Search found 43 matches

by ChrisC
Mon May 07, 2018 11:17 am
Forum: Centralized Controller Platforms
Topic: Segway RMP 440le ROS
Replies: 1
Views: 17846

Re: Segway RMP 440le ROS

Segway Inc. does not author, maintain, or actively support ROS packages for the RMP.
by ChrisC
Wed Mar 28, 2018 2:58 pm
Forum: Deuce Board Platforms
Topic: Communication with RMP (Linux)
Replies: 3
Views: 32180

Re: Communication with RMP (Linux)

Solid red LED's on the charger boards when the power cord is plugged in would indicate no communication with the batteries. If all 5 system battery packs are installed you should remove them and measure and report back with the no-load voltage for each. No illumination on the power buttons when pres...
by ChrisC
Mon Mar 26, 2018 2:37 pm
Forum: Deuce Board Platforms
Topic: Communication with RMP (Linux)
Replies: 3
Views: 32180

Re: Communication with RMP (Linux)

Welcome to the forum. To start with, please confirm the RMP will properly power ON when the two green power buttons are pressed (both green power buttons should remain illuminated) and that both tractor bases transition to Tractor Mode when the two yellow motor activation buttons are pressed. You ma...
by ChrisC
Tue Jan 16, 2018 11:27 am
Forum: Forum Access Requests (READ THIS FIRST BEFORE CREATING AN ACCOUNT)
Topic: Requesting access to the RMP Forum
Replies: 0
Views: 27150

Requesting access to the RMP Forum

UPDATED: 18 June 2020 Due to the egregious amount of spammers registering and posting in the forum (even with everything locked down), we have moved to a manual setup process for RMP Forum users. Please send an email to rmp@segway.com with the exact phrase "setup account" in the subject line. Includ...
by ChrisC
Mon Dec 04, 2017 5:13 pm
Forum: Centralized Controller Platforms
Topic: RMP440 LE invert gearbox
Replies: 1
Views: 18993

Re: RMP440 LE invert gearbox

Hi Zhang,

Segway does not offer a field-installable retrofit option for this. Please send us an email at rmp@segway.com for more information.

Thank you,
Chris
by ChrisC
Fri Sep 08, 2017 5:05 pm
Forum: Centralized Controller Platforms
Topic: Hobby Radio with Custom OCU Software
Replies: 1
Views: 19033

Re: Hobby Radio with Custom OCU Software

The RMP user interface processor will accept commands over one interface at a time. You should not attempt to use multiple communications interfaces at the same time as this will create issues like you described. It sounds as if the "safe" state settings for the hobby radio receiver may be why the R...
by ChrisC
Tue May 30, 2017 10:07 am
Forum: Centralized Controller Platforms
Topic: Sample code for Segway RMP 440LE
Replies: 2
Views: 20873

Re: Sample code for Segway RMP 440LE

Have you followed the steps and installed all of the Windows PC software components as outlined in the "Getting Started with your Segway RMP" post?: viewtopic.php?f=9&t=71 If installed using the default folder locations, there is a Python sample tele-operation application called "RMP Demo OCU" found...
by ChrisC
Tue May 30, 2017 10:06 am
Forum: Centralized Controller Platforms
Topic: Windows 8 driver
Replies: 6
Views: 29901

Re: Windows 8 driver

Have you followed the steps and installed all of the Windows PC software components as outlined in the "Getting Started with your Segway RMP" post?: http://rmp.segway.com/viewtopic.php?f=9&t=71 If installed using the default folder locations, there is a Python sample tele-operation application calle...
by ChrisC
Fri Sep 23, 2016 9:59 am
Forum: Centralized Controller Platforms
Topic: Linux based RMP demo OCU
Replies: 11
Views: 31958

Re: Linux based RMP demo OCU

Hi Omidkk, When using the current versions of the OCU Demo application with any Mecanum wheel equipped RMP440 Omni platform, the strafe motion commands (driving sideways) can be sent to the platform through the use of a Logitech Extreme 3D joystick controller only. Please refer to pages 101 & 102 of...
by ChrisC
Wed Jan 20, 2016 3:41 pm
Forum: Centralized Controller Platforms
Topic: Why is the MCU_3_Degraded & AUX Battery Spurious?
Replies: 1
Views: 21334

Re: Why is the MCU_3_Degraded & AUX Battery Spurious?

1) What could be the issue causing Battery 3 to indicate that the “MCU_3_is_DEGRADED”? Battery 3 is connected to MCU_3. Since the charging status LED indicator for Battery 3 is solid red during charging (indicates no communications between charger and pack), the MCU_3_is_DEGRADED fault is likely du...
by ChrisC
Fri Oct 02, 2015 4:31 pm
Forum: Communications
Topic: How do I communicate with an RMP?
Replies: 7
Views: 32095

Re: How do I communicate with an RMP?

I have a RMP-100 platform I used the code provided in RMP demo to create a new interface that uses RTX to comunicate at a period of 30mS, whenever i try to go faster than that e.g. 25mS the comunication fails and i get the same lecture (encoders and speed state) from the RMP repeated at around 200m...
by ChrisC
Mon Oct 06, 2014 5:09 pm
Forum: Centralized Controller Platforms
Topic: User Manual - RMP 210 & 220
Replies: 0
Views: 8575

User Manual - RMP 210 & 220

Segway has released a User Manual for the RMP 210 & 220 models. It covers the physical characteristics, operational model, communication structure/protocol, electrical connections, and maintenance of the RMP 210 & 220 models, among other things. You can download a copy of the manual here: User Manua...
by ChrisC
Mon Aug 25, 2014 4:36 pm
Forum: Deuce Board Platforms
Topic: need. rex files for rmp100
Replies: 1
Views: 21576

Re: need. rex files for rmp100

A unique .rex file is needed to correct the issue. Segway will generate the file and send it to you.
by ChrisC
Fri Aug 22, 2014 11:51 am
Forum: Deuce Board Platforms
Topic: RMP 400 with Unified Enclosure - Charging and Aux Power
Replies: 0
Views: 5775

RMP 400 with Unified Enclosure - Charging and Aux Power

RMP 400 – Battery and Charger Configuration Overview: There are five batteries attached to the underside of the RMP 440. Inside the enclosure are three AC-DC chargers, each with two channels. The fore and aft chargers are identical and have ON/OFF switches as they were originally designed for Segwa...
by ChrisC
Thu Mar 27, 2014 4:44 pm
Forum: Deuce Board Platforms
Topic: A simple example code please
Replies: 1
Views: 5877

Re: A simple example code please

This may get you closer to what you are looking for:

http://wiki.ros.org/iri_segway_rmp
by ChrisC
Fri Mar 14, 2014 2:55 pm
Forum: Centralized Controller Platforms
Topic: Technical drawing RMP440LE ?
Replies: 1
Views: 5393

Re: Technical drawing RMP440LE ?

Remi, Details on how to download a .STEP will be sent to you as a private message. If possible (so we can improve our documentation), can you please describe the specific details or dimensions you seek that are not provided in the RMP440 LE User Manual? Link to User Manual - RMP 440 LE: http://rmp.s...
by ChrisC
Thu Feb 13, 2014 2:51 am
Forum: Deuce Board Platforms
Topic: Error using Segway RMP Deuce Loader Utility
Replies: 1
Views: 6111

Re: Error using Segway RMP Deuce Loader Utility

Hi, The Deuce Loader Utility is used for loading firmware to the RMP and is not necessary for running the RMI demo application. The RMI Demo must be installed and run from a host PC (Windows) connected to the RMP via USB or CAN Bus. Use of the Deuce Loader Utility should only be necessary if/when Se...
by ChrisC
Wed Dec 11, 2013 1:34 pm
Forum: Centralized Controller Platforms
Topic: Python Segway Initialization
Replies: 5
Views: 12972

Re: Python Segway Initialization

Hi Phillip,

Please make sure you are subscribed to this topic so you can be notified when a solution is posted. We are working on a script to do what's being talked about here and I expect we'll have something for you try within the next few days.

Thanks,
Chris
by ChrisC
Tue Dec 10, 2013 3:48 pm
Forum: Centralized Controller Platforms
Topic: Python Segway Initialization
Replies: 5
Views: 12972

Re: Python Segway Initialization

Hi Phillip, Please reply to let us know if the following describes an option that would be useful to you: A basic script that omits the RMP Demo OCU's GUI, xbox controller mapping, menus, etc., and will accept commands (from a command line) and provides the raw feedback data (entire array) to a file...
by ChrisC
Wed Oct 09, 2013 11:13 am
Forum: Centralized Controller Platforms
Topic: RMP220 question about yaw rate discrepancy
Replies: 4
Views: 9279

Re: RMP220 question about yaw rate discrepancy

Velocity commands are also normalized against the configurable parameters. Have you had a chance to review the motion command structure which is defined on page 39 of the User Manual - RMP 440 SE? If the defaults were used during installation the document will be located in the following directory: ...
by ChrisC
Fri Oct 04, 2013 11:29 am
Forum: Centralized Controller Platforms
Topic: RMP210, frequency response characteristics
Replies: 1
Views: 3996

RMP210, frequency response characteristics

Working with the RMP210, we would like to know the frequency cutoff of the velocity controller. Would it be possible to provide the frequency response characteristics of the speed controller?
by ChrisC
Fri Oct 04, 2013 11:21 am
Forum: Centralized Controller Platforms
Topic: What is the expected differential error in the RMP220?
Replies: 1
Views: 4159

What is the expected differential error in the RMP220?

What is the expected differential error between requested movement and actual movement of the RMP? What affects do external criteria, such as surface, payload, uphill/downhill position etc. have on the error state?
by ChrisC
Fri Oct 04, 2013 11:04 am
Forum: Centralized Controller Platforms
Topic: Question about Segway BSA accuracy
Replies: 0
Views: 4665

Question about Segway BSA accuracy

In terms of the Segway BSA as an inertial measurement unit (IMU), what accuracy does the RMP's BSA provide for measured values for acceleration and direction?
by ChrisC
Fri Oct 04, 2013 10:57 am
Forum: Centralized Controller Platforms
Topic: Question about the buffer for commands sent to the RMP
Replies: 1
Views: 4148

Question about the buffer for commands sent to the RMP

Sometimes when sending commands using a script (based off the Python demo OCU), if the program terminates before all the commands are executed, I find the RMP still executes some of the commands before terminating. Is this normal?
by ChrisC
Fri Oct 04, 2013 10:52 am
Forum: Centralized Controller Platforms
Topic: ROS packages for navigation
Replies: 1
Views: 4067

ROS packages for navigation

We've been looking into ROS packages that works with the Segway RMP. We are looking into using http://wiki.ros.org/segway_rmp. Do you have any ROS packages/stacks you've worked with for navigation?
by ChrisC
Fri Oct 04, 2013 10:50 am
Forum: Centralized Controller Platforms
Topic: RMP response message packet delay
Replies: 3
Views: 7498

RMP response message packet delay

After writing a script(based off the python demo program), the script we developed has issues with dropped packets. In order to ensure all of the commands are executed, the script would wait until a packet is received back. Sometimes this wait is short, and sometimes it can be quite long. Is there a...
by ChrisC
Fri Oct 04, 2013 10:46 am
Forum: Centralized Controller Platforms
Topic: RMP220 feedback data for odometry - turn in place
Replies: 1
Views: 4558

RMP220 feedback data for odometry - turn in place

We would like to make the RMP unit turn in place, which we did by setting the velocity to 0 m/s and the yaw rate to the desired rad/s. However, we were unable find a useful feedback information from the UDFB to tell us how much we have turned. The other option was to make a table to map the wheel po...
by ChrisC
Fri Oct 04, 2013 10:41 am
Forum: Centralized Controller Platforms
Topic: RMP220 question about yaw rate discrepancy
Replies: 4
Views: 9279

RMP220 question about yaw rate discrepancy

When trying to send a yaw rate to the RMP, the user defined feedback bitmap(at element 57 of the returned array) returns the target yaw rate to be 3 times greater my desired yaw rate. Is there a reason for that?
by ChrisC
Tue Sep 10, 2013 3:36 pm
Forum: Centralized Controller Platforms
Topic: Discrepancy between commanded and actual turn rate
Replies: 3
Views: 5747

Discrepancy between commanded and actual turn rate

When commanding the RMP440 Flex Omni platform to turn in place, we’re seeing a discrepancy between the commanded turn rate and the actual turn rate of about 20 degrees at an update rate of 10hz (the discrepancy between commanded and observed linear movement is near zero). Obviously, this kind of dis...
by ChrisC
Mon Sep 09, 2013 1:28 pm
Forum: Deuce Board Platforms
Topic: Checking the battery status
Replies: 12
Views: 24442

Re: Checking the battery status

From the RMP Interface Guide document for the RMP 50XL, In section 2.5.2 Monitoring Message Contents: Data Slot 2 of CAN Message 8, 0x0407 contains the minimum battery state of charge. The conversion factor for Minimum Battery State of Charge – 2.55 counts/percent (255 counts full range) Does this h...
by ChrisC
Wed Aug 07, 2013 1:54 pm
Forum: Centralized Controller Platforms
Topic: Error when running RMP_Demo_OCU
Replies: 3
Views: 6221

Re: Error when running RMP_Demo_OCU

Vic, please try right-clicking on the RMP_Demo_OCU icon and then select "run as administrator". I believe the issue has to do with user access setting in the control panel for Windows 7.
-Chris
by ChrisC
Fri Aug 02, 2013 11:10 am
Forum: Deuce Board Platforms
Topic: Segway RMP 50XL Odometry value problem
Replies: 33
Views: 48466

Re: Segway RMP 50XL Odometry value problem

Follow-up question regarding this issue:
"As you would recall we had a firmware problem that was solved with a firmware update. Now each time I remove the batteries, I have to reapply the update. Is there a permanent way to update the firmware?"
by ChrisC
Wed Jul 31, 2013 3:58 pm
Forum: Deuce Board Platforms
Topic: Power external devices from RMP battery
Replies: 1
Views: 5474

Re: Power external devices from RMP battery

On the underside of the platform, you will find 2 pair of panel mounted binding posts on each of the user interface boxes. Each red (positive)/black (negative) pair of binding posts provides discrete 100 or 150W channels @ 5, 12, 24, or 48VDC (depending on what configuration was ordered). Use the tw...
by ChrisC
Wed Jul 31, 2013 3:23 pm
Forum: Deuce Board Platforms
Topic: Data conversion reference for RMP-50 omni
Replies: 1
Views: 5307

Re: Data conversion reference for RMP-50 omni

Please use 38,927 counts/meter as a starting point. We recommend calibrating the RMP once the payload mass has been mounted to the platform. We find that wheel slippage will be the biggest variable affecting dead reckoning performance.
by ChrisC
Mon Jul 01, 2013 4:38 pm
Forum: Centralized Controller Platforms
Topic: RMP 440SE's IMU model and pose offset from geometric center?
Replies: 1
Views: 4145

Re: RMP 440SE's IMU model and pose offset from geometric cen

Please take a look at the Coordinate System information on page 12 of the latest RMP440 SE User Manual located here: http://rmp.segway.com/viewtopic.php?f=9&t=86

Let us know if that does not answer your questions.

Thank you,
Chris
by ChrisC
Wed Jun 12, 2013 10:48 am
Forum: Centralized Controller Platforms
Topic: rmp440le: immediately execute deceleration request
Replies: 6
Views: 9891

Re: rmp440le: immediately execute deceleration request

If your Centralized Controller based platform has not been updated to the latest release binary files for the UIP and SP, please do so and then re-test to verify the RMP’s performance with respect to the observed behavior you described. The latest release of the RMP_APP_INSTALLER package and instruc...
by ChrisC
Thu Feb 14, 2013 5:39 pm
Forum: Centralized Controller Platforms
Topic: Question about angle_target_deg in feedback bitmap 2
Replies: 1
Views: 3472

Question about angle_target_deg in feedback bitmap 2

Regarding the documentation for the feedback bitmaps; with the rmp440 being statically stable the assumption being made is that the "angle_target_deg" field in feedback bitmap 2 should be invalid. Should a blank 4 bytes be sent or, does the rmp440 not send that field in the response?
by ChrisC
Thu Feb 14, 2013 5:32 pm
Forum: Centralized Controller Platforms
Topic: Lag time when switching modes
Replies: 2
Views: 4748

Lag time when switching modes

A system integrator noted that when a they issues a command to change modes on the rmp440 there's a bit of dead time while it's switching modes. It will ignore the next command sent when commanded to change from standby to tractor mode. An attempt to create a work around for the issue buy putting in...
by ChrisC
Tue Nov 27, 2012 11:23 am
Forum: Deuce Board Platforms
Topic: SafetyShutdown Type 1
Replies: 2
Views: 8516

Re: SafetyShutdown Type 1

Hi Alex, Based on the information provided, the SafetyShutdownType1/SystemIntegrityFault is likely being triggered due to the drive capabilities of the RMPs being pushed past their operational limit. What is the chemistry and condition of the battery packs? Your description of the RMPs response when...
by ChrisC
Thu Oct 04, 2012 3:44 pm
Forum: Communications
Topic: transmission ratio question
Replies: 3
Views: 8445

Re: transmission ratio question

Hello,

The default value of 24.2667 should be used unless customer modifications are made that alter the standard RMP transmission ratio. All current and existing RMP models utilize gearboxes/transmissions with 24.2667:1 reduction.

-Chris
by ChrisC
Mon Oct 01, 2012 1:27 pm
Forum: Centralized Controller Platforms
Topic: Measuring battery/motor voltages
Replies: 1
Views: 3070

Measuring battery/motor voltages

Is there any way to measure the battery/motor voltages via the RMP's interface? It seems there is no battery/motor voltage variable available in the User Defined Feedback Bitmaps. Is there a way to derive what the propulsion batteries/motors voltage is based on other variables that are available in ...
by ChrisC
Fri Aug 17, 2012 6:48 pm
Forum: Centralized Controller Platforms
Topic: Problems With Running RMP OCU
Replies: 6
Views: 9492

Problems With Running RMP OCU

A customer reports: (the RMP440) "seems like it goes through its normal initialization procedure and the front leds indicate it's in standby mode. I am still, unfortunately, not able to connect to the system. I tried ethernet/usb/CAN, but our target communication method is ethernet. I used nmap to c...
by ChrisC
Wed Aug 15, 2012 1:11 pm
Forum: Deuce Board Platforms
Topic: Segway 50XL Aux Power LED
Replies: 1
Views: 5406

Re: Segway 50XL Aux Power LED

The red indicator LED next to the toggle switch on an RMP 50XL (with Auxiliary Power Module) represents the SOC (state of charge) of the auxiliary battery. This LED is mono color and will remain illuminated red when powered 'ON' and will decrease in brightness as the SOC decreases. In this instance,...