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RMP 210/220
Operational Model
Operational States.................................................................................................................................................... 35
Faults......................................................................................................................................................................... 35
Initialization............................................................................................................................................................... 36
Diagnostic Mode....................................................................................................................................................... 37
Bootloader Mode...................................................................................................................................................... 37
Standby Mode........................................................................................................................................................... 37
Tractor Mode............................................................................................................................................................. 37
Balance Mode............................................................................................................................................................ 37
Disable Mode............................................................................................................................................................. 38
Charging
Using the External Power Supply............................................................................................................................. 39
Charge Status LEDs.................................................................................................................................................. 39
Powering On/Off
Powering On..............................................................................................................................................................40
Powering Off..............................................................................................................................................................40
Connecting
Connector I.................................................................................................................................................................41
Starter Breakout Harness......................................................................................................................................... 42
Connector II............................................................................................................................................................... 43
Disable Button........................................................................................................................................................... 43
Additional Signals..................................................................................................................................................... 43
Connector IV.............................................................................................................................................................44
Connecting To the RMP............................................................................................................................................. 45
Communication
General Command Structure................................................................................................................................... 48
Standard Motion Commands...................................................................................................................................50
Omni Motion Commands...........................................................................................................................................51
Configuration Commands........................................................................................................................................ 53
Standard Input Mapping........................................................................................................................................... 64
Omni Input Mapping................................................................................................................................................. 68
RMP Response...........................................................................................................................................................71
IEEE754 32-bit Floating Point and Integer Representation..................................................................................... 82
Cyclic Redundancy Check (CRC)-16........................................................................................................................ 83
Fault Status Definitions............................................................................................................................................ 87
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