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R-NET TECHNICAL MANUAL SK77981/4

1. npn 139 3 24 User Switch Detached sssrinin 139 3 25 Gone TO Sleep rena opas et diet a 139 3 26 139 4 Basic Tests 140 4 1 General inspection 140 4 2 Broko TOST iii p 140 43 Drive Tesla se nn er edes 140 7 R NET TECHNICAL MANUAL 4 4 Gradient cae 140 4 5 Lights Indicators and Hazard Lamps Test 141 4 6 JJACWIGIOETOSL 522 i extend 141 46 7 Inhibit Input Test 141 5 Servicing of Defective Units 142 Chapter Warning 144 1 Introduction 146 2 1 Charger Socket 146 22 Diving Technique ato eere to pea 146 P iene c cT 146 2 4 Battery 147 2 5 Battery Charging 147 2 6 PIOGAMMINQ ares iced i dec ir PL dde 147 2 JOYSTICK KNODS ss sm a exta a kd 147 28 eom MM 147 2 9 asc semana tomes Senes B eR 148 2 10 Program Seting eet 148 2 11 Charger Interlock 148 2 12 Power Module Wiring General L 148 2 13 m 149 2 14 Wire Gauge Types 149 2 15 Battery Connections We 149 2 16 Battery Charging iicet pese peace teta dete tapes 149 2 17 Drive MOTOS
2. 157 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL About this manual The Technical Manual gives an introduction to the R net Input Output Module IOM Throughout the manual icons are used to draw the readers attention The icons used are Note A general point for best practice vehicle Warning A point of safety which if ignored could cause injury to the individual Caution A point of safetu which if ignored could result damage to the Control Sustem or the PG Drives Technology accept no liability for any losses of a ny kind if the points are not followed SK77981 4 9 R NET TECHNICAL MANUAL PG DRIVES TECHNOLOGY SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION CHAPTER OPERATION SK77981 4 Il R NET TECHNICAL MANUAL OPERATION PG DRIVES TECHNOLOGY SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION l Introduction The relevant contents of this chapter should be included in the wheelchairs operating guide Further copies are available from PGDT in either written or disk Adobe PDF format Copies should be made without the express permission of PG Drives Technology The operation of the R net varies dependent on programming This chapter covers all types of operation It is the responsibility of the wheelchair manufacturer to ensure that only the relevant sections of this chapter are included in the wheelchairs o
3. PM60 80 80 120 Maximum Current Limit 60 Amps 80 Amps 80 Amps 100 Amps Boost Drive Currrent 60 Amps 80 Amps 90 Amps 120 Amps Boost Drive Time 255 Secs 255 Secs 10 Secs 10 Secs The values in the table above should never be exceeded Doing so will invalidate the warranty and affect the long term reliability of the Power Module Current Foldback Threshold Current Foldback Time Current Foldback Level These three parameters can be used to protect the wheelchair motors from overheating The parameters are closely related so are dealt with in one section Current Foldback Time sets a period of time which if exceeded by the software timer will initiate a reduction in the Power Module s maximum current output The programmable range is 0 Seconds to 250 Seconds in steps of 1 Second 94 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING Current Foldback Level sets the level of current output reduction as a percentage of Maximum Current Limit that will result The programmable range is 25 to 100 in steps of 1 Current Foldback Threshold sets a level of current which if exceeded will start a software timer running If the current drops below the level set by Current Foldback Threshold then the software timer will decrement each second The programmable range is 10A to Maximum Current Limit see previous section in steps of 1A After the reduction has occurred
4. Manual SK77981 the R Net has been subject to misuse or abuse or if the R Net has been The warranty will be void if the R Net has not been used in accordance with R Net Technical modified or repaired bu unauthorized persons Chapter section 14 210 Program Settings ensure safe operation in compliance with relevant legal requirements over the whole of the operating range PGDT accepts no liability for losses of any kind due to failure to or incorrect programming or the R net Control System Refer to Chapter 3 for programming details It is the manufacturer s responsibility to program the control system to suit the vehicle model and PGDT electronic control systems Incorrect programming could result in an unsafe setup of a Wheelchair for the user PG Drives Technology accepts no liability for losses of any kind if the programming of the control sustem is altered from factoru pre set values PGDT accepts no liabilitu for losses of anu kind if the drive or stabilitu characteristics of the chair are altered without prior notification and discussion with PGDT Chapter 2 section 1 2 Programming should only be conducted by healthcare professionals with in depth knowledge of Charger Interlock wheelchair while the batteries are being charged PGDT accepts liability for losses of any kind The chair manufacturer is responsible for providing a means of preventing the use of the arising from failure to com
5. n Ge A 0 Right Footrest ae eS 0 Left Footrest In this instance selecting Axis 6 on the Joystick Module will illuminate both Footrest LED s and movement of the joystick either forward or backwards will activate the actuator motors connected to channels 4 and 5 Seating Module Axes Inhibits 76 Axis x Up Assign x I to Ie Each actuator axis has a software inhibit for its up direction Up is defined as pin 1 positive with respect to pin 2 when the joystick is displaced forward The inhibit can be initiated by any actual hardware inhibit in the system The parameter Assign links the software inhibit to an actual hardware inhibit For example if Assign is set to 2 then the axis can be inhibited by Inhibit Input 2 The programmable options are Off and 2 to 33 If set to Off then the relevant Axis x Up Inhibit can never be active If set to a numeric value then the relevant Axis x Up Inhibit will be under the control of the Inhibit Input that corresponds to that number 77 Axis x Up Inhibit in Bands x I to 6 This sets the condition of the input assigned to Axis x Up Inhibit that will result in an inhibit of the actuator drive in the up direction Up is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward The inhibit can be set to occur in any combination of bands See Inhibits Explained in Chapter Programming more details on bands The programmable options a
6. R NET TECHNICAL MANUAL OPERATION PG Drives TECHNOLOGY 9 Precautions for Use In the event of the wheelchair moving in an unexpected wau RELEASE THE JOVSTICK This action will stop the wheelchair under anu circumstances 981 Hazards Do not drive the wheelchair e Beyond restrictions indicated in your wheelchair user manual for example maximum inclines curb height etc e In places or on surfaces where a loss of wheel grip could be hazardous for example on wet grassy slopes e f you know that the control system or other crucial components require repair tested during manufacture the possibility of a system malfunction always exists however small the probability Under some conditions of system malfunction the control system must for safety reasons stop the chair instantaneously If there is any possibility of the user falling out of the chair as a result of a sudden braking action it is imperative that a restraining device such as a seat belt is supplied with the wheelchair and that it is in use at all times when the wheelchair is in motion PGDT accept no liability for losses of any kind arising from the unexpected stopping of the wheelchair or arising from the improper use of the wheelchair or control system Although the R net control system is designed to be extremelu reliable and each unit is rigorouslu Do not operate the control system if the chair behaves erraticallu or shows abnormal signs of heating sparks or s
7. irt erai mans 28 6 45 E SIOD odis a tad e recie ka ta jk b 28 6 4 6 Joystick Displaced en ee 29 6 4 7 Control System Locked 29 3 R NET TECHNICAL MANUAL 6 4 8 Diagnostic Screen a 29 7 Getting Ready to Drive 30 8 Tips for Using Your Control System 31 8 1 Driving General ee 31 8 2 Driving Technique nee eem 31 8 3 SIOW or sluggish movement nn 31 9 Precautions for 32 IM Lo 32 10 Safetv Checks sinus 33 10 1 Checks tree eni eria 33 10 2 Weekly Checks 33 10 3 SEMENG ice re nme ee i i fa 33 11 Battery Gauge 34 9 1 Howto Read a Battery 34 12 Battery 35 13 Programming eene 36 14 Joystick Knobs 36 Chapter 37 1 Documentation 39 1 10 Riet Operation icr rne re 39 1 2 enr eee 39 S SO ESTOD xa seemed fee nre iterat 39 L 4 Other NONANO eren 40 2 Immobilizing the Wheelchair 40 2 1 Prevention of Unauthorized Use 40 2 2 Charger Interlock ena 40 2 9 POWGOCDONWD iicet i bx ii Lan ER Cd 40 3 Connections n
8. In addition you should include a brief specification of operating supply voltage range and operating temperature range 2 Immobilizing the Wheelchair el Prevention of Unauthorized Use TUV requires that the wheelchair must have a means of preventing unauthorized use This can be implemented as detailed in Chapter 1 section 5 3 22 Charger Interlock ISO 7176 14 requires you to provide a means of preventing the use of the wheelchair while the batteries are being charged The charger socket and on board charger connection fitted to PGDT R net control systems include an inhibit facility Refer to section 8 1 Contact PG Drives Technology if you need advice wheelchair while the batteries are being charged PGDT accepts no liability for losses of any kind The chair manufacturer is responsible for providing a means of preventing the use of the arising from failure to complu with this condition 23 Power Down The control svstem can be programmed to power down if the jovstick is not operated over a set period of time Refer to Chapter 3 for programming detalls To restart switch the control svstem on 40 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION 3 Connections The following is a selection of the most common configurations 3 Control Configurations 3 11 Basic Configuration Consists of a Power Module a Communication Cable and a Joystick Module Joystick Module Power Module Commun
9. o qu Axes Inhibits Up Assign Right Footrest Off Off Off Off Off Off Off Up Inhibit in Bands Left Footrest ET ford wA Down Assign Off Off Off Off Off Off Down Inhibit in Bands In the case of the JSM LED the programmable options relate to the wheelchair symbol as below Backrest Tilt Arrow Backrest and Seat LEDs flash Lift Arrow Seat LED flashes JA Seat 2 0 0 Right Footrest ee LO Left Footrest In the case of an LCD based Joystick Module the programmable options relate to the wheelchair symbol as below Backrest Tilt Arrow Seat 2 Left Footrest Lift Arrow ar 2 Axis Right Footrest Example To configure the R net to control actuator motors connected to the left and right footrests simultaneously the previously described parameters should be set as follows Axis 6 Enabled Yes Axis 6 Display 4 5 Left Footrest Right Footrest SK77981 4 125 R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM PG DRIVES TECHNOLOGY Actuator Mode Entry Axis Last used ia Axes Setup Axis Enabled No No No No No No 2 B Up Speed 100 100 100 100 100 100 100 100 Down Speed 100 100 100 100 100 100 1092 1 Axis Display 1 i Axes Inhibits liw Assian
10. STANDARD CHIN MUSHROOM BALL 80 30 C38 M48 B38 004 LL a 081 a 948 2 el l 8 8 1 3 1 B 1 p _ i Les 3 8 E gie NOTE KNOBS MARKED ARE TO BE MOUNTED T BAR SOFT BALL IN A VERTICAL ORIENTATION ONLY T80 5870 36 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION c CHAPTER 2 INSTALLATION SK77981 4 37 R NET TECHNICAL MANUAL INSTALLATION 38 PG DRIVES TECHNOLOGY SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION l Documentation LI R net Operation Study Chapter 1 It is important that the operation information in Chapter 1 is supplied with the wheelchair either as part of the wheelchair user handbook or as a separate document This Chapter sets out the installation conditions that must be complied with in order to meet the safety requirements of TUV Germany ISO7176 14 and EN12184 Le Program Settings The R net control system is supplied with preset settings that are chosen with the wheelchair manufacturer to ensure safe operation and compliance with relevant legal requirements over the whole of the operating range of the wheelchair ensure safe operation in compliance with relevant legal requirements over the whole of the operating range PGDT accepts no liabilitu for losses of anu kind due to failure to or incorrect programming or the R net Control Sustem Refer to Chapter 3 for programming deta
11. The Joystick Module is connected to the Power Module with a Communication Cable To connect the Communication Cables e Holding the connector housing firmly push the connector into its mate until you can no longer see the yellow plastic The connectors are secured using a friction system Disconnected Correctiv Connected 6 te Incorrectiv Connected EE To disconnect the Communication Cables e Holding the connector housing firmly pull the connectors apart Do not hold or pull on the cable Always grip the connector when connecting and disconnecting When the control system is first switched on after a connection or system component change the Timer will be displayed whilst the system checks itself and then the Re start icon will be displayed Switch the control system off and on again to operate Route and secure the cable in such a way as to prevent damage for example by crushing or cutting 5l Charger Connector An Off Board Charger can be connected to the Joystick Module s charger connector The charger connector is Neutrik 3 pin type NC3FPP or equivalent and the maximum charging current is 12A rms Only chargers fitted with Neutrik NC3MX plugs should be connected into the Joystick Module The pin connections of the charging socket are as below Pin 2 e Pin 1 Battery Positive Battery Negative Pin 3 Inhibit Q The maximum permissible charging current is rms 44 SK
12. ttim cmt beh aka DAR b c nene 149 2 18 Solenoid Brakes i arei kan ne a eei ceni 150 2 19 Production Tesl i adel bee et tad te pi o Res 150 2 20 IMOTOQUCTNON aim 150 2 21 How to Enter 150 2 22 Tremor DAMPING L 150 2 23 Emergency Stop Switch 150 2 24 Keycode EMMY 151 2 25 LATCHES DVE erre eret ra tera ud 151 2 26 Latched TimeOut L nn 151 2 27 Actuator Acceleration 151 2 28 Actuator Deceleration 151 2 29 Brake Fault Detect 151 2 30 en exte ka 151 2 31 SOSO RONG six ertet ik e 151 2 32 Maximum Current Limit Boost Drive Current amp Boost Drive TIMQ ss 152 2 33 Current Foldback Temperature amp Minimum Current Limit nn 152 2 94 COMPSNSAMION sis jat rand i ji i Ra 152 2 35 Compensation Factor 152 2 36 BUHOLS cesserit di e e cai 152 2 37 Getting Ready to Drive 153 8 PG Drives TECHNOLOGY 2 38 GONGION isir in send pp a a d p ka a i 153 2 39 IMMOGUCTON i eet deret ere Minne 153 240 PM Memory Error 153 2 41 BOSIC TES S EMT 153 2 42 Servicing of Defective Units 154 Chapter 7 Specifications sss I55 1 Electrical Specifications
13. 100 then the wheelchair will provide full power Values below 100 will result in reduced power A typical use is minimizing damage to doorways or furniture if the wheelchair is being used indoors The values can be set independently between drive profiles meaning separate indoor and outdoor profiles can be defined Programmable range is 25 to 100 in steps of 1 If the value is set to less than 100 then the boost current function is automatically disabled l e the reduction is applied to the Current Limit Max value SK77981 4 75 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY Example R net is programmed to Maximum Current Limit 80 Amps Boost Drive Current 120 Amps Boost Drive Time 5 Seconds Power Profile 1 100 Power Profile 2 50 This means that in Profile 1 the system will be able to output 120A for 5 seconds before reducing to 80A but in Profile 2 will output 50 of 80A 40A with no boost 6 20 Torque Torq This parameter can be used to boost the power to the motors at low drive speeds This is useful for overcoming obstacles such as door thresholds or thick pile carpets and for countering Rollback Programmable range is 0 to 100 in steps of 1 At 0 the parameter has no effect The recommended value is 80 however if the wheelchair drive is considered to be jerky then reduce this value 6 23 Tremor Damping Trmor This parameter can be used to reduce the effects of a users hand t
14. Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 71 217 Drive Motors The chair manufacturer is responsible for ensuring that the control sustem is matched to the motor resistance Failure to do this mau result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentiallu unsafe PGDT accepts no liabilitu for losses of anu kind arising from failure to complu with this condition The chair manufacturer is responsible for alwaus ensuring that anu replacement motors or gearboxes are fullu compatible with the originals that the control sustem was designed to match Failure to do this mau result in poor control characteristics which in extreme instances can make SK77981 4 R NET TECHNICAL MANUAL WARNING SUMMARV 149 R NET TECHNICAL MANUAL WARNING SUMMARV PG Drives TECHNOLOGY a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Control systems with different part numbers may
15. If the Maximum Turning Speed is set to a value less than the current value of this parameter then it will automatically be adjusted to the same as Maximum Turning Speed 6 7 Maximum Forward Acceleration Fwd Accel Max Sets the acceleration rate of the wheelchair in the forward direction when the speed setting is at maximum all 5 bars illuminated Programmoble range is O to 10096 in steps of 196 68 Minimum Forward Acceleration Fwd Accel Min Sets the acceleration rate of the wheelchair in the forward direction when the speed setting is at minimum just 1 bar illuminated Programmable range is 0 to Maximum Forward Acceleration in steps of 196 If the Maximum Forward Acceleration is set to a value less than the current value of this parameter then it will automatically be adjusted to the same as Maximum Forward Acceleration 6 9 Maximum Forward Deceleration Fwd Decel Max Sets the deceleration rate of the wheelchair in the forward direction when the speed setting is at maximum all 5 bars illuminated Programmable range is 0 to 100 in steps of 196 610 Minimum Forward Deceleration Fwd Decel Min Sets the deceleration rate of the wheelchair in the forward direction when the speed setting is at minimum just 1 bar illuminated Programmable range is O to Maximum Forward Deceleration in steps of 196 If the Maximum forward Deceleration is set to a value less than the current value of this parameter then it will automatic
16. Inhibits Inputs PM 102 13 1 Lower Level Threshold eee 102 13 2 Middle Level Threshold eccere 102 13 3 Upper Level Threshold 103 13 4 Debounce TIme iunc on terr pe enn 103 Inhibits Inputs 103 13 5 Lower Level Threshold 103 13 6 Middle Level Threshold ieee 103 13 7 Upper Level Threshold 103 138 Debounce TIME sissa restera parent 104 Inhibits Drive 104 13 9 ASSON wives nas e ai ret egre tei tar rs 104 13 10 Speed Limit in Band OO 104 13 11 Speed Limit in Band TS 104 13 12 Speed Limit in Band 2 104 13 13 Speed Limit in Band 3 105 SN Me eee aT 105 105 Inhibits Actuator 105 13 16 Channel x Up Assign x 1 to 6 105 13 17 Channel x Up Inhibit in Bands x 1 to 6 105 13 18 Channel x Up Alarm JU 106 13 19 Channel x Down Assign x 1 to 6 106 13 20 Channel x Down Inhibit in Bands x 1 to 6 106 13 21 Channel x Down Alarm 107 14 le p 108 TAT Lamp Voltage sc cette SE oth hk restent 108 14 2 Indicator Fault Detection nn 108 14 3 Swap Indicators Seat REVersal nn 108 14 4 Brake Lights or Horn en 108 Chapter 4 ELPM 90 JSM LED amp SM 109 1 Introductio
17. Once the parameter for adjustment has been selected the Speed buttons can be used to make adjustments To ensure all new values are stored correctly exit OBP mode with a series of left hand joystick deflections PC Programming To utilize the R net PC Programming Suite the R net Dongle must first be connected in the communications system as shown in section 10 1 AUSB cable can then be connected between the Dongle and a PC with the R Net PC Programmer installed For further details on programming refer to Chapter 3 Programming Dongle Communication Communication Cable Cable USB Cable To PC Il Production Tests e Perform the following tests in order on each wheelchair before dispatch These tests should be conducted in an open space and a restraining device such as a seat belt should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition ILL Mounting e Make sure that all the control system is securely mounted Do not overtighten any securing screws Cables and Connectors e Check all cables and connectors for damage Make sure that all connectors are securely mated Joystick and Gaiter e Check that the joystick is not bent or damaged e Check the thin rubber gaiter or boot around the base of the joystick shaft for damage or splitting Check visually only do not handle the gaiter e Check that the joystick returns to the center posit
18. The programmable options are 12V and 24V result in damage to the brakes or motors PGDT accept no liabilitu for losses of anu kind It is essential the correct value for the brakes operating voltage is set An incorrect value could resulting from incorrect programming of this parameter 1 4 Soft Stop Rate This sets the deceleration rate that is used while the wheelchair is soft stopping Soft stopping is if the system is powered down while the wheelchair is being driven The programmable range is to 200 in steps 1 If this value is the same or lower than the Forward Deceleration value then the latter value be used for soft stopping correct legislation for breaking distances for the countru in which the wheelchair is to be sold PGDT accept no liabilitu for losses of anu kind resulting from incorrect programming of this parameter It is the wheelchair manufacturers responsibility to ensure that the wheelchair complies with the Front Wheel Drive This selects specialist software for front wheel driven wheelchairs The programmable range 0 to 100 steps of 1 If set to 0 then normal software for rear wheel driven wheelchairs is employed If set to any other value then front wheel drive software is employed A higher value makes the software more suitable for faster wheelchairs Seat Reversal This can be used to set the R net to function with wheelchairs that have a seat rev
19. l e the Mode button would step through Drive Seating and Environmental Modes The other Modes PC Mouse Output 5 Output 6 and Output 7 would also becorne available if relevant modules were connected Within each Mode it is necessary to ensure the appropriate data is transmitted from the Input Device to the Output Device A good example of this is the Speed Up and Speed Down button In Drive Mode they change the speed setting in the Joystick Module and it is that setting rather than the actual state of the buttons that is transmitted to the Power Module However in Mouse or Environmental modes it is desirable for the state of the Speed Up and Speed Down buttons and also the lighting control buttons if fitted to be transmitted on the Output Device This means the buttons can be used to control other functions such as mouse left right click or navigation of third party screens The parameter Input sets the data for each mode See section Input for more details User Displays There is sorne flexibility as to what is displayed to the user to indicate the operating Mode of the system The Drive Seating and OBP modes are indicated by the standard screens and cannot be changed However the Mouse Mode displays an image of a PC with an associated text string whereas the other Modes display an image of the globe also with an associated text string Examples of the screens are shown below The text string is programmable via the parameter
20. the maximum current output will remain at the reduced level for a period of 5 times Current Foldback Time This is a typical period that is sufficient to allow motors to cool The graph following shows the relationship the parameters Curent Current Foldback Threshold Current Foldback Level L Time Current 5 Foldback Foldback Time Time Example Maximum Current Limit is set to 80A Current Foldback Threshold is set to 50A Current Foldback Time is set to 20 Seconds Current Foldback Level is set to 50 If the motor current is above 50A for a period of 20 Seconds then it will reduce to 50 of 80A 40A It will then remain at this reduced level for 5 x 20 Seconds 100 Seconds 12 3 Minimum Current Limit This parameter is normally set at the factory and does not normally require further adjustment This parameter should not be set higher then 50A Doing this will invalidate the warranty and affect the long term reliability of the Power Module I2 4 Compensation This matches the Power Module to the motors used on the wheelchair This is necessary to achieve optimal performance and control especially on a gradient The programmable range is OMOhMs to 500MOhms in steps of SMOhMS PGDT recommend this value is initially set to 70 of the total resistance of the motors armature and all the connector and cables between the motor and the Power Module motor output Motor
21. 42 KOy 41019 etr ere sk fe 23 5 5 Actuator Selection Screen 23 LCD Screen Color 24 Gil NOD nita d inka tage 24 6 1 1 Battery Indicator 24 05142 FOCUS sn dE nier amet E P rd AE 25 6 2 BOSS BOT in nte 25 6 2 1 Current Profile racer 25 6 2 2 Motor Temperature nn 25 6 2 3 Control System 25 6 2 4 Indicator ICONS sua ses te etr iln enr ctae 25 6 2 5 Hazards ICON ives eiie iiec tren bere eterni 25 6 2 6 ICON xa inia tite cup 25 6 3 Malih Screen Area ii ak de 26 HABI Eel T EE 26 6 3 1 Profile iiie ctas eter tht zia nes 26 0 9 2 c EM 26 6 3 3 Speed Display 26 6 3 4 Maximum Speed 26 6 3 5 Digital Speed Display nn 26 6 3 6 PEE 26 GIS LZ TANIBDI d e nin 27 ma ee merge PET 27 6 3 8 Actuator Mode cese rnnt enn 27 6 3 9 Environment Mode 27 6 3 10 Bluetooth Mode 27 6 3 11 Sped AGUS cusa 27 6 4 Message Window 28 OAN RESTON N ai 28 64 2 28 6 43 SIBOD i kisi pe p p 28 6 4 4 Cross amp ie rin i a
22. 50 7 Batteries 50 71 Battery Charging rr re aiaa 50 8 Drive Motors 51 9 Solenoid 52 10 Programmer 52 TOL OBP PrOGIAMMINI i ki a ret lk va 52 10 1 1 Navigating the OBP Screens 53 10 1 2 Making an Adjustment nn 54 10 2 PC Prograrnrnirigj s cuoc eh toe kr 54 11 Production TEStS 54 Tkt Mouni T 54 11 2 Cables and Connectors 54 11 3 Joystick and GOE aiiiar 54 1144 Preset SOMINGS iii ai eto ecd teen mee 54 TIS Operational Istis 55 11 6 Tes D VE 55 Ved SOM STOD TES dag sia o ee A 55 11 8 Lights Indicators and Hazard LAMPS Test 55 TIO Actudfor Test iai rrt dere et mk recortes 55 InpibitInput Test tret rr rtg 55 12 Electromagnetic Compatibility E M C 56 12 1 EMISSIONS sitit Rr na pe EROR Re pads 56 12 1 1 Motor 5 en 56 12 1 2 CObl68 ierit tnb Ene Ee neben e eve obe 56 12 2 JAMMIRA roin teta i AT 56 12 3 Electro Static Discharge 5 0 56 13 Battery 57 SK77981 4 PG DRIVES TECHNOLOGY Chapter Programming s 59 1 Introduction 61 2 On Board Programming
23. 7 possible user Profiles but normally just 5 are used The parameter Profile Enable sets whether a particular Profile is available to the user Operations of the Profile Button on the JSM simply select the next available Profile When the highest available Profile is reached the next Profile Button operation will simply select the lowest available Profile The LCD on the JSM displays the currently selected Profile as a text string of up to 20 characters The number of the Profile is also displayed ni 1 Indoor Drive Profile Name The Profile naming text is programmable meaning vou can choose vour own description and language The parameter Profile Name sets the text Below is an example of programming for both Profile availabilitv and naming QQ Profile Management Profile 1 Profile 2 Profile 3 Profile 4 Profile 5 Profile 6 Profile 7 Profile 8 Profile Name Indoor Slow Medium Fast Sports Profile 6 Profile 7 Attendant Profile Enable Yes Yes Yes Yes Yes No No Yes Profiles 1 to 5 are available to the user and have been given meaningful names Profiles 6 and 7 are not available and Profile 8 has been assigned to Dual Attendant operation Mode Management Within each available Profile it is possible to select 7 different operating Modes There are actually 8 Modes however Mode 8 is always reserved for On Board Programming OBP A standard wheelchair is likely to have just 2 operating Modes Drive
24. C and each can be initiated by any actual hardware input in the system This functionality means that any actuator channel direction can be inhibited from 3 individual sources The parameter Assign links the software inhibits to an actual hardware inhibit For example if Assign A is set to 4 then the operation of Channel x Down Inhibit will be controlled via Inhibit Input 4 which is located on the Intelligent Seating Module The programmable options are Off and 2 to 33 The programmable options are Off and 2 to 33 If set to Off then the relevant Channel x Down Inhibit can never be active If set to a numeric value then the relevant Channel x Down Inhibit will be under the control of the Inhibit Input that corresponds to that number Inhibit Inputs 2 and 3 are on the Power Module Inhibits 4 and 5 are on the Seating Module and Inhibits 6 to 33 will be on other PGDT or third party modules Channel x Down Inhibit in Bands x I to 6 This sets the condition of the input assigned to Channel x Down Inhibit that will result in an inhibit of the actuator drive in the up direction Down is defined as pin 1 positive with respect to pin 2 when the joystick is displaced in reverse and Invert Axis Direction is not set The inhibit can be set to occur in any combination of bands See 13 1 Inhibits Explained for more details on bands The programmable options are Band 0 Band 1 Band 2 and Band 3 If the parameter is selected then
25. If set fo no then a hardware Dongle must be connected into the system in order to enter OBP OBP kevcode entiv is as follows With the system switched off hold down the Horn button and then hold down the On Off button until there is a short bleep Note the normal power up sound will occur prior to this bleep Release the Horn button but continue to hold down the On Off button until there is a further short bleep Release the On Off button there will now be a longer bleep and OBP mode will be entered OBP function PGDT accept no liability for losses of any kind if this method of OBP is set PGDT also accept no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle If this parameter is set to Yes then it may be possible for a wheelchair user to gain entru to the 712 Power up Mode Power Up Mode This sets the Mode that is selected when the system powered up The programmable options are in the form of a drop down as shown in the following diagram Keycode Entry Power up Mode Last Used Joystick 2 Profiled Change Mode while Driving Environmental Sleep Timer pa Standby Time Mode 7 Switch to Standby Programming Mode Selection in Standby Gtandhu in Mades Simply select the required Mode If Last Used is selected then the Mode that was selected at the last power down will be selected at the next power up If a Mode is selected but the appropria
26. If the speed of the wheelchair is being limited for example by raised seat then this symbol will be displaved If the wheelchair is being inhibited from driving then the symbol will flash When the control system is operating in a latched condition this symbol will be displayed R NET TECHNICAL MANUAL OPERATION PG DRIVES TECHNOLOGY 517 Restart When the control system requires a reboot for example after a module re configuration this symbol will be flashed 518 Fault The control system can detect a wide variety of errors When the system has detected an error that is not severe enough to cause the system to trip then this symbol will be displayed 519 Motor Temperature This symbol is displaved when the control system has intentionally reduced the power to the motors in order to protect them against heat damage 5 110 Control System Temperature This symbol is displayed when the control system has intentionally reduced its own power in order to protect itself against heat damage 511 Timer This symbol is displayed when the control system is changing between different states An example would be entering into Programming Mode The symbol is animated to show the sands falling 5 1 12 Stop If the control system is programmed for latched drive or actuator operation then it is normal for an Emergency Stop Switch to be connected into the External Profile Switch Jack E stop If the Emergency
27. Inhibits Explained for more details on bands The programmoble options are Band 0 Band 1 Band 2 and Band 3 If the parameter is selected then a drop down menu as below will appear and the bands required to invoke the inhibit should be selected For example if the inhibit is required for Band 3 only then that option should be selected as shown SK77981 4 IO5 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY Ha Channel 1 23 Up Assian I Up Inhibit in Bands Band 0 Un Alam Band 1 1 Serer Band 2 Down Assig Band 2 y yr OG Channel 2 When the drop down menu is closed it would appear as below a Actuator inhibits f Channel 1 Up Inhibit in Bands I 3 3 18 Channel x Up Alarm This sets whether an audible alarm will sound when a channel s up direction in inhibited Up is defined as pin 1 positive with respect to pin 2 when the joystick is displaced forward and Invert Axis Direction is not set The programmable options are Yes and No If set to Yes then an alarm will sound while an inhibit is present If set to No then no alarm will sound I3 9 Channel x Down Assign x I to 6 The R net Seating Module has three separate software inhibits for the down direction of each of its output channels 1 to 6 Down is defined as pin 1 positive with respect to pin 2 when the joystick is displaced in reverse and Invert Axis Direction is not set These inhibits are referred to as A B and
28. Mode 1 and Seating Control Mode 2 however it is normal to set all Modes to be available so that they will automatically be 66 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING accessible when an additional Output Module is connected If they are not programmed to be available then if an additional Output Module such as an Environmental Control Device is connected the system would have to programmed to recognize this new Module The parameter that sets whether a Mode is available is Mode Enable Below is an example of programming to satisfy this requirement QQ Profile Management Profile 1 Profile 2 Profile 3 Profile 4 Profile 5 Profile 6 Profile 7 Profile 8 Profile Name Indoor Slow Medium Fast Sports Profile 6 Profile 7 Attendant Profile Enable Yes Yes Yes Yes Yes No No Yes Mode Enable 12345678 12345678 12345678 12345678 12345678 12345678 12345678 12345678 However this programming is not appropriate if it may be required to use just one button or switch to select Profiles and Modes For this reason it is recommended that programming as described in the following section is used Selecting Profile and Modes with Just One Button It may sometimes be required to use just one button or switch to select Profiles and Modes A typical example would be the use of a Buddy Button connected into the External Profile Switch jack socket The R net system has been designed to allow this
29. Module must be mounted in a position where it is not exposed to conditions of water or dust above those specified in ISO7176 9 The Power Module is designed to withstand levels of shock and vibration experienced when mounted to the chassis of a wheelchair Direct impacts onto the unit should be avoided 43 ISM Mounting 33mm 65mm 104mm 105mm 431 General The ISM should be secured using four M5 screws with a maximum penetration of 7mm be careful not to over tighten the screw See data sheet for further information 4 3 2 Orientation The function of the ISM is not sensitive to mounting orientation however it should be mounted in such a way that water cannot enter and remain in the connector recesses It is recommended that the unit is not mounted with the connectors uppermost The ISM has an dust and water resistance rating 4 33 Position The ISM must be mounted in a position where it is not exposed to conditions of water or dust above those specified in ISO7176 9 The ISM is designed to withstand levels of shock and vibration experienced when mounted to the chassis of a wheelchair Direct impacts onto the unit should be avoided 4 4 Cables The cables to the ISM must be routed and secured in such a way as to prevent damage to them for example by cutting or crushing Contact PGDT if you need further advice SK77981 4 43 R NET TECHNICAL MANUAL INSTALLATION PG DRIVES TECHNOLOGY 5 Joystick Module Wiring
30. PG DRIVES TECHNOLOGV 63 Main Screen Area Drive Screen 63 1 Profile Name This is a text string that displays the name of the currently selected Profile The name is programmable Refer to R net Technical Manual SK77981 for details Indoor Drive 632 Clock This displavs the current time in a numeric format The clock is user adjustable Adjustable options are e Visibility whether the clock is displayed on screen e display format 12 or 24 hour e The time the user can adjust the time These adjustments are made within User Menu Settings 6 33 Speed Display This gives a proportional display of the wheelchairs speed The Arc begins at 0 and has a programmable maximum The programmable parameter is Max Displaved Speed Refer to the Programming Chapter 633 4 Maximum Speed Indicator fs This displays the current maximum speed setting 63 5 Digital Speed Display This displays the actual speed of the wheelchair derived from the motors The display can be set to mph of km h These adjustments can be made in the OBP Menu 63 6 Latched When the control system is operating in a latched condition this symbol will be displayed 26 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION 6 37 Inhibit If the speed of the wheelchair is being limited for example by a raised seat then this orange symbol will be displayed If the wheelchair is being inhibited from driving then this red symb
31. Reverse Battery Current PWM Frequency Brake Voltage Brake Current Charger Connector Battery Charging Current Maximum Drive Current R Net 80 R Net 90 R Net 120 Indicator Outputs Lighting Outputs Brake Light Output Actuator Current SM Moisture Resistance Operating Temperature Storage Temperature 24Vdc 16Vdc to 35Vdc 35Vdc 40Vdc 20kHz 0 5 12 24Vdc 200UA min TA max Use only Neutrik NC3MX 12Arms max 80A 90A 120A 45W per side 21W per side A2W total R NET TECHNICAL MANUAL SPECIFICATIONS 15A max at reduced speed 1 2A max at full speed 12A max Electronics to IPX4 Non LCD Modules 25 C to 50 C 40 C to 65 C EMC tested on sample wheelchair Tested at 30V m to EN12184 and ANSI RESNA requirements Susceptibility Emissions ESD SK77981 4 To EN55022 Class B IEC801 part 2 Modules with LCD Screens 10 C to 4 20 C to 4 50 C t 65 C 157
32. by applying the following rule Each operation of the External Profile Switch will select the next available Profile Upon reaching the highest available Profile the next operation of the switch will select the next available Mode regardless of whether the Mode is available in the current Profile PGDT therefore recommend a programming set up as below QQ Profile Management Profile 1 Profile 2 Profile 3 Profile 4 Profile 5 Profile 6 Profle 7 Profile 8 E Profile Name Indoor Slow Medium Fast Sports Profile 6 Profile 7 Attendant Profile Enable Yes Yes Yes Yes Yes No No Yes 8 Mode Enable 12345678 1 1 12345678 In this set up the External Profile Switch would step through Drive Profiles 1 to 5 then to Mode 2 Seating Control and then to other Modes if appropriate Output Modules are connected Note if the programming set up in the previous section was used then the External Profile Switch would step through Drive Profiles 1 to 5 then it would step through 5 Seating Control Modes each effectively the same If more Output Modules were connected it would be necessary to step through 5 times for each before getting back to Drive Profile 1 Likewise 5 steps through OBP would be needed to exit that function Note the programming in this section will also work in the correct fashion when separate Profile and Mode buttons are used The basic rules are The Profile Button will select the next available Pr
33. control system must be matched to the motor terminal impedance This matching is implemented by programming the control system The parameter for adjustment is Compensation Refer to Chapter 3 The Compensation value should be set in accordance with the armature resistance of the motor and all cables and connectors between the R net and the motor The chair manufacturer is responsible for ensuring that the control sustem is matched to the motor resistance Failure to do this mau result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentiallu unsafe PGDT accepts no liabilitu for losses of anu kind arising from failure to complu with this condition The chair manufacturer is responsible for alwaus ensuring that anu replacement motors or gearboxes are fullu compatible with the originals that the control sustem was designed to match Failure to do this mau result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentiallu unsafe PGDT accepts no liabilitu for losses of anu kind arising from failure to complu with this condition Users must not move a control sustem from one chair tupe to install it on a different chair tupe Control sustems with different part numbers mau have both hardware and software differences to ensure that they are compatible with the electrical and dynamic characteristics of their specific target vehicles The characteristics o
34. left motor and channel M2 drives the right motor If set fo no then channel M1 drives the right motor and channel M2 drives the left motor 8 Steer Correct This parameter compensates for any mis match in motor speeds thereby ensuring the wheelchair drives a straight line when the joystick is being pushed directly forward This is particularly useful for switch type Input Devices The programmable range 9 to 9 in steps of 1 If the wheelchair is veering to the left then the value should be increased Conversely if the wheelchair is veering to the right then the value should be decreased This logic may be affected by the setting of parameter Motor Swap which if set to yes will reverse the logic I29 Display Speed Display Speed This sets whether the speedometer is displayed in miles per hour or kilometers per hour Note the Power Module always calculates and transmits speed information in miles per hour The programmable options are Off mph or km h If set to Off there will be no speed display on the LCD screen If set to mph then the speed will be displayed as the value transmitted by the Power Module which always sends the information in miles per hour and the text mph will appear on the LCD screen If set to km h then the module with the speedometer display will convert the Power Module value into kilometers per hour and the text km h will appear on the LCD screen 0 Only certain Input Devices e g
35. method is set then a PGDT OBP Dongle needs to be connected to allow access to OBP To use the dongle follow the sequence below e Turn off the control system e Insert the R net Dongle along the communication cables in the system configuration Power Joystick Module Module E J PROFILE Communication Cable Programming e Turnon the control system e After initialization press the Mode key until the OBP screen is reached See following diagram 5e SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION OBP MENU Controls Latched Actuators e After initialization will be automatically entered If the keycode method is set then the following button sequence will allow entry to OBP Note a dongle will also allow OBP access if this method is set e Hold down the Horn button and then hold down the On Off button until there is a short bleep Note the normal power up sound will occur prior to this bleep e Release the Horn button but continue to hold down the On Off button until there is a further short bleep e Release the On Off button there will now be a longer bleep and OBP mode will be entered See previous diagram OBP function PGDT accept no liability for losses of any kind if this method of OBP is set PGDT also accept no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle If the keycode m
36. of Maximum Displayed Speed should be set to 3 2mph The programmable range is 0 to 20 0mph Only certain Input Devices e g CJSM or Omni have the speedometer function Motor Profiled 212 Compensation Factor This allows different values of Compensation to be use across different profiles The programmable range is 0 to 200 in steps of 1 The programmed value adjusts the actual value of the parameter Compensation For example if Compensation was set to 100mOhms and Compensation Factor for a particular Profile was set to 150 then an effective value of 150mOhms would be used for that Profile Likewise if in another Profile Compensation Factor was set to 80 then an effective value of 80mOhms would result See section Compensation for details of how to set that parameter Compensation must be set accurately before making adjustments to Compensation Factor uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind resulting Inappropriate values of Compensation and Compensation Factor could make the wheelchair from inappropriate setting of either or both of these parameters 98 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING Inhibits Inhibits Explained Both the Power Module and the Intelligent Seating light Module ISM each have two Inhibit Inputs On the Power Module these are referred to as Inhibit 2 and Inhibit 3 and on the ISM these are
37. of 1 If the Maximum Forward Speed is set to a value less than the current value of this parameter then it will automatically be adjusted to the same as Maximum Forward Speed 63 Maximum Reverse Speed Rev Speed Max Sets the reverse driving speed of the wheelchair when the joystick is deflected to full reverse and the speed setting is at maximum all 5 bars illuminated Programmable range is 0 to 100 in steps of 1 6 4 Minimum Reverse Speed Rev Speed Min Sets the reverse driving speed of the wheelchair when the joystick is deflected to full reverse and the speed setting is at minimum just 1 bar illuminated Programmable range is 0 to Maximum Reverse Speed in steps of 1 If the Maximum Reverse Speed is set to a value less than the current value of this parameter then it will automatically be adjusted to the same as Maximum Reverse Speed 65 Maximum Turning Speed Turn Speed Max Sets the turning speed of the wheelchair when the joystick is deflected fully left or right and the speed setting is at maximum all 5 bars illuminated Programmable range is 0 to 100 in steps of 1 SK77981 4 73 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY 66 Minimum Turning Speed Turn Speed Min Sets the turning speed of the wheelchair when the joystick is deflected full left or right and the speed setting is at minimum just 1 bar illuminated Programmable range is 0 to Maximum Turning Speed in steps of 1
38. of 50ms Inhibits Drive Inhibits 3 9 Assign The R net Power Module has five drive separate software Drive Inhibits These are referred to as A B C D and E and each of these can be initiated by any actual hardware inhibit input in the system This functionality means that speed limits or drive inhibits can be triggered from 5 individual sources The parameter Assign links the software inhibits to an actual hardware inhibit For example if Assign A is set to 2 then the operation of Drive Inhibit A will be controlled via Inhibit Input 2 which is located on the Power Module Alternatively if Assign A is set to 4 then the operation of Drive Inhibit A will be controlled via Inhibit Input 4 which is located on the Seating Module The programmable options are Off and 2 to 33 If set to Off then the relevant Drive Inhibit can never be active If set to a numeric value then the relevant Drive Inhibit will be under the control of the Inhibit Input that corresponds to that number Inhibit Inputs 2 and 3 are on the Power Module Inhibits 4 and 5 are on the Seating Module and Inhibits 6 to 33 will be on other PGDT or third party modules Speed Limit in Band O This sets the maximum speed of the wheelchair when the Inhibit input which is assigned to the Drive Inhibit is in Band 0 See Inhibits Explained for more details on Power Module inhibits and bands The programmable range is 0 to 100 in steps of 1 If set to 0
39. one which shows parameters which are profile dependent i e can have different values in each of the drive profiles Example of a global parameter screen Global Controls Forward jovstick deflections will select the parameter above Steer Correct Reverse jovstick deflections will select the parameter below Sounder Volume Endstop Bleep Left joystick deflections will take you to the previous screen Act Entry Axis Right joystick deflections will have no effect Chge Prf in Drv Example of a profiled parameter screen FWD Pr Pr Forward joystick deflections will select the parameter above AccA 30 35 40 v 20 20 20 DecA 40 40 45 The first left joystick deflections will display the parameter name in full Decw 30 30 30 SpdA 70 80 90 Spdv 20 25 30 Right jovstick deflections select the parameter to the right if available Reverse jovstick deflections will select the parameter below The second left jovstick deflection will take vou to the previous screen 23 Making an Adjustment Once the parameter for adjustment has been selected the Speed buttons can be used to make adjustments To ensure all new values are stored correctly exit OBP mode with a series of left hand joystick deflections 62 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING 3 PC Programmer OEM Parameter List Denotes present in OBP Profile Management Profile Name Sets the Profile Name Profil
40. or boot around the base of the joystick shaft for damage Check visually only do not handle the gaiter e Make sure that all components of the control system are securely mounted e Do not overtighten any securing screws 42 Brake Test These tests should be carried out on a level floor with at least one meter clear space around the wheelchair e Switch on the control system e Check the screen remains on after initialisation e Push the joystick slowly forwards until you hear the parking brakes operate The wheelchair may start to move e Immediately release the joystick You must be able to hear each parking brake operate within 2 seconds e Repeat the test a further three times pushing the joystick slowly backwards left and right 43 Drive Test With the maximum speed control in the minimum position drive the wheelchair in all directions ensuring the drive is comfortable and easy to control for the user Repeat the above but with the speed control set to maximum 4 4 Gradient Test Before carrying out this test ensure another person is present to prevent the wheelchair from Q tipping backwards Drive the wheelchair forwards up its maximum rated gradient While on the gradient release the joystick and ensure the wheelchair comes to rest and the brakes are applied without the front wheels lifting of the ground Deflect the joystick forwards and continue driving up the slope Ensure the pick up is smooth and positive 140 SK77981
41. the system The System Log is entered using OBP Enter OBP Mode e Select System from the menu e Select Diagnostics from the menu e This displays the Diagnostic screen that shows the connected modules and the version history See diagram below e if a Module has had no trips then the message No Entries will be displayed otherwise something similar to the following screen will be displayed PM 1 9 M1 Brake Error System Error Diagnostics JSM 1 9 PM 1 9 132 SK77981 4 PG DRIVES TECHNOLOGY 2 3 Connections R NET TECHNICAL MANUAL DIAGNOSTICS The R net has various connections that are referred to by the diagnostic text These connections can be on the Power Module PM Joystick Module JSM and the Intelligent Seating Lighting Module ISM The following diagram shows the connections on these Modules Inhibit 3 1 T rt 8 Brake vel Brake ve Brake ve Brake ve Motor ve Motor ve Motor ve mm Motor ve Assumes no Joystick Orientation Invert M1 Direction ox Invert M2 Direction programming has been undertaken INHIBIT 2 i wom 1 7 2 Inhibit 2 SK77981 4 ISM Actuator Channels Left Lights 1 5 Inh4 Right Lights 2 _ Inh 5 w 7 Actuator Channels Assumes no Joystick Orientation or Invert Axis Direction pro
42. view of a typical Drive screen in Profile 1 Ig Battery Indicator Profile Name 1 aiii Speed Indicator Indoor Drive 18 SK77981 4 PG DRives TECHNOLOGY 511 Battery Indicator R NET TECHNICAL MANUAL OPERATION This displays the charge available in the battery and can be used to alert the user to the status of the battery WIS Steady This indicates that all is well Flashing Slowly The control systern is functioning correctly but you should charge the battery as soon as possible Stepping Up The wheelchair batteries are being charged You will not be able to drive the wheelchair until the charger is disconnected and you have switched the control system off and on again Refer to section 11 for a description of how to read the Battery Gauge 5 1 2 Speed Indicator 513 Current Profile 1 Indoor Drive 514 In Focus 515 Speed Limit 516 Latched SK77981 4 This displavs the current speed setting The speed setting is adjusted using the Speed Buttons The Profile Number describes which Profile the control svstem is currentiv operating in The Profile Text is the name or description of the Profile the control svstem is currentiv operating in When the control system contains more than one method of direct control such as a secondary Joystick Module or a Dual Attendant Module then the Module that has control of the wheelchair will displav the In Focus svmbol
43. 0 10 5 Low Voltage Cut out Low Voltage 90 11 Genital RR M RR 91 11 1 Brake Disconnected Alarm 91 11 2 Brake Fault Detect csser 9 Tio Brake i a anaa EE a 91 TLA SO SOP RATA aa ika ke e ene 91 11 5 Front Wheel Drive iii si kanen i e coe rete stp repete ett 91 11 6 SCOMREVEISAL GER 91 11 7 Charger Inhibit 3 Enable 92 11 8 Charger Inhibit Latching L 92 11 9 Charger Inhibit 1 Latching L 93 11 10 Charger Inhibit Alarm 93 12 MOTORS DU de 94 Motor I ETT 94 12 1 Maximum Current Limit Boost Drive Current Boost Drive TiM 94 12 2 Curent Foldback Threshold Current Foldback Time Current Foldback Level 94 12 3 Minimum Current Limit 95 T24 COMPENSATION vis sesta sw e annee ep ina 95 12 5 Invert MI Direction 96 12 6 Invert M2 Direction 96 1257 MOTOR SWNODE ERE 97 12 8 5168 COITOCT aka a Ai etre 97 12 9 Display Speed Display 5 97 PG Drives TECHNOLOGY 12 10 Maximum Rated 97 12 11 Maximum Displayed Speed Max Display Speed 97 Motor CTS 98 12 12 Compensation Factor sse 98 13 ooo eee 99 Inhibits Explained L rr 99 Speed Inhibit Example 1 99 Actuator Inhibit Examples 1 101
44. 31 1 1 Diagnostic Procedure 131 2 Diagnostic 131 2 1 Current Diagnostic Screen 131 2 1 1 Identified MOQUIC 132 2 142 Trip TOM casse ts erre e N 132 VINE Meo pe DS 132 2 14 EXGDIesns tenet nce acer 132 2 2 System SCIe6n eee err pines 132 2 3 133 3 Diagnostic Text Definitions 134 Sill JOVSIIGK ENO b a 134 3 28 LOW BONON cde ate pp a pp kt 135 3 3 High Battery ss 135 SA BOKS ENON eT 135 39 MOtOr ENON va ie noana fn gt 135 3 67 quei iii ir tini 135 3 7 Joystick Calibration Error 135 9 8 i se iri entente nena 136 3 9 Lamp Shor niin 136 9 10 Lamp SMON EEUU 136 3 11 Indicator kan xx rw renes 136 3 12 Indicator Lamp Failed 136 3 13 eiecit iis agir n oa 136 12 imrar 137 8 15 Overtemp lamps rne 137 3 16 DIME na e 137 Si LZ Memo ENO ETE m 137 3 18 PM Memory EOTF seme 137 3 19 BOA 138 3 20 BadiSettings ore e i rentrer exiens 138 3 21 MOGIOIG EITOE s sce te i a a a 138 3 22 SYSTEM EITOF cootra Re e as 138 3 23 SID
45. 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL DIAGNOSTICS Stop the wheelchair and reverse down the gradient While on the gradient release the joystick and ensure the wheelchair comes to rest and the brakes are applied without the front wheels lifting of the ground 45 Lights Indicators and Hazard Lamps Test If lights are fitted e Visually check each bulb for correct illumination e Check each bulb for correct illumination and that the flash rate is 1 5Hz 0 5Hz e Disconnect each bulb in turn and check that the remaining bulb for that side flashes at 3Hz 0 5Hz If hazard lamps are fitted e Check each bulb for correct illumination and that the flash rate is 1 5Hz 0 5Hz 4 6 Actuator Test If actuators are fitted e Check each motor for correct direction of movement e Ensure the mechanical end stops are secure and that they stall the actuator motors thus operating the ISM s automatic end stop detection 467 Inhibit Input Test Insert an appropriate battery charger or equivalent inhibit connection into the Charger Connector on the JSM and ensure that drive is inhibited If Inhibits 2 3 4 and 5 are used for inhibit or speed limiting purposes suitable tests should be devised to ensure correct operation SK77981 4 141 R NET TECHNICAL MANUAL DIAGNOSTICS PG Drives TECHNOLOGY 5 Servicing of Defective Units Excluding specific OEM approved replacement parts for details of these contact the wheelchair manufactu
46. 4 2 2 Speed Decrease Button This button decreases the maximum speed setting Depending on the way the control system has been programmed a momentary screen may be displayed when the button is pressed Refer to section 5 for details of the momentary screen Refer to Chapter 3 Programming for details 16 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION 4 2 3 Speed Increase Button This button increases the maximum speed setting Depending on the way the control system has been programmed a momentary screen may be displayed when the button is pressed Refer to section 5 for details of the momentary screen Refer to Chapter 3 Programming for details 4 2 4 Mode Button The Mode button allows the user to navigate through the available operating Modes for the control system The available modes are dependant on programming and the range of auxiliary output devices connected to the control system Refer to Chapter 3 Programming for details 4 25 Profile Button The Profile button allows the user to navigate through the available Profiles for the control system The number of available Profiles is dependant on how the control system is programmed Depending on the way the control system has been programmed a momentary screen may be displayed when the button is pressed Refer to section 5 for details of the momentary screen Refer to Chapter 3 Programming for details 4 2 6 Hazard Warning Button and LED Th
47. 4 2 4 BUON c aa 17 4 2 5 Profile Button 17 4 2 6 Hazard Warning Button and LED 17 4 2 7 Lights Button and LED iiec 17 4 2 8 Left Indicator Button and LED 17 4 2 9 Right Indicator Button and LED 17 4 2 10 External On off Switch JACK en 17 4 2 11 External Profile Switch JOCK nn 18 4 3 UCD 18 4 5 Charger SOCKS nd a 18 5 LCD Screen 18 5 1 Screen SYMbOIS kwa pk ik cas 18 541 1 Baten a Bn 19 5 1 2 Speed MACAO ainainen 19 51 3 Current PrOfIle eiie rer tent e d Hee 19 e E Minore DTE 19 5 15 Speed UTE 19 5 1 6 LOCKE Es 19 AM E M 20 DIF FAUM erp Pacts 20 5 1 9 Motor Temperature cc enn 20 5 1 10 Control System Temperature 20 SANETI 20 COPA A 2 EST o ETT 20 5 1 13 Environmental eene 20 SK77981 4 D T TA BIGSTOOT niinn 20 5 2 Momentary Screens 21 5 3 DIAGNOSTIC SCO ie etre eek hir rune 21 5 3 1 Identified Module 21 5 3 2 Trip TeXliscassc oci re ve eee i i deitas 21 Ip COGO cs cerco feeder qnc RR KR 21 5 3 4 Diagnostic Procedure 21 5 4 Locking the Control System ni 22 5 4 1 Keypad LOCKING tet 22 6
48. 61 2 1 Howto Enter 61 2 2 Navigating the 62 2 3 Making an Adjustment nn 62 3 PC Programmer OEM Parameter List 63 4 Profile Management 66 Profiles And Modes Explained 66 Profile Management en 66 Mode Mana ement rote e ea 66 Selecting Profile and Modes with Just One Button 67 Aj Profile ia a al 67 4 2 Profile Enable PEN LL nn 67 4 3 Mode Enable Modles enne 68 Input Devices Explained eee 68 4 4 Input Device Type ID Type L 68 45 Input Device Subtype 69 4 6 Select and Grab siena ni 69 4 7 Seat Reversal Profile 70 5 71 i Configuration EXpIalnedgd 1 irit on repre tht i 7 DO 71 BL p peace 72 72 59 72 6 21 1 1 iii taa ha ana 73 6 1 Maximum Forward Speed Fwd Speed 73 6 2 Minimum Forward Speed Fwd Speed Min 73 6 3 Maximum Reverse Speed Rev Speed 73 6 4 Minimum Reverse Speed Rev Speed Min 73 6 5 Ma
49. 77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION 6 Power Module amp ISM Wiring 6 General Study the data sheets for the Power Module and the ISM to identify e The output current ratings and restrictions e The connector pin assignmenis Recommendations for the cross sectional area ratings and materials for wiring are given in the table in section 6 2 These depend on the application You are responsible for establishing the suitability of the particular wiring arrangement used on the wheelchair PGDT can make general recommendations for wiring to R net control systems but PGDT accepts no responsibility for the wiring arrangement used Make sure that the connectors you use are reliable under all operating conditions and correctly wired with no short circuits Do not use unsuitable components it may result in poor wheelchair reliability The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair for both normal use and stalled conditions PGDT can make general recommendations for wiring for R net control sustems but PGDT accepts no responsibilitu for and accepts no liabilitu for losses of anu kind arising from the actual wiring arrangement used The chair manufacturer is responsible for ensuring that onlu the mating connectors specified bu PGDT on the control system s specific data sheet are used to connect to the control system PGDT ac
50. 81 7 25 Standby Forward tren 82 7 26 Standby Reverse 82 7 28 NANAY RIGAL tra an 83 7 29 Remote Selection Remsi 83 7 30 Background tnter eene 83 Latehed 5 a a URS SACRA RN SR 84 8 1 Latched Drive Drive 84 8 2 Latched Actuators 84 8 3 LatchedTimeout TMe sessirnir 84 8 4 Latched Timeout 85 77 te ee 86 5 R NET TECHNICAL MANUAL 9 0 1 Seating Module Enabled Lemna 86 Actuator Axes Explained Lemin 86 Intelligent Seating Module Global mnn 86 9 1 Actuator Entry Axis Act Entry Axis 86 Intelligent Seating Module Axes Setup 86 9 2 Axis Channels Axis Display Invert Axis Direction 86 9 9 Axis NOM a u 87 Intelligent Seating Module Channels 87 9 4 Acceleration ACC eines 87 9 5 D celerdtion Dec username 88 9 6 Up Speed 88 97 Down Speed DnSpd na 88 9 8 UD Current iii neret teh nre 88 9 9 Down Current Limit ss 88 9 10 Endstop Autodetect 89 9 11 Actuator 89 10 BOHET PR 90 TOT LOW Battery Ala ocior tete ian 90 10 2 Low Battery Flash Level 90 10 3 CADIS RESISTANCES eerie e tr nee 90 10 4 Calibration Factor 9
51. 84 PG Lights IPG 9401 PS SK77981 4 45 R NET TECHNICAL MANUAL INSTALLATION PG DRives TECHNOLOGY 611 Power Module Wiring The following diagram gives details of the Power Module connections MOTOR 1 MOTOR 2 Left BATTERY Right Brake ve 5 Brake ve Brake ve Motor Motor ve Motor ve Motor ve CIRCUIT BREAKER 12V Assumes no Motor Swap programming has been undertaken Joystick Actual Movement M1 M 2 Movement Forward ve ve Forward Backward ve ve Backward Assumes no Joystick Orientation Invert M1 Direction or Invert M2 Direction programming has been undertaken INHIBIT 2 ct me nn 11 ov 2 Inhibit 2 ON BOARD CHARGER OBC Function Battery ve Inhibit 3 OV The Power Module is shipped with rubber bungs inserted into some of the connectors Oniv remove the rubber bung from the required connectors 46 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION 6 12 ISM Wiring The following diagram gives details of the ISM connections Actuator Channels Left Lights 1 3 5 Inh4 ila tl b LIGHTS 4 Right Lights 2 4 6 A Actuator Channels Lights Indicator Brake Horn F Actuator NE Pin 1 Pin 2 Movement Assumes no Joystick Orientation or Invert Axis Direction programming has been undertaken 1 OV 2 Inhibit 4 1 OV 2 Inhi
52. AL MANUAL ELPM 90 JSM LED amp SM PG Drives TECHNOLOGY 1 Bar The battery needs charging or there is a bad connection to the battery Check the connections to the battery If the connections are good try charging the battery e 2 Bar The left motor has a bad connection Check the connections to the left hand motor e 3 Bar The left hand motor has a short circuit to a battery connection Contact your service agent e e 4 Bar The right hand motor has a bad connection Check the connections to the right hand motor e e 5 Bar The right hand motor has a short circuit to a battery connection Contact your service agent e e 6 Bar The wheelchair is being prevented from driving by an external signal The exact cause will depend on the tvpe of wheelchair vou have possibilitv is the batterv charger is connected e 7 Bar A jovstick fault is indicated Make sure that the jovstick is in the center position before switching on the e e control system e e 8 Bar A control svstem fault is indicated Make sure that all connections are secure e e e 9 Bar The parking brakes have a bad connection Check the parking brake and motor connections Make sure the control svstem connections are secure 10 Bar An excessive voltage has been applied to the control system This is usually caused by a poor battery eo connection Check the battery connections o 7 5 c
53. AL MANUAL OPERATION PG DRIVES TECHNOLOGY 7 Getting Ready to Drive e Operate the on off switch The screen will go through an initializing process then show the base screen as follows In the case on an LED Joystick Module the battery gauge will illuminate Im c Batterv Indicator Profile Name 1 Speed Indicator Profile 1 e Check that the Speed Setting is at a level that suits you e Push the joystick to control the speed and direction of the wheelchair flash the joustick displaced screen You must release and center the joystick to resume normal operation If you do not release the joustick within five seconds the wheelchair will not be able to move even if you release the joystick and push it again The screen will display the diagnostic screen at this time You can reset this condition by switching the control system off and on again Refer to Chapter 4 0 If you push the joystick before or just after you switch the control system on the screen will If you do not push the joystick as you switch the wheelchair on and the diagnostic screen is displayed as in the following diagram then the R net has detected a problem somewhere in the wheelchairs electrical system 30 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION Identified Module 2 Trip Text _ Module Error Trip Code 8 Tips for Using Your Control System 8 Driving General Make
54. CJSM or Omni have the speedometer function 1 Maximum Rated Speed This calibrates the speedometer function The value chosen should correspond to speed of the wheelchair that is expected at a setting of Maximum Forward Speed 100 This value is always set in miles per hour The programmable range is 0 0mph to 20 0mph Only certain Input Devices e g CJSM or Omni have the speedometer function lell Maximum Displayed Speed Max Display Speed This sets the operation of the graphical speed display i e the blue semi circle on the CJSM and Omni Ordinarily the powerchair will be dispatched so that the graphical speed display reaches its maximum point at the maximum rated speed of the powerchair This means that if the powerchair is later programmed to a lower speed to suit a particular user for example the graphical speed display would never reach its maximum However this can be compensated for by setting the value of Maximum Displayed Speed This is best explained in an example SK77981 4 97 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY A powerchair with a rated speed 4mph requires the Maximum Forward Speed to be re programmed from 100 to 80 in order to suit a particular user This would mean the powerchair now has a top speed of 3 2mph and that the graphical speed display will never fill beyond a point of 80 If it is required for the graphical speed display to fill to 100 then the value
55. Cable The EL PM 90 can actually be used with any R net JSM including LCD based versions as well as an Omni or anu other Input Device The LED JSMs can actually be used with any R net ISM or any other Output Device The SM can only be used with the EL PMSO SK77981 4 R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM PG Drives TECHNOLOGY e Controls JSM LED and JSM LED L There are common controls between the R net and R net LED control systems that operate as previously described in Chapter 1 Where a control has been moved this will be noted however where a control has changed a description of its new functionalitv and use will be given All information regarding handling advice cleaning requirements and overall control described in Chapter 1 should be followed LED JOYSTICK MODULE Joystick Charger Socket Communication Cable CONTROL PANEL VARIANTS Without Lighting With Lighting 4 MODE lie SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM el Buttons BUTTONS Cg On Off Button Battery Gauge Horn Button l E e MODE Actuator Indicator Mode Button A CO ZD Hazard Button amp LED Maximum Speed Lights Button amp LED Profile Indicator gt Left Indicator Button amp LED Speed Profile Buttons Right Indicator Button amp LED Decrease Increase ell Battery Gauge The battery gauge show
56. ECHNOLOGY Do not expose your control system or its components to damp for prolonged periods If the control system becomes contaminated with food or drink clean it off as soon as possible 23 Cleaning Clean the control system and the joystick with a cloth dampened with diluted detergent Be careful when cleaning the joystick and screen Never use abrasive or spirit based cleaners 3 Mating Connectors To connect the Communication Cables e Holding the connector housing firmly push the connector into its mate until you can no longer see the yellow plastic The connectors are secured using a friction system Disconnected O Correctiv Connected h0 fl Il tee Incorrectiv Connected To disconnect the Communication Cables e Holding the connector housing firmly pull the connectors apart When the control system is first switched on after a connection or system component change the Timer will be displayed whilst the system checks itself and then the Re start icon will be Do not hold or pull on the cable Always grip the connector when connecting and disconnecting displayed Switch the control system off and on again to operate 14 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION 4 Controls The R net control system has two versions of Joystick Module with and without lighting control Most of the controls are common to both however the lighting buttons are only included on Joys
57. LOGY Sets the joystick deadband size of neutral position Sets if the joystick Left Right axis is inverted Sets if the joystick Fwd Rev axis is inverted Swaps the joystick s Fwd Rev and Left Right axes Sets if if is possible to change between Modes whilst driving Sets the period of inactivity before the Control System powers down Sets the period of inactivity before Standby Mode is entered Sets if an external input switch can be used to enter Standby Mode Sets if the joystick can be used to select Modes when in Standby Mode Sets the Modes that Standby will operate in Sets which Mode is entered with a forward command Sets which Mode is entered with a reverse command Sets which Mode is entered with a left command Sets which Mode is entered with a right command Sets whether Profiles can be selected and entered with joystick deflections Sets the default background for each profile Selects latched drive operation Selects latched actuator operation Sets the timeout period for latched operation Sets whether a bleep occurs as the timeout period approaches Sets which Module is active SM or ISM Sets the default axis when Seating Mode is entered Sets which actuator motor channels on the ISM will operate for a particular axis Sets the user display for a particular axis Sets whether a channel direction is inverted for a particular axis Sets the text that will be displayed when an actuator is selected Sets the acceleration for
58. Mode Name m EN Environmental Mode Bluetooth Mode SK77981 4 71 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY 5 This is 20 character text string that appear the JSM LCD screen to indicate the active Mode See Configuration Explained for more details strings will not appear on the standard JSM screens These text options are reserved for future 0 Although there are options to change the Mode Names for Drive and Seating Modes these text Input Devices 5e Input This sets the data that the Input Device transmits to the Output Device for each mode See Configuration Explained for more details The programmable options are in the form of a drop down menu as shown in the following diagram 2 Configuration Drive provides data that is appropriate for driving the wheelchair and should always be used for Drive mode i e when the Power Module is the active Output Device Seating provides data that is appropriate for controlling the seating of the wheelchair and should always be used for Seating Control mode i e when an ISM or equivalent is the active Output Device Raw provides basic joystick x and y data but scaled for deadband throw and orientation Additionally raw button operations are also transmitted This setting can be used for any other Output Module types Programming sets which Mode is reserved for OBP This is usually M
59. PROGRAMMING PG DRIVES TECHNOLOGY 4 Profile Management Profiles And Modes Explained The operation of the R net system is based around the concept of Profiles and Modes A Profile is a collection of programmable parameters that affect the operation and performance of the wheelchair It is typical to have 5 Profiles each set up to give a different driving performance For example Profile 1 may have very slow settings for speeds and accelerations while Profiles 2 through to 5 would have progressively faster settings In this way the user can change the performance of the wheelchair by selecting the appropriate Profile with the Profile Button on the JSM Although Profiles are used mainly to change driving performance they can also contain parameters for other functions such as seating control A Mode reflects the actual operation that occurs as a result of a joystick command Typical examples are Drive Mode Seating Control Mode and Environmental Control Mode The user can select the required Mode with the Mode Button on the JSM Note it will only be possible to select a Mode if there is a Module that will support that Mode connected into the system For example if there is no Environmental Control Module connected then the user will not be able to select that Mode Profile Management The R net system can have up to 8 Profiles Conventionally Profile 8 is reserved for Dual Attendant Control but can be re assigned meaning there
60. Refer to Chapter 2 Installation 6 3 Battery and Motor Connections Refer to Chapter 2 Installation 6 4 EL PM to Seating Module Connections Use only a PGDT supplied Seating Module Cable to connect between the EL PM and the Seating Module The 4 way connector on this cable carries Actuator and Inhibit 2 connections while the two 2 way connectors on the other end should be connected to the EL PM s Actuator and Inhibit 2 connections If it is required to connect a switch directly to the Inhibit connector on the EL PM then the 2 way connector for Inhibit 2 on the Seating Module Cable should not be connected SK77981 4 lel R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM PG Drives TECHNOLOGY 65 Inhibit Connections As with standard PMs the EL PM90 contains the Inhibit 2 and 3 connections However if the EL PM90 is used in conjunction with a Seating Module then Inhibit 2 can be routed through to that module via the Seating Module Cable The Inhibit connections can be used to limit speed inhibit drive and or inhibit actuator channels Refer to Chapter Programming for full details 6 6 Actuator Connections Tne EL PM90 has one actuator channel which can be used in single actuator applications However the connection of a Seating Module consumes this channel but effectively splits it into a maximum of 5 All actuator channels have a maximum rating of 12A The PM 80 and the Seating Module do not support automatic end
61. Stop Switch is operated or disconnected this symbol will flash 5113 Environmental When Environmental Mode is entered the screen will display the following icon 5114 Bluetooth m M When Bluetooth Mode is entered the screen will display the following icon O SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION 52 Momentary Screens If the momentary screens are programmed to be displayed then pressing the Speed or Profile Buttons will display screens such as below PU lil e oe Speed Momentary Screen Profile Momentary Screen 53 Diagnostic Screen When the control system safety circuits have operated and the control system has been prevented from moving the wheelchair a diagnostics screen will be displayed This indicates a system trip i e the R net has detected a problem somewhere in the wheelchairs electrical system Identified Module Trip Text Trip Code Module Error If the error is a non active module for example in the ISM but with a drive Profile is selected then drive will still be possible however the diagnostic screen will appear intermittently 5 31 Identified Module This identifies which module of the control system has registered the problem PM Power Module JSM Joystick Module ISM Intelligent Seating lighting Module 53 2 Trip Text The Trip Text gives a brief description of the trip type 533 Trip Code The 4 digit code
62. TECHNOLOGY R NET TECHNICAL MANUAL OPERATION 6 4 6 Joystick Displaced If you operate the Joystick before or just after you switch the control system on the screen will flash the joystick displaced screen You must release and center the Joystick to resume normal operation If you do not release the Joystick within five seconds the wheelchair will not be able to move even if you release the Joystick and operate it again The screen will display a diagnostic screen at this time You can reset this condition by switching the control system off and on again 6 4 7 Control System Locked The Control System can be locked in one of two ways Either using a sequence of deflections 5 and presses with a Joystick or with a physical Key How the Control System is locked depends on how the wheelchair manufacturer has programmed it Refer to Section 5 for a detailed description of the Locking and Unlocking procedures 6 4 8 Diagnostic Screen identified Module Trip Text When the control system safety circuits have operated and the control system has been prevented from moving the wheelchair a diagnostics screen will be displayed This indicates a system trip i e the R net has detected a problem somewhere in the wheelchairs electrical system Refer to section 5 for a detailed description of Diagnostic screen and procedure Refer to Chapter 5 Diagnostics for a complete description of the Trip Codes SK77981 4 29 R NET TECHNIC
63. UAL PROGRAMMING 45 Input Device Subtype In the rare event of it being required to have two identical Input Devices connected into the same system for example a left and right hand JSM then the parameter Input Device Subtype can be used to manage this situation There are three settings All 1 and 2 Note this parameter is only relevant if the Inout Devices are identical In all other instances it should be ignored If set to All then either Inout Device can control the Profile and it will be the Input Device used to power up the system that will be in control If set to 1 then only the older of the two Input Devices will be able to control the Profile If set to 2 then only the younger of the two Input Devices will be able to control the Profile The relative ages of the two Input Devices will be determined automatically by the R net system However it will also be necessary for the Inout Devices to be manually aged in order to identify which is actually which The relative ages are determined by the serial numbers which have a format as below AXYYMM1234 YY and MM relate to year and month of manufacture If there is no differentiation using this method then the last four series digits will be used 4 6 Select and Grab These two parameters can be used to 1 Prevent a Profile from selecting a certain other Profile s 2 Prevent a Profile from conceding control to a certain other Profile s Select sets which Profile s c
64. a drop down menu as below will appear and the bands required to invoke the inhibit should be selected For example if the inhibit is required for Band 3 only then that option should be selected as shown 106 SK77981 4 PG DRIVES TECHNOLOGY Actuator Inhibits a Channel 1 E Up Assign 3 Up Inhibit in Bands B Up Alam E Down Assign Down Inhibit in Bands 3 Down Alarm gt Channel 2 D e Channel 3 When the drop down menu is closed it would appear as follows a Actuator Inhibits A Channel 1 Up Assign B Up Inhibit in Bands Up Alam E Down Assign E Down Inhibit in Bands Bel Channel x Down Alarm 2 Off 10 Off Off 5 Off RES RET Of Of B R NET TECHNICAL MANUAL PROGRAMMING This sets whether an audible alarm will sound when a channel s down direction in inhibited Down is defined as pin 2 positive with respect to pin 1 when the jovstick is displaced in reverse and Invert Axis Direction is not set The programmable options are Yes and No If set to Yes then an alarm will sound while an inhibit is present If set to No then no alarm will sound SK77981 4 107 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY l4 Lights 141 Lamp Voltage This sets the operating voltage for the wheelchairs lighting system The programmable options are 12V and 24V The wheelchairs light and indicators should be fitted with lamps of the corr
65. a forward command Joystick Reverse Throw Sets the amount of joystick movement required to initiate a reverse command Joystick Left Throw Sets the amount of joystick movement required to initiate a left command Joystick Right Throw Sets the amount of joystick movement required to initiate a right command SK77981 4 63 R NET TECHNICAL MANUAL PROGRAMMING Profiled Latched Seating Joystick Deadband Invert Left Right JS Axis Invert Fwd Rev JS Axis Swap Joystick Axis Change Mode while Driving Sleep Timer Standby Time Switch to Standby Mode Selection in Standby Standby in Modes Standby Forward Standby Reverse Standby Left Standby Right Remote Selection Background Latched Drive Latched Actuators Latched Timeout Latched Timeout Bleep Seating module Enabled Intelligent Seating Module Global Actuator Mode Entry Axis Axis Setup Axis Channels Axis Display Invert Axis Direction Axis Name Channels Acceleration Deceleration Up Speed Down Speed Up Current Limit Down Current Limit Endstop Autodetect Actuator Endstop Timeout Seating Module Battery General 64 Low Battery Alarm Low Battery Flash Level Cable Resistance Calibration Factor Low Voltage Cut out Low Voltage Time Brake Disconnected Alarm Brake Fault Detect Brake Voltage Soft Stop Rate Front Wheel Drive Seat Reversal Charger Inhibit 3 Enable Charger Inhibit 3 Latching PG Drives TECHNO
66. ach of its output channels 1 to 6 Up is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward and Invert Axis Direction is not set These inhibits are referred to as A B and C and each can be initiated by any actual hardware input in the system This functionality means that any actuator channel direction can be inhibited from 3 individual sources The parameter Assign links the software inhibits to an actual hardware inhibit For example if Assign A is set to 4 then the operation of Channel x Up Inhibit will be controlled via Inhibit Inout 4 which is located on the Intelligent Seating Module The programmable options are Off and 2 to 33 If set to Off then the relevant Channel x Up Inhibit can never be active If set to a numeric value then the relevant Channel x Up Inhibit will be under the control of the Inhibit Input that corresponds to that number Inhibit Inputs 2 and 3 are on the Power Module Inhibits 4 5 are the Seating Module and Inhibits 6 to 33 will be on other PGDT or third party modules 7 Channel x Up Inhibit in Bands x I to 6 This sets the condition of the input assigned to Channel x Up Inhibit that will result in an inhibit of the actuator drive in the up direction Up is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward and Invert Axis Direction is not set The inhibit can be set to occur in any combination of bands See 13 1
67. acy is not greatly affected if the programmed type and capacity do not closely match the battery The most important factor affecting the accuracy of the battery gauge is the resistance of the cable and connections between the battery and the control system The control system must be matched approximately to the cable resistance of your wheelchair to make the battery gauge accurate The parameter for adjustment is Cable Resistance refer to Chapter 3 As a guide 2 5mm cable has a resistance of about 8 millionms per meter 4 0mm cable has about 5 millionms per meter and 6 0mm has about 3 3 millionms per meter Circuit breakers and connectors usually account for about 15 milliohms These values will be chosen at the time the control system is being specified by the wheelchair manufacturer Like the preset acceleration rates once the values for the battery are decided they are programmed into control systems during manufacture and should never need changing If you need advice contact PGDT SK77981 4 57 R NET TECHNICAL MANUAL INSTALLATION 58 PG DRIVES TECHNOLOGY SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING c CHAPTER 3 PROGRAMMING SK77981 4 59 R NET TECHNICAL MANUAL PROGRAMMING 60 PG Drives TECHNOLOGY SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING l Introduction This chapter gives an overview of the programmable parameters within the R Net control syste
68. ally be adjusted to the same as Maximum Forward Deceleration 611 Maximum Reverse Acceleration Rev Accel Sets the acceleration rate of the wheelchair in the reverse direction when the speed setting is at maximum all 5 bars illuminated Programmable range is 0 to 100 in steps of 1 612 Minimum Reverse Acceleration Rev Accel Min Sets the acceleration rate of the wheelchair in the reverse direction when the speed setting is at minimum just 1 bar illuminated Programmable range is O to Maximum Reverse Acceleration in steps of 196 If the Maximum Reverse Acceleration is set to a value less than the current value of this parameter then it will automatically be adjusted to the same as Maximum Reverse Acceleration 74 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING 613 Maximum Reverse Deceleration Rev Decel Max Sets the deceleration rate of the wheelchair in the reverse direction when the speed setting is at maximum all 5 bars illuminated Programmable range is 0 to 100 in steps of 1 614 Minimum Reverse Deceleration Rev Decel Min Sets the deceleration rate of the wheelchair in the reverse direction when the speed setting is at minimum just 1 bar illuminated Programmable range is 0 to Maximum Reverse Deceleration in steps of 1 0 If the Maximum Reverse Deceleration is set to a value less than the current value of this parameter then it will automaticallu be adjusted to the same as M
69. an be selected from a particular Profile Grab sets whether a particular Profile can gain control from another Profile s If these parameters are selected a drop down menu as below will appear To select a Profile simply highlight the appropriate menu item Any combination of Profiles can be selected When the drop down menu is closed the selected Profiles are expressed as numbers and the parameter appears on the screen as below The numbers 1 to 8 refer to the Profiles listed in the menu 1234567 1234567 1234567 1234567 SK77981 4 69 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY Example To prevent a user gaining control from the a Profile that is used by the Attendant control The system is set up as below 1234567 1234567 1234567 1234567 1234567 1234567 1234567 12345678 Grab 11234567 1234567 1234567 1234567 1234567 1234567 1234567 12345678 2 E52 52 52 52 53 52 n 3 1 4 ta it 5 Profiles 1 to 5 are set for tvpe user Input Device Profile 8 is set for Attendant control The Select parameter in Profiles 1 to 5 does not include Profile 8 meaning the user cannot select Attendant control The Select parameter in Profile 8 includes all Profiles meaning the Attendant device can alwavs select its own Profile The Grab parameter Profiles 1 to 5 does not include Profile 8 meaning the user can move betwee
70. asic Tests These tests are a minimum recommendation only It is the responsibility of the service person s to perform other tests relevant to the original trip and wheelchair type are carried out Refer to the wheelchair s Technical Manual for exact information of other tests PGDT accept no liability for losses of any kind arising from the carrying out of the described tests or from not carrying out additional relevant tests SK77981 4 R NET TECHNICAL MANUAL WARNING SUMMARV 153 R NET TECHNICAL MANUAL WARNING SUMMARV PG DRIVES TECHNOLOGY should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 5 section 4 These tests should be conducted in an open space and a restraining device such as a seat belt 2 42 Servicing of Defective Units Any replacement work carried out without the wheelchair manufacturer s permission will invalidate the control sustem s warranty PGDT accept no liability for losses of any kind arising from unauthorized opening adjustments modifications to a any component of the R net control system Chapter 5 section 5 154 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL SPECIFICATIONS CHAPTER 7 SPECIFICATIONS SK77981 4 155 R NET TECHNICAL MANUAL SPECIFICATIONS PG DRIVES TECHNOLOGY 156 SK77981 4 PG DRIVES TECHNOLOGY Electrical Specifications Supply Voltage Operating Voltage Peak Voltage
71. ator channel is currently being controlled when the Control System is in Actuator Mode The actuators can be programmed to work in multiple ways refer to Chapter 3 Programming for details Actuator selection and operation is achieved using the Joystick Motions to the Left or Right select different actuator channels Motions Forward and Backwards move the actuator s selected 114 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM 3 Control Sustem Status indication The batterv gauge and Maximum speed profile indicator show the status of the control svstem A number of supposedly defective control systems returned to us are subsequently found to operate correctly This indicates that many reported faults are due to wheelchair problems rather than the control system 3 Batteru Gauge is Steadu This indicates that all is well 3 2 Battery Gauge Flashes Slowly The control system is functioning correctly but you should charge the battery as soon as possible 33 Battery Gauge Steps Up The wheelchair batteries are being charged You will not be able to drive the wheelchair until the charger is disconnected and you have switched the control system off and on again 3 4 Battery Gauge Flashes Rapidly even with the joystick released The control system safety circuits have operated and the control system has been prevented from moving the wheelchair This indicates a system trip i e the R net has detecte
72. aximum Reverse Deceleration 615 Maximum Turn Acceleration Turn Accel Max Sets the acceleration rate of the wheelchair into a turn when the speed setting is at maximum all 5 bars illuminated Programmable range is 0 to 100 in steps of 1 616 Minimum Turn Acceleration Turn Accel Min Sets the acceleration rate of the wheelchair into a turn when the speed setting is at minimum just 1 bar illuminated Programmable range is 0 to Maximum Turn Acceleration in steps of 1 If the Maximum Turn Acceleration is set to a value less than the current value of this parameter then it will automatically be adjusted to the same as Maximum Turn Acceleration 617 Maximum Turn Deceleration Turn Decel Max Sets the deceleration rate of the wheelchair while turning when the speed setting is at maximum all 5 bars illuminated Programmable range is O to 100 in steps of 1 618 Minimum Turn Deceleration Turn Decel Min Sets the deceleration rate of the wheelchair while turning when the speed setting is at minimum just 1 bar illuminated Programmable range is 0 to Maximum Deceleration in steps of 1 If the Maximum Turn Deceleration is set to a value less than the current value of this parameter then it will automatically be adjusted to the same as Maximum Turn Deceleration 619 Power Power This reduces the power of the wheelchair Power is the ability of a wheelchair to climb a hill or overcome an obstacle If it is set to
73. bit 5 The ISM is shipped with rubber bungs inserted into some of the connectors Only remove the rubber bung from the required connectors SK77981 4 47 R NET TECHNICAL MANUAL INSTALLATION PG DRIVES TECHNOLOGY 6 3 Crimping Good quality crimping is essential in ensuring the long term reliability of the wheelchairs electrical system Poor quality crimps may initially appear to be satisfactory but over time they may cause problems It is recommended that crimp quality is maintained by implementing the procedures detailed in IEC 60352 2 1990 Defective or poor quality crimps may affect the warranty of the control system PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Hand tools for crimping and extraction are available from Intech The references are as below Battery Motor and Brake wiring Small crimp tool handle upto 6 0mm ICT 29020 Large crimp tool handle upto 6 0mm ICT 29030 Die set for 0 5 1 5mm wire ICD 29468 Die set for 2 5 4 0mm wire ICD 29465 Die set for 4 0 6 0mm wire ICD 29467 Crimp tool including die set 8 10 0mm2 Part No 734533 1 Extraction tool for 0 5 1 5mm IET 503 Extraction tool for 2 5 10 0mm IET 552 OBC Inhibt Actuator and Lighting wiring Small crimp tool handle upto 6 0mm ICT 29020 Die set for 0 5 1 5mm wire ICD 29468 Extraction tool for 0 5 1 5mm IET 503 0 Onlu use the exact tools as specified For detai
74. ble components it may result in poor wheelchair reliability The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair for both normal use and stalled conditions PGDT can make general recommendations for wiring for R net control sustems but PGDT accepts no responsibilitu for and accepts no liabilitu for losses of anu kind arising from the actual wiring arrangement used The chair manufacturer is responsible for ensuring that onlu the mating connectors specified bu PGDT on the control systems specific data sheet are used to connect to the control system PGDT accepts no liability for losses of any kind arising from failure to comply with this condition securely mated throughout the chair wiring system and that the workmanship associated with the wiring system is of a good enough quality Failure to meet this condition could result in intermittent operation sudden stopping or veering or even create a burn or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for ensuring that suitable connectors are used and The information pertaining to connectors crimps and crimp tool part numbers can be found in Chapter 2 SK77981 4 R NET TECHNICAL MANUAL LPM 90 JSM LED amp SM PG DRIVES TECHNOLOGY 611 Power Module Wiring The following diagram gives detai
75. c PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL SK77981 4 R NET TECHNICAL MANUAL PG DRIVES TECHNOLOGY PG Drives Technology 2008 All rights reserved This manual is furnished under copyright and may only be used in accordance with the terms laid out by PG Drives Technology The information in this manual is furnished for informational use only is subject to change without notice and should not be construed as a commitment by PG Drives Technology Except as permitted by such terms no part of this manual may be reproduced stored in a retrieval system or transmitted in any form or be any means electronic mechanical recording or otherwise without the prior written permission of PG Drives Technology 44 0 1425 271444 2 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL TABLE OF CONTENTS About this manual 9 Chapter Operation Il 1 Introduction en 13 2 General ise i YR NR 13 2 1 eee 13 2 2 Operating Conditions 13 2 3 ET 14 3 Matting Connectors 14 4 5 15 16 LIMES e UEM 16 4 2 1 casino enr tenter ebur reris 16 HOmiBU OM eic tese ica Ero A ta 16 4 2 2 Speed Decrease Button 16 4 2 3 Speed Increase 17
76. cepts no liability for losses of any kind arising from failure to comply with this condition securely mated throughout the chair wiring system and that the workmanship associated with the wiring system is of a good enough quality failure to meet this condition could result in intermittent operation sudden stopping or veering or even create a burn or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for ensuring that suitable connectors are used and The power connectors for the R net Power Module are specially designed by PGDT for wheelchair applications The crimps are standard AMP Timer parts but the plastic housings are custom These connectors can be purchased from PG Drives Technology or from Intech directly Intech will also provide a pre assembled cable service Contact details for Intech are as follows inconnect Tel 44 0 1522 783030 Fax 44 0 1522 783031 www inconnect uk net The connector part numbers are as shown in the following table PG Drives Technologv Reference Intech Reference Battery Up to 6mm D49712 PG80 B IPG 5202 Motor Brake Up to 4mm2 D49713 PG80 M IPG 5401 Battery Up to 10mm D50287 PG80 B HP IPG 5205 PS Motor Brake Up to 10mm D50947 P G80 M HP IPG 5405 PS OBC D50752 PG OBC IPG 7301 PS Inhibit D50753 PG Inhibit IPG 8202 PS Actuator D50754 PG Actuator IPG 8201 PS Lighting both sides D507
77. ct v i 77 7 6 Actuator Endstop Beep Endstop Bleep 77 7 7 Sounder Volume Sounder Volume 77 7 8 Lock Function Enabled Lock Fn Enable 77 7 9 Reverse Driving Alarm Rev Driving Alarm 77 7 10 Emergency Stop Switch Emergency 5 78 7 11 Keycode Entry 78 7 12 Power up Mode Power Up 78 Controls iii sa ka ann eels 79 7 13 Joystick Forward Throw Forward Throw 79 7 14 Joystick Reverse Throw Reverse Throw 79 7 15 Joystick Left Throw Left 79 7 16 Joystick Right Throw Right Throw 79 7 17 Joystick Deadband 80 7 18 Invert Fwd Rev JS Axis Invert Left Right JS Axis amp Swap Joystick Axis Invert F R Invert L R amp Swap I ERRORI NEGRA RR NN M 80 CONTAINS to ch Pec ira qot 80 7 19 Change Mode while Driving 80 7 20 Sleep Timer Sleep ines 80 Standby Operation Explained 81 7 21 Standby Time Sbytm L 81 7 22 Switch to Standby 5 50 81 7 23 Mode Select in Standby 81 7 24 Standby in Modes
78. ctuator Current limit if Endstop Autodetect is set to No before the drive is cut It is actually very rare to have to adjust this parameter but it can be useful to prevent nuisance stopping i e false detections of endstop The programmable range is OmSeconds to 500mSeconds in steps of 10mSeconds SK77981 4 89 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY IO Batteru IOI Low Battery Alarm This sets whether there will be an audible alarm to signal a low battery condition The point at which the alarm will sound corresponds to the Low Battery Flash Level setting The programmable options are yes and no 10 2 Low Battery Flash Level This sets the point at which battery gauge on the LCD screen starts to flash slowly to warn of a low battery condition The programmable range is 1 to 10 in steps of 1 and corresponds to the number of bars shown on the battery gauge For example if this value is set to 2 then the flashing will occur when the gauge drops to 2 bars 103 Cable Resistance This calibrates the system to compensate for the electrical resistance of the battery cable and connectors to the Power Module This is necessary to ensure an accurate estimation of battery charge The programmable range is OMOhMs to 255mOhrms in steps of IMOhM The value should take into account the electrical resistance in both the positive and negative paths including connectors 10 4 Calibration Factor This allows further fine calibratio
79. d it can be entered with a forward deflection of the joystick If the standby timer expires while the system is in Remote Selection Mode the Standby Mode will be re entered and the Original Profile will still apply 7 30 Background This sets the LCD screen background color for each Profile The programmable options are Blue and White Blue is the conventional setting while White sets a high contrast screen that may be more easily viewable in very bright conditions The diagram below shows examples of the two screen types 2000007 14 35 S KA S Fast Drive 5 Inputs Devices that have color LCD screens have their own local programming for background which can be set to Blue White and Auto If set to Blue or White then those settings will always occur but if set to Auto then the setting as determined by this parameter will occur SK77981 4 83 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY 8 Latched Latched Drive Drive This sets the tvpe of latched drive of the wheelchair The programmable options are in the form of a drop down menu as shown in the following diagram a Latched B Latched Drive B se E Step reverse Latcned Cruise Latched Timeout Cruise reversi If set to Off there will be no latched drive If set to Step the latched drive will be step tvpe but in the forwards direction oniv If set to Step reverse the la
80. d a problem somewhere in the wheelchairs electrical system Please follow this procedure e Switch off the control system e Make sure that all connectors on the wheelchair and the control system are mated securely e Check the condition of the battery e f you can t find the problem try using the self help guide given in section 10 5 e Switch the control system again and try to drive the wheelchair If the safety circuits operate again switch off and do not try to use the wheelchair Contact your service agent 35 Speed Indicator Ripples Outwards In this instance the LED s make a ripple motion starting with the middle Led and then stepping outwards on both sides The Control System has detected that a new module has been added and is reconfiguring 3 6 Speed Indicator LED s 2 amp 4 Flash Speed 244 Whenthe control system requires a reboot for example after a module re configuration the second forth speed indicator LED s will flash Oeoeo 37 Self Help Guide If system trip occurs you can find out what has happened by counting the number of bars on the battery gauge that are flashing Below is a list of self help actions Try to use this list before you contact your service agent Go to the number in the list which matches the number of flashing bars and follow the instructions If tne problem persists after you have made the checks described above contact your service agent SK77981 4 115 R NET TECHNIC
81. d from moving the wheelchair a diagnostics screen will be displayed This indicates a system trip i e the R net has detected a problem somewhere in the wheelchair s electrical system If the error is in a non active module for example in the ISM but with a Drive Mode is selected then drive will still be possible however the diagnostic screen will appear intermittently Identified Module Trip Text 7 PM Trip Code Module Error SK77981 4 BI R NET TECHNICAL MANUAL DIAGNOSTICS PG Drives TECHNOLOGY ell Identified Module This identifies which module of the control system has registered the problem PM Power Module JSM Joystick Module ISM Intelligent Seating lighting Module ele Trip Text The Trip Text gives a brief description of the trip type 213 Trip Code The 4 digit code displayed gives the exact trip that has been recorded 2 1 4 Example The example screen shown in section 2 1 show the following information Identified Module Power Module Trip Trip Text Low Battery Trip Code 2C00 This means the battery needs charging or there is a bad connection to the battery e Check the connections to the battery If the connections are good try charging the battery ee System Log Screen All trips are stored in the system log whether they have been resolved or are still active The system Log stores the Trip Text and the number of occurrences The trips are stored in their respective Modules within
82. d party equipment Note On board Programming OBP will take over a mode and by convention this will be Mode 8 The system can be programmed to set which output function is active for each mode In general Mode 1 will always be Drive Mode 2 will always be Seating Control and Mode 8 will always be OBP However it may be desirable to change the output assignation of some of the more specialist Modes This can achieved with the parameter Output See below for more details A Mode will only be available if the output hardware is actually connected in the system The parameter Output is therefore essential in ensuring the full Plug amp Play capabilities of R net are utilized Example A wheelchair model is launched with Drive and Seating functions but it is intended to allow optional features such as environmental control or PC mouse control to be fitted in the field To ensure this means no more than simply connecting appropriate pieces of hardware then the system should be programmed as below B Output Drive Seating Environmental Mouse Output 5 Output 6 Output 7 Programming Spee t This means that when the wheelchair is initially shipped with a Power Module and Seating Module fitted then Modes 1 and 2 will be Drive and Seating Control respectively and that Mode 8 would be used for OBP If at some point in the future an Environmental Control Module is fitted tnen Mode 3 would automatically become available to the user
83. d to note any programming changes that they make Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT electronic control systems Incorrect programming could result in an unsafe setup of a wheelchair for the user PG Drives Technology accepts no liability for losses of any kind if the programming of the control system is altered from factory pre set values PGDT accepts no liability for losses of any kind if the drive or stability characteristics of the chair are altered without prior notification and discussion with PGDT can be programmed in the field This facility ensures a safe operating envelope for the wheelchair can be maintained These limits are set in the factory by PGDT and can only be altered by PGDT Contact PGDT for more information 0 It is possible for wheelchair manufacturers to limit the values of speeds and accelerations that Soft Stop The R net has a programmable value called Soft Stop Rate that sets the emergency stopping distance You must ensure that the emergency stopping distance is within the distance specified for the country in which the wheelchair will be used TUV Product Services Germany specify the distance to be as stated in EN12184 SK77981 4 39 R NET TECHNICAL MANUAL INSTALLATION PG Drives TECHNOLOGY 1 4 Other Information You must provide a diagram in the wheelchair user handbook showing the user controls and the main features of the control system
84. ded to fit it to Even if control systems have the same PGDT part number they may not be programmed the same Failure to ensure the system is correctly programmed for the wheelchair may result in a hazardous condition PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 5 Invert MI Direction This inverts the direction of rotation of motor channel M1 on the Power Module If the parameter Motor Swap is set to no then channel M1 drives the left motor The programmable options are yes or no If set to yes then when the joystick is deflected forwards M1 pin will be positive with respect to M1 pin If set to no then when the joystick is deflected forwards 1 pin will be negative with respect to M1 pin Invert Me Direction This inverts the direction of rotation of motor channel M2 on the Power Module If the parameter Motor Swap is set to no then channel M2 drives the right motor The programmable options are yes or no If set to yes then when the joystick is deflected forwards M2 pin will be positive with respect to M2 pin If set to no then when the joystick is deflected forwards M2 pin will be negative with respect to M2 pin 96 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING 127 Motor Swap This swaps the motor output channels MI and M2 of the Power Module The programmable options are yes and no If set to yes then channel M1 drives the
85. dicator left and right channels on the Seating Lighting Module will be exchanged This option should be used if the turn indicators are mounted on the wheelchair frame If set to No then if the seat is reversed the turn indicator left and right channels will be unaffected This option should be used if the turn indicators are mounted on the wheelchair seat 14 4 Brake Lights or Horn This sets whether the brake light output on the Seating Lighting Module is to be used for Brake lights or a Horn function The programmoble options are Brake Light and Horn If set to Brake Light then the brake light function will be enabled If set to Horn then the Horn function will be enabled 108 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM CHAPTER 4 ELPM 90 JSM LED amp SM SK77981 4 IO9 R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM PG DRIVES TECHNOLOGY SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM Introduction This section describes the differences between the previous sections if anv of the following modules are used It is therefore important that all the previous sections have been read and understood JSM LED LED Jovstick Module JSM LED L LED Jovstick Module with lighting control buttons EL 90 EL 90A Power Module SM Seating Module LED Jovstick Module Power Seating Module Seating Module Cable Communication
86. displaved gives the exact trip that has been recorded 5 3 4 Diagnostic Procedure Please follow this procedure e Read and note the Trip Text displayed the identified Module and the Trip Code e Switch off the control system SK77981 4 el R NET TECHNICAL MANUAL OPERATION PG DRIVES TECHNOLOGY e sure that all connectors on the listed Module and the wheelchair are mated securely e Check the condition of the battery e Find the definition of the Trip Code the Service Guide and take the required action e Switch on the control system again and try to drive the wheelchair If the safety circuits operate again switch off and do not try to use the wheelchair Contact your service agent Example PM Low Battery Identified Module Power Module Trip Trip Text Low Battery Trip Code 2C00 This means the battery needs charging or there is a bad connection to the battery e Check the connections to the battery If the connections are good try charging the battery 5 4 Locking the Control System The Control System can be locked in one of two ways Either using a button sequence on the keypad or with a physical Key How the Control Systern is locked depends on how the wheelchair manufacturer has programmed the system 5 4 1 Keypad Locking To lock the wheelchair using the keypad e While the control system is switched on depress and hold the On off button e After 1 second the control system will beep Now release the O
87. e Enable Sets if a Profile is available Mode Enable Sets which Modes are available in specific Profiles Input Device Type Sets which Input Device is active within a Profile Input Device Subtype Sets which Input Device Subtype is active within a Profile Select Sets which Profile s can be selected from a particular Profile Grab Sets whether a particular Profile can gain control from another Profile s Seat Reversal Profile Sets which Profiles relate to each configuration Configuration Mode Name Sets the Mode Name Input Sets the data the Input Device transmits to the Output Device Output Sets which Output Device is active for a specific Mode Speeds Maximum Forward Speed Sets maximum forward speed Minimum Forward Speed Sets minimum forward speed Maximum Reverse Speed Sets maximum reverse speed Minimum Reverse Speed Sets minimum reverse speed Maximum Speed Sets maximum turning speed Minimum Tum Speed Sets minimum turning speed Maximum Forward Acceleration Sets maximum forward acceleration Minimum Forward Acceleration Sets minimum forward acceleration Maximum Forward Deceleration Sets maximum forward deceleration Minimum Forward Deceleration Sets minimum forward deceleration Maximum Reverse Acceleration Sets maximum reverse acceleration Minimum Reverse Acceleration Sets minimum reverse acceleration Maximum Reverse Deceleration Sets maximum reverse deceleration Minimum Reverse Deceleration Sets minimum reverse deceleration Maximum T
88. e actual speed setting that is required is dependent on the electrical characteristics of the actuator motor being driven Therefore if currents of greater than 12A are required the speed settings should be gradually reduced until reliable actuator movement is attained Programmable range is to 15A in steps of O 1A This parameter can be important if automatic endstop detection is employed Automatic endstopping relies on the actuator mechanism being held against firm mechanical stop at the end of travel However some mechanisms may distort over time due to the high endstop force This force can be effectively reduced by reducing the value of this parameter The value must not be set so low that it cannot move the maximum rated load for the actuator mechanism or does not account for wear and increased friction in the mechanism 9 9 Down Current Limit This sets the maximum current output for a particular ISM channel in the Down direction Down is defined as pin 1 positive with respect to pin 2 when the joystick is displaced forward and Invert Axis Direction is not set 88 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING The maximum current the ISM can deliver is 15A However this can only be achieved if the channel s Down Speed is less than 100 At a setting of 100 speed the maximum current is 12A The actual speed setting that is required is dependent on the electrical characteristics of the actuator motor b
89. e battery supply for example in the link between two 12V batteries If your batteries are held in separate enclosures you must provide a circuit breaker with each of them The rating of the circuit breaker must match the capacitv of the wiring specified in section 3 2 The following table gives some recommendations for circuit breaker selection These recommendations are derived from well proven field experience of various international wheelchair manufacturers Nevertheless manufacturers must confirm these recommendations by carrying out suitable tests Power Module Circuit Breaker Value 60A 50A 80 90A 90A 120A 90A ISO 7176 14 states that the minimum operating time for the circuit breaker when the wheelchair is stalled is 15 seconds circuits in the battery wiring power loom or the control system failure to comply with this could result in a fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer must install a suitable circuit breaker to provide protection against short 6 4 Motor Connections If a circuit breaker is fitted in series with a motor it is essential that the wheelchair assume a safe condition the moment the circuit breaker operates You must therefore fit a circuit breaker with an auxiliary switch that disconnects the solenoid brake from the Power Module 65 Inhibit Connections The Power Module contains the Inhibit 2 and 3 connection
90. e keypad or a key can be used to lock unlock the R net 79 Reverse Driving Alarm Rev Driving Alarm This sets whether a warning alarm is sounded while the wheelchair is driving in reverse The programmable options are yes and no SK77981 4 77 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY 710 Emergency Stop Switch Emergency Stop This sets whether an Emergency Stop Switch must be used when latched operation is programmed The programmable options are yes and no If set to yes then a normally closed Emergency Stop Switch must be connected into the External Profile Jack on the Joystick Module whenever latched drive or latched actuator operation is programmed If such a switch is not fitted then operation of the wheelchair will be inhibited If set to no then an Emergency Stop Switch is not required This setting should only be used after a full assessment of the risks involved i e there is no way of effecting an emergency stop from latched drive or actuator operation PGDT accept no liability for losses of any kind resulting from the use of a wheelchair with latched drive or actuator operation and with no normally closed Emergency Stop Switch fitted 741 OBP Keucode Entru This sets the method of entiv into On Board Programming OBP The programmable options are ves and no If set to yes then a sequence of button presses can be used to enter OBP The sequence is as detailed at the end this section
91. e number of times you charge and discharge the batteries To make your batteries last longer do not allow them to become completely flat Always recharge your batteries promptly after they are discharged If your battery gauge reading seems to fall more quickly than usual your batteries may be worn out 91 How to Read a Batteru Gauge If the battery gauge shows red yellow and green the batteries are charged bars 1 10 If the battery gauges show just red and yellow then you should charge the batteries as soon as you can Bars 1 7 If the battery gauge shows just red either steady or flashing slowly then you should charge the batteries immediately Bars 1 3 condition may leave the user stranded in an unsafe position such as in the middle of a road Do not operate the control system if the battery is nearly discharged Failure to complu with this PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 34 SK77981 4 PG DRives TECHNOLOGY le To charge the wheelchair batteries connect the charger plug into the battery charger socket on the R net JSM You will not be Battery Charging able to drive the wheelchair when the charger is connected To connect the charger plug ensure the single pin is at the bottom as shown in the following illustration then offer tne charger plug to the R net in a horizontal orientation The molded guide on the R net will help you to locate t
92. each actuator channel Sets the deceleration for each actuator channel Sets the speed in the up direction for each actuator channel Sets the speed in the down direction for each actuator channel Sets the maximum current output in the up direction for each actuator channel Sets the maximum current output in the down direction for each actuator channel Sets if the automatic enastop function for a particular actuator channel operates Sets the period of time before the drive is cut at an endstop position Refer to Chapter 4 Sets whether there will be an audible alarm to signal a low battery condition Sets the point at which the battery gauge on the LCD screen starts to flash Calibrates the system to compensate for the electrical resistance of the battery cables Allows further fine calibration of the battery gauge Sets the voltage level at which the low voltage timer will start Sets the period of time that the voltage must be below the above parameter before drive is cut Sets whether there is an audible alarm when a brake s are disconnected Sets whether the Power Module will detect electrical faults in the wheelchair s brakes Sets the voltage output from the Power Module to the wheelchairs electrical brakes Sets the deceleration rate that is used while the wheelchair is soft stopping Selects specialist software for front wheel driven wheelchairs Sets the various options for wheelchairs that have a reversing seat Dedicates the Inhibit 3 inp
93. ection 3 11 Refer to section 3 11 Refer to section 3 12 Refer to section 3 12 Refer to section 3 13 Refer to section 3 14 Refer to section 3 15 Refer to section 3 16 Refer to section 3 17 Refer to section 3 18 Refer to section 3 19 Refer to section 3 20 Refer to section 3 21 Refer to section 3 22 Refer to section 3 23 Refer to section 3 24 Refer to section 3 25 Refer to section 3 26 3 Joustick Error The most common cause of this trip is if the joystick is deflected away from center before and during the time the control system is switched on The joystick displaced screen will be displayed for 5 seconds if the joystick is not released within that time then a trip is registered Although a trip screen is not displayed the system log will show the trip and numbers of Occurrences e Ensure that the joystick is centered and power up the control system If the trip is still present then the joystick or Joystick Module may be defective Depending on the Wheelchair Manufacturer s service agreement the joystick may be replaced as separate part Otherwise refer to section 5 134 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL DIAGNOSTICS 3 2 Low Battery This occurs when the control system detects that the battery voltage has fallen below 16V e Check the condition of the batteries and the connections to the control system If the trip is still present after the batteries and connections have been checked then
94. eep is a reminder to the user to give a joystick command to maintain the latched drive or actuator movement The programmable options are Yes and No If set to Yes there will be a beep as the timeout period approaches If set to No there will be no beep SK77981 4 85 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY 9 Seating 9 0 1 Seating Module Enabled This parameter sets whether a Power Module is compatible with an ISM or with a Seating Module The parameter options are Yes or No If set to Yes the Power Module will be compatible with a Seating Module This setting should also be used if it is intended to use an EL PM90 to drive a single actuator If set to No the Power Module will compatible with an ISM Actuator Axes Explained An actuator axis means a particular function of seat control An axis may involve just one actuator motor for example a simple seat lift or an axis may involve multiple motors for example adjustment of both footrests simultaneously or an anti shear recline system There are 6 actuator motor channels on the ISM and an axis can combine any number of these channels The R net system can support up to 12 actuator axes Each is programmable to define which actuator motors move and also how the user display appears The relevant parameters are Axis Channels and Axis Display Intelligent Seating Module Global 91 Actuator Axis Act Entru Axis This sets the actuat
95. eing driven Therefore if currents of greater than 12A are required the speed settings should be gradually reduced until reliable actuator movement is attained Programmable range is 1A to 15A in steps of 0 1A This parameter can be important if automatic endstop detection is employed Automatic endstopping relies on the actuator mechanism being held against a firm mechanical stop at the end of travel However some mechanisms may distort over time due to the high endstop force This force can be effectively reduced by reducing the value of this parameter The value must not be set so low that it cannot move the maximum rated load for the actuator mechanism or does not account for wear and increased friction in the mechanism 9 10 ndstop Autodetect This enables or disables the automatic endstop function for a particular actuator channel Automatic endstop detection is a technique that uses actuator motor current to detect if an endstop has been reached Upon detection drive to the actuator motor is automatically cut This technique removes the need for micro switches at end limits The programmable options are yes and no Automatic endstop can only be used with actuator Acceleration and Deceleration values of 100 Automatic endstop may not work well if the actuator takes a very low current ee Actuator ndstop Timeout This sets the amount of time the actuator motor current has to be above the endstop detection level or a
96. ensuring that onlu the mating connectors specified bu PGDT on the control systems specific data sheet are used to connect to the control system PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for ensuring that suitable connectors are used and securely mated throughout the chair wiring system and that the workmanship associated with the wiring system is of a good enough quality Failure to meet this condition could result in intermittent operation sudden stopping or veering or even create a burn or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 4 section 6 Introduction Diagnostics should only be conducted by healthcare professionals with in depth knowledge of PGDT electronic control systems An incorrect or badly effected repair could result in an unsafe set up of a wheelchair PGDT accept no liability for losses of any kind arising from an incorrect or badly effected repair Chapter 5 section l 2 40 PM Memory rror 2 4 Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT control systems Incorrect programming could result in an unsafe set up of a wheelchair for a user PGDT accept no responsibility for losses of any kind if the programming of the control system is altered from the factory pre set values Chapter 5 scetion 3 18 B
97. ersa Input Devices Explained It is possible to connect two Input Devices of different types for example a conventional JSM and a Head Control into the same system Alternatively it is sometimes but rarely required to connect two Input Devices of the same type The parameters Input Device Type Input Device Subtype Select and Grab allow you to manage the priorities of control of the two connected Input Devices If two Input Devices are connected the Profile buttons on those Input Devices can select only the Profiles relevant to themselves For example if Input Device 1 is set for Profiles 1 2 and 3 and Input Device 2 is set for Profiles 4 5 and 6 then the Profile button on Input Device 1 will be able to select just Profiles 1 2 and 3 and the Profile Button on Input Device 2 will be able to select just Profiles 4 5 and 6 4 4 Input Device Type ID Type Each Profile can be set to work with any type of Input Device or only with a specific type of Input Device The parameter Input Device Type is used to set this function and there are currently four settings Universal JSM Attendant and Omni If set to Universal then any Input Device can conirol the Profile and it will be the Input Device that was used to power up the system that will be in control If set to anything other than Universal then only the programmed type of Input Device can control the Profile 68 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MAN
98. ersal function i e the seat can be rotated to exchange the wheelchair configuration between front wheel drive and rear wheel drive It is typical on such wheelchairs to have SK77981 4 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY a micro switch that signals which configuration the wheelchair is actually in This micro switch should be connected to the Inhibit 2 input on the Power Module There are three programmable options Never Inhibit 2 at OV and Inh 2 at OV Profile mask active If set to Never then the Inhibit 2 input is not related to the seat reversal function If set to Inhibit 2 at OV and the Inhibit 2 input is connected to OV then the wheelchair will be considered to be in a rear wheel drive configuration and the following conditions will apply The value of Front Wheel Drive Rate will be forced to 0 within the Power Module s software The Invert M1 Direction the Invert M2 Direction and the Motor Swap parameters will be toggled within the Power Module s software If set to Inhibit 2 at OV and the Inhibit 2 input is not connected to OV then the wheelchair will be considered to be in a front wheel drive configuration and the following conditions will apply The programmed value of Front Wheel Drive Rate will apply The programmed settings of Invert M1 Direction the Invert M2 Direction and the Motor Swap parameters will apply If set to Inh 2 at OV Profile mask active and the Inhibit 2 input is c
99. esponding value If set fo 12V then the lights and indicators will remain a constant brightness regardless of the battery voltage Note If set to 24V then the brightness of the lamps and indicators will vary with fluctuations in the battery voltage 0 Germany requires the IZV constant brightness condition 14 2 Indicator Fault Detection This sets whether defective turn indicator lamps can be detected The detection circuitry is looking for the presence of 2 x 21W lamps per side The programmable options are Yes and No If set to Yes then if 2 x 21W lamps per side in working order are not connected to the Seating lighting Module a turn indicator fault will be detected and indicated to the user via a rapid flash of the relevant turn indicator on the Joystick Module If set to No then the indicator fault detection circuitry will be turned off This option should be used if 2 x 21W lamps per side are not being used for the turn indicators 0 Germany requires that 2 x 2IW lamps per side are used for the turn indicators 143 Swap Indicators Seat Reversal This sets whether the left and right turn indicator channels are exchanged when the seat is reversed The seat is considered to be reversed when the Inhibit 2 input on the Power Module is at OV For more details on seat reversal please refer to section Seat Reversal The programmable options are Yes and No If set to Yes then if the seat is reversed the turn in
100. ethod is set then it may be possible for a wheelchair user to gain entry to the IOIT Navigating the OBP Screens Whilst in OBP deflecting the joystick to the left whilst the parameter title is highlighted will display an elongated version of the parameter name There are two basic forms of display screen one which shows global parameters and one which shows parameters which are profile dependent i e can have different values in each of the drive profiles Example of a global parameter screen Global Controls Forward joystick deflections will select the parameter above Steer Correct Reverse jovstick deflections will select the parameter below Sounder Volume Endstop Bleep Left jovstick deflections will take vou to the previous screen Act Entrv Axis Right jovstick deflections will have no effect Chge Prfin Drv Example of a profiled parameter screen FWD Pe Forward jovstick deflections will select the parameter above 30 35 40 Acc w 20 20 20 Deca 40 40 45 The first left joystick deflections will display the parameter name in full Decw 30 30 30 Spd4 70 80 90 Spdv 20 25 30 Right joystick deflections will select the parameter to the right if available Reverse joystick deflections will select the parameter below The second left joystick deflection will take you to the previous screen SK77981 4 53 R NET TECHNICAL MANUAL INSTALLATION PG DRIVES TECHNOLOGY Making an Adjustment
101. f one type of control system may not be the compatible with a different unauthorized chair Failure to observe this warning could result in an unsafe setup for the wheelchair user and may create a fire hazard depending on the motors wiring connectors and circuit breakers installed on the unauthorized chair PGDT accepts no liability for losses of any kind arising from failure to comply with this condition SK77981 4 SI R NET TECHNICAL MANUAL INSTALLATION PG DRIVES TECHNOLOGY 9 Solenoid Brakes The solenoid brakes can be either 12V or 24V However the control system must be programmed for the correct voltage Refer to data sheet for the programming details of the control system Refer to chapter 3 for information on programming If the current to either brake is less than 200uUA or greater than 1A a brake fault will be detected e It is essential that the control system is programmed for the correct brake voltage If it is not damage may occur to the brakes or the drive performance of the wheelchair may be affected IO Programmer Connection IOI Programming On Board Programming allows the wheelchair to be programmed via the Joystick Module to suit an individual user OBP can be entered via two methods connection of a hardware dongle or a keycode The actual method required is set by the factory programming of the control system 0 OBP is not possible using an LED Joustick Module If the hardware dongle
102. fic program file for the wheelchair or the manufacturers original programming file Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT control systems Incorrect programming could result in an unsafe set up of a wheelchair for a user PGDT accept no responsibility for losses of any kind if the programming of the control system is altered from the factory pre set values If the trip is still present after the above checks have been made then the PM may be defective Refer to Section 5 Bad Cable This occurs when the control svstem detects a fault in the wiring in the communication cables between anv of the modules e Check all cables and connections for continuity e If there is any visible damage to cables replace and cycle power e Disconnect one cable from the system at a time cycling the power after each disconnection If the trip is still present after the above checks have been made then the PM may be defective Refer to Section 5 Bad Settings This occurs when the control system detects incorrect or invalid program settings e Check all parameter settings and re program the control system using the R net PC Programmer e Make a note of the current parameter settings and then reset the control system to default settings e Re program the required settings in small groups cycling the power after each group to see if the trip occurs If the trip is still present after the abo
103. focus When the control system contains more than one method direct control such as a secondary Joystick Module or a Dual Attendant Module then the Module that has control of the wheelchair will display the In Focus symbol Y ka 1 o 2 Base Bar 621 Current Profile The currently selected Profile is shown in numeric form 6 2 2 Motor Temperature This symbol is displayed when the control system has intentionally reduced the power to the motors in order to protect them against heat damage 6 2 3 Control System Temperature This symbol is displayed when the control system has intentionally reduced its own power in order to protect itself against heat damage 6 2 4 Indicator Icons Off The Indicator icons will flash when the respective indicators are active t The Indicator icons will only be visible when an Intelligent Lighting Seating Module is connected within the svstem 6 2 5 Hazards Icon Tne Hazards icon and indicator icons will flash when the Hazard Warning lights have been Off activated The Hazards icon will only be visible when an Intelligent Lighting Seating Module is connected within the system 6 2 6 Lights Icon The Lights icon will be switched on when the lights have been activated Off WANA J The Lights icon will only be visible when an Intelligent Lighting Seating Module is connected within the system SK77981 4 e5 R NET TECHNICAL MANUAL OPERATION
104. gramming has been undertaken CIRE CORRE SM Actuator Channels dpi ob 1 6 ACTUATOR CHANNELS 133 R NET TECHNICAL MANUAL DIAGNOSTICS PG DRIVES TECHNOLOGY inhibit connections to be added in further PGDT and 3rd party Modules For details of these The R net has 5 Inhibit connections within these 3 Modules but programming allows for multiple inhibit connections refer to the Wheelchair Manufacturers documentation 3 Diagnostic Text Definitions Once a trip text and module have been established use the following definitions to ascertain the possible cause and required corrective procedure M1 Brake Error M2 Brake Error M1 Motor Error M2 Motor Error Inhibit Active Jstick Cal Error Latched Timeout Brake Lamp Short Left Lamp Short Right Lamp Short L Ind Lamp Short R Ind Lamp Short L Ind Lamp Failed R Ind Lamp Failed Over current Overtemp Acts Overtemp Lamps DIME Error Memory Error PM Memory Error Bad Cable Bad Settings Module Error System Error SID Detached User Switch Detached Gone to Sleep Charging Trip Text Referral Point Joystick Error Refer to section 3 1 Low Battery Refer to section 3 2 High Battery Refer to section 3 3 Refer to section 3 4 Refer to section 3 4 Refer to section 3 5 Refer to section 3 5 Refer to section 3 6 Refer to section 3 7 Refer to section 3 8 Refer to section 3 9 Refer to section 3 10 Refer to section 3 10 Refer to s
105. have both hardware and software differences to ensure that they are compatible with the electrical and dynamic characteristics of their specific target vehicles The characteristics of one type of control system may not be the compatible with a different unauthorized chair Failure to observe this warning could result in an unsafe setup for the wheelchair user and may create a fire hazard depending on the motors wiring connectors and circuit breakers installed on the unauthorized chair PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 8 Users must not move a control system from one chair type to install it on a different chair type 218 Solenoid Brakes It is essential that the control sustem is programmed for the correct brake voltage If it is not damage mau occur to the brakes or the drive performance of the wheelchair mau be affected Chapter 2 section 9 219 Production Tests These tests should be conducted in an open space and a restraining device such as a seat belt should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 2 20 Intoroduction Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT control systems Incorrect programming could result in an unsafe set up of a wheelchair for a user PGDT accept no responsibility for losse
106. he plug Ensure the plug is pushed fully in position Charger Plug Charger Socket Single Pin to bottom Do not exceed the maximum charging current of A rms Always use an off board charger fitted with a Neutrik NC3MX plug failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition nsure that the charger plug pins are of the correct polarity to be compatible with the pin polarity shown on the control system s specific data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Only use the battery charger that has been supplied with your wheelchair The use of incorrect chargers could damage the batteries wheelchair control system or charger itself or may result in parts overheating creating the potential for burns or even fire PGDT accepts no liability for losses of any kind if the cha
107. hold Level 2 Middle Threshold Level 4 Lower Threshold Level OV 0 By programming the Actuator Channel 3 Up Inhibit and Actuator Channel 3 Down Inhibit parameters as below it is possible to program the maximum angle of travel of the recline mechanism via the Inhibit 4 Actuator Channel 3 Up Assign 4 Down Assign 4 Inhibit in Band O yes Inhibit in Band O no Inhibit in Band 1 Inhibit in Band 1 Inhibit in Band 2 no Inhibit in Band 2 no Inhibit in Band 3 no Inhibit in Band 3 yes This programming means that the Up movement will be inhibited when the Inhibit 4 input in Band 0 i e one end of recline travel and that the Down movernent will be inhibited when the Inhibit 4 input is in Band 3 i e the other end of the recline travel Referring the Band diagram below it can be seen that by programming Inhibit 4 Upper Level Threshold and Inhibit 4 Lower Level Threshold then the actual angular range of the recline mechanism is adjusted Inhibits Inputs PM Lower Level Threshold This sets the level of the threshold between Band 0 and Band 1 for a particular Inhibit Input Inhibit 2 or Inhibit 3 on the Power Module See Inhibifs Explained for more details on Power Module inhibits and bands The programmable range is 096 to 10096 in steps of 196 This parameter should not be set to a higher value than Middle Level Threshold and or Upper Level Threshold I3 2 Middle Level Threshold Th
108. htly All these tests should be conducted when the motors are cold and hot motors These tests should be conducted in an open space and a restraining device such as a set belt should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The wheelchair manufacturer is responsible for ensuring that the value of Compensation is correctly set for the motors being used on the wheelchair This is particularly important if replacement motors are being sent out to upgrade a wheelchair already in the field Failure to comply with this requirement may result in poor control characteristics which in extreme instances can make a wheelchair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The wheelchair manufacturer is responsible for always ensuring that any replacement motors supplied as spare parts are fully compatible with the originals that the system was programmed to match Failure to comply with this requirement may result in poor control characteristics which in extreme instances can make a wheelchair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition A control system must not be moved from one wheelchair type to another without first ensuring that the system is correctly programmed for the wheelchair it is inten
109. ication Cable 312 Joystick amp ISM Configuration Consists of a Power Module an Intelligent Seating Lighting Module ISM 2 Communication Cables and a Joystick Module Joystick Module Intelligent Seating lighting Module Communication Cable SK77981 4 Al R NET TECHNICAL MANUAL INSTALLATION PG DRIVES TECHNOLOGY 4 Mounting 4 1 Joystick Module Mounting 40 0mm HOLE CTS All General The Joystick Module should be secured using two M5 screws with a maximum penetration of 12mm Be careful not to overtighten the screw See data sheet for further information Ale Orientation The Joystick Module must be mounted with the joystick shaft pointing vertically upwards If you want to use any other mounting attitudes then contact PGDT 4 2 Power Module Mounting 1 66 0mm 6 5 HOLE CTS 4 2 1 General Fix the Power Module to the wheelchair chassis using suitable M5 or equivalent hardware 42 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION 42 2 Orientation The function of the Power Module is not sensitive to mounting orientation however it should be mounted in such a way that water cannot enter and remain in the connector recesses It is recommended that the unit is not mounted with the connectors uppermost The Power Module has dust and water resistance rating 4 2 3 Position The Power
110. icator Flashes 117 4 Getting Ready to Drive 117 Mounting and Installation 118 Power Module amp SM Wiring 119 64 General nier aed aie 119 6 1 1 Power Module Wiring s nzznnnnnnnii 120 6 1 2 Seating Module 121 6 2 Wire Gauge and 121 6 3 Battery and Motor Connections 121 6 4 ELPM to Seating Module Connections 121 6 5 Inhibit Connections eese 122 6 6 Actuator Connections Rs 122 7 Programming L 123 7 1 Seating Module 123 7 2 Seating Module 123 Seating Module Global 124 7 2 Actuator Mode Entry Axis Act Entry Axis 124 Seating Module Axes Setup 124 7 2 PAS ENADE eta rrt 124 7 3 Up Speed 124 7 4 Down Speed DnSpd nn 124 7 5 coto mai i a tte i 124 Seating Module Axes Inhibits LL 126 7 6 Axis x Up Assign 110 12 126 7 7 Axis x Up Inhibit in Bands X 110 6 126 SK77981 4 R NET TECHNICAL MANUAL 7 8 Axis x Down Assign x 1 to 12 127 7 9 Axis x Down Inhibit in Bands x 1 to 6 127 Chapter 5 Diagnostics Ie9 1 Introduction 1
111. ics which in extreme instances can make a wheelchair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The wheelchair manufacturer is responsible for always ensuring that any replacement motors supplied as spare parts are fully compatible with the originals that the system was programmed to match Failure to comply with this requirement may result in poor control characteristics which in extreme instances can make a wheelchair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition A control system must not be moved from one wheelchair type to another without first ensuring that the system is correctly programmed for the wheelchair it is intended to fit it to Even if control systems have the same PGDT part number they may not be programmed the same Failure to ensure the system is correctly programmed for the wheelchair may result in a hazardous condition PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 3 Section I2 5 The wheelchair manufacturer is responsible for ensuring that the value of Compensation is 2 35 Compensation Factor uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind resulting Inappropriate values of Compensation and Compensation Factor could make the whee
112. ils It is the manufacturer s responsibility to program the control system to suit the vehicle model and The wheelchair must stop within the maximum distance specified for the country in which the wheelchair will be used Product Service Germany specify the distance to be as stated 12184 If users with particular disabilities need very low braking rates and this results in a longer stopping distance the maximum speed must be re programmed so that the stopping distance requirement is satisfied State in the wheelchair user handbook that it is the responsibility of the person programming the control system to make sure that the stopping distance requirement is satisfied If the braking rate is low the forward and reverse maximum speed settings may need to be re programmed To assist the person in this task include a graph in the wheelchair user handbook showing the relationship between the maximum forward reverse speed settings and the forward reverse braking rate which is required to ensure the correct stopping distance It may be possible to program settings which compromise the stability of the wheelchair Perform suitable tests to establish which programming restrictions are needed to prevent instability State any programming restrictions in the wheelchair user handbook State in the wheelchair user handbook that it is the responsibility of the person programming the control system to make sure that the settings are safe an
113. ination of Modes can be selected When the drop down menu is closed the selected Modes are expressed as numbers and the parameter appears on the screen as below The numbers 1 to 8 refer to the Modes listed in the menu ode Sele bi E A Modes 11234567 1234567 1234567 1234567 1234567 1234567 1234567 1234567 Example if Standby is required in Drive and Seating Modes the following selections should apply Environmental Programming Mouse 3 EJ F When the drop down menu is closed it would as below Standby in Modes 1234567 1234567 1234567 1234567 1234567 1234567 1234567 rive ve ve ione 7 25 Standby Forward This sets which Mode is entered when the joystick is deflected forwards while the system is in Standby Mode Note Mode Select in Standby must be set to yes for this function to be active The programmable options are a list of Modes in a drop down menu Only one Mode can be selected from the menu 7 26 Standby Reverse This sets which Mode is entered when the joystick is deflected in reverse while the system is in Standby Mode Note Mode Select in Standby must be set to yes for this function to be active The programmable options are a list of Modes in a drop down menu Only one Mode can be selected from the menu 7 27 Standby Left This sets which Mode is entered when the jo
114. inimize radio frequency emissions 1 Motor Suppression For the drive motors solder a suitable suppression capacitor between the brush holders inside the motor cases Keep the capacitor s lead length as short as possible We recommend a value of 4n7F 250V AC ceramic The maximum value you should use is A typical type is Roderstein WY0472MCMCFOK The above should also be applied to actuator motors if fitted If it is not possible to fit these capacitors inside the actuator motors then contact the motor manufacturers for further advice Alternatively placing the capacitor externally but as close as possible to the motor may have the same effect Some actuators have their own EMC suppression components fitted internally In these instances it may not be appropriate to introduce further capacitance If you are uncertain contact the actuator manufacturers for further advice l2 l2 Cables You do not need to use screened battery and motor looms but e Keep the length of all wiring to a minimum e Make sure the loop area of the wiring is minimized Route the positive and negative wires to each motor together Route the battery positive and negative wires together Where possible route the battery and motor looms together If fitted route the lighting indicator and actuator wires together e Secure all looms to the wheelchairs chassis over as much of their length as is practical e Do not use the control system connectors as juncti
115. inspected by your service agent after a period of 1 year from commencement of service Contact your service agent for details when the inspection is due SK77981 4 33 R NET TECHNICAL MANUAL OPERATION PG Drives TECHNOLOGY Il Battery Gauge The battery gauge is included to let you know how much charge is left in your batteries The best way for you to use the gauge is to learn how it behaves as you drive the wheelchair Like the fuel gauge in a car it is not completely accurate but it will help you avoid running out of fuel The battery gauge works in the following way When you switch on the control system the battery gauge shows an estimate of the remaining battery charge The battery gauge gives you a more accurate reading about a minute after you start driving the wheelchair When you replace worn out batteries fit the type recommended by the wheelchair manufacturer If you use another type the battery gauge may be inaccurate The amount of charge in your batteries depends on a number of factors including the way you use your wheelchair the temperature of the batteries their age and the way they are made These factors will affect the distance you can travel in your wheelchair All wheelchair batteries will gradually lose their capacity as they age The most important factor that reduces the life of your batteries is the amount of charge you take from the batteries before you recharge them Battery life is also reduced by th
116. inutes to 30 minutes in steps of 1 minute If set to a value of 0 then the system will never automatically power down 80 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING Standby Operation Explained Standby Mode provides a means for the user to select Profile and Modes without using switches or buttons This is achieved by using joystick deflections to select and enter Profiles and or Modes There are two ways to enter Standby Mode These are set by the parameters Standby Time and Switch to Standby and are explained below While in Standby Mode the operation of the joystick is set by the parameters Mode Select in Standby Standby Forward Standby Reverse Standby Left Standby Right and Remote Select Each is explained below 7 01 Standby Time Sbutm This sets a period of time of joystick inactivity before Standby Mode is entered The programmable range is 0 to 200 seconds A value of 0 means that Standby Mode will never be entered 7 22 Switch to Standby GwSby This sets whether a switch connected into the External Profile Switch Jack can be used to enter Standby Mode The programmable options are yes and no If set to yes an external switch can be used to enter Standby Mode If set fo no Standby Mode cannot be entered with an external switch 7 23 Mode Select in Standby MdeSl This sets whether the joystick can be used to enter different operating Modes while the system is in Standby Mode o
117. ion 13 Inhibits for more details I 8 Charger Inhibit Latching This sets whether the On Board Charger inhibit which is located in the 3 way charger socket on the Power Module is latching or non latching Latching means that power must be cvcled after the inhibit is removed in order to resume normal operation Non latching means that normal operation will resume immediately the inhibit is removed The programmable options are yes and no If set to yes the operation is latching 92 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING If set fo no the operation is non latching Regardless of the setting of this parameter the Inhibit 3 input can still be used as a multi state input to provide speed limits and or actuator inhibits See section 13 Inhibits for more details Charger Inhibit Latching This sets whether the Off Board Charger inhibit which is located in the 3 way charger socket on the Joystick Module is latching or non latching Latching means that power must be cycled after the inhibit is removed in order to resume normal operation Non latching means that normal operation will resume immediately the inhibit is removed The programmable options are yes and no If set to yes the operation is latching If set to no the operation is non latching ILIO Charger Inhibit Alarm This sets whether an alarm sounds if there is a charge inhibit presence A charge inhibit is invoked if an Off Board Cha
118. ion when you push and release it 1 4 Preset Settings e Make sure that the control system is using the correct settings Refer to the chapter 3 for detailed instructions Control Systems are always supplied with the settings shown on the relevant data sheet 54 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION IIS Operational Test This test should be carried out on a level floor with at least one meter clear space around the wheelchair e Switch on the control system e Check that the battery gauge remains on or flashes slowly after one second e Push the joystick slowly forwards until you hear the parking brakes operate The chair may start to move e Immediately release the joystick You must be able to hear each parking brake operate within a few seconds e Repeat the test a further three times pushing the joystick slowly backwards left and right ILG Test Drive e Drivethe wheelchair and make sure that it operates correctly for all positions of the user controls 1 7 Soft Stop Test e Drivethe wheelchair at full forward speed and switch the control system off e The wheelchair must not stop suddenly but should decelerate to standstill In addition ensure that the requirements in section 1 3 of this chapter are satisfied ILB Lights Indicators and Hazard Lamps Test If lights are fitted e Visualiv check each bulb for correct illumination e Check each bulb for correct illumination and that the flashrate i
119. irection Down is defined as pin 2 negative with respect to pin 1 when the joystick is displaced backwards The inhibit can be set to occur in any combination of bands See Inhibits Explained in Chapter Programming for more details on bands The programmable options are Band 0 Band 1 Band 2 and Band 3 If the parameter is selected then a drop down menu as below will appear and the bands required to invoke the inhibit should be selected For example if the inhibit is required for Band 3 only then that option should be selected as shown Vown assign U U ur U Down Inhibit in Bands I 555 UR EEI Seating Module Enabled When the drop down menu is closed a 3 will be shown in the cell SK77981 4 127 R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM PG DRIVES TECHNOLOGY les SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL DIAGNOSTICS CHAPTER 5 DIAGNOSTICS SK77981 4 129 R NET TECHNICAL MANUAL DIAGNOSTICS PG DRIVES TECHNOLOGY 130 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL DIAGNOSTICS Introduction The primary objective of this chapter is to assist service personnel in finding the likely area of a detected trip within the whole wheelchair electrical system It is important to realize that even though the control system is signalling a trip it may not be the control system itself that is defective This is because the control system is able t
120. is rms To prevent the wheelchair from driving whilst the charger is connected pin must be linked to pin 2 inside the chargers plug 50 SK77981 4 PG DRives TECHNOLOGY 8 The control system is designed to be connected to permanent magnet DC motors fitted with suitable gearboxes and solenoid brakes Do not exceed the maximum charging current of rms Always use an Off Board Charger fitted with a Neutrik NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity to be compatible with the pin polarity shown on the control system s specific data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Drive Motors R NET TECHNICAL MANUAL INSTALLATION In order to optimize the performance of the wheelchair the
121. is being used For example if the SID has no detect link then this parameter should be set to Off If the trip is still present after the above checks have been made then the Input Device may be defective Contact your service agent 3 24 User Switch Detached The Omni has detected that the User Switch has become disconnected Check all cables and connectors between the Omni and the User Switch If the trip is still present after the above checks have been made then the User Switch may be defective Contact your service agent If it is required to use the Omni without a User Switch being connected then the parameter Switch Detect should be set to Off If a User Switch is not used the responsibility for that decision lies with the healthcare professional Technology recommend that Switch Detect is this option is always set to On PG Drives Technology will accept no liability for any losses resulting from any other setting of this parameter Because a disconnected User Switch means there is no emergency stop function PG Drives 325 Gone to Sleep This occurs when the control system has been left inactive for a time greater than the parameter Sleep Timer An entry is made in the system log each time this occurs 326 Charging This occurs when the control system detects that a charger is connected to either Inhibit 1 or Inhibit 3 Refer to section 2 3 for connection details The Batterv charging screen will be displaved during cha
122. is button activates and de activates the wheelchairs hazard lights Depress the button to turn the hazards on and depress the button again to turn them off When activated the hazard LED and the indicator LED s will flash in sync with the wheelchairs indicators 4 2 7 Lights Button and LED This button activates and de activates the wheelchairs lights Depress the button to turn the lights on and depress the button again to turn them off When activated the lights LED will illuminate 4 2 8 Left Indicator Button and LED This button activates and de activates the wheelchairs left indicator Depress the button to turn the indicator on and depress the button again to turn it off When activated the left indicator LED will flash in sync with the wheelchairs indicator 4 2 9 Right Indicator Button and LED This button activates and de activates the wheelchairs right indicator Depress the button to turn the indicator on and depress the button again to turn it off When activated the right indicator LED will flash in sync with the wheelchairs indicator 42 10 External On off Switch Jack This allows the user to turn the control system on and off using an external device such as a buddy button SK77981 4 7 R NET TECHNICAL MANUAL OPERATION PG Drives TECHNOLOGY 4 211 External Profile Switch Jack This allows the user to select Profiles using an external device such as a buddy button To change the Profile whilst driving simply press the bu
123. is sets the level of the threshold between Band 1 and band 2 for a particular Inhibit Input Inhibit 2 or Inhibit 3 on the Power Module See Inhibits Explained for more details on Power Module inhibits and bands The programmable range is 096 to 10096 in steps of 196 This parameter should not be set to a lower value than Lower Level Threshold or a higher value than Upper Level Threshold 102 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING 13 3 Upper Level Threshold This sets the level of the threshold between Band 2 and band 3 for a particular Inhibit Input Inhibit 2 or Inhibit 3 on the Power Module See Inhibits Explained for more details on Power Module inhibits and bands The programmable range is 0 to 100 in steps of 1 This parameter should not be set to a lower value than Lower Level Threshold and or Middle Level Threshold 13 4 Debounce Time This sets a debounce time for the Inhibit input Debounce is the amount of time the input must be stable before a new condition is registered This is particularly useful if mercury switches are being employed and eliminates the effect of splashing across the contacts The programmable range is OMS to 500rn in steps of 50ms Inhibits Inputs ISM Lower Level Threshold This sets the level of the threshold between Band 0 and Band 1 for a particular Inhibit Input Inhibit 4 or Inhibit 5 on the ISM See Inhibits Explained fo
124. it inputs are active and in a latched state The actual inhibit that is active is indicated by the last 2 digits in the Trip Code The code is in Hex 1 For Inhibit 1 Refer to section 2 3 for connection details 1E09 For Inhibit 9 Refer to section 2 3 for connection details For Inhibit 10 Refer to section 2 3 for connection details e Cycle the power This will drop out of Latched Mode that might clear the trip e Check all wiring and switches connected to the indicated Inhibits If the trip is still present after the above checks have been made then the ISM may be defective Refer to Section 5 37 Joystick Calibration Error This occurs when the Joystick Calibration process has not been successful e Enter and attempt calibration If the trip is still present after the above has been attempted then the Joystick Module may be defective Refer to Section 5 SK77981 4 135 R NET TECHNICAL MANUAL DIAGNOSTICS PG DRIVES TECHNOLOGY 38 Latched Timeout This occurs when the control svstem detects that the Latched Timeout programmed time has been exceeded For example the Input Device Jovstick Head Arrav Sip and Puff etc has not been operated frequentiv enough The trip is a notification of whv the control svstem has dropped out of Latched Mode e Cycle the power e initiate Latched Mode If the trip is still present after the above checks have been made then the Input Device may be defective Refer to Sec
125. l system If the trip is still present after the above checks have been made then the ISM may be defective Refer to Section 5 Over current This occurs when the control system detects an excessive amount of current in an Actuator Channel This may be due to a faulty endstop switch actuator motor cables or connections e Check the movement of the actuator is not obstructed e Check the endstop switches if fitted are terminating the power to the actuator motor 136 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL DIAGNOSTICS If the trip is still present after the above checks have been made then the ISM may be defective Refer to Section 5 314 Overtemp acts This occurs when the control system detects that the ISM s actuator has become too hot The control system will cease drive to the actuator motor in question e Allow the ISM to cool e Ifthe ISM is frequently overheating check the condition of the actuator motors and the connections to them e If the trip persists contact your service agent 315 Overtemp lamps This occurs when the control system detects that ISM s lighting circuitry has become too hot The control system will cease supplying current to the lamp in question e Allow the ISM to cool e Ifthe ISM is frequently overheating check the condition of all the connected bulbs and lamps e Ifthe trip persists contact your service agent 316 This occurs when the con
126. lchair from inappropriate setting of either or both of these parameters Chapter Section 1210 2 36 Buttons condition may leave the user stranded in an unsafe position such as in the middle of a road PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 4 section 2 Do not operate the control system if the battery is nearly discharged Failure to complu with this I52 SK77981 4 PG DRives TECHNOLOGY 2 37 Getting Ready to Drive If you push the joystick before or just after you switch the control system on the battery gauge will ripple up and down You must release and center the joystick to resume normal operation If you do not release the joystick within five seconds the wheelchair will not be able to move even if you release the joystick and push it again The battery gauge will flash 7 bars at this time You can reset this condition by switching the control system off and on again Refer to section 3 Chapter 4 section 4 2 38 General 2 39 The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair for both normal use and stalled conditions PGDT can make general recommendations for wiring for R net control sustems but PGDT accepts no responsibilitu for and accepts no liabilitu for losses of anu kind arising from the actual wiring arrangement used The chair manufacturer is responsible for
127. les Up and Down This indicates the control svstem is locked refer to section 5 4 for details of how to unlock the control svstem 312 Maximum Profile Indicator Flashes This indicates the speed of the wheelchair is being limited for safety reasons The exact reason will depend on the type of wheelchair however the most common cause is that the seat is in the elevated position 4 Getting Ready to Drive e Operate the on off switch The battery gauge will blink then remain on after a few seconds e Check that the maximum speed control is set to a level that suits you will ripple up and down You must release and center the joystick to resume normal operation If you do not release the joystick within five seconds the wheelchair will not be able to move even if you release the joystick and push it again The battery gauge will flash 7 bars at this time You can reset this condition by switching the control system off and on again Refer to section 3 If you push the joystick before or just after you switch the control system on the battery gauge If the battery gauge flashes rapidly then the R net has detected a problem somewhere in the wheelchairs electrical system Refer to section 3 for details SK77981 4 I7 R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM PG Drives TECHNOLOGY 5 Mounting and Installation The modules that make up the LED range should be mounted as per the instructions in Chapter 3 Although the overall dime
128. ls of automatic crimp tools contact Intech Wire Gauge Types The table below gives the minimum recommended wire sizes for various R net Power Module and ISM specifications 80 90A 120A These recommendations are for cable lengths of less than 1000mm They are derived from well proven field experience of various international wheelchair manufacturers lower current limits are programmed for a particular ISM channel s it is possible to use smaller gauge wire The following recommendations are made 48 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION Maximum Up Down Current Limit 5 Battery and motor wires should have rated PVC insulation arrangements used on the wheelchair PGDT can make general recommendations for wiring for R net control systems but PGDT accepts no responsibility for and accepts no liability for losses of any kind arising from the actual wiring arrangement used e The chair manufacturer is responsible for establishing the suitability of the particular wiring 63 Battery Connections The control system incorporates sophisticated current limiting circuitry as protection for the circuits in the control system ISO 7176 14 requires you to provide protection against short circuits in the battery wiring and the power loom or the extremely unlikely event of a short circuit in the control system Place a suitable circuit breaker in series with th
129. ls of the LED Power Module connections MOTOR 1 Left BATTERY Brake ve Brake ve Brake ve Motor ve ope oa Motor ve Motor ve CIRCUIT BREAKER 2 BRAKE 12V CT Assumes no Motor Swap programming has been undertaken Joystick Actual Movement MI M2 Movement Forward ve ve Forward Backward ve ve Backward Assumes no Joystick Orientation Invert M1 Direction or Invert M2 Direction programming has been undertaken INHIBIT 2 2 Assumes no Joystick Orientation programming has beeen undertaken Battery ve Inhibit 3 OV The Power Module is shipped with rubber bungs inserted into some of the connectors The A2 connector is blank and covered with a rubber bung This should not be removed Only remove the rubber bung from the required connectors SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL 90 JSM LED amp SM 612 Seating Module Wiring The following diagram gives details of the Seating Module connections Actuator Channels HT TE AGWATOR Pint INHIBIT CHANNELS Power Inhibit Module ACTUATORS Joystick Actuator 1 5 Movement Pin 1 Pin 2 Movement Forward ve ve Channel Up Backward ve Channel Down Assumes no Joystick Orientation programming has beeen undertaken INHIBIT 1 2 Inhibit i 6 1 3 Crimping Refer to Chapter 2 Installation 6 2 Wire Gauge and Types
130. ly discharged Failure to complu with this condition may leave the user stranded in an unsafe position such as in the middle of a road PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter section 2 5Battery Charging Do not exceed the maximum charging current of A rms Always use an off board charger fitted with a Neutrik NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity to be compatible with the pin polarity shown on the control system s specific data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Only use the battery charger that has been supplied with your wheelchair The use of incorrect chargers could damage the batteries wheelchair control sy
131. m The R Net can be programmed using either the On board Programming OBP facility the Diagnostic Test Tool DTT or a PG Drives Technology R Net PC Programmer PGDT control systems Incorrect programming could result in an unsafe set up of a wheelchair for a user PGDT accept no responsibility for losses of any kind if the programming of the control system is altered from the factory pre set values Programming should only be conducted by healthcare professionals with in depth knowledge of 2 On Board Programming On Board Programming OBP allows the wheelchair to be programmed via the Joystick Module to suit an individual user There is no need for any additional programming hardware While in OBP mode the joystick and the speed control buttons are used to navigate the menus and make parameter adjustments If a parameter is available in OBP mode the title used on the LCD will be listed in brackets next to the Parameter Title in this chapter Example 6 9 Maximum Forward Deceleration Fwd Decel Max el How to Enter OBP Mode OBP in field can be entered via two methods connection of a hardware dongle or a kevcode The actual method required is set bv the factorv programming of the control svstem 0 OBP is not Possible using an LED Joustick Module If the hardware dongle method is set then a PGDT OBP Dongle needs to be connected to allow access to OBP To use the dongle follow the sequence below e off the control
132. manufacturers should be able to supply a figure the motors armature resistance and typical connector and cables may be around 40mOhm Example The motor has a specified armature resistance of 100mOhrns and cables and connectors between the motor and the Power Module are estimated to be 40mOhrm This gives a total values of 140mOhm The value of Compensation should therefore be set to 7096 of 140mOhm 100mOhm Once this value has been programmed some drive testing should be carried out SK77981 4 95 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY First of all check that the wheelchair is controllable and comfortable to drive on a smooth level surface If it is not then the value of Compensation may be too high and should be reduced Then drive the wheelchair towards a gradient at a very low speed perhaps 10 There should be no reduction in speed as the wheelchair climbs the gradient If the speed drops or the wheelchair stops then the value of Compensation may be too low and should be increased As a final check drive the wheelchair up a gradient at full soeed and release the joystick The wheelchair should come to a smooth complete stop and should not rollback before the brakes are applied If the wheelchair does roll back then try increasing the value of Compensation slightly If the wheelchair appears to drive slightly up the gradient before the brakes are applied then the value of Compensation should be reduced slig
133. ment of the joystick that is required to reach full left turning speed This is particularly useful for users with limited hand movement The programmable range is 25 to 100 in steps of 1 The percentage value corresponds to the amount of joystick deflection required to reach full left turning speed For example if set to 50 then only half joystick movement is need to reach full soeed The Forward Throw can also be set interactively with the user actually deflecting the joystick See Interactive Setting Explained 716 Joystick Right Throw Right Throw This sets the amount of right movement of the joystick that is required to reach full right turning speed This is particularly useful for users with limited hand movement The programmable range is 25 to 100 in steps of 1 The percentage value corresponds to the amount of joystick deflection required to reach full right turning speed For example if set to 50 then only half joystick movement is need to reach full soeed The Forward Throw can also be set interactively with the user actually deflecting the joystick See Interactive Setting Explained Interactive Setting explained Setting the joystick throw interactively can only be achieved using OBP To navigate and make selections in OBP use the joystick deflecting it left right uo and down as required When a menu item is highlighted deflect the joystick to the right to enter If an item name is abbreviated the
134. mming of this parameter Chapter Section 2 31 Soft Stop Rate correct legislation for breaking distances for the country in which the wheelchair is to be sold PGDT accept no liability for losses of any kind resulting from incorrect programming of this parameter Chapter Section II 4 It is the wheelchair manufacturers responsibility to ensure that the wheelchair complies with the SK77981 4 IBI R NET TECHNICAL MANUAL WARNING SUMMARV PG DRIVES TECHNOLOGY 2 32 Maximum Current Limit Boost Drive Current amp Boost Drive Time The values in the table above should never be exceeded Doing so will invalidate the warranty and affect the long term reliability of the Power Module Chapter Section 12 l 2 33 Current Foldback Temperature amp Minimum Current Limit The values in the table above should never be exceeded Doing so will invalidate the warranty and affect the long term reliability of the Power Module Chapter Section I2 2 2 34 Compensation These tests should be conducted in an open space and a restraining device such as a set belt should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition correctly set for the motors being used on the wheelchair This is particularly important if replacement motors are being sent out to upgrade a wheelchair already in the field Failure to comply with this requirement may result in poor control characterist
135. moke Turn the control system off at once and consult your service agent PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Electronic equipment can be affected by Electro Magnetic Interference EMI Such interference may be generated by radio stations TV stations other radio transmitters and cellular phones If the chair exhibits erratic behavior due to EMI turn the control system off immediately and consult your service agent PGDT accepts no liability for losses of any kind arising from failure to comply with this condition appropriate National and International EMC legislation PGDT accepts no liability for losses of It is the responsibility of the chair manufacturer to ensure that the wheelchair complies with any kind arising from failure to comply with this condition The wheelchair user must comply with all wheelchair safety warnings PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 32 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION IO Safetu Checks The electronic circuits in vour control svstem have been designed to be extremelv safe and reliable The on board microcomputer carries out safetv checks at up to 100 times per second To supplement this safetv monitoring vou should out the following periodic checks If the control system fails any of these checks do not use the wheelchair and contac
136. n Channel Up Inhibit in Bands and Channel Down Inhibit in Bands Speed Inhibit Example Application A wheelchair with an elevating seat Whereby when the seat is lowered full soeed drive is permitted Then as the seat raises 3 switches are operated thereby changing the resistance connected to the input and giving say 50 speed limit to 25 speed limit to full drive inhibit In this example the Inhibit in connected to Inhibit 2 input that is sited on the Power Module A circuit such as follows is used SK77981 4 99 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY Inhibit ve SW 3 2K2 SW 2 2K2 1 Inhibit ve 100 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING Actuator Inhibit Examples Application 1 A wheelchair is fitted with a reclining backrest that has endstop switches connected to the R ner s Inhibit inputs 4 and 5 on the ISM In this example the switches are installed to be normally closed and the Backrest has been programmed to use Actuator Channel 2 A circuit such as follows is used The Inhibit input must be assigned to a specific software Inhibit As this is an Actuator Inhibit the parameters Actuator Inhibits Channel X Up Assign amp Down Assign should be used The inputs are therefore assigned to Actuator Inhibits Channel 2 as follows Up Assign Input 4 Down Assign Input 5 As these inputs are connected to the ISM the Threshold le
137. n tet tette ut 111 2 Controls JSM LED and JSM LED L 112 2 1 JB llOnSn coii tercero eve esame 113 211 BANS Gage uices 113 2 1 2 Maximum Speed Profile 113 SK77981 4 PG DRives TECHNOLOGY 2 1 2 1 MAXIMUM Speed 113 2 1 2 2 Profile INHICQ OT L 114 2 1 3 Speed Profile Decrease 114 2 1 4 Speed Profile Increase Button 114 21 5 MOS BUITOD coin reete ela pese ce 114 2 2 Actuator NACA iirinn aa 114 3 Control System Status indication 115 3 1 Battery Gauge is 5 115 3 2 Battery Gauge Flashes Slowly 115 3 3 Battery Gauge Steps Up 115 3 4 Battery Gauge Flashes Rapidiv even with the joystick released nee ne 115 3 5 Speed Indicator Ripples Outwards 115 3 6 Speed Indicator LED s 2 amp 4 115 3 7 Self Help Guid vies 115 3 8 Slow or sluggish movement nn 116 3 9 Maximum Speed Profile Indicator is Steady 116 3 10 1 Speed Indication soiree e ctn ete e 117 3 10 2 Profile Indication 117 3 11 Maximum Speed Profile Indicator Ripples Up and Bep E 117 3 12 Maximum Profile Ind
138. n 41 3 1 Control Configurations 41 3 1 1 BASIC CON IQUONON sek c tet rab jtik 41 3 1 2 Joystick amp ISM Configuration 41 4 Mounting iiie e 42 41 Joystick Module Mounting nn 42 Ai ls Genedl i c eser a rh ente rh 42 AN2 I aree EE 42 4 2 Power Module Mounting enza 42 21 ka 42 4 2 2 Onentatiet i ied el crono te e aa ala a Duk 43 4 2 3 i san tenete bi pm Furius 43 A 3 5 tops ted p etg eta beo pend vela pert 43 4 3 1 GONG e 43 43 2 ETE 43 4 PG Drives TECHNOLOGY 4 3 3 POSIKON iii ii ia b i Fa ta B p e 43 i a 43 5 Joystick Module 44 5 Charger rene cater eei eta ea 44 6 Power Module amp ISM Wiring 45 Gi Generali iii Eee 45 6 1 1 Power Module Wiring 46 6 12 ISM cnet rrt crore ree tua aria eet 47 CIPAPINO 48 6 2 Wire Gauge Types 48 6 3 Battery Connections 49 6 4 M tor COMMECTIONS sed 49 6 5 Inhibit 49 6 6 lighting Connections seem 50 6 7 Indicator Connections 50 6 8 Actuator Connections ss 50 6 9 On Board Charger
139. n Profiles 1 to 5 but cannot gain control from Profile 8 the Attendant Profile The Grab parameter in Profile 8 includes all Profiles meaning the Attendant can gain control from anv other Profile 4 7 Seat Reversal Profile This parameter is only relevant to wheelchair models that have a reversing seat i e wheelchairs that can be operated in both rear wheel drive and front wheel drive configuration The purpose of the parameter is to set which Profiles relate to each configuration as it is normal to have different drive characteristics for the two set ups There are two programmable options yes and no If set to yes then the Profile will only be available when the seat is reversed The seat is considered to be reversed when the Inhibit 2 input on the Power Module is at OV For more details on seat reversal please refer to section Seat Reversal If set to no then the Profile will only be available when the seat is not reversed 70 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING 5 Configuration Configuration Explained The R net system supports 8 Modes of operation A Mode is the output action that the system is undertaking for example driving seat adjustment or environmental control In other words each Mode requires a piece of output hardware For Drive it would be the Power Module for Seat adjustment it would be the Seating Module and for Environmental control it would be a piece of specialist thir
140. n deflecting the joystick to the left will display its full name A second deflection to the left will exit the Current screen Once a parameter has been selected using the Speed Up and Speed Down buttons on the JSM s keypad will effect changes unless an on screen message details otherwise To set Throw Interactively follow the procedure below e Enter OBP and select Controls e From the Controls Menu select Joystick SK77981 4 79 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY From the Joystick Menu select Active Throw From the Throw Menu set which Profiles will be affected by the interactive setting This is achieved by placing a tick next to the Profiles required and a cross by the Profiles not required Use the Speed Up and Down buttons to change the setting Once this is complete deflect the joystick to the right while any of the Profiles are Highlighted This will enter the Interactive Throw programming procedure Follow the on screen instructions After the Reverse direction has been set the R net will go through a configuration process an hourglass will be displayed during this time Once the configuration is complete a large tick will be displayed on the screen for a short time and then the Joystick Menu will be displayed 717 Joystick Deadband Deadband This sets the size of the joystick s neutral area In other words how far the joystick has to be deflected before the brakes are released and dri
141. n of the battery gauge This is normally set at the factory and should not need further adjustment 105 Low Voltage Cut out Low Voltage Time These two parameters allow a low battery voltage cut out function to be programmed Such a function can be used to prevent over discharge of the batteries If the battery voltage is below the value set by Low Voltage Cut out for a period of time longer than that set by Low Voltage Time then drive will be prevented This will be recorded in the Power Module s error log Drive will then be permitted to resume when the battery voltage rises above the value of Low Voltage Cut out The programmable range for Low Voltage Cut out is 16V to 22V in steps of 0 5V The programmable range for Low Voltage Time is 25 to 2555 in steps of 18 90 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING Il General ILL Brake Disconnected Alarm This sets whether there is an audible alarm when one or both of the brakes are disconnected from the Power Module The programmable options are yes and Fault Detect This sets whether the Power Module will detect electrical faults the wheelchairs brakes or the connection to them The programmable options are ves and no This parameter should onlu ever be set to no if there are no electrical brakes fitted to the wheelchair Brake Voltage This sets the voltage output from the Power Module to the wheelchairs electrical brakes
142. n off button e Deflect the joystick forwards until the control system beeps e Deflect the joystick in reverse until the control system beeps e Release the joystick there will be a long beep e wheelchair is now locked The following screen will be displayed If an LED Joystick Module is fitted the Speed Indicator LED s will ripple from left to right Refer to Chapter 4 22 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL OPERATION To unlock the wheelchair e control system has switched off press the On off button e Deflect the joystick forwards until the control system beeps e Deflect the joystick in reverse until the control system beeps e Release the joystick there will be a long beep e The wheelchair is now unlocked 5 4 2 Key Locking To lock the wheelchair with a key e Insert and remove PGDT supplied key into the Charger Socket on the Joystick Module e The wheelchair is now locked The following screen will be displayed To unlock the wheelchair e control system has switched off press the On off button e Insert and remove a PGDT supplied key into the Charger Socket e The wheelchair is now unlocked e 55 Actuator Selection Screen To adjust the seat position the actuator screen must be visible Depress the Mode Button to scroll through the Mode screens until you reach the actuator screen displayed below SO Actuator adjustment is achieved as follows e Move the Joystick side
143. no liability for losses of any kind arising from the unexpected stopping of the wheelchair or arising from the improper use of the wheelchair or control system Do not operate the control system if the chair behaves erratically or shows abnormal signs of heating sparks or smoke Turn the control system off at once and consult your service agent PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Electronic equipment can be affected by Electro Magnetic Interference EMI Such interference may be generated by radio stations TV stations other radio transmitters and cellular phones If the chair exhibits erratic behavior due to EMI turn the control system off immediately and consult your service agent PGDT accepts no liability for losses of any kind arising from failure to comply with this condition It is the responsibility of the chair manufacturer to ensure that the wheelchair complies with appropriate National and International EMC legislation PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The wheelchair user must comply with all wheelchair safety warnings PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter section 9l 146 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL WARNING SUMMARY 2 4 Battery Charging Do not operate the control system if the battery is near
144. nsions are different in the case of the power module and the joystick module the mounting hole size and positioning is the same Connecting the modules together is possible using the standard R net Communication Cables except in the case of the Seating Module that utilizes a specific cable that is supplied with the module LED Joystick Seating Module Seating Module Cable Communication Cable The Seating Module is connected to the EL Power Module using the Seating Module Cable which connects to the Inhibit 2 and Actuator Channel connections on the Power Module SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM 6 Power Module amp SM Wiring 6 General Study the data sheets for the EL Power Module and the Seating Module to identify e The output current ratings and restrictions e The connector pin assignmenis Recommendations for the cross sectional area ratings and materials for wiring are given in the table in Chapter 2 These depend on the application You are responsible for establishing the suitability of the particular wiring arrangement used on the wheelchair PGDT can make general recommendations for wiring to R net control systems but PGDT accepts no responsibility for the wiring arrangement used Make sure that the connectors you use are reliable under all operating conditions and correctly wired with no short circuits Do not use unsuita
145. o detect problems in other electrical components motors batteries solenoid brakes etc or more importantly the wiring to them When a control system has detected a trip a system trip is indicated This chapter covers the diagnostic process when working with an LCD based JSM or a DT If just JSM LED is being used refer to section Control System Status Indication in Chapter 4 Diagnostics should only be conducted by healthcare professionals with in depth knowledge of PGDT electronic control systems An incorrect or badly effected repair could result in an unsafe set up of a wheelchair PGDT accept no liability for losses of any kind arising from an incorrect or badly effected repair LI Diagnostic Procedure To diagnose a trip please follow this procedure e Read and note the Trip Text displayed the Identified Module and the Trip Code Refer to section 2 e Switch off the control system e sure that all connectors on the listed Module and the wheelchair are mated securely e Check the condition of the battery e Find the definition of the Trip Text and take the required action Refer to section 3 e Switch on the control system again and try to drive the wheelchair If the safety circuits operate again switch off and do not try to use the wheelchair Contact your service agent e Diagnostic Screens e l Current Diagnostic Screen When the control system safety circuits have operated and the control system has been prevente
146. ode 8 53 Output This sets the Output Device that is active for the Mode See Configuration Explained for more details The programmable options are in the form of a drop down menu as shown in the following diagram fl Configuration Drive means that the Power Module is the active Output Device and Seating means that the Seating Module is the active Output Device Because OBP assumes a Mode then if OBP is required one of the Modes normally Mode 8 should be set to Programming There are some other Output Device identifiers that a currently defined such as Environmental and Mouse these are for use with future planned Output Modules 7e SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING The settings Output 3 to Output 7 are unique identifiers that can be assigned to future Output Modules The number of unique identifiers is unlimited meaning any number of specialist modules can be supported 6 Speeds 61 Maximum Forward Speed Fwd Speed Sets the forward driving speed of the wheelchair when the joystick is deflected full anead and the speed setting is at maximum all 5 bars illuminated Programmable range is 0 to 100 in steps of 1 6 2 Minimum Forward Speed Fwd Speed Min Sets the forward driving speed of the wheelchair when the joystick is deflected full ahead and the speed setting is at minimum just 1 bar illuminated Programmable range is 0 to Maximum Forward Speed in steps
147. ofile in the current Mode The Mode Button will select tne next available Mode in the last Profile in which that Mode was used The External Profile Jack will select the same Mode in the next available Profile When the highest available Profile for the current Mode is reached then the next Mode in the next available Profile will be selected 41 Profile Name This is a 20 character text string that will appear on the JSM LCD screen to indicate the Profile that is selected More information is given in the above text 42 Profile Enable This sets whether a particular Profile is available for selection by the wheelchair user More information is given in the above text SK77981 4 67 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY 43 Mode Enable Modes This sets which operating Modes are available in each of the Profiles More information is given in the above text If this parameter is selected a drop down menu as below will appear Jl Mode Enable 2E EJ 9 sg Seat Reversal Profile Programming T To set whether a Mode is enabled simply highlight the appropriate menu item Any combination of Modes can be selected When the drop down menu is closed the selected Modes are expressed as numbers and the parameter appears on the screen as below The numbers 1 to 8 refer to the Modes listed in the menu Enable e 8 Mode Enable IU input Device Type niv
148. ol will be flashing Mode Screens 63 8 Actuator Mode Displays the sections of the chair Currently selected for movement the name given to the selection and a direction arrow showing what sort of movement is available When Environmental Mode is entered the following screen will be displayed 6 3 10 Bluetooth Mode When Bluetooth Mode is entered the following screen will be displayed 6 3 1 Speed Adjust When Speed Adjust Mode is entered the following screen will be displayed SK77981 4 e7 R NET TECHNICAL MANUAL OPERATION PG Drives TECHNOLOGY o 4 Message Window The R net displavs warning icons and informational messages in a dedicated message window as seen below 6 41 Restart When the control system requires a reboot for example after a module re configuration this symbol will be flashed 6 4 2 Timer This symbol is displayed when the control system is changing between different states An example would be entering into Programming Mode The symbol is animated to show the sands falling Xx 6 43 Sleep This symbol is displayed when the R net has gone into sleep mode 6 4 4 Cross amp Tick These svmbols will be displaved during configuration procedures Process completed correctiv Process not completed correctiv 6 4 5 stop If the user switch is activated during drive or actuator operation this symbol will be displayed E Stop 9 SK77981 4 PG DRIVES
149. ommunication fault is indicated Make sure that joystick cable is securely connected and eo damaged IAAT Actuator Flash An Actuator trip is indicated If more than one actuator is fitted check which actuator is not working correctly Check the actuator wiring U f the programmable parameter Motor Swap has been enabled then left and right hand references in this table will need transposing 3 8 Slow or sluggish movement If the wheelchair does not travel at full speed or does not respond quickly enough and the battery condition is good check the maximum speed setting If adjusting the speed setting does not remedy the problem then there may be a non hazardous fault Contact your service agent 39 Maximum Speed Profile Indicator is Steady The display will vary slightly depending on whether the control system is programmed to operate with drive profiles For more information on drive profiles refer to Chapter 3 16 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM 3 10 1 Speed Indication The number of LED s illuminated shows the maximum speed setting For example if the setting is speed level 4 then the four left hand LED s will be illuminated 3 0 2 Profile Indication The LED illuminated shows the selected drive profile For example if drive profile 4 is selected then the fourth LED s from the left will be illuminated Maximum Speed Profile Indicator Ripp
150. on points for the battery connections Separate junction points away from the Power Module should be provided for the other wheelchair electrical functions Immunity The R net control system family has been stringently tested for susceptibility to electromagnetic radiation over the frequency range 26MHz to 1GHz The installations passed the FDA requirements and the proposed requirements EN12184 Follow the recommendations in section 12 1 2 to ensure maximum immunity to electromagnetic radiation I23 Electro Static Discharge 5 D There are various international standards currently under development for this aspect of the system s performance At present most of the standards are specifying the system to be tested to requirements of IEC1000 4 2 Tests are carried out at 8kV air discharge to nonconductive surfaces and 6kV contact discharge to conductive surfaces The R net family has been tested to these levels If you need advice please contact PGDT 56 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL INSTALLATION 13 Batteru Gauge Refer to Chapter 1 for how to read the batterv gauge The battery gauge typically starts to flash slowly when the battery voltage falls below 23 3V whilst the wheelchair is driving on a level surface For optimum accuracy of the battery gauge and low battery indicator the control system should be programmed with the approximate nominal capacity of the wheelchair battery However accur
151. onnected to OV then the wheelchair will be considered to be in a rear wheel drive configuration and the following conditions will apply The value of Front Wheel Drive Rate will be forced to 0 within the Power Module s software The Invert MI Direction the Invert M2 Direction and the Motor Swap parameters will be toggled within the Power Module s software Only the Profiles that have Seat Reversal Profile set to yes will be available If set to Inhibit 2 at OV and the Inhibit 2 input is not connected to OV then the wheelchair will be considered to be in a front wheel drive configuration and the following conditions will apply The programmed value of Front Wheel Drive Rate will apply The programmed settings of Invert M1 Direction the Invert M2 Direction and the Motor Swap parameters will apply Only the Profiles that have Seat Reversal Profile set to no will be available 1 7 Charger Inhibit Enable This should be set if it is intended to use the Inhibit 3 input on the Power Module as an On Board Charger OBC connection The programmable options are Off High to Drive and Low to Drive If set to Off then inhibit 3 is not used as a Charger inhibit If set to High to Drive Drive is inhibited when in Band 0 If set to Low to Drive Drive is inhibited when in Band 3 Regardless of the setting of this parameter the Inhibit 3 input can still be used as a multi state input to provide speed limits and or actuator inhibits See sect
152. or axis that is selected when Seating Mode is entered The programmable options are in the form of a drop down menu as shown in the following diagram Global L Actuator Mode Entry Axis a bye Setup Axis Channels Simply select the required axis If Last used is selected this means the axis that was selected on the last occasion Seating Mode was used will be the selected axis when Seating Mode is re entered Intelligent Seating Module Axes Setup 9 2 Axis Channels Axis Display Invert Axis Direction These set e which actuator motor channels on the ISM will operate for a particular axis e theuserdisplav for a particular axis e whether a channel direction is inverted for a particular axis 86 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING These options are in the form of a dialogue box as shown in the following example diagram Actuator And Axis Setup Axis 1 Axis 2 Axis 3 Axis 4 AxisS Axis6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Display Segments TA Axis 6 Channel s CIchanne N channel Channel M Channe v Channe CI Channel Direction C Invert Direction H In this example Axis 6 is the axis that is being set up With the programming as shown Channels 4 and 5 will operate in this axis and the user display on the Joystick Module will highlight
153. or or the wheelchair frame may occur 95 Deceleration Dec This sets the deceleration rate for a particular ISM channel Programmable range is 1 to 100 in steps of 1 not use micro switches at the end of actuator travel If the value is not set to IOO90 then the automatic endstop function will not operate and damage to the actuator motor or the wheelchair frame may occur This parameter must be set to IOO on systems that use automatic endstops i e those that do 9 6 Up Speed UpSpd This sets the speed of a particular ISM channel in the Up direction Up is defined as pin 1 positive with respect to pin 2 when the jovstick is displaced forward and Invert Axis Direction is not set Programmable range is 0 to 100 steps of 1 97 Down Speed DnSpd This sets the speed of a particular ISM channel in the Down direction Down is defined as pin 2 positive with respect to pin 1 when the joystick is displaced in reverse and Invert Axis Direction is not set Programmable range is 0 to 100 in steps of 1 98 Up Current Limit This sets the maximum current output for a particular ISM channel in the Up direction Up is defined as pin 1 positive with respect to pin 2 when the jovstick is displaced forward and Invert Axis Direction is not set The maximum current the ISM can deliver is 15A However this can only be achieved if the channel s Up Speed is less than 100 At a setting of 100 speed the maximum current is 12A Th
154. p switch this can be achieved via the parameter Emergency Stop Switch Q If any Profile has latched actuators set then an Emergency Sop Switch must be fitted to the PGDT accept no liability for losses of any kind resulting from the use of a wheelchair with latched drive or actuator operation and with no normally closed Emergencu Stop Switch fitted 83 Latched Timeout Time This sets the time out period for latched drive and actuator control 84 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING The programmable range is 0 to 255 Seconds in steps of 1 Second The time out period is the maximum length of time the joystick can be in the neutral position before latched movement ceases If the period is exceeded the latched movement will stop Time out is therefore an important safety feature that will stop drive or actuator movement should the user be unable to stop the functions in the usual way It is important that an appropriate time out period is set If a value of 2 or less is set then the time out function is disabled This value should only be used in exceptional circumstances and after all the risks have been fully assessed PGDT accept no liability for losses of any kind resulting from the use of a wheelchair with latched drive or actuator operation and with a Latched Timeout value of O 8 4 Latched Timeout Beep Bleep This sets whether a beep occurs as the end of the time out period approaches The b
155. peed Limit in Band This sets the maximum speed of the wheelchair when the Inhibit input which is assigned to the Drive Inhibit is in Band 3 See Inhibits Explained for more details on Power Module inhibits and bands The programmable range is 0 to 100 in steps of 1 If set to 0 then a full drive inhibit will be effected and the wheelchair s brakes will not release See also sections Operation and Inhibit Alarm below If set to between 1 and 100 the value will correspond to the maximum possible speed the wheelchair can drive 1314 Operation This sets whether a full drive inhibit i e 0 speed limit setting is a latching or non latching function The programmable options are Non latching and Latching If set to Non latching then as soon as the signal that initiated the drive inhibit is removed then drive can resume If set to Latching then to resume drive after the signal that initiated the drive inhibit is removed then the system power must first be cycled 1315 Inhibit Alarm This sets whether an audible alarm will sound in a full drive inhibit condition i e speed limit setting of 0 is active The programmable options are Yes and No If set to Yes then an alarm will sound while the full drive inhibit is present If set to No then no alarm will sound Inhibits Actuator Inhibits 1316 Channel x Up Assign x I to 6 The R net Seating Module has three separate software inhibits for the up direction of e
156. perating manual The operation of the R net wheelchair control svstem is simple and easv to understand The control svstem incorporates state of the art electronics the result of many years of research to provide you with ease of use and a very high level of safety In common with other electronic equipment correct handling and operation of the unit will ensure maximum reliability Please read this chapter carefully it will help you to keep your wheelchair reliable and safe e General An R net control svstem comprises a minimum of two modules Jovstick Module and Power Module Because of the modular design the depth of the control system can be greatly increased The following diagram shows the basic set up Jovstick Module Power Module moce PROFILE oo Communication Cable el Handling Avoid knocking your control system and especially the joystick Be careful not to strike obstacles with the control system or joystick when you drive Never drop the control system When transporting your wheelchair make sure that the control system is well protected Avoid damage to cables 22 Operating Conditions Your control system uses industrial grade components throughout ensuring reliable operation in a wide range of conditions However you will improve the reliability of the control system if you keep exposure to extreme conditions to a minimum SK77981 4 E R NET TECHNICAL MANUAL OPERATION PG Drives T
157. play for a particular axis is programmable The relevant parameter is Axis Display 71 Seating Module Enabled This parameter sets whether a Power Module is compatible with an ISM or with a Seating Module The parameter options are Yes or No If set to Yes the Power Module will be compatible with a Seating Module This setting should also be used if it is intended to use an EL PM90 to drive a single actuator If set to No the Power Module will be compatible with an ISM 7 2 Seating Module Enabled This parameter sets whether a Power Module recognizes a currently connected Seating Module The parameter options are Yes or No If set to Ves the Power Module will recognize a connected Seating Module If setto No the power Module will recognize a connected Intelligent Seating Module SK77981 4 123 R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM PG Drives TECHNOLOGY Seating Module Global 7 2 Actuator Mode Entry Axis Act Entry Axis This sets the actuator axis that is selected when Seating Mode is entered The programmable options are in the form of a drop down menu as shown in the following diagram i Global Wi Actuator Mode Entry Axis QQ Axes Setup xis Enabled Up Speed No No No No No No 100 100 100 100 X 100 1 Down Speed 100 100 Z 100 100 100 2 100 Axis Display 2 Axes Inhibits Up Assign Off Off Off Off Off Off Hiec hls im D ainda f Simply select the required axis If Las
158. plu with this condition Chapter 2 section 2 2 ele Power Module Wiring General The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair for both normal use and stalled conditions PGDT can make general recommendations for wiring for R Net control systems but PGDT accepts no responsibility for and accepts no liability for losses of any kind arising from the actual wiring arrangement used PGDT on the control system s specific data sheet are used to connect to the control system PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for ensuring that suitable connectors are used and securely mated throughout the chair wiring system and that the workmanship associated with the wiring system is of a good enough quality failure to meet this condition could result in intermittent operation sudden stopping or veering or even create a burn or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 61 The chair manufacturer is responsible for ensuring that only the mating connectors specified by 148 SK77981 4 PG DRIVES TECHNOLOGY 2 13 Crimping Defective or poor quality crimps may affect the warranty of the control system PGDT accepts no liability for losses of any kind arising from failure to comply
159. put of the Power Module Sets the period of time that the level of current set by Boost Drive Current is available Sets the level of current which if exceeded will start the current foldback timer Sets the period of time that the current must exceed the above parameter before the current is reduced Sets the level of current output reduction Matches the PM to the motors Inverts the direction of rotation of motor channel M1 on the Power Module Inverts the direction of rotation of motor channel M2 on the Power Module Swaps the motor output channels M1 and M2 of the Power Module Adjusts the PM outpurs to compensate for mis matched motors Sets how the speedometer is displayed in miles per hour or kilomerres per hour This calibrates the speedometer function This sets the operation of the graphical speed display Allows different values of Compensation to be used across different profiles Sets the threshold between Band 0 and Band 1 for a particular Inhibit Input on the PM Sets the threshold between Band 1 and Band 2 for a particular Inhibit Input on the PM Sets the threshold between Band 2 and Band 3 for a particular Inhibit Input on the PM Sets a debounce time for the inhibit input Sets the threshold between Band 0 and Band 1 for a particular Inhibit Input on the ISM Sets the threshold between Band 1 ana Band 2 for a particular Inhibit Input on the ISM Sets the threshold between Band 2 and Band 3 for a particular Inhibit Input on the ISM Se
160. r losses of any kind arising from failure to comply with any of the conditions in the warnings listed below Failure to observe these warnings will invalidate the R Net warranty The machine manufacturer may wish to use this section as a check list to ensure the risk areas identified below have been addressed within their own machine designs and associated documentation 2 Warnings el Charger Socket Programmer or the batteru charger supplied with the wheelchair is connected into this socket The control sustem s warranty will be voided if any device other than a PG Drives Technology Chapter section 4 4 Driving Technique The wheelchair user must be capable of driving a wheelchair safely PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter section 8 2 23 Hazards Although the R Net control system is designed to be extremely reliable and each unit is rigorously tested during manufacture the possibility of a system malfunction always exists however small the probability Under some conditions of system malfunction the control system must for safety reasons stop the chair instantaneously If there is any possibility of the user falling out of the chair as a result of a sudden braking action it is imperative that a restraining device such as a seat belt is supplied with the wheelchair and that it is in use at all times when the wheelchair is in motion PGDT accept
161. r more details on Power Module inhibits and bands The programmable range is 0 to 100 in steps of 1 This parameter should not be set to a higher value than Middle Level Threshold and or Upper Level Threshold 13 6 Middle Level Threshold This sets the level of the threshold between Band 1 and band 2 for a particular Inhibit Input Inhibit 4 or Inhibit 5 on the ISM See Inhibits Explained for more details on Power Module inhibits and bands The programmable range is 0 to 100 in steps of 1 This parameter should not be set to a lower value than Lower Level Threshold or a higher value than Upper Level Threshold I37 Upper Level Threshold This sets the level of the threshold between Band 2 and band 3 for a particular Inhibit Input Inhibit 4 or Inhibit 5 on the ISM See Inhibits Explained for more details on Power Module inhibits and bands The programmable range is 0 to 100 in steps of 1 This parameter should not be set to a lower value than Lower Level Threshold and or Middle Level Threshold SK77981 4 IO3 R NET TECHNICAL MANUAL PROGRAMMING PG Drives TECHNOLOGY I38 Debounce Time This sets a debounce time for the Inhibit input Debounce is the amount of time the input must be stable before a new condition is registered This is particularly useful if mercury switches are being employed and eliminates the effect of splashing across the contacts The programmable range is OMS 500rn in steps
162. r whether Standby Mode is effectively a power down condition The programmable options are yes or no If set to yes then STANDBY will be displayed on the screen and joystick deflections can be used to select different operating Modes Each of the four joystick directions can be programmed to enter a different Mode This is set by Standby Forward Standby Reverse Standby Left and Standby Right If set to no then STANDBY ON will be displayed on the screen and joystick deflections have no effect To resume normal operation the Profile Button or an External Profile Switch if fitted should be operated 7 24 Standby in Modes This allows the Standby function to be disabled in particular operating Modes A typical example is if the R net is being used to control a PC mouse In this instance Standby would be undesirable as the joystick is likely to be frequently left in the center position for a period longer than that set by Standby Time The programmable options are in the form of a drop down menu as shown in the following diagram Profile E 2 tanao n PAT Standby in Modes 7 c melins eee Environmental E 5 Reverse Programming E L Mouse g x p ES VA Output 5 E Output 6 x Remote Selection Output 7 Latched SK77981 4 BI R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY To set whether Standby is enabled in a particular Mode or Modes simply highlight the appropriate menu item Any comb
163. re Band 0 Band 1 Band 2 and Band 3 If the parameter is selected then a drop down menu as below will appear and the bands required to invoke the inhibit should be selected For example if the inhibit is required for Band 3 only then that option should be selected as shown Vown Assign ur U unr ur U UIT LIT L Down Inhibit in Bands 1 5 Seating Module Enabled When the drop down menu is closed a 3 will be shown in the cell I26 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM 78 Axis Down Assign x I to Ie Each actuator axis has a software inhibit for its down direction Down is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward The inhibit can be initiated by any actual hardware inhibit in the system The pararneter Assign links the software inhibit to an actual hardware inhibit For example if Assign is set to 2 then the axis can be inhibited by Inhibit Input 2 The programmoble options are Off and 2 to 33 If set to Off then the relevant Axis x Down Inhibit can never be active If set to a numeric value then the relevant Axis x Down Inhibit will be under the control of the Inhibit Input that corresponds to that number 79 Axis x Down Inhibit in Bands x I to 6 This sets the condition of the input assigned to Axis x Down Inhibit that will result in an inhibit of the actuator drive in the down d
164. referred to as Inhibit 4 and Inhibit 5 For connection details of these inputs please refer to the Installation Chapter Each of these inputs can recognize four different input conditions or states This means that four different events can originate from a single input See the following Speed Inhibit and Actuator Inhibit Examples The state of an Inhibit input is defined as percentage and is set by the resistance connected to the input If the input is connected directly to OV then it is considered to be at 0 If the input is connected to OV via a 10KOhm resistor or greater then it is considered to be at 100 Each of the 99 steps between corresponds to 100Ohm As an example if the input is connected to OV via a 4 7KOhm resistor then the input is considered to be at 47 Dependent on the state of an input it is in one of four bands The size of these bands is programmable via the parameters Lower Level Threshold Middle Level Threshold and Upper Level Threshold These are shown in the following diagram Each of the Threshold Level parameters can be set between 0 and 100 in steps of 1 After the input bands have been defined then each input can be linked to a speed limit or full drive inhibit via the parameters 210KOhm to OV 100 Upper Threshold Level 2 n Middle Threshold Level 4 Lower Threshold Level OV 0 Each input can also be linked an actuator function via the parameters Assig
165. remor The programmable range is 0 to 100 The higher the value the greater the damping that is applied If using high values of Tremor Damping pay particular attention to the stopping distance of the wheelchair as it will be increased 6 228 Fast Brake Rate This parameter sets the deceleration rate that is used while fast braking Fast braking is when the joystick is pulled to the reverse position to make a faster stop The programmoble range is O to 100 If the value is set lower than the Forward Deceleration value then the latter value will be used 7 Controls Controls Global 71 Momentary Screens Enabled Momentary Screens This sets whether the large momentary screens appear in between Profile and Speed setting changes The programmable options are Yes and No 7 2 Change Profile while Driving Chge Prf in Drv This sets whether Profile changes are permitted while the wheelchair is driving The programmable options are yes and no 76 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING 73 Change Speed while Driving Spd Adj Drv This sets whether the Soeed Down and Speed Up buttons are active while the wheelchair is driving The programmable options are yes and no 7 4 Speed Adjust Speed Adjust This sets whether the Speed Down and Speed Up buttons on the Joystick Module are active The programmable options are yes and no 75 Profile Button This sets whether the Profile b
166. rer there are no serviceable parts in the R net control system Consequently any defective units must be returned to PGDT or a PGDT approved service organization for repair Any replacement work carried out without the wheelchair manufacturer s permission will invalidate the control system s warranty Opening or making any unauthorized adjustments or modifications to the R net control system or its components will invalidate any warranty and may result in hazards to the vehicle user and is strictly forbidden PGDT accept no liability for losses of any kind arising from unauthorized opening adjustments or modifications to a any component of the R net control system 142 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL DIAGNOSTICS SK77981 4 143 R NET TECHNICAL MANUAL WARNING SUMMARV PG DRIVES TECHNOLOGY 6 WARNING SUMMARY 144 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL WARNING SUMMARY SK77981 4 145 R NET TECHNICAL MANUAL WARNING SUMMARV PG Drives TECHNOLOGY l Introduction This section summarizes all of the very important warnings that appear throughout the text of this manual Do not install maintain or operate the machine without reading understanding and observing the following warnings Failure to observe these warnings could result in UNSAFE CONDITIONS for the user of a machine or affect the reliability of the control system PG Drives Technology accepts no liability fo
167. rger connection An entiv is made in the svstem log each time this occurs If an On Board Charger is used e Disconnect the charger from the AC supply If an Off Board Charger is used e Disconnect the charger from the Wheelchair If the trip is still present after the charger has been disconnected then the Joystick Module may be defective Refer to Section 5 SK77981 4 139 R NET TECHNICAL MANUAL DIAGNOSTICS PG Drives TECHNOLOGY 4 Basic Tests After a repair has been completed the following tests should be carried out These are minimum recommendations depending on the nature of the original trip then additional tests may be required to perform other tests relevant to the original trip and wheelchair type are carried out Refer to the wheelchair s Technical Manual for exact information of other tests PGDT accept no liability for losses of any kind arising from the carrying out of the described tests or from not carrying out additional relevant tests These tests are a minimum recommendation only It is the responsibility of the service person s should alwaus be used PGDT accepts no liabilitu for losses of anu kind arising from failure to These tests should be conducted in an open space and a restraining device such as a seat belt comply with this condition 4 1 General Inspection Make sure all connectors are securelv mated e Check the condition of all cables connectors for damage e Check the rubber gaiter
168. rger is connected into the 3 way charger socket on the Joystick Module or an On Board Charger is connected to the OBC connector on the Power Module and Charger Inhibit 3 Enable is set to yes The programmable options are yes and no SK77981 4 33 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY le Motor Motor Global le Maximum Current Limit Boost Drive Current Boost Drive Time These three parameters set the maximum current output from the Power Module Thev are closelv related so are detailed in one section Moximum Current Limit sets the long term maximum current output of the Power Module The programmable range is from 10A to 60A on a PM60 10A to 80A on a PM80 and 10A to 100A on a PM120 steps of 1A Boost Drive Current sets the short term maximum current output of the Power Module The programmable range is from the setting of Maximum Current Limit to 80 on a 80 90A on ELPM90 and 120A on a PM120 in steps of 1A Boost Drive Time sets the period of time that the level of current set by Boost Drive Current is available The programmable range is from 0 Seconds to 10 Seconds in steps of 1 Second The following graph shows the relationship between the parameters Current i Boost Drive Current os Maximum Current Limit SRE Time Boost Drive Time There are maximum permissible values which must not be exceeded for each of these parameters These values are shown in the table below
169. rger is incompatible with the control system see Chapter 2 section 7 or any other part of the wheelchair system SK77981 4 R NET TECHNICAL MANUAL OPERATION 35 R NET TECHNICAL MANUAL OPERATION PG Drives TECHNOLOGY 13 Programming The control svstem can be programmed to meet vour needs programming can be performed using the OBP On board Programming feature or the specialist R net software and Dongle If vou re program vour control svstem make sure that vou observe anv restrictions given in vour wheelchair user manual Note anv changes vou make for future reference PGDT electronic control sustems Incorrect programming could result in an unsafe set up of a wheelchair for a user PGDT accepts no liability for losses of any kind if the programming of the control system is altered from factory pre set values Programming should only be conducted by healthcare professionals with in depth knowledge of 14 Joystick Knobs The knob fitted to your joystick is suitable for most applications If you would prefer another type there is a range of alternatives available Please contact your wheelchair distributor or manufacturer for advice Do not replace the joystick knob with any unauthorized item it may cause hazardous operation Do not replace the joustick knob with anu unauthorized item It mau cause hazardous operation PGDT accepts no liability for losses of any kind arising from failure to comply with this condition STICK
170. rives TECHNOLOGY e Profile Indicator This is an indicator that shows the selected drive profile There mav be up to 5 drive profiles available this depends on the programming of the control svstem For details of how to select drive profiles see sections 4 2 4 1 and 4 2 5 1 213 Speed Profile Decrease Button This button decreases the maximum speed setting or if the control system is programmed for drive profile operation selects a lower drive profile It is possible to program the control system so this button has no effect while the wheelchair is being driven Refer to Chapter 3 Programming for details 2 1 4 Speed Profile Increase Button This button increases the maximum speed setting or if the control system is programmed for drive profile operation selects a higher drive profile It is possible to program the control system so this button has no effect while the wheelchair is being driven Refer to section 5 for details of the momentary screen Refer to Chapter 3 Programming for details 215 Mode Button The Mode button allows the user to navigate through the available operating Modes for the control system The available modes are dependant on programming and the range of auxiliary output devices connected to the control system Refer to Chapter 3 Programming for details 0 When in Bluetooth and Environmental Mode the Speed and Actuator LED s are all extinguished Actuator Indicator This LED set displays which Actu
171. s and the ISM contains the Inhibit 4 and 5 connections These connections can be used to limit speed inhibit drive and or inhibit actuator channels Refer to Chapter 3 Programming for full details SK77981 4 49 R NET TECHNICAL MANUAL INSTALLATION PG Drives TECHNOLOGY 6 6 Lighting Connections Each lighting output is rated at 21W maximum Use suitably rated wire to each bulb The output is self protecting against wiring and bulb faults and will shut off if the maximum power rating is exceeded Likewise if the output becomes too hot it will shut off to prevent permanent damage to itself 67 Indicator Connections Each indicator output is rated at 21W maximum Use suitably rated wire to each bulb The outputs are self protecting against wiring and bulb faults and will shut off if the maximum power rating is exceeded Likewise if either output becomes too hot it will shut off to prevent permanent damage to itself If an indicator bulb fails the ISM will detect this and flash the remaining bulb for that side at 3Hz as well as sending information to the Joystick Module so that the relevant indicator LED flashes likewise 6 8 Actuator Connections Each actuator channel is rated at 15A maximum although only 12A is available when the channel is programmed to 100 speed If currents of greater than 12A are required the programmed speeds for that channel must be reduced The level of reduction is dependent upon the electrical characteristic
172. s 1 5Hz 0 5Hz e Disconnect each bulb in turn and check that the remaining bulb for that side flashes at 3Hz 0 5Hz If hazard lamps are fitted e Check each bulb for correct illumination and that the flashrate is 1 5Hz 0 5Hz Actuator Test If actuators are fitted e Check each motor for correct direction of movement e Ensure the mechanical end stops are secure and that they stall the actuator motors thus operating the ISM s automatic end stop detection Inhibit Input Test Insert an appropriate battery charger or equivalent inhibit connection into the Charger Connector on the JSM and ensure that drive is inhibited If Inhibits 2 3 4 and 5 are used for inhibit or speed limiting purposes suitable tests should be devised to ensure correct operation SK77981 4 55 R NET TECHNICAL MANUAL INSTALLATION PG Drives TECHNOLOGY le Electromagnetic Compatibility M C The R net family has been tested for compliance with EC directive 89 336 EEC and the E M C requirements of EN12184 the FDA and the FCC The guidelines in this section will help you to make sure that your wheelchair installation will easily meet these requirements You should consider E M C and perform relevant tests as early as possible in the design phase le Emissions A typical wheelchair and R net installation have been type tested and have passed the requirements of CISPR 22 and FCC CFR47 part 15 Observe the following recommendations to m
173. s of any kind if the programming of the control system is altered from the factory pre set values Chapter Section 2 21 How to Enter OBP Mode If the keycode method is set then it may be possible for a wheelchair user to gain entry to the OBP function PGDT accept no liability for losses of any kind if this method of OBP is set PGDT also accept no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle Chapter Section 2 22 Tremor Damping If using high values of Tremor Damping pay particular attention to the stopping distance of the wheelchair as it will be increased Chapter Section 6 21 2 23 Emergency Stop Switch PGDT accept no liability for losses of any kind resulting from the use of a wheelchair with latched drive or actuator operation and with no normally closed Emergency Stop Switch fitted Chapter Section 7 0 150 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL WARNING SUMMARY 2 24 OBP Keycode Entry OBP function PGDT accept no liability for losses of any kind if this method of OBP is set PGDT also accept no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle Chapter Section 7 11 If this parameter is set to Yes then it may be possible for a wheelchair user to gain entru to the 2 25 Latched Drive latched drive or actuator operation and with no normallu closed Emergencu Stop Switch fit
174. s of the actuator motor so an empirical process to establish the level of the reduction is required If the wheelchair is fitted with solid mechanical end stops at the end of the actuator travel it is not necessary to fit limit switches as the ISM can detect when the actuator motor has stopped and will cutoff the power to it 6 9 On Board Charger Connections The Battery ve OV connections are rated at 12A rms Use suitably rated wire for these connections The maximum permissible charging current is rms 7 Batteries The control system is designed for operation with 24V lead acid batteries The batteries may be wet or gel electrolyte types Contact PGDT for advice on battery selection 71 Batteru Charging The R net system can support two methods of charging Off Board and On Board An On Board Charger should be connected to the Power Module via the OBC connector refer to the wiring diagram of the Power Module for pin details and to the section On Board Charger Connections for details of maximum current An Off Board Charger can be connected through a Charger Socket found on either a Joystick Module or the Omni The charging socket is Neutrik 3 pin tyoe NC3FPP or equivalent and the maximum charging current is 12A rms Only chargers fitted with Neutrik NC3MX plugs should be connected into the Joystick Module The pin connections of the socket are as below The maximum permissible charging current for both methods
175. s you that the wheelchair is switched on It also indicates the operating status of the wheelchair Details are given in section 3 If the battery gauge shows red yellow and green the batteries are charged bars 1 10 If the battery gauges show just red and yellow then you should charge the batteries as soon as you can Bars 1 7 If the battery gauge shows just red either steady or flashing slowly then you should charge the batteries immediately Bars 1 3 condition may leave the user stranded in an unsafe position such as in the middle of a road Do not operate the control system if the battery is nearly discharged Failure to complu with this PGDT accepts no liability for losses of any kind arising from failure to comply with this condition ele Maximum Speed Profile Indicator This is a gauge which shows the maximum speed setting for the wheelchair or if the control system is programmed for drive profile operation the selected drive profile This gauge also indicates if the speed of the wheelchair is being limited or if the control system is locked refer to section 10 2 12 1 Maximum Speed Indicator This is a gauge that shows the maximum speed setting of the wheelchair There are five speed settings step 1 is the lowest speed and step 5 is the highest soeed For details of how to change the maximum speed setting see sections 4 1 2 and 4 1 3 SK77981 4 13 R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM PG D
176. stem or charger itself or may result in parts overheating creating the potential for burns or even fire PGDT accepts no liability for losses of anu kind if the charger is incompatible with the control sustem see Chapter 2 section 7 or any other part of the wheelchair system Chapter section Ie 26 Programming Programming should onlu be conducted bu healthcare professionals with in depth knowledge of PGDT electronic control systems Incorrect programming could result in an unsafe set up of a wheelchair for a user PGDT accepts no liability for losses of any kind if the programming of the control system is altered from factory pre set values Chapter section Ie 27 Joystick Knobs Do not replace the joystick knob with any unauthorized item It may cause hazardous operation PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter section 14 28 Servicing PGDT accept no liability for losses of any kind arising from unauthorized opening adjustment or modifications to the R Net control system If the control system is damaged in any way or if internal damage may have occurred through impact or dropping have the product checked by qualified personnel before operating PGDT SK77981 4 147 R NET TECHNICAL MANUAL WARNING SUMMARV PG Drives TECHNOLOGY accepts no liability for losses of any kind arising from failure to comply with this condition Chapter section 29
177. stop detection It is therefore recommended that actuators with series end stop switches are used lee SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM 7 Programming This section describes the programming functions that are associated with the Seating Module For any of the following programming to be effective the parameter Seating Module Enabled must be set to Yes Actuator Axes Explained An actuator axis means a particular function of seat control An axis may involve just one actuator motor for example a simple seat lift or an axis may involve multiple motors for example adjustment of both footrests simultaneously or an anti shear recline system There are 5 actuator motor channels on the SM and a maximum of 12 axes are available Unlike the ISM the SM s 12 axes are pre defined in terms of which channels are driven This is shown in the table below Channels Axis 2 3 4 5 6 7 8 9 10 11 12 1 x x x x 2 X X x x 3 X X X X 4 X X X X X 5 x x x For example when Axis 1 is selected then Channel 1 will be driven and when Axis 6 is selected then both Channels 4 and 5 will be driven For an axis to be available to the user it must be enabled The relevant programmable parameter is Axis Enabled The R net SM can support up to 12 actuator axes with a maximum current of 12A across any combination of actuator channels The user dis
178. sure that the control system is mounted securely and that the joystick position is correct The hand or limb you use to operate the joystick should be supported for example by the wheelchair arm pad Do not use the joystick as the sole support for your hand or limb wheelchair movements and bumps could upset your control 82 Driving Technique The control system interprets your joystick movements and produces appropriate movements of your wheelchair You will need very little concentration to control the wheelchair which is especially useful if you are inexperienced One popular technique is to simply point the joystick in the direction you want to go The wheelchair will home in on the direction you push the joystick The further you push the joystick away from the rest position the faster the wheelchair will go Releasing the joystick will stop the wheelchair The intelligent soeed control system minimizes the effects of slopes and different types of terrain The wheelchair user must be capable of driving a wheelchair safely PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 83 Slow or sluggish movement If the wheelchair does not travel at full speed or does not respond quickly enough and the battery condition is good check the maximum speed setting If adjusting the speed setting does not remedy the problem then there may be a non hazardous fault Contact your service agent SK77981 4
179. system e Insert the R net Dongle along the communication cables in the system configuration e Turn on the control system e After initialization press the Mode key until the OBP screen is reached See following diagram OBP MENU Controls Latched Actuators If the keycode method is set then the following button sequence will allow entry to OBP Note a dongle will also allow OBP access if this method is set SK77981 4 6l R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY e Holddown the Horn button and then hold down the On Off button until there is a short bleep Note the normal power up sound will occur prior to this bleep e Release the Horn button but continue to hold down the On Off button until there is a further short bleep e Release the On Off button there will now be a longer bleep and OBP mode will be entered See previous diagram OBP function PGDT accept no liability for losses of any kind if this method of OBP is set PGDT also accept no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle If the keycode method is set then it may be possible for a wheelchair user to gain entru to the 22 Navigating the OBP Screens Whilst in OBP deflecting the joystick to the left whilst the parameter title is highlighted will display an elongated version of the parameter name There are two basic forms of display screen one which shows global parameters and
180. t used is selected this means the axis that was selected on the last occasion Seating Mode was used will be the selected axis when Seating Mode is re entered Seating Module Axes Setup 72 Axis Enabled This parameter sets if an axis is available to a user The parameter options are Yes or No If set to Yes the axis is available If set to No the axis is not available 73 Speed UpSpd This sets the speed of the SM channel s in a given axis in the Up direction Up is defined as pin 1 positive with respect to pin 2 when the joystick is displaced forward Programmable range is 0 to 100 in steps of 1 7 4 Down Speed DnSpd This sets the speed the SM channel s in a given axis in the Down direction Down is defined as pin 2 positive with respect to pin 1 when the joystick is displaced in reverse Programmable range is 0 to 100 in steps of 1 75 Axis Display This parameter sets which Actuator Indicator LED s on a JSM LED are illuminated when a particular axis is selected If tne Seating Module is being used in conjunction with an LCD based Josystick Module then this parameter will set which elements in the wheelchair symbol on the display are illuminated I24 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL ELPM 90 JSM LED amp SM The programmable options are in the form of a drop down menu as shown in the following diagram EL Down Speed TUU UU IUU X 100 Z IUU X 1
181. t your service agent IOI Daily Checks Joystick 10 2 Weekly Checks Parking brake Connectors Cables Joystick gaiter Mounting 10 3 Servicing With the control system switched off check that the joystick is not bent or damaged and that it returns to the center when you push and release it If there is a problem do not continue with the safety checks and contact your service agent This test should be carried out on a level floor with at least one meter clear space around the wheelchair Switch on the control system Check that the screen remains on after initialization and that the battery gauge is displaying a reasonable amount of charge Push the joystick slowly forwards until you hear the parking brakes operate The chair may start to move Immediately release the joystick You must be able to hear each parking brake operate within a few seconds Repeat the test a further three times pushing the joystick slowly backwards left and right Make sure that all connectors are securely mated Check the condition of all cables and connectors for damage Check the thin rubber gaiter or boot around the base of the joystick shaft for damage or splitting check visually only do not handle the gaiter Make sure that all the componenis of the control system are securely mounted Do not overtighten any securing screws To ensure continued satisfactory service we suggest you have your wheelchair and control system
182. tched drive will be step tvpe in both forwards and reverse Stepped drive is when short deflections of the jovstick step up or down the latched drive speed of the wheelchair If set to Cruise the latched drive will be cruise tvpe but in the forwards direction oniv If set to Cruise reverse the latched drive will be cruise tvpe in both forwards and reverse Cruise drive is when the wheelchair accelerates while the jovstick is deflected then when the jovstick is released the drive continues at the achieved speed via the Profile jack socket on the Joustick Module If it is required for the sustem to operate without an Emergencu Stop switch this can be achieved via the parameter Emergencu Stop Switch PGDT accept no liabilitu for losses of anu kind resulting from the use of a wheelchair with 0 If any Profile has latched drive set then an Emergency Sop Switch must be fitted to the system latched drive or actuator operation and with no normally closed Emergency Stop Switch fitted Latched Actuators Acts This sets whether the seating functions are latched in operation The programmable options are Yes and No If set to Yes then seating control will be latched in operation l e a short joystick deflection will start seat movement If set to No then the seating control will not be latched in operation system via the Profile jack socket on the Joystick Module If it is required for the system to operate without an Emergency Sto
183. ted PGDT accept no liability for losses of any kind resulting from the use of a wheelchair with Chapter 3 Section 81 amp 82 2 26 Latched Timeout PGDT accept no liabilitu for losses of anu kind resulting from the use of a wheelchair with latched drive or actuator operation and with a Latched Timeout value of O Chapter 3 Section 8 3 2 27 Actuator Acceleration not use micro switches at the end of actuator travel If the value is not set to 100 then the automatic endstop function will not operate and damage to the actuator motor or the wheelchair frame may occur Chapter 3 Section 9 3 e This parameter must be set to IOO90 on systems that use automatic endstops i e those that do 228 Actuator Deceleration not use micro switches at the end of actuator travel If the value is not set to 100 then the automatic endstop function will not operate and damage to the actuator motor or the wheelchair frame mau occur Chapter 3 Section 9 4 This parameter must be set to IOO on systems that use automatic endstops i e those that do 2 29 Brake Fault Detect This parameter should onlu ever be set to no if there are no electrical brakes fitted to the wheelchair Chapter Section 2 30 Brake Voltage result in damage to the brakes or motors PGDT accept no liability for losses of any kind It is essential the correct value for the brakes operating voltage is set An incorrect value could resulting from incorrect progra
184. ted Output Module is not present then the system will default to Drive Mode at power up 78 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING Controls Joystick 713 Joystick Forward Throw Forward Throw This sets the amount of forward movement of the joystick that is required to reach full forward speed This is particularly useful for users with limited hand movement The programmable range is 25 to 100 in steps of 1 The percentage value corresponds to the amount of joystick deflection required to reach full forward speed For example if set to 50 then only half joystick movement is need to reach full soeed The Forward Throw can also be set interactively with the user actually deflecting the joystick See Interactive Setting Explained 714 Joystick Reverse Throw Reverse Throw This sets the amount of reverse movement of the joystick that is required to reach full reverse speed This is particularly useful for users with limited hand movement The programmable range is 25 to 100 in steps of 1 The percentage value corresponds to the amount of joystick deflection required to reach full reverse speed For example if set to 50 then only half joystick movement is need to reach full soeed The Forward Throw can also be set interactively with the user actually deflecting the joystick See Interactive Setting Explained 715 Joystick Left Throw Left Throw This sets the amount of left move
185. the Power Module may be defective Refer to section 5 33 High Battery Voltage This occurs when the control system detects that the battery voltage has risen above 35V The most common reasons for this are overcharging of the battery or bad connections between the control system and the batteries e Check the condition of the batteries and the connections to the control system If the trip is still present after the batteries and connections have been checked then the Power Module may be defective Refer to Section 5 34 Brake Error This occurs when the control system detects a problem in the solenoid brakes or the connections to them 1505 M1 Brake Error Refer to section 2 3 for connection details 1506 M2 Brake Error Refer to section 2 3 for connection details e Check the solenoid brakes cables and connections to the control system If the trip is still present after the above checks have been made then the Power Module may be defective Refer to Section 5 35 Motor Error This occurs when the control system detects that a motor has become disconnected 3B00 Motor Error Refer to section 2 3 for connection details 3C00 2 Motor Error Refer to section 2 3 for connection details e Check the motors cables and connections to the control system If the trip is still present after the above checks have been made then the Power Module may be defective Refer to Section 5 3 6 Inhibit Active This occurs when any of the Inhib
186. then a full drive inhibit will be effected and the wheelchair s brakes will not release See also sections Operation and Inhibit Alarm below If set to between 1 and 100 the value will correspond to the maximum possible speed the wheelchair can drive I3 1 Speed Limit in Band This sets the maximum speed of the wheelchair when the Inhibit input which is assigned to the Drive Inhibit is in Band 1 See Inhibits Explained for more details on Power Module inhibits and bands The programmable range is 0 to 100 in steps of 1 If set to 0 then a full drive inhibit will be effected and the wheelchair s brakes will not release See also sections Operation and Inhibit Alarm below If set to between 1 and 100 the value will correspond to the maximum possible speed the wheelchair can drive Speed Limit in Band This sets the maximum speed of the wheelchair when the Inhibit input which is assigned to the Drive Inhibit is in Band 2 See Inhibits Explained for more details on Power Module inhibits and bands The programmable range is 0 to 100 in steps of 1 If set to 0 then a full drive inhibit will be effected and the wheelchairs brakes will not release See also sections Operation and Inhibit Alarm below If set to between 1 and 100 the value will correspond to the maximum possible speed the wheelchair can drive 104 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING S
187. those areas colored in red elements highlighted as defined in red However if the arrow symbols are not defined in red they 0 The outline of the whole wheelchair sumbol is alwaus present on the user displau but with the will not appear on the displau In this example the axis direction is not inverted i e when the joystick is deflected forwards the channel outputs will have pin 1 positive with respect to pin 2 When the dialogue box is closed the programming is expressed as follows 3 A Axes Setup Channels 1 2 53 4 5 45 H Axis Display 1 12345 1 3456 5 fil 4 45 Invert Axis Direction No No No No No No No No Axis Name Backrest Tilt Lift Left Footrest Right Footrest Both Footrests 93 Axis Name This parameter sets what text will be displayed on the LCD when the associated Actuator Axis is selected 0 This is onlu applicable on Color Joustick Modules and the Omni Intelligent Seating Module Channels 9 4 Acceleration Acc This sets the acceleration rate for a particular ISM channel Programmable range is 1 to 100 in steps of 1 SK77981 4 87 R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY This parameter must be set to IOO90 on systems that use automatic endstops i e those that do not use micro switches at the end of actuator travel If the value is not set to 100 then the automatic endstop function will not operate and damage to the actuator mot
188. tick Module with lighting control Each of the controls is explained within this section JOVSTICK MODULE Jovstick C ication Cable ommunication Cable Charger Socket CONTROL PANEL VARIANTS Without Lighting With Lighting LED Screen JACK SOCKETS External Profile Switch Jack SK77981 4 5 R NET TECHNICAL MANUAL OPERATION PG Drives TECHNOLOGY A Joystick The primary function of the joystick is to control the speed and direction of the wheelchair The further you push the joystick from the center position the faster the wheelchair will move When you release the joystick the brakes are automatically applied If the wheelchair is fitted with actuators the joystick can also be used to move and select actuators refer to section 3 8 for more details 42 Buttons BUTTONS D uM CS On Off Button a Horn Button MODE Speed Buttons PROFILE Decrease Increase Mode Button Profile Button A IE Hazard Button amp LED Lights Button amp LED Left Indicator Button amp LED Right Indicator Button amp LED 42 1 On off Button The on off button applies power to the control system electronics which in turn supply power to the wheelchairs motors Do not use the on off button to stop the wheelchair unless there is an emergency If you do you may shorten the life of the wheelchair drive components 4 2 1 Horn Button The Horn will sound while this button is depressed
189. tion 5 39 Brake Lamp Short This occurs when the control system detects a short in the Brake Lamp Circuit Refer to section 2 3 for connection details Check the brake lamps cables and connections to the control system If the trip is still present after the above checks have been made then the ISM may be defective Refer to Section 5 3 10 Lamp Short This occurs when the control system detects a short in either of the Lamp Circuits Refer to section 2 3 for connection details 7205 Left Lamp Short 7209 Right Lamp Short e Check the lamps cables and connections to the control system If the trip is still present after the above checks have been made then the ISM may be defective Refer to Section 5 Indicator Lamp Short This occurs when the control system detects a short in either of the Indicator Circuits Refer to section 2 3 for connection details 7206 Left Indicator Short 720 Right Indicator Short e Check the indicators cables and connections to the control system If the trip is still present after the above checks have been made then the ISM may be defective Refer to Section 5 312 Indicator Lamp Failed This occurs when the control system detects a failure in either of the Indicator Circuits This is most likely to be an indicator bulb failure Refer to section 2 3 for connection details 7207 Left Indicator Failed 7208 Right Indicator Failed e Check the indicator bulbs cables and connections to the contro
190. trol system detects an identification conflict between two modules the system If a new module has been introduced e Disconnect the new module and cycle the power e fnotrip is present connect the new module to the system and cycle the power e Ifthe trip reappears then the new module must be the cause of the problem If there has been no additions e Disconnect one module at a time and cycle the power If the trip is still present after the above checks have been made contact your service agent 317 Memory Error This is a non specific memory error that could be caused by any of the modules within the system e Check all cables and connections e Cycle the power If the trip is still present and the system contains 3rd party Modules e Disconnect all the non PGDT modules and cycle the power If this has cleared the trip e Connect each 3rd party module in turn cycling the power each time e Ifthe trip reappears after one of the power cycles then the last module to have been added to the system must be defective If the trip is still present after the above checks have been made then the PM may be defective Refer to Section 5 3 18 PM Memory rror This is a specific Power Module based trip e Check all cables and connections SK77981 4 137 R NET TECHNICAL MANUAL DIAGNOSTICS PG DRIVES TECHNOLOGY e Using the R net PC Programmer re program the control system This should be done with either the most current speci
191. ts a debounce time for the inhibit input Links the software inhibits to an actual hardware inhibit Sets the max speed when the Inhibit Input which is assigned to the Drive Inhibit is in Band 0 Sets the max speed when the Inhibit Input which is assigned to the Drive Inhibit is in Band 1 Sets the max speed when the Inhibit Input which is assigned to the Drive Inhibit is in Band 2 Sets the max speed when the Inhibit Input which is assigned to the Drive Inhibit is in Band 3 Sets whether a full drive inhibit is a latching or non latching function Sets whether an audible alarm will sound in a full drive inhibit condition Links the software inhibits to an actual hardware inhibit Sets the condition of the input that will result in an inhibit of an actuator channel in the up direction Sets whether an audible alarm will sound when an actuator channel is inhibited in the up direction Links the software inhibits to an actual hardware inhibit Sets the condition of the input that will result in an inhibit of an actuator channel in the down direction Sets whether an audible alarm will sound when an actuator channel is inhibited in the down direction Sets the operating voltage for the wheelchair s lighting system Sets whether defective turn indicator lamps can be detected Sets wether the indicator channels are exchanged when the seat is reversed Sets whether the spare outputs on the ISM are assigned as Brake Lights or Horn e5 R NET TECHNICAL MANUAL
192. tton If the control system is set to latched drive or actuator control operation then the polarity of the jack input is reversed to effect a fail safe system meaning this input will provide an External Profile Switch function and an Emergency Stop Switch function The Joystick Module is supplied with rubber bungs that must be inserted into the Jack Socket when no external device is connected 43 Screen The status of the control system can be understood by observing the LCD screen The control system is on when the screen is backlit Refer to section 5 for details on screen symbols 45 Charger Socket This socket should only be used for charging or locking the wheelchair Do not connect any type of programming cable into this socket Refer to section 10 for more details on charging This socket should not be used as a power supply for any other electrical device Connection of other electrical devices may damage the control systern or affect the E M C performance of the wheelchair The control system s warranty will be voided if any device other than a battery charger supplied with the wheelchair or the lock key is connected into this socket 5 Screen Monochrome The status of the control svstem can be understood observing the LCD screen 5l Screen Symbols The Drive screen for the R net has common components which will always appear and components that will only appear under certain conditions Below is a
193. urn Acceleration Sets maximum turning acceleration Minimum Turn Acceleration Sets minimum turning acceleration Maximum Turn Deceleration Sets maximum turning deceleration Minimum Turn Deceleration Sets minimum turning deceleration Power Reduces power to minimize risk of indoor fittings damage Torque Torque boost to overcome obstacles at low speed settings Tremor Damping Adjustable damping to reduce the effect of hand tremor Fast Brake Rate Sets the Fast Brake Rate Controls Global Controls Momentary Screens Enabled Sets whether the momentary screens are enabled Change Profile while Driving Sets if if is possible to change between profiles whilst driving Change Speed while Driving Sets if the speed buttons are active whilst driving Speed Adjust Sets if the Joystick speed buttons are active whilst driving Profile Button Sets the functionality of the profile button Actuator Endstop Bleep Sets whether there is a bleep when a seat axis reaches endstop Sounder Volume Sets volume of audible feedback from JSM Lock Function Enabled Sets how the lock function is activated Reverse Driving Alarm Sets if the reverse driving alarm is active Emergenoy Stop Switch Allows latched operation without the use of an Emergenoy Stop switch OBP Keycode Entry Sets the method of entry of OBP Power up Mode This sets the Mode that will be active when the system is powered up Joystick Joystick Forward Throw Sets the amount of joystick movement required to initiate
194. ut on the Power Module to operate with an On Board Charger Sets whether the OBC inhibit PM Inhibit 3 as described above is latching or non latching SK77981 4 PG DRIVES TECHNOLOGY Motor Global Profiled Inhibits Inputs PI Inputs IS Charger Inhibit 1 Latching Charger Inhibit Alarm Maximum Current Limit Boost Drive Current Boost Drive Time Current Foldback Threshold Current Foldback Time Current Foldback Level Compensation Invert M1 Direction Invert M2 Direction Motor Swap Steer Correct Display Speed Maximum Rated Speed Maximum Displayed Speed Compensation Factor Lower Level Threshold iddle Level Threshold Upper Level Threshold Debounce Time Lower Level Threshold iddle Level Threshold Upper Level Threshold Debounce Time Drive Inhibits Actuator Lights Assign Speed Limit in Band 0 Speed Limit in Band 1 Speed Limit in Band 2 Speed Limit in Band 3 Operation hibit Alarm Inhibits Up Assign Up Inhibit in Bands Up Alarm Down Assign Down Inhibit in Bands Down Alarm Lamp Voltage ndicator Fault Detection Swap Indicators Seat Reversal Brake Lights or Hom SK77981 4 R NET TECHNICAL MANUAL PROGRAMMING Sets whether Inhibit 1 JSM Charger Socket is latching non latching Sets whether an alarm sounds if there is a charge inhibit presence Sets the long term maximum current output of the Power Module Sets the short term maximum current out
195. utton on the JSM will select just Profiles or Profiles and Modes The programmable options are Profiles and Profiles Modes If set to Profiles then the Profile button will select just the available Profiles If set to Profiles Modes then the Profile button on the JSM will select the available Profiles then the available Modes the operation is identical to a button connected into the External Profile Switch Jack 7 6 Actuator ndstop Beep Endstop Bleep This sets whether a short beep occurs when an actuator mechanism reaches an end position The programmable options are yes and no The beep will only occur on actuator mechanisms that use automatic endstop detection i e over current measurement 77 Sounder Volume Sounder Volume This sets the volume of the audible feedback given whenever a button or switch on the Joystick Module is operated The programmable range is O to 10 in steps of 1 If set to 0 there will be no sound given Higher values will give progressively louder sounds 78 Lock Function nabled Lock Fn nable This sets if and how the R net may be locked to prevent the wheelchair being used by unauthorised persons The programmable options are as follows None Means the R net cannot be locked Seq Means the keypad locking sequence can lock unlock the R net Refer to Chapter 1 Operation for sequence details Key Means a PGDT supplied key can lock unlock the R net Both Means either th
196. ve checks have been made then the PM may be defective Refer to Section 5 3 94 Module Error This occurs when the control system detects a trip within a specific module The module will be identified on the diagnostics screen as described in section 2 e Check all cables and connections e Cycle the power If the trip is still present after the above checks have been made then the module identified may be defective Refer to Section 5 322 System Error This occurs when the system detects a trip that cannot be attributed to a specific module e Check all cables and connections e Cycle the power If the trip is still present and the system contains 3rd party Modules e Disconnect all the none PGDT modules and cycle the power If this has cleared the trip e Connect each 3rd party module in turn cycling the power each time 138 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL DIAGNOSTICS e Ifthe trip reappears after one of the power cycles then the last module to have been added to the system must be defective If the trip is still present after the above checks have been made then the PGDT control system may be defective Refer to Section 5 323 SID Disconnected The Omni has detected that the Specialtv Input Device SID has become disconnected e Check all cables and connectors between the Omni and the SID If the error persists e Check that the setting of the parameter 9 Way Detect is appropriate for the SID that
197. ve commences The programmable range is 10 to 50 in steps of 1 A normal setting is 10 718 Invert Fwd Rev JS Axis Invert Left Right JS Axis amp Swap Joystick Axis Invert F R Invert L R amp Swap Axes These three parameters are closely related so are covered in one section The parameters allow eight different joystick direction configurations or orientations For example it may be required that the joystick has to be pulled in reverse to effect forward drive In this instance it would simply be a case of setting Invert Fwd Rev JS Axis to yes however there are many other combinations are these are best explained in the form of a table Required Orientation Required Programming Forward Reverse Left Right Invert F R Invert L R Swap Axis Forward Reverse Left Right No No No Reverse Forward Left Right Yes No No Forward Reverse Right Left No Yes No Reverse Forward Right Left Yes Yes No Left Right Reverse Reverse No No Yes Left Right Forward Forward Yes No Yes Right Left Reverse Reverse No Yes Yes Right Left Forward Forward Yes Yes Yes Controls Profiled 719 Change Mode while Driving CMid This sets whether Mode changes are permitted while the wheelchair is driving The programmable options are yes and no 7 20 Sleep Timer Sleep This sets the period of joystick or other type of Input Device inactivity before the system will automatically power down The programmable range is O m
198. vels must be set in the parameter Inputs ISM 100 50 Upper Threshold Level Middle Threshold Level Lower Threshold Level 0 When Actuator Inhibits Channel 2 is programmed in the following way the inhibit will effectively stop the backrest actuator being moved in the Up direction when Switch 1 is open and in the Down direction when Switch 2 is open Up Assign 4 Down Assign 5 Inhibit in Band O no Inhibit in Band O no Inhibit in Band 1 Inhibit in Band 1 Inhibit in Band 2 no Inhibit in Band 2 no Inhibit in Band 3 yes Inhibit in Band 3 yes Application 2 A wheelchair is fitted with a reclining seat It is required to offer a programmable angle of recline to suit different users A potentiometer of maximum value 10KOhm is fitted to the recline mechanism and is connected to the R net s Inhibit 4 input sited on the ISM In this example the Backrest has been programmed to use Actuator Channel 3 The Inhibit input must be assigned to a specific software Inhibit As this is an Actuator Inhibit the parameters Actuator Inhibits Channel 3 Up Assign amp Down Assign should be used SK77981 4 IOI R NET TECHNICAL MANUAL PROGRAMMING PG DRIVES TECHNOLOGY The inputs are therefore assigned to Actuator Inhibits Channel 3 as follows Up Assign Input 4 Down Assign Input 4 As these inputs are connected to the ISM the Threshold levels must be set in the parameter Inputs ISM 210KOhm to 100 Upper Thres
199. ways to select the desired axis This is indicated by the section of the wheelchair that is highlighted e Move the joystick forwards and backwards to move the actuator SK77981 4 23 R NET TECHNICAL MANUAL OPERATION PG DRIVES TECHNOLOGY SO e Repeat these steps for each actuator that requires adjustment To drive again depress the Mode button until the Drive screen is reached or in the case of tan LED joystick module until the Speed Indicator returns to its normal state 6 LCD Screen Color This section covers those Joystick Modules that are fitted with a color LCD screen The color LCD screen is split into 3 areas of information The Top Bar the Base Bar and the Main Screen Area Top Bar Main Screen Area Base Bar Each area is covered separately within this section 6 Top Bar 6 11 Batteru Indicator This displavs the charge available in the batterv and can be used to alert the user to the status of the batterv Steady This indicates that all is well Flashing Slowly The control system is functioning correctly but you should charge the battery as soon as possible Stepping Up The wheelchair batteries are being charged You will not be able to drive the wheelchair until the charger is disconnected and you have switched the control system off and on again Refer to section 11 for a description of how to read the Battery Gauge 24 SK77981 4 PG DRives TECHNOLOGY R NET TECHNICAL MANUAL OPERATION 6l2
200. with this condition Chapter 2 section 6 13 214 Wire Gauge and Types Battery and motor wires should have rated PVC insulation The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair PGDT can make general recommendations for wiring for R net control systems but PGDT accepts no responsibility for and accepts no liability for losses of any kind arising from the actual wiring arrangement used Chapter section 6 2 215 Battery Connections The chair manufacturer must install a suitable circuit breaker to provide protection against short circuits in the battery wiring power loom or the control system failure to comply with this could result in a fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 63 2 16 Battery Charging Do not exceed the maximum charging current of IPA rms Always use a charger fitted with a Neutrik NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity to be compatible with the pin polarity shown on the control system s specific data sheet
201. ximum Turning Speed Tum Speed 73 6 6 Minimum Turning Speed Tum Speed Min 74 6 7 Maximum Forward Acceleration Fwd Accel Max 74 6 8 Minimum Forward Acceleration Fwd Accel Min 74 6 9 Maximum Forward Deceleration Fwd Decel Max 74 6 10 Minimum Forward Deceleration Fwd Decel Min 74 6 11 Maximum Reverse Acceleration Rev Accel Max 74 6 12 Minimum Reverse Acceleration Rev Accel Min 74 6 13 Maximum Reverse Deceleration Rev Decel Max 75 6 14 Minimum Reverse Deceleration Rev Decel Min 75 6 15 Maximum Turn Acceleration Turn Accel Mox 75 6 16 Minimum Turn Acceleration Turn Accel Min 75 6 17 Maximum Turn Deceleration Tum Decel Max 75 6 18 Minimum Deceleration Turn Decel Min 75 SK77981 4 R NET TECHNICAL MANUAL 6 19 Power insan recep kan ie 75 6 20 Torque itia ke baie ete eben ie 76 6 21 Tremor DAMPING Trmor L 76 6 22 Fast Brake Rate serk des pakki gi 76 i RR 76 Controls Globali 5 3 n testet ie treten hit 76 7 1 Momentary Screens Enabled Momentary veu EET 76 7 2 Change Profile while Driving Chge Prf Drv 76 7 3 Change Speed while Driving Spd Adj in Drv 77 7 4 Speed Adjust Speed 77 7 5 Profile BUTTODY i cct hai e
202. ystick is deflected to the left while the system is in Standby Mode Note Mode Select in Standby must be set to yes for this function to be active The programmable options are a list of Modes in a drop down menu Only one Mode can be selected from the menu 82 SK77981 4 PG DRIVES TECHNOLOGY R NET TECHNICAL MANUAL PROGRAMMING 728 Standby Right This sets which Mode is entered when the joystick is deflected to the right while the system is in Standby Mode Note Mode Select in Standby must be set to yes for this function to be active The programmable options are a list of Modes in a drop down menu Only one Mode can be selected from the menu 7 29 Remote Selection Remsi This sets whether Profiles can be selected and entered with joystick deflections The programmable options are yes or no PROFILE SELECT 2 If set to yes then Remote Selection Mode can be entered from the Profile Entry to Remote Selection Mode is via Standby Mode the Profile Button or an External Profile Switch The Profile will also be selectable from Remote Selection Mode If set to no then Remote Selection Mode cannot be entered from the Profile nor can the Profile be selected from Remote Selection Mode In Remote Selection Mode any other Profile that has Remote Select set to yes can be selected and entered The screen display will be as below Profiles can be selected with left and right joystick deflections When the desired Profile is selecte

R-NET TECHNICAL MANUAL SK77981/4

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