SafetyShutdown Type 1

RMP 50, 50XL, 100, 200, 400
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alex
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Joined: Mon Nov 19, 2012 5:18 pm
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SafetyShutdown Type 1

Post by alex » Mon Nov 19, 2012 11:37 pm

Hi,

We're seeing problems with RMP200s occasionally falling over.

The robots are heavily-loaded (~160kgs total ie including the RMP itself).

The problem seems to start when the robot is moving fairly quickly (>3m/s). The sequence is:
- the RMP warns over the CAN bus about a SafetyShutdownType1/SystemIntegrityFault.
- it slows down (while maintaining balance).
- about 20sec after the initial warning, it kills the motors and the robot falls over.

It has happened on multiple RMPs, suggesting that it's not a hardware problem.

Any hints on what might be happening?

ChrisC
Posts: 43
Joined: Fri Apr 20, 2012 8:22 am
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Re: SafetyShutdown Type 1

Post by ChrisC » Tue Nov 27, 2012 11:23 am

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 the fault is triggered is inline with what is expected. We recommend decreasing the weight of the payload to within the acceptable range defined by the specs and then operate the RMP to see if the condition persists. The RMP User Guide states that the RMP200 weighs 65kg and the max payload is 45 kg based on the gain scheduling available on the machine.

-Chris

alex
Posts: 2
Joined: Mon Nov 19, 2012 5:18 pm
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Re: SafetyShutdown Type 1

Post by alex » Wed Dec 05, 2012 11:18 pm

Hello Chris,

Thanks for the reply. The batteries are fairly new (<12months old) LiIon batteries that have been treated fairly well.

Can you tell me what physical limit is being exceeded? As you probably know, we have a number of systems in the field and are unable to reduce the payload, so we need to find an alternative solution. Perhaps, since the vehicle does in fact maintain balance, changing whatever threshold triggers the SafetyShutdown?


Thanks,

Alex

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