Segway RMP Lite 220 - Page 32

32
Chassis
mode
Enter
Implement
Exit
Locked car
mode
1. The default mode of
chassis power on
2. Default mode after
emergency stop recovery
3. In control car mode, when
recoverability abnormality
(such as communication
timeout, communication
disconnection, etc.) occurs,
enters the locked car
mode.
0 speed closed
loop, shield
speed
command, and
the status
indicator light
keeps yellow
1. An unrecoverable
exception
errorcode is
detected and
enters the error
mode
2. Press the
emergency stop
button to enter the
emergency stop
mode
Control car
mode
1. In locked car mode, the
enable command is
received
2. When the load exceeds
20kg, it is recommended to
use
‘set_chassis_load_state’
switch the car control mode
to overload mode
Closed loop,
accepting
control
commands.
Remote control
car: indicator
light flashes
green; upper
computer
controls car:
indicator light
keeps green
1. An unrecoverable
exception
errorcode is
detected and
enters the error
mode
2. when recoverability
abnormality (such
as communication
timeout,
communication
disconnection, etc.)
occurs, enters to
locked car mode.
3. Press the
emergency stop
button to enter the
emergency stop
mode
Emergency
stop mode
In non abnormal mode, press
the emergency stop button
Relief force,
shield speed
and enable
The emergency stop
button pops up and
enters the locked car