Dynamic DX User Manual

Modular

powerchair control system

DX SYSTEM MANUAL

About this Manual

This manual can help you understand and install the Dynamic Controls DX System. It describes the general principle, but it gives no guidelines for specific applications. If there is a specific requirement for your application, please contact Dynamic Controls or one of the sales and service agents, to assist you.

This manual must be read together with all other relevant DX Module or DX component manuals, as well as all applicable Dynamic TSBs, application notes and service instructions.

In this manual there are a few symbols that will help you quickly identify the purpose of the paragraph that follows:

Notes & Precautions:

Notes provide supporting information for the previous paragraph or section that should be followed in order to install, configure, and use the product safely and efficiently.

Warnings:

Warnings provide important information for the previous paragraph or section that must be followed in order to install, configure, and use the product safely and efficiently.

The term ‘programming’ used in this manual refers to adjusting parameters and configuring options to suit an application. ‘Programming’ does not change or alter any software within the controller and is performed using a controlled programming tool available only to authorised personnel.

The term ‘accessory’ used in this manual refers to equipment that is ancillary to the main functioning of the DX system. It does not refer to an accessory of the powerchair. The DX System is a component of the powerchair.

DX is not user serviceable. Specialised tools are necessary for the repair of any component.

Do not install, maintain or operate this equipment without reading, understanding and following this manual – including the Safety and Misuse Warnings – otherwise injury or damage may result. This manual contains integration, set-up, operating environment, test and maintenance information needed in order to ensure reliable and safe use of the DX System.

Due to continuous product improvement Dynamic reserves the right to update this manual. This manual supersedes all previous issues, which must no longer be used.

Dynamic reserves the right to change the product without notification.

Any attempt to gain access to or in any way abuse the electronic components and associated assemblies that make up the powerchair system renders the manufacturer’s warranty void and the manufacturer free from liability.

Dynamic, the Dynamic logo and the DX logo are trademarks of Dynamic Controls. All other brand and product names, fonts, and company names and logos are trademarks or registered trademarks of their respective companies.

Dynamic owns and will retain all trademark rights and Dynamic or its licensors own and will retain all copyright, trade secret and other proprietary rights, in and to the documentation.

All materials contained within this manual, in hard-copy or electronic format, are protected by copyright laws and other intellectual property laws. © Copyright 2007 Dynamic Controls. All rights reserved

Contents

1 Introduction to the DX System .................................9

The heart of the DX System..................................................................... 9

DX System extensions............................................................................... 9

DX System connections ........................................................................... 9

One system fits all ..................................................................................... 9

2 A typical DX powerchair setup..............................10

2.1 Installation procedure................................................................... 11

2.1.1 General wiring recommendations.............................12

2.2 The batteries...................................................................................13

2.2.1 Battery type ................................................................... 13

2.2.2 Battery capacity ........................................................... 13

2.2.3 Battery charging ........................................................... 15

2.2.4 Battery protection......................................................... 16

2.2.4.1 Thermal circuit breakers................................................. 16

2.2.4.2 Battery Saver.................................................................... 16

2.2.4.3 High Voltage Rollback.................................................... 16

2.3 The motors....................................................................................... 17

2.3.1 Motor types....................................................................17

2.3.2 Motor connections ....................................................... 18

2.3.3 Motor resistance............................................................ 18

2.4 The parkbrakes............................................................................... 19

2.4.1 Parkbrake types............................................................. 19

2.4.2 Parkbrake configurations............................................. 19

2.4.2.1 Two 24V parkbrakes – Dual, M1 and M2..................... 19

2.4.2.2 One 24V parkbrake – Single, M1 only.......................... 20

2.4.2.3 Two 12V parkbrakes........................................................ 21

2.4.3 Manual parkbrake release switch.............................. 22

2.4.4 Mechanical parkbrake release..................................22

2.4.5 Parkbrake operation and programming...................22

2.4.5.1 Electrical delay................................................................ 23

2.4.5.2 Mechanical delay........................................................... 23

3 The DX BUS ...............................................................25

3.1 The DX BUS cable........................................................................... 26

3.2 DX BUS Module connection layout............................................. 28

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4 The DX Power Module.............................................29

4.1 General Power Module features................................................. 29

4.2 Available Power Modules............................................................. 30

4.3 Power Module programmable parameters.............................. 31

4.3.1 List of parameters.......................................................... 31

4.3.2 Motors............................................................................. 33

4.3.2.1 Current Limit.....................................................................33

4.3.2.2 Hardware Current Limit Scaler......................................33

4.3.2.3 Load Compensation....................................................... 34

Determining the motor resistance................................35

4.3.2.4 Temp Dependent Load Comp..................................... 40

4.3.2.5 Veer Compensation.......................................................40

Adjusting Veer compensation with the HHP............... 41

4.3.2.6 Emergency Deceleration............................................... 41

4.3.2.7 Left/Right Motor Swap.................................................... 42

4.3.2.8 Motor Invert......................................................................42

4.3.2.9 Motor Stall......................................................................... 43

4.3.2.11 Motor Continuity Test...................................................... 43

4.3.2.12 Maximum Motor Volts..................................................... 44

4.3.2.13 Input Demand Scaler ..................................................... 44

4.3.3 Park Brakes..................................................................... 45

4.3.3.1 Park Brake......................................................................... 45

4.3.3.2 Brake / Bridge Off Delay ................................................ 45

4.3.3.3 Test Park Brake Driving.................................................... 45

4.3.4 Battery............................................................................. 46

4.3.4.1 Battery Guess...................................................................46

4.3.4.2 Voltmeter Battery Gauge .............................................. 46

4.3.4.3 Slow Batt Time Scale Driving.......................................... 46

4.3.4.4 Batt Gauge Ramp Rate.................................................47

4.3.4.5 Batt Gauge Threshold..................................................... 47

4.3.4.6 High Voltage parameters..............................................47

4.3.4.7 Temperature Rollback.................................................... 48

4.3.4.8 Halve Turning Gain.......................................................... 48

5 The DX Master Remote ...........................................49

5.1 Introduction.................................................................................... 49

5.1.1 The User Control Module (UCM).................................50

5.1.2 The physical user interface.......................................... 50

5.2 Available Master Remotes........................................................... 51

5.2.1 Master Remotes with joystick ...................................... 51

5.2.2 Master Remotes without joystick ................................52

5.3 Programmable parameters......................................................... 53

5.3.1 Speed and acceleration principles........................... 53

5.3.1.1 Speed Demand............................................................... 53

5.3.1.2 Speed limiting options.................................................... 54

5.3.1.3 Acceleration and deceleration.................................... 56

Damping Point................................................................. 57

Soft-Start Acceleration ................................................... 57

5.3.2 Drive Profiles...................................................................58

5.3.2.1 The principle..................................................................... 58

5.3.2.2 Drive Profile 0.................................................................... 59

5.3.2.3 Speed setting recommendations................................. 59

Programming Drive Profiles as a digital Speed Pot.... 59

Programming Drive Profiles for different environments

............................................................................................ 60

5.3.2.4 Single Drive Profile mode...............................................60

5.3.3 Two or more joysticks: choosing the joystick source 61

5.3.4 Reducing the movement to operate the joystick...61

5.3.5 Chair stability ................................................................. 61

5.3.6 List of parameters.......................................................... 62

5.3.7 Drive Profiles parameters............................................. 65

5.3.7.1 Forward Speed @ Maximum ......................................... 66

5.3.7.2 Forward Speed @ Minimum........................................... 66

5.3.7.3 Forward Acceleration..................................................... 66

5.3.7.4 Forward Deceleration..................................................... 66

5.3.7.5 Reverse Speed @ Maximum.......................................... 67

5.3.7.6 Reverse Speed @ Minimum...........................................67

5.3.7.7 Reverse Acceleration..................................................... 67

5.3.7.8 Reverse Deceleration..................................................... 67

5.3.7.9 Turning Speed @ Maximum...........................................68

5.3.7.10 Turning Speed @ Minimum............................................. 68

5.3.7.11 Turning Acceleration ...................................................... 68

5.3.7.12 Turning Deceleration ...................................................... 68

5.3.7.13 Non-Linear Turn................................................................ 69

5.3.7.14 Short Throw Travel / Short Throw Shape....................... 70

5.3.7.15 Grip.................................................................................... 72

5.3.7.16 Damping Point / Turn Damping / Speed Damping... 73

5.3.7.17 Min To Max Decel Ratio ................................................. 73

5.3.7.18 Chair Stability Parameters.............................................. 74

5.3.7.19 Steering stability parameters......................................... 78

5.3.8 Drive Profile Options parameters................................ 80

5.3.8.1 Maximum Profile Number............................................... 80

5.3.8.2 Wrap Profiles..................................................................... 81

5.3.8.3 Change Profile While Driving......................................... 81

5.3.8.4 Allow Non-Driving Profile ................................................ 82

5.3.8.5 Sleep Timeout .................................................................. 82

5.3.8.6 Soft-Start Time .................................................................. 82

5.3.8.7 Joystick Source................................................................83

5.3.8.8 Joystick Swap Forward / Reverse ................................. 84

5.3.9 General User Options parameters.............................. 85

5.3.9.1 Chair Speed.....................................................................85

5.3.9.2 Soft-Start Acceleration ................................................... 85

5.3.9.3 Neutral Maximum............................................................ 85

5.3.9.4 Disable OONAPU Faults.................................................. 86

5.3.9.5 Speed Pot Scaler............................................................. 86

5.3.9.6 Drive Delay After Power-up........................................... 87

5.3.9.7 Lock Enable...................................................................... 87

5.3.9.8 Sleep Mode Enable ........................................................ 87

5.3.9.9 Power-up Profile Number............................................... 88

5.3.9.10 Enable Joystick Wakeup................................................ 88

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5.3.10 System Settings parameters........................................ 89

5.3.10.1 CLAM Slowdown............................................................. 89

5.3.10.2 Neutral to PB Delay......................................................... 90

5.3.10.3 Chair Speed Enable........................................................ 90

5.3.10.4 Single Profile Mode ......................................................... 91

5.3.10.5 CANH Power Switch........................................................ 91

5.3.10.6 CAN Terminator...............................................................91

5.3.10.7 UCM Joystick Swap Left/Right....................................... 92

5.3.10.8 Rotate UCM Joystick....................................................... 92

5.3.10.9 ACU Enable...................................................................... 92

5.3.10.10 ACU Joystick Swap Left/Right ....................................... 93

5.3.10.11 ACU has Momentary Switch.......................................... 93

5.3.10.12 ACU Momentary Switch Timeout.................................. 93

5.3.10.13 RJM Enable....................................................................... 94

5.3.10.14 RJM Joystick Swap Left/Right........................................94

5.3.10.15 RJM has Analog Joystick................................................ 94

5.3.10.16 Joystick Switch Threshold ............................................... 96

6 DX Modules .............................................................97

6.1 Introduction.................................................................................... 97

6.1.1 The GPSB/SLIO ............................................................... 97

6.2 Secondary Remotes...................................................................... 98

6.2.1 Available Secondary Remotes................................... 98

6.3 DX Steering/Actuator/Lighting Modules.................................... 99

6.4 DX Environmental Control Modules..........................................100

6.5 DX Auxiliary Modules...................................................................100

6.6 Programmable parameters.......................................................101

6.6.1 Actuator Settings (CLAM/TAM)................................. 103

6.6.1.1 CLAM Enable.................................................................103

6.6.1.2 CLAM is Critical.............................................................. 103

6.6.1.3 Actuator While Driving.................................................. 103

6.6.1.4 Actuator 1 - 5 Enable.................................................... 104

6.6.1.5 Actuator 1 - 5 Current Limit.......................................... 104

6.6.1.6 Actuator Timeout .......................................................... 105

6.6.1.7 Actuator Open Circuit Test.......................................... 105

6.6.1.8 Joystick Actuators ......................................................... 105

6.6.1.9 Actuator buttons are bi-directional ........................... 106

6.6.2 Lighting Settings (CLAM/LM/LMZ).............................106

6.6.2.1 CLAM Lighting Enable..................................................107

6.6.2.2 Lighting Module Enable ............................................... 107

6.6.2.3 Lighting Module is Critical............................................107

6.6.2.4 Side Lights Enable.......................................................... 108

6.6.2.5 Indicators Enable........................................................... 108

6.6.2.6 Hazard Lights Enable .................................................... 108

6.6.2.7 Remember Hazard State ............................................. 108

6.6.3 Remote Control Settings (ARC/RSM)....................... 109

6.6.3.1 ARC Enable....................................................................109

6.6.3.2 ARC Always Drives Actuators 1&2.............................. 109

6.6.3.3 ARC Drives Actuators 1&2 in Profile 0......................... 109

6.6.3.4 ARC Drives Actuator 3, 4, 5.......................................... 110

6.6.4 Environment Control Settings (ECU1/ECU2)............ 111

6.6.4.1 ECU Enable..................................................................... 111

6.6.4.2 ECU Channel ENABLE ................................................... 111

7 DX programming...................................................113

7.1 Programming tools ...................................................................... 114

7.1.1 The Hand Held Programmer (HHP)........................... 114

7.1.1.1 HHP Technician Mode.................................................. 114

7.1.2 The PC-based Wizard program ................................115

7.1.2.1 Dongle versions.............................................................. 115

7.1.3 Programming accessories ordering information.... 116

7.2 Localised parameter storage....................................................117

7.3 Auto Download............................................................................ 118

7.4 Programming and testing a DX chair for stability................... 119

7.5 Retain the settings with a Master Remote replacement ...... 125

7.5.1 Replacement with the same type Master Remote125

7.5.2 Replacement with another type Master Remote .128

8 Testing ....................................................................130

8.1 Before testing................................................................................ 130

8.2 The testing procedure................................................................. 130

9 Diagnostics ............................................................133

9.1 Limp Mode.................................................................................... 133

9.2 Stuck Power Button...................................................................... 133

9.3 Out Of Neutral At Power Up (OONAPU).................................. 134

9.4 Diagnostic tools............................................................................ 134

9.5 Battery warning conditions ........................................................135

9.6 Flash codes...................................................................................136

10 Appendices ...........................................................139

10.1 Intended Use and Regulatory Statement................................ 139

10.2 Maintenance................................................................................ 140

10.3 Warranty........................................................................................ 140

10.4 Safety and Misuse warnings....................................................... 141

10.5 Electromagnetic Compatibility (EMC).....................................143

10.6 Minimising emissions .................................................................... 143

10.7 Environmental statement........................................................... 143

Contact Details ...........................................................144

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1 Introduction to the DX System

The DX-system is a modular powerchair control system. This modularity makes it possible to design a powerchair that can meet the requirements of any user requirements that can range from simple drive-only control to full environmental control. Just add additional modules when requirements grow.

The heart of the DX System

The most basic DX control system consists of two parts:

A DX Power Module, connects to the battery and to the motors

A DX Master Remote

The Master Remote is the brain of the DX System. Every DX System must have one, and only one. There are several different Master Remotes available to choose from: with joystick, without joystick, ch in remote, attendant remote, etc.

DX System extensions

In addition to the Power Module and the Master Remote, many other remotes and modules are available to extend the DX System, like:

• Secondary Remotes, for example: attendant remotes, sip ‘n puff, finger steering

• Switch input modules

• Lighting and Seating control modules

• Environmental control modules

The DX System can be extended to a maximum of 16 modules.

DX System connections

All modules are connected to each other by a DX BUS cable. Most DX Modules have two DX BUS connector sockets. That way you can connect another DX part easily.

DX BUS is an interface (the way the modules "talk" to each other) based on the CAN interface, which is widely used in the automotive industry. CAN is well known for its reliability and its fault detection. DX BUS inherits this reliability, and even improves on it.

One system fits all

Start out with a simp le system and add the modules you need at the time they become available, or when the application requirements grow. See the Dynamic Controls pr oduct catalogue for the latest a dditions to the product range.

2 A typical DX powerchair setup

A standard powerchair installation with the DX System consists of the following electrical parts:

The Batteries (section 2.2)

The Motors (section 2.3)

The Parkbrakes (section

2.4)

A DX Power Module (chapter

A DX Master Remote (chapter

The DX BUS cables (section

3.1)

Optional: Actuator or Lighting Modules (chapter

PB1

PB2

To HHP or Wizard

24V Batter

DX Master Remote

To Battery Charger

DX Power Module

DX BUS

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2.1 Installation procedure

To install the DX System safely:

• First read and understand the DX System manual and the manuals of all the used DX components.

• Mount all the electrical parts o f the powerchair setup (motors, parkbrakes, batteries, DX Modules and remotes) on the powerchair. See the manuals of the used DX Modules for the physical dimensions and mounting recommendations.

• Do not connect any cables before all the parts of the DX System are mounted.

• Connect the DX Power Module to the rest of the DX System with the DX BUS cables (see section

2.1.1 for general wiring recommendations).

• Cover any unused DX BUS sockets with a GME64909 DX BUS Connector Cover.

• Conn ec t the DX Power Mo dul e to the mo tors ( see secti on

2.3.2) and the park

brakes (see section

2.4.2).

• Connect the DX Power Module to the batter ies (see section

2.2.4.1).

Do not turn on the DX System yet.

• Lift the powerchair off the ground and check the installation thoroughly (see section

8.1)

• Program the system to the requirements of a particular powerchair or user (see chapter

7).

• Test the system for functionality and safe ty (see chapter

8).

Warning:

Do not connect the '+' terminal of the battery to the DX System until the powerchair is completely wired and ready for testing as described in the

Testing section (chapter 8).

2.1.1 General wiring recommendations

• Keep all cables as short as possible.

• Try to run wires in pairs or bunches.

• Do not route the motor cables near the motor case, where possible.

• Avoid wire loops, especially loops of single wires instead of wire pairs.

• Fasten cables to the powerchair frame to prevent strain on the connectors.

• Do not leave electrical connections unnecessarily exposed.

• Make sure that all vehicle sub-frames are electrically connected.

• To minimise electromagnetic emissions by the motor brushes, it may be necessary

to fit capacitors between the brush hold ers and the motor case. Make sure that the leads are kept as short as possible. A suitable capacitor is 4n7, 250V Polypropylene.

• For low-current signals, do not use wire sizes smaller than 0.5 mm

/AWG20, because

smaller wires are physically not strong enough for this application.

• For best electrical performance, the wire size must be as large as possible.

Maximum Wire

Current

Recommended Minimum Wire Size

Power Module

60A 3 mm2 / AWG 12 80A 4 mm2 / AWG 11

100A 6 mm2 / AWG 9

The Power Module wire sizes above are appropriate for cable lengths up to 400 mm / 15". For longer cables, increase the wire si ze by 0.5 mm

for every additional 200 mm / 7.5" in length. G enerally, the larger the wire size, the better the powerchair performance will be.

• Do not use damaged or abused cables. A damaged cable can potentially produce localised heat, sparks or arcing and as such it can cause a fire.

• Protect all cables against possible contact with flammable material.

• Where possible, the installation must prevent and/or discourage the user to

disconnect the DX BUS cable.

Warning:

1. Route the cables and fasten all DX components in a position so

that the cables, the connectors and the connector sockets do not allow water entry or suffer from physical strain, abuse or damage, like cutting or crushing. Take particular care on powerchairs with movable structures like seat raise/tilt or swing-away arms. Make sure that the cables do not extend from the powerchair so that they can not be caught or damaged by external objects.

2. The DX BUS cable distributes 24V power to the DX modules, even

when the system is switched off. Avoid short circuit between the DX BUS cable pins whenever a DX BUS connector is removed from its socket. Make sure that the DX BUS connector can not reach potential shorting points. If any protruding, bare metal screws or pins are within reach of a DX BUS cable end, cover or plastic-coat them to make sure that they do not cause short circuits between DX BUS cable pins. Disconnect all the cables of the powerchair at the powered end whenever units are replaced or moved.

3. The user maintenance schedule and the service instructions of the

powerchair must include the appropriate inspection and maintenance requirements for the connectors and the cables.

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2.2 The batteries

The batteries provide the energy for the powerchair to drive. The batteries are connected to the DX Power Module. The DX Power Module sends the energy of the batteries to the motors and to the other modules.

The batteries must be operated and maintained according to the instructions of the battery manufacturer.

2.2.1 Battery type

• 24V (commonly 2 x 12V)

• Lead -Acid / Deep Cycle Gel Cell

• Rated capacity: 20 – 120 Ah (dependent on application and Power Module)

2.2.2 Battery capacity

Choose a battery capacity that is compatible with the intended use. This ensures that the required chair range and/or operating time is achieved.

The rated capacity in Ampere-hours (Ah) of a battery is usually specified for a 20 hour discharge rate (or 0.05 CA, a current of 5% of the rated capacity). A higher continuous discharge current dramatically reduces the available battery capacity. As the graph shows, when the discharge current equals the rated capacity (1 CA),

DX Saver active (2.2.4.2)

1 2 4 6 8 10 20 40 60 2 4 6 8 10 20

Typical discharge times for lead acid batteries

Hours Minutes

Discharge time

Normal operation

Battery fault

Battery voltage (V)

the battery does not last the expected one complete hour, but only 30 minutes, giving an actual available capacity of only 50%.

Rated

capacity

Average

discharge current

Actual

capacity

20 Ah 40 A (2 CA) 5 Ah (25%) 20 Ah 20 A (1 CA) 10 Ah (50%) 20 Ah 12 A (0.6 CA) 12 Ah (60%) 20 Ah 8 A (0.4 CA) 15 Ah (75%) 20 Ah 1 A (0.05 CA) 20 Ah (100%)

Notes:

1. Dynamic Controls recommends to use batteries with a

capacity that is

at least twice as high as the average

discharge current.

2. New batteries often start with only 80% of their rated capacity.

After a few charging cycles the capacity will increase to 100%.

3. Deep discharging or overcharging dramatically decreases the

capacity of the battery. This damage is permanent, the battery will never return to its original capacity. See also section

9.5: Battery warning conditions.

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2.2.3 Battery charging

The battery charging socket of the DX System is a 3-pin XLR type normally located on the DX Master Remote.

Battery

charger

Pin Signal

1 Battery Positive (B+) 2 Battery Negative (B-) 3 Drive Inhibit

B+

B-

The Drive Inhibit signal makes sure that the powerchair does not drive when the batteries are being charged. This signal must be provided within the battery charger plug as a connection between pin 2 and pin 3. Ensure that the battery charger is compatible with this configuration before connecting it to the charging socket.

When turned on during charge, DX Master Remotes that have a 7-segmen t display will show a dash to indicate that the powerchair is inhibited to drive. It is still possible to use accessory functions like actuators.

Once the Battery Charger displays a ‘full’ battery charge, the battery charger plug may be removed.

Notes:

1. For the exact location of the battery charging socket, see the

manual of the Master Remote that is used.

2. It is recommended to leave the system off while charging when

possible. A load during charging – especially a large load like the use of actuators - can cause some battery chargers to think that the battery is more empty than that it actually is. Dependent on the specifications of the battery charger, this can result in overcharging and possible battery damage. Read the manual of the used battery charger for more information.

3. Overcharging dramatically decreases the lifespan of a battery.

Warnings:

1. Do not disconnect the batteries or open the circuit breaker

during charging. See the manual of the battery charger for more information.

2. If during charging the battery gauge starts to flash to indicate

an overvoltage condition, immediately turn off either the battery charger or the DX System.

3. To remove the charger plug, pull in the direction of the cable.

Do not try to turn the plug.

4. The battery charger used must be correctly selected and

adjusted according to the instructions of the battery manufacturer. Failure to do so can damage or destroy the batteries, give poor range, or be potentially dangerous.

2.2.4 Battery protection

2.2.4.1 Thermal circuit breakers

To protect the batteries and the system cables f rom external short circuits, a therma l circuit breaker or fuse must be installed between the batteries and the rest of the system - as close as possible to the batteries. If the two batteries are permanently wired together in a single battery box, the best position for the circuit breaker is between the two batteries. If the batteries are separated in individual battery boxes, each battery requires its own circuit breaker.

The circuit breaker or fuse must be of the slow acting type. The rating of the circuit breaker must be appropriate for the power requirement, inclu ding the total weight of the chair, the battery capacity and the wiring.

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2.2.4.2 Battery Saver

If the battery Voltage falls below 21V, the DX System reduces the performance of the powerchair. This

• pro tects th e battery

• gives the powerchair a longer range before the battery is completely empty

• gives the user a physical warning that the battery is almost empty before

the battery is damaged.

2.2.4.3 High Voltage Rollback

High Voltage Rollback is a battery protection feature that is especially useful for users who have to drive downhill often.

When a powerchair drives downhill, the Power Module sends the generated motor current to the battery. However, if the battery is fully charged already, it can not accept the generated current anymore. This causes the battery voltage to become too high, which can cause damage to the battery or the controller.

High Voltage Rollback gradually decreases the speed of the powerchair until the battery can accept more current. The deceleration of the powerchair gives a timely physical wa rning to the us er to take corrective acti o n , like turni ng on the lights or slowing down.

High Voltage Rollback can be enabled wi th the Wizard (see

4.3.4.6).

Single Battery Box

Thermal Circuit

Breake

Separate Battery Boxes

Thermal Circuit

Breake

2.3 The motors

The wheel motors control the powerchair speed and direction. The motors are connected to the DX Power Module.

Note:

If one of the motors is not connected to the DX Power Module, the DX System detects a Motor Fault (see

9.6) and prevents driving.

2.3.1 Motor types

Drive motor type

Motor resistance

Current Power

Module

Min. wire size

2 x 60A DX-PMB 3 mm

2 x 75A DX2-PMA75L 4 mm

2 x 80A DX-PMB2 4 mm

24V DC* 0 – 0.5 Ω

1 x 120A (2x 60A parallel)

DX-PMB-S 3 mm

(two wires in parallel,

each carrying 60A) 24V AC Gearless Brushless

N/A 2 x 100A DX-GB 6 mm

*12V DC motors can be used if the controller is programmed to half speed.

Notes:

1. The motor wire sizes above are appropriate for motor loom

lengths up to 400 mm. For longer looms, increase the wire size by 0.5 mm

for every additional 200 mm length. Generally, the

larger the wire size, the better the powerchair performance.

2. The chosen size and length of the motor wires can affect the

optimum setting of the Load Compensation parameter (see section

4.3.2.3).

3. Gearless Brushless motors and the DX-GB Power Module are

not covered in this manual. Any reference to motors or motor connectors in this manual is referring to DC motors and the applicable Power Modules. Read the DX-GB manual for more information about the Gearless Brushless system.

Warning:

The Power Module must be correctly configured for the applicable motor resistance with the Load Compensation parameter, see section

4.3.2.3. Failure to set this parameter correctly can be dangerous for the powerchair user, because the chair can become uncontrollable.

2.3.2 Motor connections

The DC motor cables must be connected to the Motor/Parkbrake connectors of the DX Power Module.

M2 / Right M1 / Left

Notes:

1. Keep the motor cables as short as practical to minimise

voltage drops in the cable.

2. If the

Left/Right Motor Swap parameter (see section 4.3.2.7) is

set to

Swap instead of Normal, the Power Module will assign

M1 to the Right motor and M2 to the Left motor.

3. If the

Motor Invert parameter (see section 4.3.2.8) is set to Yes

instead of

No, the polarity of the + and - terminals will be

swapped.

2.3.3 Motor resistance

The resistance of different motor types varies typically between 20 and 350 mΩ. The DX Power Module must know what the motor resistance is because the motor

resistance determines the internal voltage drop in the motor when the motor is under high load (when the motor needs a lot of current to do a task).

If the voltage inside the motor drops too much, the performance of the powerchair will be decreased:

• It will feel unresponsive

• It will slow down or stop when it tries to go up a slope or up a sidewalk edge.

The DX

Load Compensation feature compensates for the voltage drop in the motor. If the motor has a high resistance, the Power Module applies a higher voltage to the motor terminals in high load conditions. This prevents a loss of performance.

To find o ut how to determine the motor resistance and how to progr am Load Compensation, see section

4.3.2.3.

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2.4 The parkbrakes

The parkbrakes make sure that the powerchair does not move when it is not actively driven or when the power is turned off.

For safety, parkbrakes are always applied unless they are actively released, either by the Power Module or manually with a parkbrake release switch.

Note:

If the parkbrakes are not connected to the DX Power Module, the DX System detects a Parkbrake Fault (see

9.6) and prevents driving.

2.4.1 Parkbrake types

• Fail-saf e ele c tro-magne tic parkbrak es attached to each motor

• 24V or 12V

• 1A – 2A maximum current per parkbrake (dependent on the Power Module used,

see the PM manual for the correct specification)

2.4.2 Parkbrake configurations

The parkbrake connection pins are located in the mo tor connectors of the DX Power Modules.

PB+

PB-

2.4.2.1 Two 24V parkbrakes – Dual, M1 and M2

In the dual configuration each parkbrake is driven from a separate output.

For this configuration the DX Power Module

Park Brake parameter (see section

4.3.3.1) must be set to Dual.

24V

Park

Brake

24V

Park

Brake

2.4.2.2 One 24V parkbrake – Single, M1 only

In the single configuration the parkbrake is driven from the M1 output only.

For this configuration the DX Power Module

Park Brake parameter (see section

4.3.3.1) must be set to Single.

Do not connect

a 2

24V park-

brake like this

24V

Park

Brake

Warning:

Do not connect a second 24V parkbrake in parallel to M1, because an open circuit fault in only one of the two parkbrakes can not be detected. Always use the dual configuration for two 24V parkbrakes.

Note:

1. If in this configuration the parkbrake is connected to M2

instead of M1, a Left Parkbrake Fault (flash code 5) will occur.

2. If the Park Brake parameter is set to Dual in this configuration

(with no parkbrake connected to M2), a Right Parkbrake Fault (flash code 6) will occur.

See also section

9.6: Flash codes

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2.4.2.3 Two 12V parkbrakes

If the powerchair has two 12V parkbrakes, both can be driven from a single 24V output by connecting the 12V parkbrakes in series. Alternatively, the 12V parkbrakes can be connected to both parkbrake outputs. In the latter case the parkbrakes will be driven from the PB+ output of M1.

For both these configurations the DX Power Module

Park Brake parameter (see

section

4.3.3.1) must be set to Single.

12V

Park

Brake

12V

Park

Brake

12V

Park

Brake

12V

Park

Brake

PB+ PB-

P P

12V parkbrakes configuration 2 12V parkbrakes configuration 1

Notes:

Configuration 1: if the park brakes are connected to M2 instead of M1, a Left Parkbrake Fault (flash code 5) will occur.

Configuration 2: if PB+ is connected to M2 instead of M1, a Left Parkbrake Fault (flash code 5) will occur.

Both configurations: if the Park Brake parameter is set to Dual, a Right Parkbrake Fault (flash code 6) will occur.

See also section

9.6: Flash codes

2.4.3 Manual parkbrake release switch

Manually operated parkbrake release switch es must be fitted together with a suitable suppression device across each parkbrake.

The suppression device prevents the genera tion of high voltage transients causing possible damage to the Power Module or to the parkbrake release switch itself.

Some suitable suppression devices are:

Always fit a suppression device

2x zener diode

39V, min 2W

Surge: min 50W, 2ms

Parkbrake

PB+

Battery+

Fuse

Release switch

PB-

Do NOT

connect like this

Motorola Philips

3EZ39D5 BZX70C36 3EZ36D5 BZX70C39 1N5365A BZT03C36 1N5366A BZT03C39

2.4.4 Mechanical parkbrake release

To make it possible to manually push the chair if the battery is empty, some form of mechanical clutch or parkbrake release is required. For safety, if the parkbrake is mechanically released the chair must not be able to drive.

One way to achieve this is to put a switch that disconnects the parkbrake from the Power Module in the mechanical parkbrake release. When the parkbrake is disconnected from the Power Module a Parkbrake Fault will occur and the powerchair will not be able to drive.

2.4.5 Parkbrake operation and programming

For safety, parkbrakes are always mechanically applied in their electrical "off"-state. This makes sure that the parkbrakes do not consume energy when the powerchair is turned off. It also makes sure that the powerchair does not roll away if the battery becomes empty on a slope.

To release the parkbrake, it must be "energised" (switched on), either by the Power Module or manually with a parkbrake release switch.

• Energise a parkbrake to release it

• De-energise a parkbrake to apply the brake.

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2.4.5.1 Electrical delay

When the powerchair stops, the parkbrakes will be applied. However, the parkbrakes must not be applied too early. The parkbrakes must

not engage

• if the powerchair stops to change direction (for example forward to reverse)

• before the powerchair has come to a halt after high deceleration

• before the powerchair has come to a halt when parking on a slope

The

Neutral to PB Delay parameter (see section 5.3.10.2) is the delay between zero

speed demand and the moment that the parkbrakes are de-energised. The correct value of this parameter is dependent o n the mechani c s o f the parkbrake

that is used on the chair. The delay must be longer for fast acting parkbrakes. This parameter is set by the powerchair manufacturer for specific powerchair types. It

cannot be adjusted by dealers.

2.4.5.2 Mechanical delay

There is a significant delay between the moment that the parkbrake is de-energised and the moment that the parkbrake actually engages mechanically. This delay becomes important when the powerchair decelerates and stops. When the powerchair has stopped, it will take some time before the parkbrakes are actually engaged.

The Power Module uses the motors to brake and hold the powerchair during the time that the parkbrakes are not engaged (active motor braking). The motor braking time can be programmed with the

Brake / Bridge Off Delay parameter (section 4.3.3.2).

After the time defined in the Brake / Brid ge Off Delay parameter the Power Module will switch off the motors.

Warning:

Make sure that the Brake / Bridge Off Delay time is greater than the mechanical delay of the parkbrakes used. The parkbrakes must engage before the motors turn off, or the chair will roll away.

Brake / Bridge

Off Delay

Speed

Demand

Active Motor Braking

Parkbrakes engaged Motors switched off

Neutral to

Parkbrake

Delay

Parkbrake

de-energised

Zero

Speed demand decreases according to deceleration parameter

Joystick returned to the center

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3 The DX BUS

DX BUS is the interface (the way the modules "talk" to each other) that connects all the DX components together.

The DX BUS interface is based on CAN-Bus tech nology, which is commonly used in safety critical applications like automotive and industrial control networks. CAN provides extremely robust data reliability wi th excellent error detection and correction capabilities. This makes the DX BUS a safe and fault tolerant data network.

The DX BUS also distributes power to the DX Modules and can safely carry up to 12 Ampere continuously.

DX BUS Connector Pinout

Pin Function

1 Communications – CANL 2 Communications – CANH 3 DXB+ (24 V, fused) 4 DXB- (0 V)

CAN-H and CAN-L are used for communication between the modules. DXB+ and DXB- supply power to the modules and to the loads connected to them. The maximum continuous current over the DX BUS DXB+ and DXB- wires is 12A.

Most DX devices have two DX BUS connectors

Notes:

Dynamic recommends to fit unused DX BUS connectors with a GME64909 DX BUS Connector Cover. This also complies with ISO 7176 requirements.

3.1 The DX BUS cable

Cable specifications - straight cable

The part number of the straight cable is GSM630YY, where YY = the length in 100 mm.

DX BUS cable straight

Length Part/Order number

300 mm 1 ft GSM63003 500 mm 1' 8" GSM63005

1.0 m 3' 3" GSM63010

1.5 m 4' 11" GSM63015

2.0 m 6' 7" GSM63020

2.5 m 8' 2" GSM63025

DX BUS cable with Ferrite bead to improve EMC

2.0 m 6' 7" GSM63020F

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Parameter Value

Contact Resistance (per contact) As per IEC 512-2, Positronic

3 mΩ nom, 7 mΩ max

Wire resistance @ 20°C DXB+ DXB-

15.1 mΩ/m, 4.6 mΩ/ft

8.5 mΩ/m, 2.6 mΩ/ft Operating Current (DXB+/DXB-) 12 A nom, 20 A RMS max Connector Latch Holding Force 40 N min Cable Strain 100 N max (accidental, non-repetitive) Cable Flex Force 10 N max Minimum Cable Bend Radius Flexing values for (T > –10°C/14°F)

10 mm / 0.39 inch - fixed installation 25 mm / 1 inch - occasional flexing

50 mm / 2 inch - frequent flexing Operating Temperature (ambient, fixed installation)

–25°C to +50°C

–13°F to +12 2°F Cable Temperature Rating 80°C / 176°F (internal operating temp)

Warning:

The specified bend/flex radiuses are minimum values and must be considered as a guideline only. Where frequent flexing is part of the intended application, the installer must ensure an appropriate bend/flex radius for the intended and foreseeable environmental conditions. Extreme cold temperatures considerably reduce cable flexibility. Appropriate life testing must be carried out to determine/confirm the expected service life and inspection and maintenance schedule.

YY x 100 ± 10

Ø7.0

13 x 16

Cable specifications – curly cable

DX BUS Curly Cable

Tail Length La Coil Length Tail Length Lb Part/Order number

200 mm / 8 inch 300 mm / 1 ft 200 mm / 8 inch GSM63051 500 mm / 1'8" 300 mm / 1 ft 200 mm / 8 inch GSM63052

La ± 20

Ø26 ± 2

300 ± 30 approx. 40 coils

compressed coil length

Lb ± 20

Ø7.5

13 x 16

Parameter Value

Contact Resistance (per contact) As per IEC 512-2, Positronic

3 mΩ nom, 7 mΩ max

Wire resistance @ 20°C DXB+ DXB-

15.1 mΩ/m, 4.6 mΩ/ft

8.5 mΩ/m, 2.6 mΩ/ft Curly Cable electrical length 2.3 m / 7'6" nom for the coiled section Operating Current (DXB+/DXB-) 12 A nom, 20 A RMS max Connector Latch Holding Force 40 N min Cable Strain 100 N max (accidental, non-repetitive) Spring Force - extension refers to the coiled section

< 20N @ 2x extension (T > 10°C/50°F) < 50N @ 2x extension (T > –10°C/14°F)

< 30N @ 3x extension (T > 10°C/50°F) Minimum Cable Bend Radius Flexing values for (T > –10°C/14°F)

20 mm / 0.8 inch - fixed installation

30 mm / 1.2 inch - occasional flexing

50 mm / 2 inch - frequent flexing Operating Temperature (ambient, fixed installation)

–25°C to +50°C

–13°F to +12 2°F Cable Temperature Rating 80°C / 176°F (internal operating temp)

Warnings:

1. Do not extend the spring coils below 0°C. Do not extend the coils

farther than 2x compressed length below 10°C, or 3x compressed length above 10°C. Avoid extension above 3x compressed length because this can cause a permanent stretching of the coil.

2. Make sure that no spring force is applied to the DX BUS connector;

fasten a strain relief or cable tie on or near to the coiled section of the cable.

3.2 DX BUS Module connection layout

DX Modules normally have one or two DX BUS sockets for system interconnections. Smaller DX Modules can have a permanently mounted cable ending in a DX BUS plug, instead of DX sockets.

The optimu m connectio n lay out is depend ent on the type of module s th at are present in the DX System. Low-current modules can be co nnected in series. This provides a low-cost and simple solution.

ause a voltage drop on the DX BUS when they are connec ted far away from the

Because of the internal resistance of the DX BUS cable, high-current modules can c Power Module. For this reason all high-current DX Modules (for example actuators and lights) must be connected as close to the Po wer Module as possible, preferably in parallel.

DX modules connected in series

DX Master Remote

Power

Module

module

24V

DX BUS

High-current DX modules connected in parallel

24V

power

module

DX BUS

module

HIGH I

module

HIGH I

module

HIGH I

module

LOW I

module

LOW I

DX Remote

DX splitter box

DX-SKT-X4

Note:

l length of all DX BUS cables together must not exceed 15 m.

The tota

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4 The DX Power Module

The DX Power Module converts the speed and direction signals generated by a DX Remote into high current outputs. These outputs drive the motors and activate the parkbrakes.

The Power Module must be connected to:

• The DX BUS (see chapter

• The battery (see section

2.2)

• The mo tors (see section

2.3)

• The parkbrakes (see section

2.4).

The Power Module is fully programmable for a wide range of powerchair types and user needs.

M/PB-2 Battery DX BUS M/PB-1

4.1 General Power Module features

• D i g ital motor con tro l

• Supply Voltage compensation

• Motor resistance and load compensation (see 4.3.2.3)

• Tracking (veer) compensation (see

4.3.2.5)

• Smart curre nt limiting and temperature limiting (see

4.3.2.1 and 4.3.4.7)

• Left/Right Motor swap option to facilitate motor cabling (see

4.3.2.7)

• Motor connector polarity swap for different motor polarity options (see

4.3.2.8)

• Single or dual parkbrakes (see

2.4.2)

• Programmable parkbrake delay (see

4.3.3.2)

• Dynamic braking in neutral

• Protected against external events such as:

o reverse battery polarity o battery undervol tage and overvoltage (see

4.3.4.6)

o motor or parkbrake overload (see

4.3.2.9)

o external short circuits

• Extensive range of powerchair system safety and protection features such as:

o open circuit motor detection o open and short circuit Park Brake detection o controlled speed reduction to a stop if a fault is detected (see

4.3.2.6)

o protected against runaway in the event of an internal hardware failure

• Electromagnetically compatible:

o low RF emissions o high immunity to RF transmissions

• Built-in diagnostics with status LED and fault logging

• Watchdog, CPU, ROM and RAM testing at power up

• Compact, rugged enclosure with robust mounting points

• Environmentally compatible (sealed to IP54)

Warning:

This manual gives a description of a generic DX System and Power Module use. It must be read together with the installation manual of the actual Power Module that is installed on the powerchair.

Correct installation and programming are essential to ensure optimum performance and safety.

4.2 Available Power Modules

Power Module Current Motor type Lighting

DX-PMB 60A dual 24V DC no DX-PMB2 80A dual 24V DC no DX-PMB-S* 120A single (2x 60A parallel) 24V DC no

DX-GB

100A dual 24V AC no

* The PMB-S has its two motor and Park Brake channels driven in parallel, for a single motor output with twice the current of each channel of a standard Power Module. The PMB-S is used in DX Systems with only one drive motor, like many servo steered powerchair systems.

** The DX-GB drives gearless brushless AC motors. The DX-GB is not covered in this manual.

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4.3 Power Module programmable parameters

Warning:

Do not try to program the Power Module before you have read

• The programming chapter of this manual

• The manual of the specific Power Module

4.3.1 List of parameters

Key:

 Editable at this level (see sec tion 7.1.2.1: Dongle versions)

 Viewable at this level

Parameter Possible Values Default Rev HHP Lite Std Adv

Motors

Current Limit 10 – 80A 40 A -,A -

 



Hardware Current Limit Scaler

0 – 100 % 100 % -,A -

 



Load Compensation 0 – 500 mΩ 0 mΩ -,A

   

Temp Dependant Load Comp

No / Yes No A -

 



Veer Compensation -10 - +10 % 0 % -,A

   

Emergency Deceleration 25 - 100 % 75 % -,A -

 



Left/Right Motor Swap Normal / Swap

Normal

-,A -

 



Left Motor Invert No / Yes No -,A -

 



Right Motor Invert No / Yes No -,A -

 



Stall Timeout No / Yes Yes -,A -

 



Stall Time 5 – 50 s 15 s -,A -

  

Motor I2T Protection No / Yes No -,A - - -



Motor I2T Threshold 10 – 90 % 33 % -,A - - -



Motor I2T Time Scale

10 – 200 decimal

32 dec -,A - - -



Maximum Motor Temp 70 – 200 °C 130 °C -,A - - -



Motor Continuity Test No / Yes Yes -,A -

 



Maximum Motor Volts 24 – 30 V 26 V -,A -

 



Input Demand Scaler 50 – 100 % 95 % -,A -

 



Park Brakes

Park Brake Single / Dual Dual -,A -

 



Brake / Bridge Off Delay 100 – 1000 ms 500 ms -,A -

 



Test Park Brake Driving No / Yes Yes A -

 



Parameter Possible Values Default Rev HHP Lite Std Adv

Battery

Battery Guess Maximum 24.2 – 28.8 V 25 V -,A -

 



Battery Guess Minimum 22.3 – 26.2 V 22.7 V -,A -

 



Battery Guess Recover 0 – 30 decimal 15 dec -,A -

 



Voltmeter Battery Gauge No / Yes No A -

  

Slow Batt Time Scale Driving No / Yes No A -

 



Batt Gauge Ramp Up Rate 10 – 1600 s 120 s A -

 



Batt Gauge Ramp Down Rate

10 – 1600 s 90 s A -

 



Batt Gauge High Threshold 0.1 – 33.4 V 33.4 V A -

 



Batt Gauge Failing Threshold 0.1 – 6.6 V 0.1 V A -

 



High Voltage Warning No / Yes Yes A -

 



High Voltage Rollback No / Yes No A -

 



High Voltage Threshold A -

 



Internal Setup Temperature Rollback

Minimum

40 – 75 °C 50 °C -,A -

 



Temperature Rollback Maximum

50 – 85 °C 70 °C -,A -

 



Halve Turning Gain No / Yes No A -

 



Note:

1. Wizard 5 uses the value of the Halve Turning Gain parameter to

determine the Power Module Revision (Rev –, or Rev A). Set this parameter to Yes if you want to use the Rev A parameters. If the Halve Turning Gain parameter is set to No, the Wizard will assume that the program is meant for a "Rev–" Power Module, and will return all Rev A parameters to their default values before it writes the parameters to the Power Module.

2. The Load Compensation and Veer Compensation parameters

should be set using the HHP. The adjustable range for these two parameters can be limited by the Wizard.

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4.3.2 Motors

4.3.2.1 Current Limit

Parameter Possible Values Default Rev HHP Lite Std Adv

Current Limit 10 – 80A 40 A -,A -

 



The Current Limit is the maximum sustained current that the Power Module is programmed to deliver to the motor.

To protect the electronics of the Power Module, the maximum current will be reduced further if the Power Module becomes too hot, dependent on the setting of the

Temperature Rollback parameters (see 4.3.4.7).

Warning: Do not set Current Limit too high for the type of motor used.

4.3.2.2 Hardware Current Limit Scaler

Parameter Possible Values Default Rev HHP Lite Std Adv

Hardware Current Limit Scaler

0 – 100 % 100 % -,A -

 



Normally the

Current Limit parameter (see 4.3.2.1) limits the current to the motor. However, the Current Limit software algorithm has a slow response time, which allows fast high-current transients to slip through. Fast high-current transients can de-magnetise low current motors, resulting in motor damage.

To protect the motors from fast high-current transients, additional to the slower software algorithm a very fast hardware algorithm is provided. This algorithm can be programmed with the Hardware Current Limit Scaler parameter.

The value of Hardware Current Limit Scaler is given as a percentage of the nominal current rating of the Power Module. For maximum motor protection, set this value to match the value of the Current Limit parameter.

Current Limit (see 4.3.2.1)

Hardware Current Limit Scaler

Maximum transient current

80 A 100 % 80 – 120A 60 A 75 % 60 – 90 A 40 A 50 % 40 – 60 A 25 A 31 % 25 – 37 A

Settings for a Power Module with a nominal current rating of 80 A

The actual maximum transient current is depend ent on the temperature of the Power Module. If the Power Module is warm, the limit is equal to the value set with Hardware Current Limit Scaler. If the Power Module is cold, the limit can be up to 50% higher.

Warning: Do not set the Hardware Current Limit Scaler lower than the software

Current Limit. This will result in a Stall Timeout Fault (see

9.6) and an

emergency stop.

4.3.2.3 Load Compensation

Parameter Possible Values Default Rev HHP Lite Std Adv

Load Compensation 0 – 500 mΩ 0 mΩ -,A

   

Load Compensation automatically compensates for changes in motor speed when the chair drives over loads such as sidewalks, curbs or slopes. Correct Load Compensation is important for all chairs to reach acceptable performance, especially when a chair has switched controls, for example a scanner or Sip and Puff.

Load compensation

Too low Correct Too high

Chair behaviour

• Drives like it is going through thick mud

• Slows down when it goes up a sidewalk edge or up a ramp

• Slows down with heavier users

• Changes direction when it drives over a bump

• Changes direction when the weight of the user shifts.

• Drives smoothly

• Keeps the spe ed

reasonably constant. Only slightly slows down on a slope.

• Keeps the direction constant. Only slightly changes direction when it drives over a bump.

• Drives very rough

• Hard to steer or control, vibrates

• Swerves wh en it drives over a bump.

• Motor becomes hotter than normal very easily, decreased motor life

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Aaagh!

Hnnng!

Set Load Compensation to the correct motor resistance value of the used motor (for motor resistance see section

2.3.3).

Determining the motor resistance

There are three ways to determine the motor resistance:

1. Look at the motor data that is provided by the manufacturer of the motor.

2. Measure the motor resistance.

3. Look at the powerchair behaviour.

1. Find the resistance of a motor in the motor data sheets

• Look for "Motor Resistance", "Terminal resistance", "Minimum stall resistance", "Armature winding resistance" or "Winding resistance" or "R". Use this value directly when it is given in milliOhms, mOhms or mΩ. Multiply by 1000 when it is

given in Ohms or Ω.

• Look for the "Stall Current", some times this is located under "Sta ll Torque" or "Peak Torque". In the motor graph it is the current when the speed is zero. The motor resistance is the nominal voltag e divided by the stall current.

Motor resistance = Nominal Voltage / Stall Current

In the example above: 12V / 45A = 0.266 Ω = 2 66 mΩ

2. Measure the resistance of a motor

Tools needed

• One 12V battery (capacity 20 Ah or more), or a 12V DC power supply that can deliver at least 20A

• A resistance of approximately 1 Ohm - 100 Watt, for example:

o A high power resistor o Extra motors in series o 50m/150ft of 1 mm

or AWG18 wire (for example 25m/75ft AC copper

extension cord or copper speaker wire that is shorted at one end)

o 75m/250 ft of AWG16 wire (for exam ple a 37m/125 ft AC copper extension

cord or copper speaker wire that is shorted at one end)

• One Voltage meter

• One A mpere meter that can measure at least 20A

(for example: a clamp meter)

• The mo tor

Procedure

Do not connect yet

Lock the

motor

1. Lock the motor so that the shaft can not turn (for example with the parkbrake). If you use additional motors as resistors, lock those too.

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2. Connect the motor, the Volt meter, the Ampere meter, the resistor and the battery together as shown in the schematic. Do NOT connect the positive terminal of the battery yet

3. Put the Voltage meter a nd the Ampere meter in a position where you can read them both at the same time

4. Set the range of the Voltme ter to 10V and the range of the Ampere meter to 20A

5. Perform the measurement a. Connect the positive terminal of the battery and wait until the readings on

the meters are stable (typically one to three seconds) b. Quickly read the value on the Voltage meter and the Ampere meter c. Disconnect the battery immediately after you have read the meters.

Warning:

Try to disconnect the battery within 5 seconds to make sure that the motor or the resistor does not heat up too much.

12V

1Ω, 100W

Include the motor cables (but not the

connector) in the Voltage measurement

6. If the current that you have measured is less than 8A, either use a 24V battery or use half the resistor value and repeat the measurement. For a good measurement the current should be between 8A and 20A.

7. The motor resistance is the voltage divided by the current:

Motor resistance =

Measured Voltage at the motor connector

Measured Current

8. Lock the motor shaft in a different position and repeat the procedure from step 5. Measure the resistance for at least five different positions of the shaft to reduce the chance that the brushes do not mak e good contact with the rotor.

When you have used extra motors as resistance, you do not have to change the shaft position of those motors as well.

Use the lowest measured resistance and decrease it by 20%

to compensate for temperature variations and age variations. Multiply the found resistance by 1000 (for milliohm) and program this value into the Load Compensation parameter with either the HHP or the Wizard.

10. Test the powerchair behaviour with this Load Compensation setting. Drive up a slope or a sidewalk edge. If Load Compensation has the correct value:

• The chair only slightly slows down when it goes up the slope/edge

• The chair only slightly changes direction when it goes up the slope/edge.

Notes:

1. If the motor is connected to the battery longer than 5 seconds, the

motor becomes warm. If the motor is warm, let the motor cool down before you do the next measurement.

2. A new motor usually has a higher motor resistance than a motor that

has been used for some time, because the motor brushes that are inside the motor do not make optimal contact until they are "worn in". If possible, perform this procedure when the motor has been used for several hours.

3. Extremely low ambient temperatures can affect the motor

resistance. If the powerchair has been in the garage on a cold day, the response when it is turned on can be a bit rough. This rough behaviour stops as soon as the motor heats up. If the powerchair will be used in extremely low ambient temperatures decrease Load Compensation accordingly.

4. If the found motor resistance is 100 mΩ or less, perform the same

measurements with a warm motor. Use the lowest value of all measurements.

3. Determine the motor resistance by looking at the powerchair behaviour

Tools needed

1. A powerchair with a DX System fitted

2. A Hand Held Programmer (HHP)

3. A bump or a sidewalk edge that you can

drive up to

Procedure

Summary

• Set Load Compensation to a lo w value.

• Drive the powerchair into a Load and increase the motor resistance value

until the powerchair does not slow down.

Step by step

1. Turn the DX System ON

2. Position the powerchair in front of the edge

3. Connect the HHP to the DX Master Remote

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4. Enter Technician Mode (see section

7.1.1.1, 'HHP Technician Mode')

5. Press NEXT

Technician mode Master JS Module JOYSTICK CALIBRATION EXIT YES NEXT

6. Press YES 7. Press NEXT

8. Press DOWN or UP to set the motor resistance to 20 milliohms

9. Push the joystick slightly f orward to drive

at a VERY LOW SPEED

10. Keep the joystick in exactly the same

position all t h e time

VIEW/EDIT POWER MOD Load compensation 19 milliohms EXIT NEXT UP DOWN

VIEW/EDIT POWER MOD Load compensation 99 milliohms EXIT NEXT UP DOWN

** MAIN MENU ** View or Edit Power Module ? (Tech only) NEXT YES

VIEW/EDIT POWER MOD Veer compensation RIGHT 0 % EXIT NEXT LEFT RIGHT

SLOW

11. The chair will probably stop when you arrive

at the edge, but still k e ep the joys tick in exactly the same position.

Press UP

12. Press the UP button on the HHP until you

can feel that the front wheels try to pull up the edge. Every time you press UP you will feel this more.

13. Press “UP” SLOWLY until the chair smoothly

climbs over the edge with the joystick still in exactly the same position as in step 11.

14. Turn the powerchair around and drive

to the location of step 1

15. Push the joystick forward to go over the

edge. If load compensation has the correct value, the chair will not slow down much, it will go smoothly over the edge.

VIEW/EDIT POWER MOD Load compensation 80 milliohms EXIT NEXT UP DOWN

16. Press EXIT to save the motor resistance

17. Turn the DX System OFF

18. Disconnect the HHP.

Notes:

1. This test procedure causes the motor to become hot. For this reason

the resulting value for Load Compensation is too high. Reduce Load Compensation by 20% to make sure that the powerchair is not uncomfortable to drive when the motor is cold.

2. A new motor usually has a higher motor resistance than a motor

that has been used for some time, because the motor brushes that are inside the motor do not make optimal contact until they are "worn in". If possible, perform this procedure when the motor has been used for several hours.

Optimum Load Compensation. Chair responsive AND smooth

Nervous

Uncontrollable

Aim for this point: 20% back from the top of the hill

Unresponsive

Performance

Load Compensation

4.3.2.4 Temp Dependent Load Comp

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Parameter Possible Values Default Rev HHP Lite Std Adv

 



No / Yes No -,A -

Temp Dependent Load Comp

Temperature Dependent Load Compensation calculates the correct

Load

Compensation

values for different temperatures of the Power Module. This will make sure that Load Compensation does not become too high when the Power Module is cold, or too low when the Power Module is hot.

4.3.2.5 Veer Compensation

Parameter Possible Values Default Rev HHP Lite Std Adv

   

Veer Compensation -10 - +10 % 0 % -,A

If the two motors of the powerchair do not perform exactly the same, the chair will not drive in a straight line. The chair wi ll slightly change its direction (veer) when it drives forward.

Veer Compensation calculates how much the chair must correct its direction to go in a straight line.

Veer

Actual

direction

Veer

Compensation

Intended

direction

Actual

direction

Veer

The chair does not drive straight when the performance of the two motors is not equal

The chair now drives straight because Veer Compensation corrects the direction

Notes:

1. Adjust this parameter every time a motor is replaced.

2. Other factors than motor performance can cause chair veer, for

example bent frames, flat tyres or faulty castor wheels. Correct these problems at the source, do not use Veer Compensation.

3. Do not use Veer Compensation to compensate for out-of-centre

joystick deflection by the user.

Adjusting Veer compensation with the HHP

1. Turn the DX System ON

2. Connect the HHP to the DX Master Remote

3. Enter Technician Mode (see section

7.1.1.1: HHP Technician Mode)

4. Press NEXT 5. Press YES

Technician mode Master JS Module JOYSTICK CALIBRATION EXIT YES NEXT

** MAIN MENU ** View or Edit Power Module ? (Tech only)

NEXT YES

6. Press LEFT or RIGHT until the powerchair 7. Press EXIT to save the Veer drives in a straight line when the Compensation value joystick is deflected forward

8. Turn the DX System OFF

9. Disconnect the HHP

4.3.2.6 Emergency Deceleration

Parameter Possible Values Default Rev HHP Lite Std Adv

Emergency Deceleration 25 - 100 % 75 % -,A -

 



Emergency Deceleration sets the rate at which the powerchair comes to a halt when

• a fault that requires an emergency stop occurs

• the user switches off the system while driving.

If Emergency Deceleration is set to a higher value, the powerchair will stop in a shorter time period. The optimum value depends on the powerchair type, the preference of the manufacturer and the regulations that apply to the country of use.

Test this parameter by switching off the system while driving.

Warning:

The powerchair can tip over or throw the user out of the chair when this parameter is set too high.

VIEW/EDIT POWER MOD Veer compensation RIGHT 0 % EXIT NEXT LEFT RIGHT

4.3.2.7 Left/Right Motor Swap

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Parameter Possible Values Default Rev HHP Lite Std Adv

 



Left/Right Motor Swap Normal / Swap Normal -,A -

If set to Swap, this parameter swaps the Left and Right motor outputs of the Power Module. Swapping the motor outputs allows the cabling between the Power Module and the motors to be optimised for particular Power Module mounting orientations.

Parameter value Normal Swap

Left motor  M1 Left motor  M2

Motor connection

Right moto r  M2 Righ t motor  M1

Note:

Most Fault messages and Diagnostic messages ignore the value of this parameter. Left Motor/Parkbrake fault is always the motor/parkbrake connected to M1, Right Motor/Parkbrake fault is always the motor/parkbrake connected to M2.

4.3.2.8 Motor Invert

Parameter Possible Values Default Rev HHP Lite Std Adv

 



Left Motor Invert No / Yes No -,A -

 



Right Motor Invert No / Yes No -,A -

If these par ameters ar e s et to Yes, the y swap the polarity of the motor connector (see section

2.3.2, Motor co nnections): '+' will become '–' and '–' will become '+'.

Note:

1. If you invert only one of the two motors, the performance of the

DX System will be reduced. This situation is not recommended for long term use.

2. The Left Motor can refer to M1 or M2, dependent on the

Left / Right Motor Swap setting.

4.3.2.9 Motor Stall

Parameter Possible Values Default Rev HHP Lite Std Adv

 



Stall Timeout No / Yes Yes -,A -

  

Stall Time 5 – 50 s 15 s -,A -

If the joystick is deflected but th e powerchair can not drive because

• It is on a slope that is too steep

• I t tr ies to climb u p a curb that is to o high

• It is trapped

the maximum current (as set by the

Current Limit parameter, see section 4.3.2.1) will flow through the motors continuously, because the motors are still trying to drive. This situation is called motor stalling .

Motor stalling can cause motor damage when the motor becomes too hot. To prevent motor damage, Stall Timeout disables drive after Stall Time seconds of maximum continuous current.

If a stall timeout has occurred, the powerchair will not drive and Flash Code 11 (see

9.6) will be displayed on the System Status LED of the DX Master Remote.

To reset the system, switch it off and switch it back on again.

Note:

Some safety standards specify a particular Stall Time.

4.3.2.11 Motor Continuity Test

Parameter Possible Values Default Rev HHP Lite Std Adv

 



Motor Continuity Test No / Yes Yes -,A -

Every time before the powerchair starts to drive, Motor Continuity Test checks that the motors connections are not loose.

Always set this parameter to 'Yes', except if motor faults occur because

• the motor brushes frequently lose contact after the motor has stopped

• the motor resistance is higher than approximately 1 Ω, which causes the

Power Module to think that the motor has an open circuit.

4.3.2.12 Maximum Motor Volts

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Parameter Possible Values Default Rev HHP Lite Std Adv

 



Maximum Motor Volts 24 – 30 V 26 V -,A -

Maximum Motor Volts sets the maximum voltage that the Power Module will apply to the motor.

Note:

If local regulations require that the powerchair speed is limited to a specific value, use this parameter to set a speed limit for a particular chair type (for specific motors and a specific wheel diameter).

If the momentary battery voltage is less than the programmed Maximum Motor Volts value (for example when the battery is almost empty), then the battery vol tage i tse lf is the maximum applied voltage at 100% speed demand.

See also section

5.3.1: Speed and acceleration principles.

4.3.2.13 Input Demand Scaler

Parameter Possible Values Default Rev HHP Lite Std Adv

 



Input Demand Scaler 50 – 100 % 95 % -,A -

The Input Demand Scaler scales down the Speed Demand that the Power Module receives from the UCM (see also section

5.3.1: Speed and acceleration principles).

This makes sure that the powerchair does not slow down when it changes direction. To adjust the direction of the powerchair when the chair travels forward, the Power

Module speeds up one wheel while it keeps the speed of the other wheel constant. The Power Module can only speed up one wheel if that wheel is not turning at maximum speed already.

If both wheels are turning at maximum speed, the Power Module must slow down one wheel to change direction. This slows down the whole powerchair during the turn, which can be annoying.

An Input Demand Scaler value of 95% limits the maximum speed of the chair to 95% of the maximum achievable speed during normal driving. This leaves 5% of the maximum wheel speed reserved for turning.

The Input Demand Scaler is also useful to further slow down a chair when the minimum speed settings of the Drive Profi les are still too fast.

4.3.3 Park Brakes

4.3.3.1 Park Brake

Parameter Possible Values Default Rev HHP Lite Std Adv

 



Park Brake Single / Dual Dual -,A -

Single – Only parkbrake output M1 is active. Do not use parkbrake output M2. Dual – Parkbrake output M1 and M2 are both active.

See section

2.4.2: Parkbrake configurations for more information on how to connect

the parkbrakes.

4.3.3.2 Brake / Bridge Off Delay

Parameter Possible Values Default Rev HHP Lite Std Adv

 



Brake / Bridge Off Delay 100 – 1000 ms 500 ms -,A -

The Power Module uses the motors to brake the powerchair during the time that the parkbrakes have been de-energised but have not engaged mechanically. This braking method is called active motor braking.

When the parkbrakes have been de-energised, the Power Module applies active motor bra king for the time defined by the Brake / Bridge Off Delay parameter. After this time the Power Module will switch off the motors.

The correct value of this parameter is dependent o n the mechani c s o f the parkbrake that is used on the chair.

Warning:

Make sure that the Brake / Bridge Off Delay value is greater than the time it takes for the parkbrakes to mechanically engage when they have been electrically de-energised. The parkbrakes must engage before the motors turn off, or the powerchair will roll away.

See also section

2.4.5: Parkbrake operation and programming.

4.3.3.3 Test Park Brake Driving

Parameter Possible Values Default Rev HHP Lite Std Adv

 



Test Park Brake Driving No / Yes Yes A -

Yes – The park brakes are periodically checked for open-circuit while the chair is

driving. Some parkbrakes produce a noise during this test, which can annoy the user.

No – The park brakes are

not checked for open-circuit while the chair is driving,

only

before the chair starts to drive.

The parkbrake short-circuit test it is not affected by the value of this parameter. The short-circuit test will still be performed while driving.

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4.3.4 Battery

4.3.4.1 Battery Guess

Parameter Possible Values Default Rev HHP Lite Std Adv

Battery Guess Maximum 24.2 – 28.8 V 25 V -,A -

 



Battery Guess Minimum 22.3 – 26.2 V 22.7 V -,A -

 



Battery Guess Recover 0 – 30 decimal 15 dec -,A -

 



These battery parameters can optimise the accuracy of the Battery Gauge. Battery Guess Maximum is the voltage at which the DX System thinks that the battery

is completely full. The Battery Gauge will show 100% battery capacity at this voltage. Battery Guess Minimum is the voltage at which the DX System thinks that the battery is

completely empty. The Battery Gauge will show 0% battery capacity at this voltage. Battery Guess Recover is the maximum voltage drop of the battery during driving. If

the powerchair stops driving, the battery voltage will again increase to its original level. This increase in voltage does not mean the battery has been charged, just that the powerchair has stopped driving. Battery Guess Recover is the maximum voltage increase expected of the battery after driving when no charging has occurred. If the battery voltage rises by more than this value while the DX System is off, the Battery Gauge will be updated.

Normally these parameters should be left at the factory pre-set values.

4.3.4.2 Voltmeter Battery Gauge

Parameter Possible Values Default Rev HHP Lite Std Adv

Voltmeter Battery Gauge No / Yes No A -

  

No – The Battery Gauge shows an estimate of the remaining battery capacity.

Yes – The Battery Gauge shows the battery voltage as an indication of the battery

capacity. This means that the shown value can decrease momentarily during high load situations (for example: when driving up a slope) .

4.3.4.3 Slow Batt Time Scale Driving

Parameter Possible Values Default Rev HHP Lite Std Adv

Slow Batt Time Scale Driving No / Yes No A -

 



Voltmeter Battery Gauge (4.3.4.2) has the value 'Yes', Slow Batt Time Scale Driving

determines the responsiveness of the voltmeter battery gauge. No – The Battery Gauge has a fast response. This can result in a nervous display

when the powerchair drives over different loads. Yes – The Battery Gauge has a slow and stable response. If Voltmeter Battery Gauge has the value 'No', the value of Slow Batt Time Scale Driving

is ignored.

4.3.4.4 Batt Gauge Ramp Rate

Parameter Possible Values Default Rev HHP Lite Std Adv

Batt Gauge Ramp Up Rate

10 – 1600 s 120 s A -

 



Batt Gauge Ramp Down Rate

10 – 1600 s 90 s A -

 



These parameters help to smooth out changes in the battery voltage caused by short temporary charging or a temporary heavy load.

Battery Gauge Ramp Up Rate is the minimum time it takes the Battery Gauge to go from the minimum position to the maximum position. Do not set this longer than the time it takes to ful ly charge the batteries.

Battery Gauge Ramp Down Rate is the minimum time it tak es the Battery Gauge to go from the maximum position to the minimum position.

4.3.4.5 Batt Gauge Threshold

Parameter Possible Values Default Rev HHP Lite Std Adv

Batt Gauge High Threshold 0.1 – 33.4 V 33.4 V A -

 



Batt Gauge Failing Threshold 0.1 – 6.6 V 0.1 V A -

 



If the batteries are being charged for only a shor t peri od of time, the battery voltage will still rise as long as no large current is drawn from the batteries (for example: when the DX system is switched on after charging). This can mislead the battery gauge into thinking that the batteries are full, when in fact, they are not.

To make sure that the battery gauge does not show the wrong information, the battery level information is saved when the DX System is turned off. When the System is turned on again, the new level of the battery is compared to the old level. If the new level is very different from the old level, the old level is displayed on the battery gauge, unless the current battery level is higher than Batt Gauge Failing Threshold, or lower than Batt Gauge High Threshold.

4.3.4.6 High Voltage parameters

Parameter Possible Values Default Rev HHP Lite Std Adv

High Voltage Warning No / Yes Yes A -

 



High Voltage Rollback No / Yes No A -

 



High Voltage Threshold 28 / 30 V 28 V A -

 



If High Voltage Warning has the value 'Yes', and the voltage of the batteries rises above the value of High Voltage Threshold, the battery gauge will flash to warn the user that the batteries are being overcharged.

High Voltage Rollback gradually decreases the maximum speed of the powerchair when the battery voltage rises above 30 Volt. This is especially useful when the user is driving downhill. See also section

2.2.4.3: High Voltage Rollback.

4.3.4.7 Temperature Rollback

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Parameter Possible Values Default Rev HHP Lite Std Adv

 



40 – 75 °C 50 °C -,A -

Temperature Rollback Minimum

 



50 – 85 °C 70 °C -,A -

Temperature Rollback Maximum

To protect the Power Module from overheating, a thermal roll-back algorithm reduces the output c u r rent when the Power Mo dule beco m e s too hot.

Temperature Rollback Minimum is the temperature at which the thermal roll-back starts.

Temperature Rollback Maximum is the temperature at which the thermal roll-back limits the output current to zero.

Maximum Current

Temp.

Temp

Rollback

Minimum

Limit

(

4.3.2.1

)

Temp

Rollback

Maximum

4.3.4.8 Halve Turning Gain

Parameter Possible Values Default Rev HHP Lite Std Adv

 



Halve Turning Gain No / Yes No A -

Halve Turning Gain halves the values of the

Turning Speed @ Maximum (5.3.7.9) and

the

Turning Acceleration (5.3.7.11) parameters for every Drive Profile (for more

information on

Drive Profiles see 5.3.2). This allows lower turning speeds and acceleration without a loss of resolution. Enabling Halve Turning Gain is particularly useful for high speed chairs and Front

Wheel Drive chairs where low turning speed s are required. See also

Non-Linear Turn (section 5.3.7.13).

Note:

Wizard 5 uses the value of the Halve Turning Gain parameter to determine the Power Module Revision (Rev –, or Rev A). Set this parameter to Yes if you want to use the Rev A parameters. If the Halve Turning Gain parameter is set to No, the Wizard will assume that the program is meant for a "Rev–" Power Module, and will return all Rev A parameters to their default values before it writes the parameters to the Power Module.

5 The DX Master Remote

Warning:

This manual describes a generic DX System and Master Remote use. It must be read together with the installation manual of the actual Master Remote that will be installed on the powerchair.

5.1 Introduction

The Master Remote is the central building block in a DX System. Every DX System must have one, and only one Master Remote.

The DX Master Remote

• Acts as the primary user interface

o Has the system on/off switch o Reads user commands (joystick movement, button pushes, switches) o Communicates these commands to the applicable DX Modules

through the DX BUS

o Displays the system status to the user via the System Status LED

• Controls the status of the DX System Drive Profiles

• Stores and controls up to six

(see section 5.3.2)

• Backs up all system parameters

• Restores system parameters if a module has been replaced (see section 7.3)

• Provides a DX System programming socket for the HHP or the Wizard.

A range of Master Remotes is available for different applications and end-user requirements.

The Master Remote is fully programmable to suit a wide range of powerchair types and user needs. Correct installation and programming are essential to ensure optimum performance and safety.

A Master Remote consists of two major sub-components:

• the User Control Module (UCM)

• the Physical User Interface.

UCM

Display controller

DX BUS

Switches

Display

Joystick

Direction

Speed

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5.1.1 The User Control Module (UCM)

The UCM is the brain, or the main computer, of the DX System. The UCM is built into every Master Remote.

The UCM is responsible for

• System wake-up and shutdown

(the UCM is connected to the system on/off switch)

• System safety, diagnostics, status and fault codes

• System backup and restore

• DX BUS testing and operation

• Reading the input commands (desired speed and direction, actuator position

switches) from the Physical User Interface and all external remotes and modules

• Generating the output commands (calculated speed and direction, actuator

control) and sending these over the DX BUS to the Power Module and fitted auxiliary modules

• all system drive algorithms

• all programmable system parameters.

• RS232 serial communication with programming tools (HHP or Wizard)

The UCM has had several software revisions:

• - (dash)

• A

• C

The available parameters and their meaning are slightly different between software versions. See the programming section for a list of all parameters.

5.1.2 The physical user interface

The physi cal user interface translates the physical inputs (butto ns, joystick) into electrical signals it sends to the UCM. It also translate s the electrical outputs of the UCM to visible or audible user signals (LEDs, displays, the horn).

The Physical User Interface always consists of

• the housing

• the System Status LED

And optionally

• a joystick

• a display

• a battery gauge

• a battery charger socket

• buttons and knobs

• connectors for external switches

Most Master Remotes have their own user input device in the form of a joystick, but this is not always the case. For example: the G91 do es not have a joystick, it depends on either a Secondary Remote or a set of switches to obtain direction and speed commands.

Most Master Remotes have their own display with battery gauge and system status information. Some Master Remotes however, such as the chin remote and the tray remote, do not have their own display, they only have a System Status LED.

5.2 Available Master Remotes

5.2.1 Master Remotes with joystick

Master Remote Application

Advanced driving Advanced seating Highly customisable Switched control available Joystick only menu control available

DX-REMG90A

Environmental control

DX-REMG90T

G90A : two sockets to connect external switches G90T : two t oggle switches

Advanced Driving Seating and lighting All actuators directly accessible from keypad

DX-REM34

Dolphin Remote

Advanced Driving Seating and lighting

DX-REM41

All actuators directly accessible from keypad

DX-REM41S

Dolphin Tray Remote

Chin control Drive only: Joystick, on/off switch, Speedpot No display

DX-REM32

No battery charger socket, only a programming socket

Chin Remote

Drive only: Joystick, on/off switch, Speedpot No display No battery charger socket, only a programming socket

DX-REM35

Tray Remote

Master Remote joystick for attendant use. Switch to take control / release control

DX-ACU3

Can control chair, charging and actuators.

Attendant Control

Unit

Optionally use Secondary Remote for user control.

5.2.2 Master Remotes without joystick

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Master Remote Application

Mounting close to the face of the user to optimise visibility Advanced driving, seating, lighting and environmental control 3-quadrant RIM, switched or proportional Optional j oystick control with Secondary Remote Bi-directional actuator control

DX-REMG91

Highly customisable

DX-REMG91S

Accessor y Shortcut Key gi ves access to the last used function G91S provides single switch scanning

Switched Drive (4 directions) + one switched On/Off control Optional joystick/attendant control with Secondary Remot e

DX-MASTERSW

Switch Interface

Advanced menu-driven driving and environmental control Joystick operation with Secondary Remote Joystick-only control

DX-SCR

Joystick + Mode button control

Specialty Controls

Single Switch Scanning control

5.3 Programmable parameters

5.3.1 Speed and acceleration principles

Maximum

Motor

Volts

Accel/Decel

Speed Demand

0 – 100 %

Joystick

deflection

0-100 %

Power

Module

UCM

Speed Limiting Options

Input Demand Scaler

Max Demand

Spd Limit

Speed Pot

Speed @ Max

5.3.1.1 Speed Demand

When the user deflects the joystick or presses a dr ive control switch, the UCM (see section

5.1.1) converts the Joystick Deflection value into a Speed Demand value. The UCM then sends this Speed Demand value to the Power Module. The Speed Demand value is given as a percentage of the mechanical top speed of the powerchair.

The actual achievable mechanical top speed (in km/h) of any particular powerchair depends on factors like

• the wheel size

• the motors

• the gear used

• the available battery voltage

(batteries that are almost empty have a lower maximum output voltage).

The mechanically achievable top speed varies greatly between powerchair models. For this reason the Speed Demand value is given as a

percentage of that

mechanical top speed. For example:

• A chair that has a mechanical top speed of 12 km/h will drive at approximately 6 km/h when the Speed Demand is 50%*.

• A chair that has a mechanical top speed of 8 km/h will drive at approximately 6 km/h when the Speed Demand is 75%*.

*When the Input Demand Scaler and the Maximum Motor Volts parameters are both set at their maximum value. See next section for more details.

5.3.1.2 Speed limiting options

The DX System offers many options that limit the available Sp eed Demand range to suit safety requirements as well as the preferences of the user. These options can be grouped into five categories:

• the Maximum Motor Volts parameter

• the Input Demand Scaler parameter

• the Speed @ Maximum parameter

• the Speed Pot function

• the Speed Limit function.

100%

Speed @ Maximum

Speed @ Minimum

Speed Pot (0-100%)

Speed Limit (0-100%)

100%

Chair physical top speed*

Zero s

eed

100%

PM Input Demand Scaler

100%

Chair speed @ 100% Joystick Deflection

Joystick

This line is pushed down by the dynamic speed limiting function that has the lowest momentary value (in this example Speed Pot)

Static speed limit

Dynamic speed

limiting functions

momentary value

* The 'Chair physical top speed' is limited by either the available battery voltage or the

Maximum Motor Volts parameter, whichever has the lowest momentary value.

The

Maximum Motor Volts

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parameter (4.3.2.12) sets the maximum Voltage tha t the Power Module will apply to the motor. The powerchair manufacturer can use this parameter to limit the 'Chair physical top speed' to a calculated speed limit for a particular chair type (for specific motors and a specific wheel diameter).

The

Input Demand Scaler parameter (4.3.2.13) allows the Power Module to scale down the Speed Demand that the UCM requir es. A reduced Speed Demand creates extra steering headroom if a turn is requested at full speed (because steering is normally done differentially, with one wheel turning faster than the other one).

The

Speed @ Maximum parameter can be adjusted by the dealer to set a maximum UCM Speed Demand value for the chair, suitable for a specific user. Every Drive Profile has its own Speed @ Maximum setting for forward, reverse and turning to allow different speed limits for different circumstances (indoors, outdoors). For more information on Drive Profiles, see section

5.3.2.

The

Speed Pot function is adjusted by the user to decrease the maximum speed of the chair according to his/her needs at the time. The adjustable value has a range of 0-100%. A Speed Pot value of 100% means that the maximum speed is equal to the Speed @ Maximum parameter. A Speed Pot value of 0% means that the maximum speed is equal to the Speed @ Minimum parameter. Therefore Speed @ Minimum actually means: The Maximum Speed when the Speed Pot function has the value zero.

The Speed Pot function gets its input from a group of parameters:

• A mechanical analogue speed pot (0-100%)

• A digital speed pot on the Master Remote (0-100%)

• The

Chair Speed parameter (5.3.9.1) on the HHP (0-10, converted to 0-100%)

• The DX BUS Speed Pot parameter (0-100%). Any DX Module can take control of this parameter via the DX BUS.

The actual output value of the Speed Pot func tion will be the lowest of all the parameters above.

The

Speed Limit function allows DX Modules to limit the maximum speed when necessary. For example: when the seat is raised, the speed of the chair must be limited. The adjustable range (0-100%) is a percentage of the Speed @ Maximum parameter.

The Speed Limit function gets its input from a group of parameters:

•

CLAM Slowdown (5.3.10.1)

• The DX BUS Slow parameter. Any DX Module can take control of this parameter via the DX BUS.

• Maximum Demand Indicator (MDI). The Power Module indicates to the UCM when it cannot fulfil the Speed Demand, for example when the user tries to go up a slope that is too steep, or when the battery voltage would become higher than the Maximum Motor Volts parameter (

4.3.2.12).

• Internal stability algorithms that momentarily limit the speed for safety reasons.

The actual output value of the Speed Limi t function will be the lowest of all the parameters above.

5.3.1.3 Acceleration and deceleration

Acceleration is the rate at which the speed increases when the joystick is pushed out

of the centre position.

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SPEED

TIME

The acceleration of the powerchair can be adjusted with the

Forward Acceleration (5.3.7.3), the Reverse Acceleration (5.3.7.7) and the Turning Acceleration (5.3.7.11) parameters.

Deceleration is the rate at which the speed decreases after the joystick has been

returned to the centre position.

Too high

• Too sensitive

• Jerky

Too low

• Unresponsive

• Long delays

Good

• Smooth

• Dependent on user

and environment

SPEED

Too low

• Unresponsive

• Braking distance

too long

  

The deceleration of the powerchair can be adjusted with the

Forward Deceleration (5.3.7.4), the Reverse Deceleration (5.3.7.8) and the Turning Deceleration (5.3.7.12) parameters.

Note:

The UCM applies the acceleration and deceleration algorithms to the Speed Demand value after the speed limiting functions.

Warning:

Too high or too low acceleration / deceleration settings can result in potentially dangerous chair behaviour and lead to injury.

TIME

  

Too high

• Rough

• Can eject the

user from the chair

Good

• Smooth

• Dependent on user

and environment

Damping Point

When the powerchair almost reaches the desired spe ed , the acceleration / deceleration rate (that initially is given by the applicable acceleration / deceleration parameter of the previous page) is slowly decreased to zero. This prevents a sudden change in acceleration once the desired speed is reached.

Use the Speed Damping and Turn Damping parameters (see

5.3.7.16) to adjust the

point where the damping starts. 0%: No damping

100%: Maximum damping.

Damping point

Time

Speed

The

Min To Max Decel Ratio parameter (section 5.3.7.17) defines the slope at the end of the curve before the final speed is reached, as a percentage of the acceleration / deceleration slope before damping has started.

4%: The end acceleration / deceleration is 4% of the acceleration / deceleration

before damping, which gives a very smooth curve.

100%: The end acceleration / deceleration is 100% of the acceleration / deceleration

before damping, which effectively results in no damping at all.

Soft-Start Acceleration

The Damping Point only affects the end of the acceleration curve in most cases. To provide a smooth start from a standstill when the joystick is suddenly deflected to 100% (for example with a switched joystick) use

Soft-Start Acceleration (see 5.3.9.2) in

combination with the

Soft-Start Time parameter (see 5.3.8.6).

100 %

Damping point

4 % Ratio

Damping point

100 % Ratio

Time Time

4 %

100 %

Speed

Soft-Start Time

Time

Speed

5.3.2 Drive Profiles

5.3.2.1 The principle

A Drive Profile is a set of parameters which

• define the maximum speed and the responsiveness (acceleration and deceleration) of the chair

• select the desired input source, such as the joystick of the Master Remote, a secondary joystick or external switches.

Drive Profiles can provide access to multiple control sources, define indoor and outdoor driving modes or simply provide a digital speed pot by programming a range of preset maximum speeds.

The DX system can store up to 6 Drive Profiles. Each Drive Profile can be independently customised to provide varying levels of speed and responsiveness.

Some of the Drive Profile parameters as they appear in the Wizard

Dependent on the features of the Master Remote in us e and its programming, the user can choose Drive Profile 1-5 with

• the Drive Profile selection buttons on the Master Remote

• the joystick on the Master Remote or the Secondary Remote

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• the ARC buttons or switches (see

6.6.3.4)

• external Drive Profile selection switches, if fitted.

Drive Profile 6 is intended for use with an Attendant Control Unit (ACU), and is called the ACU profile. Drive Profile 6 is automatically selected when an ACU that is in the 'Attendant Mode' is connected to the DX System. When the ACU is disconn ected, or when it returns to the 'User Mode', the powerchair automatically returns to the Drive Profile that was selected when the ACU became active (see the ACU User Manual for more details).

DX-ACU1

5.3.2.2 Drive Profile 0

Drive Profile 0 has all parameters set the same as Drive Profile 1, but prevents the powerchair from driving. This is a safety feature required by some regulatory authorities to prevent a sudden change in speed when progressing from Drive Profile 1 (normally the slowest), down to Drive Profile 5 (normally the fastest) when

Wrap Profiles

is enabled (see section 5.3.8.2).

Drive Profile 0 can be used for its ability to inhibit driving, particularly when used for Actuator Mode (when actuators are enabled).

Enable Drive Profile 0 with the

Allow Non-Driving Profile parameter (5.3.8.4).

5.3.2.3 Speed setting recommendations

Each Drive Profile has its own Maximum Speed, Acceleration and Deceleration settings for forward, reverse and turning. These settings can be adjusted so that the different Drive Profiles either

• act as a digital Speed Pot, or

• cater for the different needs in different environments,

for example indoors or outdoors.

It is common practice to program Drive Profile 1 as the slowest profile and Drive Profile 5 as the fastest profile.

Programming Drive Profiles as a digital Speed Pot

• Forward speed should have a large linear range between drive profiles

• Reverse and turning speed should change only slightly for faster drive profiles

• Grip (see

5.3.7.15) should be decreased for faster drive profiles to maintain

chair stability.

Drive

Profile

Maximum

Forward

Speed

Maximum

Reverse

Speed

Maximum Grip

Turning

Speed

(5.3.7.15)

Turning Speed

100%

Reverse Speed

Forward Speed

100%

1 20 % 20 % 20 % 100%

2 40 % 20 % 20 % 85%

3 60 % 25 % 25 % 70%

4 80 % 30 % 30 % 55%

5 100 % 30 % 35 % 40%

Drive

Profile

Minimum

Forward

Speed

Minimum

Reverse

Speed

Minimum

Turning

Speed

All 5 % 5 % 5 % -

Programming Drive Profiles for different environments

• Turning speed can be higher for indoor drive profiles, because fast turning at low speed can be helpful indoors to drive around objects.

• Fast turning at high forward speed can be dangerous, so the fast outdoor drive profile should have a lower turning speed.

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Warning:

The recommended parameter values are a guideline only. Testing is required to verify suitability for individual chair designs and user preference.

Note:

Adjust the

Load Compensation parameter (4.3.2.3 ) to the correct motor resistance value before you program the Drive Profile speed settings. Load Compensation controls the behaviour of the motor. The behaviour of the motor changes the performance of all speed and acceleration parameters. If you adjust the Load Compensation parameter after you have set the speed parameters, you will probably have to re-adjust many speed parameters again.

5.3.2.4 Single Drive Profile mode

Normally Drive Profiles are used to customise a chair to the comfort and driving habits of one user. If a chair is frequently shared between users,

Single Profile Mode (see

5.3.10.4) in combination with Chair Speed Enable (see 5.3.10.3) can be useful. Single Drive Profile mode makes it easy to quickly adapt a chair to different users or

situations without the need for extensive programming. When the HHP is plugged in, the therapist or carer can easily adjust the overall Chair Speed and select the desired Drive Profile (such as the Drive Profile for user X, or the Drive Profile for indoor use).

The user can not change the Drive Profile, because the Profile Select buttons work as a digital Speed Pot for the Drive Profile that is currently active, t hey do not change the active Profile. This makes sure that the user does not accidentally change the Drive Profile to the Profile of another user, or the fast outdoor Profile when indoors.

Drive

Profile

Type

Maximum

Forward

Speed

Maximum Maximum

Grip

Reverse Turning

(see 5.3.7.15)

Speed Speed

1 Home 20 % 20 % 20 % 80 % 2 Mall 40 % 20 % 40 % 40 % 3 Outdoor wet 60 % 30 % 20 % 25 % 4 Outdoor dry 60 % 30 % 20 % 80 % 5 Outdoor fast 100 % 30 % 10 % 80 %

CHAIR SPEED Min ########### Max NEXT DOWN UP

The first HHP screen changes the

overall Chair Speed

RESPONSE 1

NEXT DOWN UP

The second HHP screen changes

the Drive Profile (called Response)

5.3.3 Two or more joysticks: choosing the joystick source

Every Drive Profile has its own external joystick setting. Select the joystick to use for each Drive Profile wi th the

Joystick Source parameter

(see section

5.3.8.7).

This parameter can be adjusted with the HHP and the Wizard.

5.3.4 Reducing the movement to operate the joystick

Normally a DX powerchair will reach full speed only when the joystick is pushed as far as it can mechanically go (for example when it hits the restrictor plate).

For some users it may be difficult or impossible to move the joystick to the end point. In these cases the Short Throw Travel parameter (

5.3.7.14) can reduce the amount of deflection (and therefore pressure) required to achi eve full speed. The dealer or therapist can adjust this parameter to suit the physical abilities of specific users.

For actuator operation, the Joystick Switch Threshold parameter (

5.3.10.16) can reduce the amount of deflection that is needed before the switch function is activated.

Warning:

When you adjust Short Throw Travel, use Short Throw Shape to make sure that the user can not request full forward speed and full turn speed at the same time. See section

5.3.7.14 for more details.

5.3.5 Chair stability

The DX System has several options to increase the stability of a powerchair.

• The

Grip parameter (see 5.3.7.15) defines the physical grip of the powerchair.

Set this parameter low for Drive Profiles that are used on slippery surfaces.

• The

Chair Stability Parameters (see 5.3.7.18) are useful to make sure that the

powerchair does not lose control when it tries to make a turn at high speed.

• The

Steering stability parameters (see 5.3.7.19) can help the user to steer

straight and to prevent steering delays when the chair is driving at full speed.

See also section

7.4: Programming and testing a DX chair for stability.

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5.3.6 List of parameters

Key:

 Editable at this level (see sec tion 7.1.2.1: Dongle versions)

 Viewable at this level

Parameter Possible Values Default Rev HHP Lite Std Adv

Drive Profiles

Forward Speed @ Maximum 10 – 100 % N/A -,A,C



  

Forward Speed @ Minimum 5 – 100 % 5% C



  

Forward Acceleration 10 – 70 % 40 % -,A,C



  

Forward Deceleration 15 – 100 % 60 % -,A,C



  

Reverse Speed @ Maximum 10 – 100 % N/A -,A,C



  

Reverse Speed @ Minimum 5 – 100 % 5% C



  

Reverse Acceleration 10 – 70 % 70 % -,A,C



  

Reverse Deceleration 15 – 100 % 30 % -,A,C



  

Turning Speed @ Maximum 20 – 100 % N/A -,A,C



  

Turning Speed @ Minimum 5 – 100 % 5% C



  

Turning Acceleration 10 – 70 % 40 % -,A,C



  

Turning Deceleration 15 – 100 % 70 % -,A,C



  

Turn Damping 10 – 100 % 40% C -

  

Non-Linear Turn No / Yes No C -



 

Short Throw Shape 100 – 200 % 200 % C -

  

Short Throw Travel 100 – 200 % 100 % C -

  

Grip 5 – 100 % 100% C



  

Damping Point 10 – 100 % 40 % -,A



  

Speed Damping 5 – 100 % 40 % C -

  

Min To Max Decel Ratio 4 – 100 % 20 % -,A,C -

  

Speed x Turn for Grip 5 – 100 % 100 % C -

 



Accel Out Of A Turn For Grip 0 – 200 % 100 % C -

 



Accel Into A Turn For Grip 0 – 200 % 100 % C -

 



Turning @ Full Speed 5 – 100 % 100 % C -

 



Turning Accel @ Full Speed 100 – 300 % 100 % C -

 



Parameter Possible Values Default Rev HHP Lite Std Adv

Drive Profile Options

Maximum Profile Number 1 - 5 5 -,A,C -

  

Wrap Profiles No / Yes Yes A,C -

 



Change Profile While Driving No / Yes No -,A,C -

  

Allow Non-Driving Profile No / Yes No -,A,C -

 



Sleep Timeout 1 – 60 min 5 min -,A,C -



 

Soft-Start Time 0 – 1000 ms 0 ms A,C -



 

Joystick Source (RJM) No / Yes No -,A

   

Joystick Source

Master ACU RJM Display ARC ExtNV1 ExtNV2 None

Master C -

  

Joystick Swap Forward / Reverse

No / Yes No A,C



  

General User Options Speed Pot Scaler 20 – 100 % 100 %

-,A

  

Chair Speed 0 – 10 10

   

Soft-Start Acceleration No / Yes No A,C -

  

Neutral Maximum 10 – 50 % 10 % -,A,C -

  

Disable OONAPU Faults No / Yes No A,C -

  

Drive Delay After Power-up 0-10 0 s C -

  

Lock Enable No / Yes No -,A,C -

  

Sleep Mode Enable No / Yes No -,A,C -

  

Power-up Profile Number 1 - 7 7



 

Enable Joystick Wakeup No / Yes Yes C -

  

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Parameter Possible Values Default Rev HHP Lite Std Adv

System Settings

CLAM Slowdown 0 – 100 % 20 %

-,A,C



 

Neutral to PB Delay 20 – 5000 ms 100 ms

-,A,C

 



Chair Speed Enable No / Yes No



 

Single Profile Mode No / Yes No





 

CANH Power Switch No / Yes Yes



 

CAN Terminator No / Yes Yes



 

UCM Joystick Swap Left/Right

No / Yes No

-,A,C



 

Rotate UCM Joystick No / Yes No



 

ACU Enable No / Yes Yes

-,A,C



 

ACU Joystick Swap Left/Right No / Yes No

-,A,C



 

ACU has Momentary Switch No / Yes No



 

ACU Momentary Switch Timeout

No / Yes Yes



 

RJM Enable No / Yes Yes

-,A,C



 

RJM Joystick Swap Left/Right No / Yes No

-,A,C



 

RJM has Analog Joystick No / Yes Yes



 

Joystick Switch Threshold 20 – 80 % 50 % C -

  

5.3.7 Drive Profiles parameters

These parameters have to be set for every Drive Profile:

Parameter Possible Values Default Rev HHP Lite Std Adv

Forward Speed @ Maximum 10 – 100 % N/A -,A,C



  

Forward Speed @ Minimum 5 – 100 % 5% C



  

Forward Acceleration 10 – 70 % 40 % -,A,C



  

Forward Deceleration 15 – 100 % 60 % -,A,C



  

Reverse Speed @ Maximum 10 – 100 % N/A -,A,C



  

Reverse Speed @ Minimum 5 – 100 % 5% C



  

Reverse Acceleration 10 – 70 % 70 % -,A,C



  

Reverse Deceleration 15 – 100 % 30 % -,A,C



  

Turning Speed @ Maximum 20 – 100 % N/A -,A,C



  

Turning Speed @ Minimum 5 – 100 % 5% C



  

Turning Acceleration 10 – 70 % 40 % -,A,C



  

Turning Deceleration 15 – 100 % 70 % -,A,C



  

Turn Damping 10 – 100 % 40% C -

  

Non-Linear Turn No / Yes No C -



 

Short Throw Shape 100 – 200 % 200 % C -

  

Short Throw Travel 100 – 200 % 100 % C -

  

Grip 5 – 100 % 100% C



  

Damping Point 10 – 100 % 40 % -,A



  

These parameters are set for all drive profiles at once:

Parameter Possible Values Default Rev HHP Lite Std Adv

Speed Damping 5 – 100 % 40 % C -

  

Min To Max Decel Ratio 4 – 100 % 20 % -,A,C -

  

Speed x Turn for Grip 5 – 100 % 100 % C -

 



Accel Out Of A Turn For Grip 0 – 200 % 100 % C -

 



Accel Into A Turn For Grip 0 – 200 % 100 % C -

 



Turning @ Full Speed 5 – 100 % 100 % C -

 



Turning Accel @ Full Speed 100 – 300 % 100 % C -

 



5.3.7.1 Forward Speed @ Maximum

Parameter Possible Values Default Rev HHP Lite Std Adv



 

Forward Speed @ Maximum 10 – 100 % N/A -,A,C



Sets the forward speed of the powerchair when the joystick is fully deflected forward and the Speed Pot is in its Maximum position.

This parameter must be set for every Drive Profile.

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See also section

5.3.2.3: Speed setting recommendations.

5.3.7.2 Forward Speed @ Minimum

Parameter Possible Values Default Rev HHP Lite Std Adv



 

Forward Speed @ Minimum 5 – 100 % 5% C



Sets the forward speed of the powerchair when the joystick is fully deflected forward and the Speed Pot is in its Minimum position.

This parameter must be set for every Drive Profile. This parameter partially replaces the

Speed Pot Scaler parameter (see 5.3.9.5).

See also section

5.3.2.3: Speed setting recommendations.

5.3.7.3 Forward Acceleration

Parameter Possible Values Default Rev HHP Lite Std Adv



 

Forward Acceleration 10 – 70 % 40 % -,A,C



Sets the rate at which the forward speed increases after the joystick has been deflected forward. 10% results in a very slow increase, 70% results in a very quick increase.

See also section

5.3.1.3 : Acceleration and deceleration.

5.3.7.4 Forward Deceleration

Parameter Possible Values Default Rev HHP Lite Std Adv



  

Forward Deceleration 15 – 100 % 60 % -,A,C

Sets the rate at which the forward speed decreases after the joystick has been returned to the centre. 15% results in a very slow stop, 100% results in an instant stop.

See also section

5.3.1.3 : Acceleration and deceleration.

Warning:

Setting the Deceleration too low or too high can result in an unsafe powerchair. Test thoroughly after programming to make sure that the powerchair complies with regulatory requirements such as ISO7176 and the GMD-TND Homologation Directive R04 for maximum allowable braking distance.

5.3.7.5 Reverse Speed @ Maximum

Parameter Possible Values Default Rev HHP Lite Std Adv

Reverse Speed @ Maximum 10 – 100 % N/A -,A,C



  

Sets the reverse speed of the powerchair when the joystick is fully deflected backward and the Speed Pot is in its Maximum position.

This parameter must be set for every Drive Profile. See also section

5.3.2.3: Speed setting recommendations.

5.3.7.6 Reverse Speed @ Minimum

Parameter Possible Values Default Rev HHP Lite Std Adv

Reverse Speed @ Minimum 5 – 100 % 5% C



  

Sets the reverse speed of the powerchair when the joystick is fully deflected backward and the Speed Pot is in its Minimum position.

This parameter must be set for every Drive Profile. This parameter partially replaces the

Speed Pot Scaler parameter (see 5.3.9.5).

See also section

5.3.2.3: Speed setting recommendations.

5.3.7.7 Reverse Acceleration

Parameter Possible Values Default Rev HHP Lite Std Adv

Reverse Acceleration 10 – 70 % 70 % -,A,C



  

Sets the rate at which the reverse speed i ncreases after the joystick has been deflected backward. 10% results in a very slow increase, 70% results in a very quick increase.

See also section

5.3.1.3 : Acceleration and deceleration.

5.3.7.8 Reverse Deceleration

Parameter Possible Values Default Rev HHP Lite Std Adv

Reverse Deceleration 15 – 100 % 30 % -,A,C



  

Sets the rate at which the reverse speed decreases after the joystick has been returned to the centre. 15% results in a very slow stop, 100% results in an instant stop.

See also section

5.3.1.3 : Acceleration and deceleration.

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5.3.7.9 Turning Speed @ Maximum

Parameter Possible Values Default Rev HHP Lite Std Adv

Turning Speed @ Maximum 20 – 100 % N/A -,A,C



  

Sets the turning speed of the powerchair when the joystick is fully deflected sideways and the Speed Pot is in its Maximum position.

This parameter must be set for every Drive Profile. See also section

5.3.2.3: Speed setting recommendations.

5.3.7.10 Turning Speed @ Minimum

Parameter Possible Values Default Rev HHP Lite Std Adv

Turning Speed @ Minimum 5 – 100 % 5% C



  

Sets the turning speed of the powerchair when the joystick is fully deflected sideways and the Speed Pot is in its Minimum position.

This parameter must be set for every Drive Profile. See also section

5.3.2.3: Speed setting recommendations.

5.3.7.11 Turning Acceleration

Parameter Possible Values Default Rev HHP Lite Std Adv

Turning Acceleration 10 – 70 % 40 % -,A,C



  

Sets the rate at which the turning speed increases after the joystick has been deflected sideways. 10% results in a very slow increase, 70% results in a very quick increase.

See also section 5.3.1.3 : Acceleration and deceleration.

5.3.7.12 Turning Deceleration

Parameter Possible Values Default Rev HHP Lite Std Adv

Turning Deceleration 15 – 100 % 70 % -,A,C



  

Sets the rate at which the turning speed decreases after the joystick has been returned to the centre. 15% results in a very slow stop, 100% results in an instant stop.

See also section

5.3.1.3 : Acceleration and deceleration.

5.3.7.13 Non-Linear Turn

Parameter Possible Values Default Rev HHP Lite Std Adv



Non-Linear Turn No / Yes No C -

 

Non-Linear Turn decreases the joystick gain (output/input ratio) for low turning speeds. This gives the user finer steering control at low turning speed, because more movement of the joystick is required to generate the same turning output.

Non-Linear Turn does not change the maximum turning speed, so the powerchair will still be able to turn smoothly, for example on thick carpet.

Output

Movement

100%

50%

Non-Linear Turn - No

Non-Linear Turn - Yes

See also section

2.4.5: Parkbrake operation and programming.

5.3.10.3 Chair Speed Enable

Parameter Possible Values Default Rev HHP Lite Std Adv



Chair Speed Enable No / Yes No -

 

Chair Speed Enable enables the HHP to edit the

Chair Speed parameter (see 5.3.9.1)

and the active Drive Profile/Response in

Single Profile Mode (see 5.3.10.4).

Chair Speed programming with the HHP simplifies speed programming for the dealer or therapi st. Without Chair Speed all the sp eed parameters must be adjusted for all the Drive Profiles individually.

With Chair Speed enabled, the dealer or therapis t can ed it the Chair Speed parameter on the HHP to adjust the global chair speed for all Drive Profiles simultaneously. This makes it possible to quickly and easily adjust the overall chair speed with the HHP to suit the capabilities of a specific user.

If Chair Speed is enabled, the first screen that the HHP shows when it is plugged in is the Chair Speed screen:

The number of #s indicates the Chair Speed value.

NEXT DOWN UP

Min ########### Max

CHAIR SPEED

• Press UP or DOWN to adjust the Chair Speed value. The change will take effect immediately, so it is possible to test the result directly while driving.

• Press NEXT to save the new Chair Speed value.

The value of 0-10 is converted to 0%-100%. After conversion the value is sent as an input to the global Speed Pot function (see section

5.3.1.2: Speed limiting options).

It is possible to give the Chair Speed parameter an initial value with the Wizard.

5.3.10.4 Single Profile Mode

Parameter Possible Values Default Rev HHP Lite Std Adv



Single Profile Mode No / Yes No -

 

No –

Drive Profiles

• The DX System uses all available

(see 5.3.2).

• The Profile Select buttons on the Master Remote select the drive profile.

Yes – • Only one active Drive Profile

• The active Drive Profile is determined by the

Power-up Profile Number

parameter (see

5.3.9.9).

• The Profile Select Buttons on the Master Remote act as a digital speed po

• The active Drive Profile can only be changed with the HHP or the Wizard.

Enable Single Profile Mode for powerchairs that are shared between several different users. In Single Profile Mode the users are not able to change the Drive Profile, they can only lower the speed with the digital Speed Pot.

Only the therapist can change the Drive Profile (with the HHP or with the Wizard) to suit a particular user on a particular day.

Notes:

1. The HHP refers to the Power-up Profile Number parameter

as 'Response'

2. If Single Profile Mode is set to 'Yes', make sure that Power-up Profile

Number does not have the value 6 or 7.

3. For the HHP to be able to change the Drive Profile in Single Profile

Mode,

Chair Speed Enable (see 5.3.10.3) must be set to 'Yes'.

5.3.10.5 CANH Power Switch

Parameter Possible Values Default Rev HHP Lite Std Adv



CANH Power Switch No / Yes Yes -

 

If set to 'No', only the DX Master Remote can switch the system off. If set to 'Yes', any DX Module (for example the ARC switchbox) can switch the system

off via the DX BUS.

5.3.10.6 CAN Terminator

Parameter Possible Values Default Rev HHP Lite Std Adv



CAN Terminator No / Yes Yes -

 

For reliable DX BUS communication, the DX System needs two electrical CAN terminators on the DX BUS lines. Normally the Po wer Module and the UCM Master Remote provide this termination.

If CAN Terminator is set to 'Yes', the UCM will apply a CAN terminator to the DX BUS CANH and CANL signal lines. This is the standard setting. Only set CAN Terminator to 'No' if there already are two other CAN terminators on the DX BUS.

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5.3.10.7 UCM Joystick Swap Left/Right

Parameter Possible Values Default Rev HHP Lite Std Adv

UCM Joystick Swap Left/Right

No / Yes No -,A,C -



 

If the Master Remote is mounted upside-down (for example with chin or tray applications), set UCM Joystick Swap Left/Right to 'Yes'.

This parameter only applies to the Master Remote joystick, not to the Remote Joystick Module (RJM ) or the Attendant Control Module (AC U) joysticks, or to drive switches connected to the Master Remote. To apply Left/Right joystick swap to the RJM joystick, use the

RJM Joystick Swap Left/Right parameter (5.3.10.14). To apply

Left/Right joystick swap to the ACU joystick, use the

ACU Joystick Swap Left/Right

parameter (

5.3.10.10).

5.3.10.8 Rotate UCM Joystick

Parameter Possible Values Default Rev HHP Lite Std Adv

Rotate UCM Joystick No / Yes No



 

If this parameter is set to 'Yes', the joystick operation of the Master Remote is rotated by 90°.

Parameter

Value

Deflection Driving

direction

Forward  Forward Right  Right Reverse  Reverse

Left  Left Forward  Right Right  Reverse Reverse  Left

Yes

Left  Forward

To rotate the other way around (Forward  Left), set

Joystick Swap Forward / Reverse

(

5.3.8.8) and UCM Joystick Swap Left/Right (5.3.10.7) to 'Yes' as well.

Use a forward/backward symmetrical restrictor plate (for example a circular or a square restrictor plate) if this parameter is set to 'Yes'.

5.3.10.9 ACU Enable

Parameter Possible Values Default Rev HHP Lite Std Adv

ACU Enable No / Yes Yes

-,A,C



 

If an Attendant Control Unit (ACU) is fitted, set this parameter to 'Yes' to allow the ACU to take control over the chair.

If no ACU is fitted, setting this parameter to 'Yes' will slightly decrease the performance of the chair, because the DX System will r egu larly search for the presence of an ACU.

5.3.10.10 ACU Joystick Swap Left/Right

Parameter Possible Values Default Rev HHP Lite Std Adv

-,A,C



ACU Joystick Swap Left/Right No / Yes No -

 

Set ACU Joystick Swap Left/Right to 'Yes' if the Attendant Control Unit is mounted

• upside-down

• vertically to give forward driving when the joystick is deflected down.

This parameter only applies to the ACU. To apply Left/Right joystick swap to the RJM joystick, use the

RJM Joystick Swap Left/Right

parameter (5.3.10.14). To apply

Left/Right joystick swap to the Master Remote joystick, use the

UCM Joystick Swap

Left/Right

parameter (5.3.10.7).

5.3.10.11 ACU has Momentary Switch

Parameter Possible Values Default Rev HHP Lite Std Adv



ACU has Momentary Switch No / Yes No -

 

The ACU has a switch to tell the Master Remote that it wants to take control of the powerchair. This switch can be

• a latching switch (a switch that stays in the same position after switching), or

• a momentary switch (a switch that returns to its original position, for example a

push button).

If the ACU has a momentary switch, set ACU has Momentary Switch to 'Yes'.

Note:

The DX-ACU1 is fitted with a latching switch.

5.3.10.12 ACU Momentary Switch Timeout

Parameter Possible Values Default Rev HHP Lite Std Adv

ACU Momentary Switch Timeout



 

No / Yes Yes C -

Yes – When the attendant has not operated the ACU for two minutes, the

DX System automatically switches from Attendant M ode to Use r Mode. Th is allows the user to resume driving.

No – The DX System remains in the Attendant Mode until the Momentary Switch is

pushed to release the control of the powerchair back to the user.

If ACU has Momentary Switch (

5.3.10.11) is set to 'No', the value of ACU Momentary

Switch Timeout is ignored. Therefore, this parameter has no effect on the DX-ACU1.

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5.3.10.13 RJM Enable

Parameter Possible Values Default Rev HHP Lite Std Adv

RJM Enable No / Yes Yes

-,A,C



 

If a Remote Joystick Module (RJM) Secondary Remote is fitted, set RJM Enable to 'Yes' to allow the RJM to operate when the Drive Profile has the RJM selected as the Joystick Source (5.3.8.7).

If the RJM is not connected, a Module Fault (flash code 1) will occur when a Drive Profile is selected that has the RJM as the Joystick Source.

See section

6.2: Secondary Remotes.

5.3.10.14 RJM Joystick Swap Left/Right

Parameter Possible Values Default Rev HHP Lite Std Adv

RJM Joystick Swap Left/Right No / Yes No

-,A,C



 

If the Remote Joystick Module (RJM) is mounted upside-down (for example with chin or tray applications), set RJM Joystick Swap Left/Right to 'Yes'.

This parameter only applies to the RJM. To apply Left/Right joystick swap to the ACU joystick, use the

ACU Joystick Swap Left/Right parameter (5.3.10.10). To apply

Left/Right joystick swap to the Master Remote joystick, use the

UCM Joystick Swap

Left/Right

parameter (5.3.10.7).

5.3.10.15 RJM has Analog Joystick

Parameter Possible Values Default Rev HHP Lite Std Adv

RJM has Analog Joystick No / Yes Yes



 

The RJM joysticks come in two different versions:

• Proportional control. These joysticks give a gradual 0-100% range. For example: the mini joystick or the finger steering control.

• Switched control. These joysticks only give an on/off signal for each direction. For example: the Heavy Duty joystick or the Sip and Puff Module.

If the DX System uses a switched joys tick, set RJM has Analog Joystick to 'No'. If this parameter has the value 'No', the UCM ignores small speed signals and small direction signals from this joystick.

Unwanted small direction signals can be caused by a small analog offset signal when a switched joystick outputs "zero". These small direction signals can cause the powerchair to veer slightly.

Intended direction

Actual

direction

Veer

Small direction signals can cause a slight veer

With a proportional joystick the user can correct for any veer by mo ving the joystick slightly sideways. A switched joystick does not have this capability.

If RJM has Analog Joystick has the value 'No', the UCM ignores the small speed and direction signals generated by the joystick processing. This makes sure that the powerchair does not veer.

The size of the "zero"-area is determined by the value of the

Neutral Maximum

parameter (see

5.3.9.3)

zero F-R

zero L-R

Neutral

Maximum

10%

zero

F-R

zero

L-R

Neutral

Maximum

30%

zero

Neutral

Maximum

10%

RJM has Analog Joystick: Yes RJM has Analog Joystick: No

zero

L-R

zero

F-R

Note:

1. Setting RJM has Analog Joystick to 'No' can also help users who

have problems to steer straight ahead.

2. Veer can also occur if the performance of the two drive motors is

not equal. See section

4.3.2.5: Veer Compensation

5.3.10.16 Joystick Switch Threshold

Parameter Possible Values Default Rev HHP Lite Std Adv

Joystick Switch Threshold 20 – 80 % 50 % C -

  

Some functions such as actuator operation and lighting control can use the joys tick as an input switch. Joystick Switch Threshold sets the value beyond which the DX System assigns the joystick to be in the "on" position.

Set this parameter lower than 50% to

• allow a forward-sideways or a reverse-sideways switch operation when the restrictor plate does not physically allow this

• allow users with very little hand movement to operate the joystick switches comfortably.

Joystick Switch

Threshold 20%

Joystick Switch

Threshold 80%

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See also section

5.3.4: Reducing the movement to operate the joystick.

off

Joystick Switch

Threshold 50%

off

6 DX Modules

6.1 Introduction

Including the Power Module and the Master Remote, a DX System can contain up to 16 DX compatible modules dependent on the application.

Available types of DX Modules are

• Remote Joystick Module (RJM),

o DX-RJM Secondary Remotes o Switch modules

• Attendant Control Unit (ACU), joystick with attendant switch and Speed Pot

o DX-ACU1

• Actuator Remote Control (ARC), 5 channels of extend/retract switches

o DX-ARC / DX-ARC-SWB

• Servo Steering Motor Modules

o DX-SLM, for steering servo motor control + lights

• Lighting Modules

o DX-SLM/ DX-LM/ DX-CLAM

• Actuator Modules

o DX-CLAM/ DX-TAM

• Environmental Control Unit Modules (ECU)

• DX-KEY Modules enable third party devices to inter face with t h e D X System

The DX System has the option to declare some DX Modules as safety critical. This makes sure that the DX System will not operate when that particular module is not detected during power-up.

Warning:

Each DX Module has its own Installation Manual that describes the installation requirements of that particular module. This chapter gives a brief description of several DX Auxiliary Modules, but it is not a substitute for the manual of those modules. If you have purchased a specific DX Module, read and understand the manual of that module before using the module.

6.1.1 The GPSB/SLIO

Some DX Modules, such as the DX-RJM Secondary Remote joystick, do not perform any processing or storing of parameter values themselves. All the processing for these modules is done in the UCM (see

5.1.1). The modules only read the joystick position

and send this throu gh the DX BUS to the UCM. Because they don't need any local intelligence, these modules have a simple

communication device that connects them to the DX BUS. This communication device is internally located on the 'General Purpose SLIO Board' (GPSB) and is called a 'Serial Linked I/O' (SLIO) device.

6.2 Secondary Remotes

A Secondary Remote is a secondary user input device, for example an attendant joystick. A Secondary Remote

• converts user input (the joysti ck or the switches, dependent on the type of Secondary Remote) to speed and direction signals, and

• sends the speed and direction signals as DX BUS messages to the Master Remote via the DX BUS.

To use a Secondary Remote, select it as the

Joystick Source

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(see 5.3.8.7) in one of the

Drive Profiles (see

5.3.2).

6.2.1 Available Secondary Remotes

Secondary Remote Applications

Attendant joystick Attendant can take drive control with Attendant/User switch Attendant can adjust chair speed

DX-ACU1

Dual Control

Attendant joystick User joy stick for Master Remotes without joystick User joystick mountable on the armrest or away from it

DX-RJM

Compact chin remote

Remote Joystick

Module

Users wi thout finer hand mo vement Situations where a normal joystick can be damaged

DX-RJM-HD

Heavy Duty Joystick

Full proportional control with very little movement or force Completely sealed - can be used as a tongue joystick

DX-RJM-MINI

DX Mini Joystick

Zero force optical operation Users with very little strength in their hand/fingers

DX-RJM-VIC-CCD

Finger Steering

Control

Full proportional control Finger movement of 2 mm per direction is enough

Driven by four momentary switches, Either separate switches or Switches combined in one unit (for example the wafer switch)

DX-ACC4

Provides up to eight driving directions

Four Switch Interface

6.3 DX Steering/Actuator/Lighting Modules

DX Module Function / Applications

DX-SLM / DX-SLM-TUV

Servo Lighting Module

Drives a separate motor for steering castor wheels Commonly used for high speed outdoor powerchairs 24V, 30A peak, 5A continuous Servo steering 24V lighting (DX-SLM) or 12V regulated lighting (DX-SLM-TUV)

DX-CLAMB

Combined Lighting

and Actuator Module

Compact module to connect all common functions:

• Five actuators

• Front lights, Rear lights

• Left and right turning indicators, Hazard lights

All power and control signals provided through the DX BUS Soft Start feature provides smooth actuator control Slow/Stop input (for actuator position switches)

DX-LM-Z / DX-LM-TUV

Lighting Module

24V lighting (DX-LM-Z) 12V regulated outputs for TÜV approved lighting (DX-LM-TUV)

• Front lights, Rear lights

• Left and right turning indicators, Hazard lights

Short-circuit and open-circuit detection

DX-TAM

Two Actuator Module

Simple and compact solution for two actuator control All power and control signals provided through the DX BUS Soft Start feature provides smooth actuator control Slow/Stop input (for actuator position switches) Programmable current limits and maximum operation time

DX-ARC5

Actuator Remote

Control

Separate handset for actuator control Ideal for

• attendant use

• users who can not use the controls of the Master Remote

Controls up to 5 s e a t p o s i ti oning actua to r s Actuators can optionally be operated while driving Can be programmed to control horn, lights and driving Needs DX-CLAMB or DX-TAM to operate

DX-ARC-SWB

ARC Switchbox

Controls up to 5 s e a t p o s i ti oning actua to r s Can be programmed to control horn, lights and driving Operates with external switches ( DB15 connector) Choose switch combinations and mounting positions freely One extra 24V/1A power supply output

Secondary Remote Applications

Five switch inputs plus extra 'Emergency Stop' input Accepts input devices terminated in a '9-pin D' connector Analog Latch mode gives infinitely adjustable cruise speed

DX-5SW

3 momentary modes, 4 latched modes

5 Switch Module

Recognises soft and hard sips and puffs Sip and puff pressures programmable Analog Latch mode gives infinitely adjustable cruise speed

DX-SNP

3 momentary modes, 4 latched modes

Sip and Puff Module

6.4 DX Environmental Control Modules

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DX Module Function / Applications

Needs the DX-SCR, the G90 or the G91 Remotes to operate Uses the Secondary driving Remote as input control '8 Output mode' controls up to eight separate devices

DX-ECU

'Mouse mode' acts as a mouse mover, fifth switch acts as click

Environmental

Control Unit

Up to two DX-ECU modules in one DX System All outputs are isolated relay co ntacts

Learning infra-red remote control 360° transmission Supports GEWA devices

DX-IRIS2

Works together with the Specialty Controls Master Remote

Infra-Red Transmitter

Receives mouse move commands from the DX-IRIS2 Works alongside the computer's existing mou se Serial port connection

DX-PCMR

USB-Serial converter: DX-USB-COM

Infra-Red Mouse

Receiver

6.5 DX Auxiliary Modules

DX Module Function / Applications

Powerchair lock Makes sure that only authorised people can drive the chair Lighting and actuator functions are still operational wh en the powerchair is locked

DX-ACC2

Drive Stop Module

Small charger socket to mount in a convenient place Use with remotes that do not have a charger socket Use as an alternative to the Master Remote charger socket

DX-ACC3

Maximum 8 A charging current

Charger Socket

Module

Dynamic DX User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual