Segway Robotics RMP 440 Omni V3 User manual

User Manual
Segway®Robotics Mobility Platform
RMP 440 Omni V3
Robotics

3
User Manual
Contents
Copyright, Disclaimer,Trademarks, Patent, and Contact Information ..............................................................6
Introduction
Additional Information......................................................................................................................................... 7
Safety....................................................................................................................................................................8
Abbreviations ..................................................................................................................................................... 10
RMP 440 Omni
Included Components.........................................................................................................................................11
Capabilities......................................................................................................................................................... 12
Physical Characteristics .................................................................................................................................... 13
Pivot Joint........................................................................................................................................................... 14
Recommended Traversable Surfaces................................................................................................................ 14
Mounting Locations ........................................................................................................................................... 15
User Interface Panel........................................................................................................................................... 16
Powerbase Connections .....................................................................................................................................17
Performance Specifications .............................................................................................................................. 18
Environmental Specifications............................................................................................................................ 18
Endurance .......................................................................................................................................................... 19
Transportation and Shipping.............................................................................................................................20
Electrical Overview
System Components ......................................................................................................................................... 21
Operational Model
Operational States .............................................................................................................................................23
Faults ..................................................................................................................................................................24
Initialization........................................................................................................................................................24
Diagnostic Mode ................................................................................................................................................25
Bootloader Mode................................................................................................................................................25
Standby Mode ....................................................................................................................................................25
Tractor Mode ......................................................................................................................................................25
Disable Mode......................................................................................................................................................26
Decel To Zero (DTZ) Mode .................................................................................................................................26

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RMP 440 Omni
Charging
Using the External Power Supply ...................................................................................................................... 27
Charge Status LEDs ...........................................................................................................................................28
Powering On/Off
Powering On .......................................................................................................................................................29
Powering Off.......................................................................................................................................................29
Connecting
Connector I......................................................................................................................................................... 31
Connector II........................................................................................................................................................32
Connector IV.......................................................................................................................................................33
Ethernet Connection..........................................................................................................................................33
Internal Connections
Hardware Controls .............................................................................................................................................35
Mode Selection ..................................................................................................................................................36
Status Indicators................................................................................................................................................36
Coin Cell Battery ................................................................................................................................................36
Maintenance
Fastener Torque..................................................................................................................................................37
Parts List ............................................................................................................................................................38
Harnesses...........................................................................................................................................................39
Removing Mecanum Wheels .............................................................................................................................39
Replacing Mecanum Wheels..............................................................................................................................39
Cleaning............................................................................................................................................................. 40
Software Updates.............................................................................................................................................. 40
Batteries
Battery Care ....................................................................................................................................................... 41
Installation and Removal Instructions ..............................................................................................................42
Transportation and Shipping.............................................................................................................................42
Proper Disposal..................................................................................................................................................42
Replacing Batteries............................................................................................................................................42

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User Manual
Troubleshooting
Reporting Problems to Segway.........................................................................................................................43
Extracting the Faultlog.......................................................................................................................................43
Reading the Faultlog ..........................................................................................................................................43
Faults ..................................................................................................................................................................44
Charging Faults ..................................................................................................................................................48
Other Issues .......................................................................................................................................................48

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RMP 440 Omni
Copyright, Disclaimer, Trademarks, Patent, and Contact Information
Copyright © 2015 Segway Inc. All rights reserved.
Disclaimer
The Segway RMP is not a consumer product. Usage examples shown on rmp.segway.com have not necessarily been reviewed nor
approved by Segway Inc. ("Segway"). Segway is not responsible for end customer modifications or additions.
Trademarks
Segway owns a number of trademarks including, but not limited to, Segway and the Segway "flyguy" logo that have been registered
in the United States and in other countries. Those trademarks followed by ® are registered trademarks of Segway. All other marks
are trademarks or common law marks of Segway. Failure of a mark to appear in this guide does not mean that Segway does not use
the mark, nor does it mean that the product is not actively marketed or is not significant within its relevant market. Segway reserves
all rights in its trademarks. All other trademarks are the property of their respective companies.
Segway Patent Information
The Segway RMP is covered by U.S. and foreign patents. For a patent listing, see http://rmp.segway.com/RMPPatents.pdf
Contact Information
For support, please contact Stanley Innovation or use the RMP forum at http://rmp.segway.com/forum
Stanley Innovation
9 Henry Clay Drive, Merrimack, NH 03054, USA
Phone: [phone]
E-mail: [e-mail]
Website: http://www.stanleyinnovation.com

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User Manual
Introduction
Introduction
The RMP 440 Omni V3 incorporates Stanley Innovation's Robotics Mobility Platform V3 (RMP V3) hardware and software
improvements on top of the Segway RMP platform. The result is a product that starts with the robust and durable Segway RMP
chassis and adds features to provide greater versatility and ease-of-use.
Utilizing advanced electric drive, high quality lithium batteries, drive-by-wire control, and dynamic stabilization, these mobility
systems are ready to tackle the toughest challenges. The integration of the Robot Operating System (ROS) navigation and behavior
system allows for advanced behaviors such as mapping and navigation.
The RMP V3 utilizes a robust Ethernet protocol which allows seamless integration of IP radios. The system also has provisions for a
software update over USB so the RMP V3 can be updated whenever new code is released.
This manual describes the hardware and capabilities of the RMP V3. A separate communications manual describes the individual
messages sent to and from the platform, however, thanks to our ROS drivers most users will not have to dive that far into the system.
ROS allows for much higher level command and control so users can avoid packing bits into an Ethernet packet.
Stanley Innovation should be your first point of contact if you have any questions or concerns with your platform.You can reach us on
our website at http://stanleyinnovation.com/contact-us/ .
Additional Information
More information on the RMP V3 can be found in the following documents and web pages:
• http://wiki.ros.org/Robots/RMPv3 — provides information on using ROS with your RMP V3
• http://rmp.segway.com/forum/ — a place to ask questions and receive answers about Segway RMP products
• RMP V3 Interface Guide — describes the Ethernet communication protocol used to talk directly to the RMP V3

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Introduction
RMP 440 Omni
Safety
Improper use of the RMP can cause personal injury, death and/or property damage from loss of control, collision, and falls. To reduce
risk of injury, read and follow all instructions and warnings in this manual.
The following safety messaging conventions are used throughout this document:
WARNING! Warns you about actions that could result in death or serious injury.
CAUTION! Warns you about actions that could result in minor or moderate injury.
NOTICE Indicates information considered important, but not related to personal injury. Examples
include messages regarding possible damage to the RMP or other property, or usage tips.
WARNING!
• Keep out of reach of children and pets. Unanticipated movement by the RMP could result in death or serious injury.
• Do not sit, stand, or ride on the RMP. Doing so could result in death or serious injury.
• Do not drive the RMP at people or animals. A collision could result in death or serious injury.
• Always alert people in the vicinity when an RMP is operating. An unexpected collision with the RMP could result in
death or serious injury.
• Avoid powering off on a slope. The RMP cannot hold its position when powered off and may roll downhill, causing
serious injury, death, or property damage.
• The RMP can accelerate rapidly. It is recommended that the RMP be securely raised so the wheels are off the ground
(or remove the wheels) until the user becomes familiar with the controls. Unanticipated movement by the RMP could
result in death or serious injury.
• Be careful when working with the DC power connections.You could shock yourself and/or damage the RMP.
• Remove batteries before working inside the RMP. You risk serious bodily injury from electric shock as well as damage to
the RMP.
• Do not submerge the RMP, batteries, or powerbases in water. Do not use a power washer or high-pressure hose to clean
a RMP. Avoid getting water into any of the connectors. If you suspect the batteries or powerbase have been submerged
or experienced water intrusion, call Segway Technical Support immediately at 1-866-473-4929, prompt #2. Until you
receive further instructions, store the RMP upright, outdoors, and away from flammable objects. Failure to do so could
expose you to electric shock, injury, burns, or cause a fire.
• Unplug or disconnect the RMP from AC power before removing or installing batteries or performing any service. Never
work on any part of the RMP when it is plugged into AC power. You risk serious bodily injury from electric shock as well
as damage to the RMP.
• The cells within the batteries contain toxic substances. Do not attempt to open batteries. Do not insert any object
into the batteries or use any device to pry at the battery casing. If you insert an object into any of the battery's ports
or openings you could suffer electric shock, injury, burns, or cause a fire. Attempting to open the battery casing will
damage the casing and could release toxic and harmful substances, and will render the battery unusable.
• As with all rechargeable batteries, do not charge near flammable materials. When charging, the batteries could heat up
and ignite a fire.
• Do not use a battery if the battery casing is broken or if the battery emits an unusual odor, smoke, or excessive heat or
leaks any substance. Avoid contact with any substance seeping from the battery. Batteries contain toxic and corrosive
materials that could cause serious injury.
• Observe and follow all safety information on the warning label found on the battery. Failure to do so could result in
death, serious injury, or property damage.
• Do not use cables that are frayed or damaged. You could shock yourself and/or damage the RMP.
• Use only Segway approved fasteners on the RMP. Other fasteners may not perform as expected and may come loose.
Failure to do so could expose you to risk of personal injury or property damage.
• Use assistance when moving or lifting the RMP. Single person lifting could result in serious injury.
• Do not put fingers between the roll assembly and the top rail; this is a pinch point. Doing so could result in serious
injury.

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User Manual
Introduction
CAUTION!
• Be responsible about setting performance parameters. Read the relevant sections of this manual before changing any
performance parameters. The RMP follows commands issued to it, and it is the responsibility of the user to properly
safeguard their controls.
• Failure to charge the batteries could result in permanent damage to them. Left unplugged, the batteries could fully
discharge over time, causing permanent damage.
• Use only charging devices approved by Segway and never attempt to bypass or override their charging protection
circuits.
• Always protect against electrostatic discharge (ESD) when working inside the RMP. The RMP could become damaged.
NOTICE
• This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of
the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential
installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used
in accordance with the instructions, may cause harmful interference to radio communications. However, there is no
guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference
to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged
to try to correct the interference by one or more of the following measures:
• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an output on a circuit different from that to which the receiver is connected.
• Consult the dealer or an experienced radio/TV technician for help.
• This Class B digital apparatus complies with Canadian ICES-003.
Cet appareil numérique de la classe b est conforme à la norme NMB-003 du Canada.
• Modifications not expressly approved by Segway may void the user's authority to operate this device under FCC
regulations and must not be made.

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Introduction
RMP 440 Omni
Abbreviations
ABB Auxiliary Battery Board — a PCB used to gather and report performance information from the auxiliary battery.
BCU Battery Control Unit — a PCB inside the battery pack that manages the charge of the individual cells.
BSA Balance Sensor Assembly — a group of PCBs used to obtain information about the vehicle's orientation.
CAN Controller Area Network — a message-based protocol used for communication between microcontrollers.
CCU Centralized Control Unit — a PCB that houses the SP, UIP, and NVM; it controls the RMP and handles communication.
CRC Cyclic Redundancy Check — a type of error-detection used to verify the accuracy of transmitted data.
DLC Data Length Code — a part of the CAN message header that specifies the size of the data packet being sent.
DTZ Decelerate To Zero — an operational mode in which the RMP comes to a stop and powers down.
LE Large Enclosure — a unified chassis/enclosure for 4-wheeled RMP models.
MCU Motor Control Unit — a PCB that controls the electric motors that turn the wheels.
NVM Non-Volatile Memory — a type of digital memory that can retain the stored information even when not powered.
OCU Operator Control Unit — software and hardware that provide an interface between the user and the RMP.
PCB Printed Circuit Board — a thin board with conductive pathways and electronic components mounted on it.
PSE Pitch State Estimate — a 3-axis inertial estimate of the orientation of the RMP.
RMP Robotics Mobility Platform — a propulsion system that can be used as a platform for making mobile robots.
ROS Robot Operating System — a set of open-source Linux tools for building and manipulating robots.
SCB Smart Charger Board — a PCB that controls battery charging functions.
SE Small Enclosure — a box that contains all of the electrical components of the RMP.
SID Standard ID — a CAN identifier that indicates the type of message being sent.
SOC State Of Charge — a measurement of battery charge from 0% (empty) to 100% (full).
SP Segway Processor — a microcontroller on the CCU that contains proprietary Segway code for controlling the RMP.
SPI Serial Peripheral Interface — a synchronous serial data link standard that operates in full duplex mode.
UDP User Datagram Protocol — a simple, transaction-oriented network protocol on top of TCP/IP.
UDFB User Defined Feedback Bitmap — a stored value that indicates what feedback data should be sent to the user.
UI User Interface — the means by which an operator interacts with a device.
UIP User Interface Processor — a microcontroller on the CCU that communicates with the OCU.
USB Universal Serial Bus — an industry-standard bus for communication and power supply between computers and peripherals.
VAB Vicor Adapter Board — a PCB that interfaces with Vicor DC-DC converters.

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User Manual
RMP 440 Omni
RMP 440 Omni
The RMP 440 Omni is a battery-powered Robotics Mobility Platform (RMP) meant to be used as the propulsion system for a robotic
product. It has four 10-inch Mecanum wheels and two powerbases mounted on side rails. Electrical components are mounted inside
a User Interface (UI) box at the rear of the platform. Propulsion batteries are mounted to the bottom of the powerbases. The auxiliary
battery is mounted to the top of the UI box.
The on/off button, external connectors, and indicator lights are mounted on the User Interface Box at the rear of the RMP.
Communication with the RMP occurs over Ethernet.
Inside the UI box are the Centralized Control Unit (CCU), Auxiliary Battery Board (ABB), Smart Charger Board (SCB), and Power
Converter(s). Cables run from the UI box to the powerbases.
Included Components
The RMP 440 Omni comes with a Disable Button and External Power Supply. The Disable Button must be connected for the RMP to
enter Standby Mode. When pressed, the Disable Button will cause the RMP to immediately shut down.The External Power Supply is
used to charge the RMP. When connected, indicator lights on the UI box show the charge status of each battery.
Figure 1: Flex Omni
Figure 2: Disable Button Figure 3: External Power Supply

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RMP 440 Omni
RMP 440 Omni
Capabilities
The RMP is meant to be used by integrators when creating mobile robotic products. As such, the RMP was designed with flexibility
and expandability in mind.
Driving
The RMP 440 Omni can move in any direction (forward, reverse, sideways, etc.) and can turn in place. This is accomplished by using
Mecanum wheels (a type of wheel with rollers mounted at an angle). A variety of parameters can be adjusted for easier driving in
different circumstances, making it possible to have fine control at slow speeds and at high speeds. Adjustable parameters include
maximum velocity, maximum acceleration, maximum deceleration, maximum turn rate, and maximum turn acceleration.
For safety, a disable button is provided with the RMP. When pressed, the disable button will cause the RMP to shut down. A Decel To
Zero (DTZ) command can also be sent, either by hardware button (not supplied) or by software command.This command causes the
RMP to decelerate and come to a stop.
Payload
Users can mount equipment to the rails of the Rigid Omni and to the cover and upper rails of the Flex Omni. Mounting holes are
The maximum total payload is 450 kg (1000 lbs), evenly distributed.
Communication
Communication with the system for command and control is via Ethernet. The primary method of communication is via a ROS
driver that Stanley Innovation provides. This driver performs a Cyclic Redundancy Check (CRC) on all data and ensures that the
communication link is updated periodically to ensure the on-board firmware does not automatically slew the commands to zero.
Power
With an auxiliary battery, the RMP can provide power for additional equipment. The RMP 440 Omni has space for two Power
Converters. For more information see "Power Converter," p. 22.
Control Interface
Stanley Innovation provides a ROS driver. For details visit http://wiki.ros.org/Robots/RMPv3

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User Manual
RMP 440 Omni
1225.6
48.25
429
16.89
363.2
14.30
1575.3
62.02
693.3
27.29
274.2
10.79
254
10.00
164.9
6.49
144.4
5.69
267
10.51
317.8
12.51
397.2
15.64
788.8
31.05
437.5
17.22
693.3
27.29
Physical Characteristics
For product dimensions, please refer to the diagrams below. A summary of the major dimensions is provided in Table 1.
NOTICE
Product options may change the characteristics of the RMP.
Characteristic Value
Overall
Length 1575 mm (62.0 in)
Width 789 mm (31.0 in)
Height 397 mm (15.6 in)
Chassis
Length 1225 mm (48.3 in)
Width 429 mm (16.9 in)
Deck Height 397 mm (15.6 in)
Clearance 144 mm (5.7 in)
Wheels
Wheel Size 254 mm (10.0 in) Mecanum
Wheel Base 693 mm (27.3 in)
Track Width 693 mm (27.3 in)
Other
Weight 128 kg (283 lbs)
Table 1: Flex Omni Physical Characteristics
Figure 4: Flex Omni Top View
Figure 5: Flex Omni Back View Figure 6: Flex Omni Side View

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RMP 440 Omni
RMP 440 Omni
Pivot Joint
One of the features of the Omni is the pivot joint that provides one degree of freedom along the roll axis. This enables the platform
to cross small gaps, overcome small obstacles, and transition between slopes at an angle.The pivot joint significantly reduces the
possibility of any wheels losing contact with the ground.
The maximum pivot angle is shown in Figure 7.
6° 6°
Figure 7: Pivot Joint
WARNING!
Do not put fingers between the roll assembly and the top rail; this is a pinch point. Doing so could result in serious injury.
Surface Type Traversable
Smooth Flat Surfaces
(carpet, linoleum, laminate)
Yes
Bumpy Surfaces
(asphalt, concrete)
Yes
Surfaces With Small Gaps
(brick, tile, wood plank)
Yes
Loose Material
(sand, gravel, woodchips)
No
Slopes and Transitions
Yes
Steps and Drops
No
Table 2: Recommended Traversable Surfaces
Recommended Traversable Surfaces
The RMP Omni operates best of smooth flat surfaces like carpet, linoleum, or laminate flooring. Carpet in particular allows for a
smoother ride than hard surfaces like concrete.
Recommended traversable surfaces for the Omni are provided in Table 2. A "yes" indicates that the platform can perform any
maneuver on that surface (drive, strafe, or turn).A "no" indicates that maneuverability is limited. In some cases the platform may be
able to drive (forward/reverse) but will not be able to strafe (sideways).
CAUTION!
Crossing incontinuities in the surfaces (such as steps and drops) may damage the Mecanum wheels.

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User Manual
RMP 440 Omni
Mounting Locations
Light equipment can be mounted to the RMP by drilling holes in the cover. The cover is made of .125 inch thick aluminum and is
secured to the top rails by six M6 fasteners.
Heavy equipment should be mounted to the upper rails using the provided holes. Holes on the outside of the rails are M6 threaded
holes. Holes on the top of the rails are M8 threaded holes. When replacing existing bolts, be sure to tighten to the recommended
torque.
For more information on fasteners and recommended torque, see "Table 74: Flex Omni Fastener Torque Specifications," p. 104.
NOTICE
Do not modify any components of the RMP except for the cover. Drilling holes in the enclosure or other modifications to the RMP may
adversely affect the FCC rating, IP rating, and/or structural integrity of the RMP.
0
.00
6.35
.25
366.13
14.41
372.48
14.66
0
.00
173.32
6.82
652.92
25.71
754.52
29.71
906.92
35.71
1008.52
39.71
0
.00
576.75
22.71
1153.49
45.41
0
.00
15.86
.62
66.66
2.62
Figure 8: Flex Omni Mounting Holes
750 lb/sq ft
750 lb/sq ft
250 lb/sq ft
Figure 9: Flex Omni Weight Limits
Weight Distribution
Equipment weight can rest either on the top rails or on the cover. The rails can hold 750 lb/sq-ft and the cover can hold 250 lb/sq-ft.

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RMP 440 Omni
RMP 440 Omni
User Interface Panel
The power button, LEDs, and external connectors for the RMP are all located on the User Interface Panel on the rear of the RMP.
Users should familiarize themselves with the various connectors and LEDs. For information on the connectors and what plugs into
them see "Connecting," p. 31.
ON/OFF Button
Pressing this button for 2 seconds will start the machine and turn on the auxiliary power supplies. If the button is pressed during
operation for 2 seconds the machine will send a power down signal to any connected computers, wait 30 seconds for them to shut
down, and then turn off the auxiliary power.
Power and Status LEDs
These two LEDs indicate what mode the RMP is in. They can be used to troubleshoot startup issues. See "Powering On/Off," p. 29,
for a list of what the LEDs indicate.
Connector I
This connector is used for communication and for auxiliary power. Auxiliary power available depends on the Power Converters
installed. Up to two different DC voltages can be made available.
Connector II
The Disable Button connects here. The Disable circuit must be closed for normal operation. Other signals include: the Decel Request,
for initiating a Decel to Zero (DTZ); the Boot1 signal, for entering Diagnostic mode; and the Boot2 signal, for entering Bootloader
mode.
Connector IV
This connector is used in conjunction with the External Power Supply for charging the RMP batteries. For more information on
charging see "Charging," p. 27.
Charge Status LEDs
When charging the batteries, the Charge Status LEDs will light up, indicating the status of each battery. Each LED corresponds to a
specific battery. For more information see "Charging," p. 27.
Figure 10: Interface Panel
Battery 0Battery 1Battery 2Battery 3
Auxiliary Battery
Front
Figure 11: Omni Battery Locations

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User Manual
RMP 440 Omni
Powerbase Connections
On the reverse side of the enclosure there are two powerbase connectors. Connector V goes to the front powerbase; Connector
VI goes to the rear powerbase. If there is only one powerbase, Connector V is used. Powerbases must be plugged into the proper
connectors for the charge status LEDs to be correct.
Figure 12: Powerbase Connections
Connector V
Connect the primary (front) powerbase to this jack.
Connector VI
Connect the secondary (rear) powerbase to this jack.

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RMP 440 Omni
RMP 440 Omni
Performance Specifications
The RMP is driven by four independent and fully redundant brushless DC drive motors. It can operate both outdoors and indoors on
relatively flat surfaces. For information on what surfaces the platform can operate on, see "Recommended Traversable Surfaces," p.
14.
1Maximum range based on an unloaded platform travelling in a straight line at 1 m/s. Actual performance may vary.
2Run time based on a stationary platform running on internal battery power. Extended run time is possible with charger connected.
3Drive time based on an unloaded platform driving in a straight line at 1 m/s with minimal maneuvering.
Characteristic Omni
Mobility
Max. Speed 2.2 m/s (5.0 mph)
Turn Radius 0 minimum
Turn Envelope 1925 mm (75.8 in)
Max. Slope 10°
Peak Torque
(Each Wheel)
100 N-m (74 lb-ft)
Maximum Range113 km (8 mi)
Power
Run Time2Up to 24 hours
Drive Time3Up to 9.5 hours
Charge Time 2-3 hours
Battery Chemistry LiFePO4
Propulsion Battery
Capacity
380 Wh each
Auxiliary Battery
Capacity
380 Wh
Payload
Maximum Payload 450 kg (1000 lbs)
Table 3: Performance Specications
Environmental Specifications
The Segway RMP was designed to withstand environmental conditions both indoors and outdoors.
Characteristic Value
Operating Temp. Range 0°–50° C (32°–120° F)
Storage Temp. Range -20°–50° C (-5°–120° F)
Table 4: Environmental Specications

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User Manual
RMP 440 Omni
Endurance
Platform endurance is determined by measuring battery draw while performing various maneuvers.
In many cases the propulsion batteries will limit the runtime of the RMP. However, there are some scenarios in which the auxiliary
battery will be the limiting factor. Such cases include stationary operation and situations in which additional equipment is using the
auxiliary battery as a power source.
To calculate the energy used by a given maneuver, first determine the length of time the maneuver will be performed. Then multiply
that time (in hours) by the Watts used while performing the maneuver. This will give you the Watt-hours used per battery. Subtract
those Watt-hours from the Watt-hours remaining in the battery. Maximum battery capacity is 380 Watt-hours.
NOTICE
In the equations below, Power Draw (W) represents how much power is used by a single propulsion battery. Because every propulsion
battery will deplete at roughly the same rate, it is safe to assume this single battery is representative of all propulsion batteries.
Stationary Power Usage
When the RMP is maintaining a stationary position on level ground, the auxiliary battery is the limiting factor when calculating
runtime.The internal RMP components use approximately 16 Watts, allowing the auxiliary battery to last nearly 24 hours. In
contrast, the propulsion motors require only 7 Watts to maintain position on level ground, leaving 55% SOC left in the propulsion
batteries after 24 hours. During actual use, the power used by the propulsion batteries may be greater, especially if maintaining
position under load or on a slope.
Power Usage at 1 m/s
The following graph can be used to provide a rough estimate of power usage when travelling at 1 m/s. Travelling at greater
speeds uses more power. This graph is based on tests performed on dry, level concrete with a high-traction coating. Actual
performance may vary.
Due to the mechanical properties of the Mecanum wheels used, driving (forward/reverse) uses less power than strafing
(sideways).
The following definitions apply:
• Driving — Moving forward or reverse.
• Strafing — Moving sideways left or right.
• Diagonal — Moving at 45° forward-left, back-left, forward-right, or back-right.
• Turn-in-Place — Rotating about the z-axis while maintaining a stationary position.
0
50
100
150
200
250
300
350
0
100
200
300
400
500
600
700
800
900
1000
Pow er Usage (Watts)
Payload (lbs)
Power Usage at 1 m/s
Strafing
Diagonal
Turn-in-Place
Driving
Figure 13: Power Usage at 1 m/s

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RMP 440 Omni
RMP 440 Omni
Transportation and Shipping
NOTICE
Lithium-ion batteries are regulated as "Hazardous Materials" by the U.S. Department of Transportation. For more information,
contact the U.S. Department of Transportation at http://www.phmsa.dot.gov/hazmat/regs or call 1-800-467-4922.
To prevent damage to your RMP, always ship it in the original crate it came in. The crate disassembles for storage. If you do not have
the original crate, contact Segway for a replacement (see "Contact Information," p. 6).
Characteristic Value
RMP
Packaging
Material Palletized Plywood Crate
Size 170 x 76 x 76 cm (67 x 30 x 30 inches)
Weight 143 kg (315 lbs)
Battery
Packaging
Material Corrugated Cardboard Box
Size 38 x 23 x 23 cm (15 x 9 x 9 inches)
Weight One Battery: 7 kg (16 lbs)
Two Batteries: 12 kg (26 lbs)
Label Class 9 Hazardous Materials
Commodity
Description
UN3480 Lithium-ion Batteries, 9
(Class 9 Hazardous Materials)
Ground Shipment — Batteries Installed
When shipping the RMP by ground with the batteries
installed, ship it in the original crate with a Class 9
Hazardous Materials label affixed to the outside of the
crate. Make sure that your shipper is HAZMAT certified
for Class 9 hazardous materials. See Table 5 for more
detailed information.
Characteristic Value
RMP
Packaging
Material Palletized Plywood Crate
Size 170 x 76 x 76 cm (67 x 30 x 30 inches)
Weight 168 kg (370 lbs)
Label Class 9 Hazardous Materials
Commodity
Description
UN3171 Battery Powered Equipment, 9
(Class 9 Hazardous Materials)
NMFC No. 190285 (for LTL shipments)
Class 100 (for LTL shipments)
Ground Shipment — Batteries Separate
When shipping the RMP by ground with the batteries
packaged separately, only the batteries require special
accommodation. There are no restrictions on packaging
and transportation for non-battery RMP components.
Ship the batteries in their original UN marked packaging
with a Class 9 Hazardous Materials label affixed to the
outside of each battery box. Make sure that your shipper
is HAZMAT certified for Class 9 hazardous materials. See
Table 6 for more detailed information.
Table 5: Ground Shipment — Batteries Installed
Table 6: Ground Shipment — Batteries Separate
Air Shipment — Batteries Separate
When shipping the RMP by air, package the batteries
separately. Only the batteries require HAZMAT
accommodation. There are no restrictions on packaging
and transportation for non-battery RMP components.
Ship the batteries in their original UN marked packaging
with a Class 9 Hazardous Materials label affixed to the
outside of each battery box. Also affix a "Cargo Aircraft
Only" label to the outside of each battery box. Make
sure that your shipper is HAZMAT certified for Class 9
hazardous materials. In addition, prepare 4 copies of the
DGD (Declaration for Dangerous Goods) document. See
Table 7 for more detailed information.
Table 7: Air Shipment — Batteries Separate
Characteristic Value
RMP
Packaging
Material Palletized Plywood Crate
Size 170 x 76 x 76 cm (67 x 30 x 30 inches)
Weight 143 kg (315 lbs)
Battery
Packaging
Material Corrugated Cardboard Box
Size 38 x 23 x 23 cm (15 x 9 x 9 inches)
Weight One Battery: 7 kg (16 lbs)
Two Batteries: 12 kg (26 lbs)
Labels Class 9 Hazardous Materials
Cargo Aircraft Only
Commodity
Description
UN3480 Lithium-ion Batteries, 9
(Class 9 Hazardous Materials)
Documents Declaration for Dangerous Goods,
4 copies