum: Deuce Board Platforms
Topic: What are the track widths of various RMPs?
Replies: 0
Views: 3230

What are the track widths of various RMPs?

The overall width of an RMP200 ATV (and RMP400) is 31” with a track width of 24” (centerline to centerline) and an approximate tire contact patch width of about 4”. Turf tires would have the same overall width and track width but a slightly larger tire contact patch width at about 5” (and consequent...
by Craig
Fri Mar 09, 2012 4:15 pm
Forum: Deuce Board Platforms
Topic: Can turf tires be used on an RMP 200 ATV?
Replies: 0
Views: 3208

Can turf tires be used on an RMP 200 ATV?

They will mostly work. If you spin around in place for a long time, the machine will start to drift forward/backward from the reference position.
by Craig
Fri Mar 09, 2012 11:02 am
Forum: Deuce Board Platforms
Topic: Can we control all 4 RMP wheels with the provided software?
Replies: 0
Views: 3171

Can we control all 4 RMP wheels with the provided software?

a) power up both bases by pressing the power on buttons (green and yellow) b) plug a USB cable into each of the two bases c) plug the other end of just ONE usb cable into the laptop d) open RMI demo, which will recognize that one base and control it e) plug the other USB cable into the laptop f) ope...
by Craig
Fri Mar 09, 2012 11:01 am
Forum: Deuce Board Platforms
Topic: Why are the battery charging indicator lights always off?
Replies: 0
Views: 3190

Why are the battery charging indicator lights always off?

Look at the charge port on the UI box to ensure that the three pins are present. It is possible that one of the pins got pushed in and is no longer seated properly in the connector housing. It may be possible to seat the contact pin back into the housing from inside the UI box if you are willing to ...
by Craig
Fri Mar 09, 2012 11:00 am
Forum: Communications
Topic: Why doesn’t the RMI Demo USB dialog box give any status info
Replies: 0
Views: 3803

Why doesn’t the RMI Demo USB dialog box give any status info

Make sure the USB cable is plugged into the RMP and the controlling computer prior to launching the RMI Demo and before powering on the RMP. If the RMP doesn't see a USB host on power up, it switches to the CAN interface and disables the USB interface. If the RMP is shutdown or the USB is disconnect...
by Craig
Fri Mar 09, 2012 11:00 am
Forum: Communications
Topic: Why does the RMI Demo software say “no devices present”?
Replies: 0
Views: 3761

Why does the RMI Demo software say “no devices present”?

Make sure you have installed the USB device driver for each UI/base you are planning to use and restart RMP Demo AFTER devices have been successfully recognized.
by Craig
Fri Mar 09, 2012 10:59 am
Forum: Communications
Topic: Where do I find “canlib.h” to run “io_rmp_kvaser.cpp”?
Replies: 0
Views: 3765

Where do I find “canlib.h” to run “io_rmp_kvaser.cpp”?

The canlib.h file is part of the software driver package from Kvaser that is used to run their CAN communication adapter. Therefore, it can be obtained from Kvaser, either by downloading and installing the Kvaser drivers for the particular piece of Kvaser hardware, or by contacting Kvaser’s technica...
by Craig
Fri Mar 09, 2012 10:58 am
Forum: Communications
Topic: How do I communicate with an RMP?
Replies: 7
Views: 32461

How do I communicate with an RMP?

The RMP communicates via one of two serial communications bus protocols, USB or CAN. The choice of protocol is left to the user. In general, most users find that CAN bus provides the most deterministic control of the RMP. With USB, the choice of operating system and the setup of the device driver wi...