DX Servo Lighting Module (SLM) Installation Manual
Contents
1. SOOO Battery 500000 C 60 A Thermal GQ Lighting Circuit common for o7 24 V lighting 49 A Thermal al Circuit Breaker L T L T DX PM Battery Connector 80 A Thermal Circuit Breakers b Dual Battery Box Note Heavy lines denote 3 mn or heavier wire All other wires from the 21 way connector as specified in section 5 4 2 20 5 Installation No 60027 Issue 4 January 1998 Thermal circuit breakers must be installed in the battery wiring to protect the batteries wiring loom and SLM from external short circuits If the two batteries are permanently wired together single battery box the best position for this circuit breaker is between the two batteries If the batteries are individually plugged together separate battery boxes each battery requires a circuit breaker Separate lighting and driving circuit breakers are used so that a fault which causes a circuit breaker to operate will not disable both lighting and driving Battery has two connections to the SLM This is to ensure that a break in one battery will not disable driving or lights Battery Type The DX System is designed to perform optimally with either Lead Acid or Gel Cell deep cycle batteries Consult Dynamic Controls for other bat2. Perform steps 1 and 2 above 2 Select Status Report 3 From the Modules Attached menu select SLM B4Diagnostics 8 3 2 Fault History No 60027 Issue 4 January 1998 To view the Fault History 1 Enter the PCD s Main Menu screen as described in the PCD Manual 2 Select Diagnose Faults 3 Select Fault History 4 From the Modules Attached menu select SLM Below are listed the Fault History codes and probable causes of these faults If the suggested action does not remove the fault contact a Dynamic Sales and Service Centre refer to section 12 Message Possible Cause and Action CPU General Cause Fault Action Hall Overtemp Cause ADC Fault Action Relay Precharge Cause Fault Action Port Feedback Cause Fault Action Motor Summation Cause Fault Action Internal Fault Replace SLM Consult an approved Dynamic Service Agent Internal Fault Replace SLM Consult an approved Dynamic Service Agent 1 Short between a motor terminal and Battery 2 Internal Fault Repair fault if found Consult an approved Dynamic Service Agent Internal Fault Consult an approved Dynamic Service Agent 1 External motor terminal short circuit 2 A short circuit between a motor terminal and a battery terminal a Position Sense Pot terminal or a clutch switch terminal Check for the above and repair if necessa
3. 4 1 Electrical Specifications Power Supply Input Symbol Parameter Conditions Min Nom Max Units VBAT Battery voltage 18 0 24 0 32 0 V k Quiescent Current No servo load 150 mA lo Operating Current servo load 250 mA Eus DXBUS Current RMS Continuous to entire system 12 A Servo Motor Output Symbol Parameter Conditions Min Nom Max Units SM Output Voltage When not in current limit VBATiov Vear V Iy Continuous Over programmable 5 A Average Current time period I Peak Output Current For up to 5 sec 30 A Servo Pot Input Output Symbol Parameter Conditions Min Nom Max Units SP Pot Supply Open circuit 45 50 55 V Output Voltage SP Pot Supply 0 0 V Output Voltage Lisp SP Output impedance 950 IK 1050 Ohms Zep SP Output Impedance 10 Ohms Zsp Acceptable Pot 4K 10K 12K Ohms Impedance 6 4 Specifications No 60027 Issue 4 January 1998 Steering Clutch Switch Symbol Parameter Conditions Min Nom Max Units Vio Low level switch voltage Microswitch closed 0 05 VW Vu High level switch voltage Microswitch open 3 5 50 V Lighting Specification Symbol Parameter Conditions Min Nom Max Units Turn Indicator Outputs each output Vino Output Voltage 13 5 V regulator fitted 13 1 135 139 V Vino Output Voltage 13 5 V regulator not fitted Vpar Vgaro Vear V Lae Continuous Output 2 3 25 A Current Sidelight Head Tail Light Output Vto Output Voltage 13 5 V regulator fitted 13 1 13 5 13 9 V Maro Output Voltage
4. Report any malfunctions immediately to your Service Agent 10 Safety and Miisuse Warnings No 60027 Issue 4 January 1998 11 Warranty All equipment supplied by Dynamic Controls Ltd is warranted by the company to be free from faulty materials or workmanship If any defect is found within 15 months three months allowable for shelf life of the date of purchase the company will repair the equipment or at its discretion replace the equipment without charge for materials and labour The Warranty is subject to the provisions that the equipment Has been correctly installed Has been used solely in accordance with this manual Has been properly connected to a suitable power supply in accordance with this manual Has not been subjected to misuse or accident or been modified or repaired by any person other than someone authorised by Dynamic Controls Ltd Has been used solely for the driving of electrically powered wheelchairs in accordance with the wheelchair manufacturer s recommendations 60 Warranty No 60027 Issue 4 January 1998 12 Sales and Service Information For Sales and Service advice or in case of any difficulty please contact Head Office Dynamic Controls Limited Telephone Int 64 3 338 0016 Print Place Fax Int 64 3 338 3283 Christchurch New Zealand Australia Electronic Mobile Service EMS Telephone Int 61 2 887 2824 46 Berripa Close 24 hours Int 61 2 963 1778 North Ryde Sydney Fax Int
5. protected against high levels of ESD Compact case for mounting under the wheelchair seat Safety and Protection Features The SLM has the following safety and protection features Motor current limit and current limit timeout set to prevent overheating of motors Thermal protection to reduce current limit Short circuit protection of all inputs and outputs except between motor and battery negative while driving Open circuit motor detection when not driving Driving is inhibited if steering clutch is disengaged Over voltage under voltage and reverse battery protected 3 General Description No 60027 Issue 4 January 1998 Detection of broken steering position feedback potentiometer connections or short circuit of the potentiometers terminals Driving inhibit if Steering Module is not connected and responding Compliance with ISO 7176 requirements Controlled power down in event of DXBUS disconnection or communication failure Hazard lights can be operated by an external switch Hazard lights will operate automatically if communication with the DX Remote is lost while turned on I Indicator flash rate will double if a rear indicator bulb has failed Side lights will come on if battery charger is over charging the batteries or during regenerative braking if the battery cannot absorb the regenerated power 3 General Description 5 No 60027 Issue 4 January 1998 4 Specifications
6. 13 5 V regulator not fitted Vpar VBArol Vear V Lio Continuous Output 2 3 25 A 13 5 V Regulated Power Supply SLM T V only VREG Output voltage Voltage In 18 32V 13 1 13 6 14 0 V D s Maximum output Max total lighting 7 5 9 0 11 0 A current load Note 1 Note 1 The nominal lighting current corresponds to the sidelights and hazard flashing The supply will current limit at 9 A nominal to blow fuses It is not intended to be used at this level for any extended period of time 4 Specifications 7 No 60027 Issue 4 January 1998 4 2 Mechanical Specifications Size 210 123 38 mm Weight 0 530 Kg Mounting M5 screws four places or placed in tray Case material Aluminium sheet powder coat finish Case sealing Tamper proof IP54 if mounted as per mounting instructions j ud Le I 210 140 di oH i i 19 SLM Configuration 8 4 Specifications No 60027 Issue 4 January 1998 4 3 Environmental Specifications Parameter Minimum Maximum Units Operating ambient temperature range 25 50 C Storage temperature range 25 70 EC Operating and storage humidity 0 90 RH Electromagnetic Compatibility prEN12184 1997 pending Specification EMC Durability ISO7176 part 14 Vibration Specification 120 minutes 4 g s random vibration without d
7. DXBUS Connections Note If only one DXBUS connector is used on the SLM and the remaining connector is accessible to the wheelchair user a dummy DXBUS plug should be fitted to the unused connector This will comply with ISO 7176 A dummy DXBUS plug can be made from DXBUS Connector Boot Part Order Number GCN 0789 DXBUS Connector Housing Part Order Number GCN 0792 Like all other DX Modules the SLM is connected to the DX system using the DXBUS Cables are available in the following standard lengths DXBUS CABLE Straight 0 1 M Part Order Number GSM 63001 DXBUS CABLE Straight 0 3 M Part Order Number GSM 63003 DXBUS CABLE Straight 0 5 M Part Order Number GSM 63005 DXBUS CABLE Straight 1 0 M Part Order Number GSM 63010 DXBUS CABLE Straight 1 5 M Part Order Number GSM 63015 DXBUS cables are also available with ferrites fitted Note The order and positioning of the SLM within the DX system is important and must be based on the rules discussed in section 5 3 2 and 5 3 3 12 5 Installation No 60027 Issue 4 January 1998 5 3 2 DX Module Interconnection Topology Options The battery and DX Power Module combination are always considered the heart of a DX system Other DX Modules can be arranged in several ways DX Splitter Box DX Power 5 Module Module D a Dx Battery Module 24V Splitter Box O O sm Note as DXBUS Cable E m DPX Module Star DXB
8. PM Installation Manual The DX Remote can access as many as five drive programs which are treated differently in a servo steered DX System The settings contained in these programs must be selected with reference to this SLM Installation Manual There are also three lighting parameters that must be set up in the DX Remote program if lighting functions are required 7 Programming 27 No 60027 Issue 4 January 1998 7 1 1 Adding an SLM to the DX System Any DX Remote can be used to control either conventional or servo steered DX Systems While it is possible to edit a conventional wheelchair program to a servo application using the PCD the complexity of the operation makes it inadvisable When changing to a servo steered system select a servo wheelchair program and modify to suit the requirements of the wheelchair type Similarly to change a DX Remote from a servo to a conventional application select a conventional wheelchair program to edit as required and download to the DX Remote 28 7 Programming No 60027 Issue 4 January 1998 7 2 DX Remote PCD Parameters Note Refer to section 7 4 Using the PCD for PCD operating instruction Parameters related to the SLM contained in the DX Remote program fall into two categories lighting parameters and Drive Program parameters 7 2 1 Lighting Parameters The lighting parameters must be enabled so that lights will operate SLM TUV Parameter Purpose Side Lights Enable If
9. Press START The steering wheels move to left and right extremes then return to centre Press NEXT This calibration should be performed with the normal weight on the chair i e while sitting on the chair 5 Calibrate the Restrictor Plate Restrict Fwd Rev Spd Parameters This procedure calibrates the speed for four forward and four reverse turning positions VIEW EDIT SERVO MOD Restrictor plate calibration EXIT NEXT START Press START VIEW EDIT SERVO MOD Trace joystick outline EXIT SAVE Move the joystick around the outer physical extremities of the restrictor plate Ensure that all corners are pressed into Press SAVE to return to the previous screen 6 Press NEXT to return to or if calibration has been completed press EXIT to return to then NEXT Note NEXT must be pressed in screen so that the calibration settings are saved to both the SLM and the DX Remote Unplug the HHP and turn off the DX System 48Programming No 60027 Issue 4 January 1998 8 Diagnostics SLM diagnostics can be examined from two platforms from the Flash Codes displayed by the SLM and DX Remote and from the PCD Programming Configuration Diagnostic tool The PCD can provide more detailed information about the nature of the fault 8 1 Troubleshooting The SLM may not run at all or operate in an unexpected way if the programmable parameters are not set up correctly Using t
10. required The lighting consists of side lights and turn indicators The indicators can be flashed together to provide a hazard warning The lights are also controlled by the DX Remote The SLM has two standard DXBUS connectors so that it may be connected to the DX System This manual and others listed in Section 2 must be read and understood For more information contact Dynamic Controls Ltd or an agent as listed in section 12 1 Introduction 1 No 60027 Issue 4 January 1998 2 Related Documentation A DX based wheelchair control system may comprise between two and sixteen DX compatible modules depending on the application Each DX compatible module has its own Installation Manual which describes the installation requirements of that particular module This manual describes the installation of the SLM only and must be read in conjunction with the Relevant DX Remote Installation Manual DX Power Module PM Installation Manual DX Hand Held Programmer HHP Manual DX Programming Configuration Diagnostic PCD Manual Installation Manuals for all other DX modules to be used in your system 2 2 Related Documentation No 60027 Issue 4 January 1998 3 General Description The SLM is designed to enable the DX System to run on a servo steered power wheelchair with lights The wheelchair will have a servo motor a position sense potentiometer a steering release microswitch one or two drive motors with integra
11. used other than in the manner described in this Installation Manual The completed installation must be thoroughly checked and all programmable options must be correctly adjusted for safe operation prior to use Pass on to user A warning must be conveyed to the wheelchair user that the controller could cause the chair to come to a sudden stop In situations where this may affect the safety of the user this will require the fitting and wearing of a seat belt The DX control system is fully programmable to optimise performance and safety Do not operate the wheelchair unless you have full control Ensure that the chair is correctly programmed for your needs and environment and ask your dealer to adjust if necessary Always choose a Drive Program that you feel safe with and that is compatible with your environment Do not operate the DX System if it behaves erratically or shows abnormal response heating smoke or arcing Turn the system off disconnect the battery or open the battery overload switch and consult your Service Agent Do not operate the DX System if the battery is nearly flat as a dangerous situation may result due to loss of power in an inopportune place Ensure the controller is turned off when not in use No connector pins should be touched as contamination or damage due to electrostatic discharge may result Dummy sockets in unused DXBUS connectors should be left in place unless a new module is added to the system
12. 61 2 887 2114 NSW Australia 2113 North America Rosstron Inc Telephone Int 1 310 539 6293 1521 W 259th St Fax Int 1 310 539 4078 Harbor City CA 90710 USA Europe Controls Dynamic Ltd Telephone Int 44 1562 820 055 Lisle Avenue Fax Int 44 1562 742 720 Kidderminster DY11 7DL United Kingdom 3 Note The controller should be clearly labelled with the manufacturer s service agent s telephone number 12 Sales and Service Informati6f
13. 9 EXIT NEXT LEFT RIGHT 46Programming No 60027 Issue 4 January 1998 7 5 2 Calibrating Parameters Pressing EXIT at any point during the calibration procedure will return you to screen l Calibrate the Veer Compensation Veer right Parameter VIEW EDIT SERVO MOD Veer compensation Right 39 EXIT NEXT LEFT RIGHT Press LEFT and RIGHT to adjust the value The range is 127 Selecting the correct value will require experimentation When calibration is completed test drive the wheelchair Select a Veer Compensation value so that the wheelchair does not veer when the joystick is pushed directly forwards or backwards If the wheelchair veers right press LEFT if the wheelchair veers left press RIGHT If a large compensation value is required the mechanical position of the position sense potentiometer may require adjustment see section 5 3 3 2 Calibrate the Right Lock Parameter The range is 0 100 VIEW EDIT SERVO MOD Right Lock 84 EXIT NEXT UP DOWN Press UP and DOWN until steering wheels are moved as far right as is mechanically possible Press the HHP buttons slowly and firmly and pause between each press Press NEXT 3 Calibrate the Left Lock Parameter as per the Right Lock Parameter 7 Programmi g No 60027 Issue 4 January 1998 4 Calibrate the Motor Speed Parameter VIEW EDIT SERVO MOD Max motor speed calibration EXIT NEXT START
14. DXBUS Length and Voltage Drop Restrictions 15 5 4 SLM 21 Way Connector oy ck eec 5 ta ee eee Pee e E REA 18 5 4 1 21 Way Connector Pin Definitions 18 5 4 2 21 Way Connector Wires and Terminations 18 5 4 3 Power Supply from the DXBUS 000 19 5 4 4 Power Supply form the Battery 204 20 5 5 5 SLM Connection to Lights oos mco Ra e c as 21 5 5 SLM Servo Connector c ee DE o OR OR ce e de I hes T Hr ie a RD 24 5 5 1 Servo Connector Pin Definitions ve zepeneke ene vi ee ks 24 5 5 2 Servo Connector Wires and Terminations 24 5 5 3 SLM Connection to Servo Devices nn 25 Op raO aaaea e aa died d defe AR i 26 oL SLEM Activation ss 26 No 60027 Issue 4 January 1998 T Programming racio edd de et bdr aeo Me sce Tib dre bras 27 Tl InbrOG UC OH ouo oe no ate mdr se orb a mun du E qd 27 7 1 1 Adding an SLM to the DX System 28 7 2 DX Remote PCD Parameters grins 25 254 Gunes de eres ake dds 29 TL Lightings Parameters s nets woe Pa A Oe eRe we CERES AOI 29 7 2 2 Drive Program Parameters 64 eb he ee ies be ee aks 30 1 9 SLM PCD Parameters oo tee kee ee eee hee See eres 32 7 3 1 Steering Profile Parameters 2 2 Ee pe whee 32 Too 2c Other PC DP Parameters a sarane TORS eren MAES dite cst 35 TA Usina the PCD 1o ose de dw EAE ES ES epe TES dede ESSE 43 7 5 Calibrating the SLM using the HHP 4 44 7 5 1 Initial Operation heu R
15. ES AGS So ee LU RIEN 44 7 5 2 Calibrating Paramelers os os G54 6s Petes eaten ee WA oe Pe ek 46 IDIAQHOSHCS cerrara ktit aera Role de wanted Beek DS 48 8 1 Troubleshooting 2 4 ics as Bae 2 RES et Ra Re ROE 48 B2 as OUES oer ss perci stc 48 S PCD Diagnostics 4 4 vised Spal tg oa ea etude e das 53 5 30 Status Report voe vetito sem e ouibus QR Cet epo eos od 53 8 902 Fault HIStory n wean garten qt eg anat n nta 54 9 MalfiteniaDee 3 de Cic cR Ae OR oe ed Son doas 57 10 Safety and Misuse Warnings 000 e eee 58 DEG ANY erae ett rr de De noo wank amp Waleed ale ede aa 59 12 Sales and Service Information sss 60 No 60027 Issue 4 January 1998 1 Introduction The Servo Steering and Lighting Module SLM controls the steering and lighting for servo steered power wheelchairs It is part of a DX System also comprising a DX Power Module and a DX Remote as a minimum system Side Lights Suy Left Ie Right Indicator d L Indicator Lights N Lights T optional p X Me or2 zm Battery Example of Minimum DX System with the SLM The servo wheelchair has one motor for steering and either one or two motors to provide the driving power of the wheelchair Both functions are controlled by the DX Remote If two drive motors are used then a dual channel DX Power Module DX PM is required If only one drive motor is used then a single channel DX Power Module DX PM S is
16. No 60027 Issue 4 January 1998 5 4 SLM 21 Way Connector 5 4 1 21 Way Connector Pin Definitions vu 5 Function DXBUS Side Lights Left Indicator Right Indicator 13 5 V Hazard In Hazard Out Battery Steering Power Battery spare DXBUS Lighting a 2 ln oo amp PON DAK WN Note Other pins unused 5 4 2 21 Way Connector Wires and Terminations To build a matching connector To build a matching connector to fit to the 21 way connector the parts are DX 21W Plug Housing Part Order Number GCN 0796 DX 21W Boot Part Order Number GCN 0795 DX Positronics Contact FC114N2 Lge Part Order Number GCN 0793 DX Positronics Contact FC116N2 Med Part Order Number GCN 0797 DX Positronics Contact FC120N2 Sml Part Order Number GCN 0794 The DX Positronics Contacts are crimp terminals 18 5 Installation No 60027 Issue 4 January 1998 Wire Sizes The minimum wire sizes that must be used are Function Wire Size minimum Terminal Part Positronic Industries Ltd DXBUS 1 0 mm FC116N2 Side Lights 0 5 mn FC120N2 Left Indicator 0 5 mm FC120N2 Right Indicator 0 5 mm FC120N2 13 5 V 1 0 mm FC116N2 Hazard In 0 5 mm FC120N2 Hazard Out 0 5 mm FC120N2 Battery 1 0 mn motors 10 A FC116N2 2 0 mn motors 10A FC114N2 Steering Power 1 0 mn motors 10 A FC116N2 2 0 mn motors gt 10 A FC114N2 DXBUS 1 0 mm FC116N2 Lighti
17. No 60027 lssue 4 January 1998 DYNAMIC TM 33 Modular Mobility System DX Servo Lighting Module SLM Installation Manual Order Part Number for this Manual GBK60027 issue 4 Important Notes Read this Manual carefully before installing or operating your DX control system Due to continuous product improvement Dynamic reserves the right to update this Manual This Manual supersedes all previous issues which must not continue to be used Any attempt to gain access to or in any way abuse the electronic components and associated assemblies that make up the wheelchair control system renders the Manufacturer s Warranty void and the Manufacturer free from liability No 60027 Issue 4 January 1998 Contents ie 1 Related Documentation cv arcc x ke aan nea i a 2 General Description 9 e e aon SA 3 3l General Features c oeni an E E eure per e par ar ur E ih 4 3 2 Safety and Protection Features ec onore RP E RP IP s 4 ie 6 2l Electrical Specifications voor vA e gern qx rae egre e erp ea d 6 4 2 Mechanical Specifications 4 8 4 3 Environmental Specifications 4 9 IMSTAM aH ON dodo ae d doin CR POE de FOEDE CU a ed dede Fa CH a ds 10 5 1 introduction oi tute eee Uere idu E EUR Oe RP eas 10 5 2 Mounting e e ens eens eri eR UE CAE AME RIEE 10 5 3 SLM Connection with the DX System lille sess 12 5 3 1 DXBUS Connections s beh Ioue putetur os 12 5 3 2 DX Module Interconnection Topology 13 5 3 3
18. Refer to the table following Faults that affect the safety of the wheelchair will cause the wheelchair to stop while less critical ones will be indicated but allow the wheelchair to continue driving Some faults will automatically clear when the fault condition is removed non latched while others are latched and must be cleared by turning the DX System off and then on again If the suggested action does not remove the fault contact a Dynamic Sales and Service Centre refer to section 12 DX System SLM Status Likely Cause of Fault and Possible Action Status LED LED Flash Flash Code Code 1 1 Module Fault Cause Connections between DX Modules may be faulty or there may be an internal fault in the SLM Action lt Check DXBUS connections and replace where necessary lt Replace SLM lt Consult an approved Dynamic Service Agent 2 Motor Fault Cause A servo motor fault has been detected Action Check wiring to motor Check servo motor for a short or open circuit BODiagnostics DX System Status LED Flash Code 2 No 60027 Issue 4 January 1998 SLM Status Likely Cause of Fault and Possible Action LED Flash Code 3 Steering Fault Cause The Position Sense Pot is faulty or cannot track the requested steering position Action Check the Pot Shaft is not slipping or the Pot Body turning Check the Pot For short and open circuits between pins Ensure that the clutch is engaged and not slipp
19. SP Max Pot End V Position Sense Pot Left Lock The ratio of the Position Sense Pot Wiper voltage to the full pot voltage when the steering wheels are Range 5 95 96 moved as far left as is mechanically possible Accessed by Dealer User HHP calibrated A physical limitation calibrated using the HHP refer to section 7 5 Right Lock The ratio of the Position Sense Pot Wiper voltage to the full pot voltage when the steering wheels are Range 5 95 96 moved as far right as is mechanically possible Accessed by Dealer User HHP calibrated A physical limitation calibrated using the HHP refer to section 7 5 Note The Left and Right Lock parameters must not both be above nor both be below 50 Typically one will be around 25 and the other around 75 so that the total will be around 100 3Programming No 60027 Issue 4 January 1998 Parameter Purpose Pot Voltage Tol Specifies the tolerance of the Left Lock and Right Lock in of total pot travel If the pot position Range 0 50 96 falls within this tolerance then a Steering Fault Accessed by DCL SLM Flash Code 3 is displayed by the SLM refer to Diagnostics section 8 This value is typically set to half the Lock Margin Value Lock Margin The lock margin voltage ratio added or subtracted to Left Lock and Right physical Locks It should be Range 0 50 96 set so that the SLM will target the positions of Accessed by DCL maximum steering deflection when the jo
20. US Topology DX Remote Battery 24V DX Power Module DX DX DX DX DX Module Module Module Module Module In line DXBUS Topology 5 Installation 13 No 60027 Issue 4 January 1998 Splitter Box Module Module Module Power Lj INE rf Module M Battery i i i 24V DX DX DX Module Module Module Mixed DXBUS Topology DX OOO DX modules normally have one or two DXBUS sockets for system interconnections Smaller DX modules may have a permanently mounted cable terminated ina DXBUS plug rather than DX sockets The star and mixed topologies both require the use of one or more DX Splitter Boxes A Splitter Box is a separate panel of four DXBUS sockets that may be purchased from Dynamic or a Dealer The DX Splitter Box Part Order Number is DX SKT X4 For lowest cost and simplicity the In line topology is generally preferred provided the DXBUS length and voltage drop requirements described below can be met Warning If the SLM is between the PM and the Battery Charger 1 Have as few as possible DXBUS cables between the SLM and the PM 2 The DXBUS cables between the SLM and the PM must not total more than 1 metre This will avoid unintended interaction between the SLM and the Battery Charger 14 5 Installation No 60027 Issue 4 January 1998 5 3 3 DXBUS Length and Voltage Drop Restrictions Due to signal distortion that increases with increasing DXBUS length the total length of all DXBUS cables must n
21. X PM drives a front motor and a rear motor State on off Set to off if the Power Module DX PM drives a Accessed by Dealer OEM left motor and a right motor A single channel Power Module DX PM S does not use this parameter Speed Scalar The Speed Scalar value scales the speed so that 10096 speed occurs closer to neutral Range 0 100 96 Accessed by Dealer Speed Scalar Value If the Speed Scalar is set to 096 the joystick must be deflected to point c to achieve 100 forward or reverse speed A Speed Scalar value of 100 will double the speed demand so that 100 speed will occur at point d mid way between neutral and point c The purpose of this adjustment is to allow full speed to be achieved with some turning deflection Veer right The adjustment of the neutral steering position so that the wheelchair does not veer when the joystick Range 127 is pushed directly forwards or backwards Accessed by Dealer User HHP Calibrated The veer adjustment is to correct small offsets in the straight ahead position of the position feedback potentiometer Large offsets should be corrected mechanically first See section 5 5 3 7 Programmiag No 60027 Issue 4 January 1998 Parameter Purpose Physical Pot Limits Actual Lock Limits N Lock Margin P d d Lock Margin N 2 Pot Voltage Tolerance i Left Lock Right Lock Min Pot End V OV
22. al Mate N Lok Contact AMP Part Number 350690 1 For 0 5 mm wires DCL Part Number GCN 0202 Amp Universal Mate N Lok Contact AMP Part Number 350547 For 1 0 and 2 0 mm wires Solid pin AMP Part Number 350705 Split pin 24 5 Installation No 60027 Issue 4 January 1998 Wire Sizes The minimum wire sizes that must be used are Function Wire Size minimum Terminal Part Motor 1 0 mn motors 10A T 2 0 mn motors gt 10 A i Common Ground 0 5 mm AMP 350690 Position Sense Pot 0 5 mm AMP 350690 Motor 1 0 mn motors 10A i 2 0 mm motors gt 10A T Clutch Switch 0 5 mm AMP 350690 Position Sense Pot Wiper 0 5 mn AMP 350690 AMP Split pin or Solid pin part numbers given above 5 5 3 SLM Connection to Servo Devices When the steering wheels are centred there should be equal resistance between the Position Sense Pot wiper and each end of the pot Small differences can be overcome during calibration refer to the Programming section To SLM Servo Connector The motor wiring should be such that when pin 4 is positive with respect to pin 1 the servo motor turns the pot so that the pot wiper pin 6 is driven AMP Mate N Lok Connector towards pot pin 3 AMP P N 1 480 704 0 4 2 5 6 3 5 10 KQ Servo pot pce position TOREM sense 5 Installation 25 No 60027 Issue 4 January 1998 6 Operation 6 1 SLM Activation The SLM is operated by a DX Remote Each DX Remote has different facilities an
23. amage 4 Specifications 9 No 60027 Issue 4 January 1998 5 Installation 5 1 Introduction Installing a SLM requires the following steps 1 Mounting the SLM Refer Section 5 2 2 SLM Connection with the DX system Refer Section 5 3 3 SLM 21 Way Connector Refer Section 5 4 4 SLM Servo Connector Refer Section 5 5 5 Programming the SLM related parameters Refer Section 7 0 5 2 Mounting Optimum mounting orientation Fit the SLM with the top label facing up Unacceptable Mounting Orientation Do not mount with connectors facing up Do not mount with the top label facing down Other orientations are acceptable 10 5 Installation No 60027 Issue 4 January 1998 Securing the SLM The SLM can be mounted using the four mounting holes and mounting screws provided or placed in a suitable tray Do not use screws which protrude into the SLM case by more than 12 mm Status LED M5 Mounting Holes 2 holes each side The SLM must be mounted in a position which offers the maximum protection from water and mechanical abuse Since there are no user accessible controls on the SLM it can be mounted in a position which is inaccessible to the user e g under the seat Note Forease of diagnosis it is recommended that the SLM be mounted where the SLM Status LED can be seen without having to remove covers 5 Installation 11 No 60027 Issue 4 January 1998 5 3 SLM Connection with the DX System 5 3 1
24. another DX module can cause this fault No 60027 Issue 4 January 1998 DX System SLM Status Likely Cause of Fault and Possible Action Status LED LED Flash Flash Code Code 10 10 CANH Fault Cause 1 An invalid voltage has been detected on the DXBUS CANH line 2 Communication is not possible using the CANH wire 3 Hazard lights were turned on when the DX System was turned on Action Check the continuity of the DXBUS cable Check for shorts between DXBUS pins An open or short circuit on another DX module can cause this fault lt If the Hazard Lights were already switched on when the DX System was turned on Flash Code 10 and Limp Mode slow driving may result To clear this fault turn the Hazard Lights off then turn the DX System off then on again 11 11 Stall Timeout Fault Cause The servo motor current has been at or close to current limit for longer than the Stall Timeout parameter value Action Turn the DX System off then on again 8 Diagnostiss No 60027 Issue 4 January 1998 8 3 PCD Diagnostics The PCD Programming Configuration Diagnostic tool can be used to provide diagnostics for the SLM To view diagnostics Enter the PCD s Main Menu screen as described in the PCD Manual 2 Select Diagnose Faults The PCD displays the following menu Status Report Fault History Erase Fault History Print Fault History Terminal Emulation 8 3 1 Status Report To view the Status Report
25. d not all support a full lighting system The operation of the lighting is therefore very dependent on what remote it is used with Please consult the User Manual for the DX Remote used in your SLM application 26 6 Operation No 60027 Issue 4 January 1998 7 Programming Warning Incorrect or inappropriate programming of a DX System may put the wheelchair into a dangerous state Dynamic Controls accept no responsibility or liability for accidents caused by incorrect programming This chapter must be read and understood before attempting to program a DX System containing an SLM 7 1 Introduction The driving performance of an SLM is dependant on its programming An SLM can be adjusted for a particular application and the driving performance defined to suit the requirements of an individual The SLM is programmed at the time of manufacture with factory settings defined by the wheelchair manufacturer OEM and Dynamic Controls Ltd Some parameters may be modified later using the HHP for individual user requirements If more than one type of wheelchair is to be used by the customer each wheelchair type may have its own set of optimum settings Non module specific programming of a DX System is contained in the PM and DX Remote Installation Manuals A servo steered DX System with one drive motor uses a single channel DX PM S a two drive motor system a DX PM which are programmed appropriately at the time of manufacture see the
26. e available This value should be greater than the High Voltage Roll b Start value The time taken to perform and thereby the severity of the Waggle Test Refer to the Waggle Test parameter If set to on a Waggle Test is performed when the DX System is turned on This test involves the steering wheels turning one way then the other before returning to the original position If the Straighten at Start parameter is set to yes then the wheels will return to the centre position If set to yes the steering wheels will straighten when the DX System is turned on No 60027 Issue 4 January 1998 Parameter Purpose Steer Err Reduce Every 20 msec the voltage at the Position Sense Pot is checked and any error added to a Range 50 95 96 Cumulative steering Error value Prior to this Accessed by DCL addition the Cumulative Steering Error is scaled by the Steer Err Reduce value The higher the Steer Err Reduce value the more quickly the Cumulative Steering Error is likely to accumulate If it goes above a preset threshold refer to the Steer Err Threshold parameter a Steering Error SLM Flash Code 3 is produced refer to Diagnostics section 8 Steer Err Threshold If the Cumulative Steering Error reaches the Steer Err Threshold a Steering Error SLM Flash Range 10 100 96 Code 3 is displayed by the SLM refer to Accessed by DCL Diagnostics section 8 Steer Clutch Active Set to low if clu
27. een neutral and point a Further deflection towards point a will not give any increase in turning A higher value is more suitable for diamond shape joystick restrictor plates a lower value for square round or octagonal restrictor plates The purpose of this adjustment is to allow full lock to be achieved with some wheelchair speed therefore higher values are more suitable for slower wheelchairs and lower values for high speed wheelchairs 7 3 2 Other PCD Parameters Parameter Purpose Enable Lighting If set to en lighting functions are enabled State en dis Accessed by OEM Current Limit Range 4 40 amperes Accessed by OEM PM Dir Scalar Range 0 100 Accessed by OEM 3 rogramming If set to dis there will be no response to a DX Remote lighting button being pressed other than a beep for some varieties of remotes The current limit for the servo motor The SLM will ensure that no more than the stated current will go through the servo motor For use with two drive motor DX Systems and compensates for different drive wheel spacing Determine how much one motor increases and the other decreases in speed when the wheelchair is turning If this parameter is set to 100 the inner drive wheel will have zero speed when turning This value has no effect when a DX PM S is used No 60027 Issue 4 January 1998 Parameter Purpose Squared Dir Output Set to on if the Power Module D
28. er control of the wheelchair when travelling at high speed The Range 0 100 lower the setting the less sensitive the joystick will Accessed by Dealer be This also helps reduce the effects of inadvertent joystick movement when travelling over rough terrain At 100 speed the turning angle is limited to the value of this parameter As the speed reduces the available turning angle is allowed to increase The higher the value of this parameter the higher the speed that the turning angle scaling begins and the less the turning angle is limited The lower the value the lower the speed that the turning angle begins to be scaled and the greater the limiting of the turning angle A lower value is suitable for high speed 10 km h wheelchairs and higher values up to 100 are suitable for slower wheelchairs Values are assigned to these parameters for each of the eight Steering Profiles Steering Scalar The Steering Scalar value scales the turning so that 100 turning occurs closer to neutral Range 0 100 Accessed by Dealer Steering Scalar Value 096 10096 10096 096 j l l 100 Turning 10096 Turning If the Steering Scalar is set to 0 the joystick must be deflected to point a to achieve 100 turning 7 Programmi88 No 60027 Issue 4 January 1998 Parameter Purpose A Steering Scalar value of 100 will double the 96 turning so that 100 turning will occur at point b mid way betw
29. faulty Check for an open circuit or a short circuit from the Left Indicator Light to battery or Check for blown left indicator bulbs The circuitry for the Right Indicator Light is faulty Check for an open circuit or a short circuit from the Right Indicator Light to battery or lt Check for blown right indicator bulbs 10 Safety and MiissisBiljguostig No 60027 Issue 4 January 1998 9 Maintenance 1 The DX System should be regularly checked for integrity Loose damaged or corroded connectors or terminals or damaged cabling should be replaced 2 Allswitchable functions on the DX System should be regularly tested to ensure they function correctly 3 All DX system components should be kept free of dust dirt and liquids If necessary wipe with a cloth dampened with warm water or alcohol Do not use solvents or abrasive cleaners 4 Where any doubt exists consult your nearest Service Centre or Agent 5 There are no user serviceable parts in any DX System component do not attempt to open any case Warning If any DX component is damaged in any way or if internal damage may have occurred for example by being dropped have it checked by qualified personnel before operating 8Maintenance No 60027 Issue 4 January 1998 10 Safety and Misuse Warnings All warnings throughout this Installation Manual must be read and understood If in doubt ask for advice This DX component must not be
30. grams to be selected depending on the type of remote Each Drive Program contains an associated Steering Program that defines the maximum steering lock available at different speeds for safe driving The SLM controls the steering lock to conform to the Steering Program and also controls the speed output so that the speed can not exceed that allowable for a particular lock The SLM can control a full lighting system of side lights front and rear and indicator lights left and right The activation of the lights is via the DX Remote The SLM can be used with a two channel 60 A per channel DX Power Module DX PM or a single channel 120 A DX Power Module DX PM S If only one drive motor is used in the system then the DX PM S will be used 3 General Description 3 3 1 No 60027 Issue 4 January 1998 General Features The SLM has the following general features 3 2 Servo output capable of supplying 5 A continuous and 30 A peak to a 24 V servo actuator Fully DXBUS compatible Two identical DXBUS sockets for Daisy Chain connection to the DX System Powered by a 24 V wheelchair battery via the DXBUS connection or directly from the battery for high current applications Fully programmable for optimum driving performance Lighting outputs are T V approved when fitted with approved regulated power supply SLM T V Electromagnetically compatible not susceptible to high levels of RFI emitting low levels of RFI
31. he PCD examine all the parameters detailed in section 7 to ensure they are correctly set up for your application The side lights may come on while the battery charger is plugged in This may be caused by The Battery Charger may be overcharging or charging at too high a rate 2 The SLM is between the Battery Charger and the PM and the DXBUS cables are too long See section 5 3 2 3 The PCD parameter High Voltage Roll b Start may be set too low Chair starts to veer but no flash codes are reported 1 Mechanical slipping of the body or shaft of the steering position sense potentiometer 2 Mechanical slipping of the steering assembly These may not be severe enough to generate a stepping feedback fault but will require mechanical adjustment 8 2 Flash Codes Any fault condition on the DX system will cause the DX Remote s System Status LED generally the Power On indicator to flash Flashing occurs in bursts of flashes separated by a two second pause The number of flashes in each burst is referred to as the Flash Code and indicates the nature of the fault 8 Diagnostik9 No 60027 Issue 4 January 1998 The SLM also detects faults which it then conveys to the DX Remote Flash codes are always displayed on the DX System Status LED but in most cases the SLM will also display a flash code on its Status LED Some SLM flash codes are just a reflection of the flash code on the DX Remote while others give additional information
32. ight parameters define the maximum forward and reverse speeds for four non zero turning positions 25 50 75 and 100 turning The greater the turning the less the assigned speed value should be It is assumed that a safe speed is the same for left and right turning Wheelchairs with a lower maximum speed should have higher Max Fwd Spd and Max Rev Spd settings than faster wheelchairs as they are less risk of tipping over It is reasonable for slower wheelchairs to set Max Fwd and Rev Spd 25 and possibly 50 Turn to 100 As a general guide speed at 2596 turn should be twice that at 10096 turn speed at 5096 turn should be 1 4 times that at 10046 turn and speed at 7596 turn should be 1 2 times that at 100 turn Values are assigned to these eight parameters for each of the eight Steering Profiles The maximum forward and reverse speeds at zero turning are defined by the standard Drive Program parameters Turning Accel Pt Defines the minimum error between the turning demand and the actual turning angle at which the Range 0 100 Turning Acceleration and Turning Deceleration Accessed by Dealer parameters apply Max Servo Motor Spd The maximum servo motor speed possible Range 10 100 Values are assigned to this parameters for each of Accessed by Dealer the eight Steering Profiles 3 rogramming No 60027 Issue 4 January 1998 Parameter Purpose Max Turn 100 Speed The purpose of this parameter is to give fin
33. ighting outputs are Pin 2 Side Lights No 60027 Issue 4 January 1998 Pin 3 Left Indicators Pin 4 Right Indicators Note The SLM T V is designed to blow fuses leading to shorted lamps When wired as shown a blown fuse will not prevent other lamps on the same circuit from continuing to operate Right Left Side Side Left Right Lights Lights Indicator Indicator TA aee ecc ee l R S n Co Front 17 j 10W 10W 21W ra Rear te Sep E lie Sere eee Lee Le eee _ 2A 2A 2A 2A 2A 955 4329 JOGOO SL M 9OCODDUO Connector OWO Y M d Hazard Switch An external Hazard Switch can be connected between Pins 6 and 7 When this switch is closed both indicator outputs will flash synchronously at a rate of 75 flashes per minute 5 Installation Hazard In Hazard Out TOCCO 99000060 Oeo Y Y Y M 23 No 60027 Issue 4 January 1998 5 5 SLM Servo Connector 5 5 1 Servo Connector Pin Definitions in Function Motor Common Ground Position Sense Pot Motor Clutch Switch Position Sense Wiper HOOO E front view 5 5 2 Servo Connector Wires and Terminations To build a matching connector To build a matching connector to fit the Servo Connector the parts are AMP Mate N Lok Connector Housing AMP Part Number 1 480 704 0 DCL Part Number GCN 0201 Amp Univers
34. ing Ensure that there is no excessive load on the steering system Check the servo motor connector and wiring Note If this problem only occurs when large steering movements are requested the SLM s motor speed parameter may need to be recalibrated using an HHP Lighting Fault Cause 1 A fault is detected in the lighting circuits or the internal regulator if fitted 2 Indicator lights are flashing faster than Action Check the lighting circuitry for shorts and open circuits Check side and indicator bulbs Clutch Released Cause The clutch switch is or has been in the released position Action Re engage the clutch if necessary and turn the DX System off then on Check the servo motor connector and wiring Check the operation of the clutch switch 8 Diagnostiss DX System Status LED Flash Code 7 82Diagnostics SLM Status LED Flash Code 7 No 60027 Issue 4 January 1998 Likely Cause of Fault and Possible Action Low Battery Voltage Fault Cause The battery voltage has fallen below 17 V Action Check battery connections and terminals Check fuses have not blown or circuit breakers tripped Replace battery if worn out CANL Fault Cause l An invalid voltage has been detected on the DXBUS CANL line 2 Communication is not possible using the CANL wire Action Check the continuity of the DXBUS cable Check for shorts between DXBUS pins An open or short circuit on
35. l park brakes a 24 V battery supply and optional lights There are two versions of the SLM The SLM utilises 24 V lights while the SLM TUV utilises 12 V lights and has an internal voltage regulator The DX system will comprise of a minimum of a DX Remote a DX Power Module a SLM and may also have up to 13 other DX modules The DXBUS is used to control and monitor all DX Modules The DX Power Module has two identical DXBUS connectors and is connected in a chain type arrangement with the SLM The SLM can be powered from an independent 24 V power supply but low power steering requirements can be powered from the DXBUS 24 V supply The lighting can also be supplied from the DXBUS an internal or external regulated 12 V supply or from the 24 V wheelchair battery See section 5 4 3 and 5 4 4 In a servo system the speed and direction data from a DX Remote is passed to the SLM rather than directly to the DX Power Module The SLM processes the speed data and then sends it directly to the DX Power Module The direction signal is processed by the SLM and applied to the servo steering motor A position sense potentiometer tells the SLM the steering position A microswitch is attached to the steering clutch so that when the clutch is released for manual wheelchair manoeuvring the system is inhibited and will not drive When the clutch is restored the system must be turned off then on again to drive The DX System allows up to five preset Drive Pro
36. m 1 50 54 selects Steering Program 2 55 59 selects Steering Program 3 60 64 selects Steering Program 4 65 69 selects Steering Program 5 70 74 selects Steering Program 6 75 79 selects Steering Program 7 80 100 selects Steering Program 8 The Steering Programs values can be conventionally assigned so that Steering Program 1 causes the slowest possible turning progressing up to Steering Program 8 causes the fastest possible turning If this recommendation is followed Maximum Turning Speed appears to have the same affect in a servo steering application as in a conventional system 30 7 Programming No 60027 Issue 4 January 1998 7 Programmiag No 60027 Issue 4 January 1998 Parameter Purpose Turning Acceleration Range 10 70 96 Accessed by DCL Turning Deceleration Range 15 100 Accessed by DCL The rate of response when the joystick is deflected left or right from neutral A value of 1096 gives slow response 70 gives fast response This defines the rate at which the SLM attempts to respond to a large increase in steering lock A small increase in lock demand is approached at the maximum possible acceleration The lock demand at which this parameter is used is set by the PCD in the SLM wheelchair program by the Turning Accel Pt parameter The rate of response when the joystick is deflected left or right towards neutral A value of 1596 gives slow response 10046 gives fast respon
37. ng 1 0 mn FC116N2 5 4 3 Power Supply from the DXBUS The DXBUS is suitable for powering low speed servo motors and non T V lighting where the DX System current requirement is less than the 12 A DXBUS rating The DXBUS is not suitable for powering the SLM if TUV compliance is required DXBUS to Lighting and Steering Link telas DXBUS to Steering Link MY Y DXBUS to Lighting Link To power the lighting and servo motor from the DXBUS links must be inserted to short the DXBUS pin to the Battery pin and the DXBUS pin to the Steering Power and Lighting pins 5 Installation 19 No 60027 Issue 4 January 1998 5 4 4 Power Supply from the Battery When the servo motor and lighting require more current than the 12 A DXBUS current rating has available the SLM must be powered directly from the battery Both battery negative terminals on the SLM must be used to achieve TUV compliance Steering Power obioooono Battery S000006 60 A Thermal OW Lighting Circuit common for oT oco 24 V lighting 10 A Thermal eina Circuit Breaker L T L T 80 A Thermal rA DX PM Circuit Breaker Battery a Single Battery Box Connector Steering Power
38. or wiring may be open circuit Action Check motor and wiring Message Stall Timeout Fault Battery Low Battery High Lighting SMPS Fault Head Light Fault Left Indicator Fault Right Indicator Fault No 60027 Issue 4 January 1998 Fault and Possible Cause Cause Action Cause Action Cause Action Cause Action Cause Action Cause Action Cause Action The servo motor current has been at or close to current limit for longer than the Stall Timeout parameter value Turn the DX System off then on again Allow to cool down if necessary Check that steering wheels can turn freely The battery voltage is less than 17 V Recharge or replace battery The battery voltage is greater than 32 V Check that battery charger is operating correctly May be caused by continuous braking down a hill at too higher speed The problem will occur when batteries are fully charged fully discharged or worn out 1 A short circuit between the 13 4 V regulated supply if fitted and battery or 2 There is no power supplied to the lighting Check all lighting circuitry Check wiring as per section 5 4 3 and 5 4 4 The circuitry for the Side Lights front and rear is faulty Check for an open circuit or a short circuit from the Side Lights to battery or Check for blown headlight bulbs The circuitry for the Left Indicator Light is
39. ot exceed 15 metres in any topology Two of the DXBUS s four cores DXB and DXB are used to supply power to the modules and to the loads connected to them A Positive Temperature Coefficient PTC device in the Power Module limits the total DXBUS current to 12 A to protect the DXBUS wiring and connectors The topology and cable lengths used may reduce the DXBUS s upper limit to below 12 A For correct DX System operation the voltage drop on the DXBUS s DXB wire due to return currents must not exceed 1 0 V between any two modules within the DX System Use a topology and module placement that reduces this voltage drop as low as reasonably possible Voltage drops occur along the DXBUS due to the return of current back to the battery through the small but finite resistance of the DXBUS cable and connectors A DXBUS connector can be modelled as DXBUS Cable Model Ret contact resistance 5 mOhm Rea cable resistance 12 mOhm metre 5 Installation 15 No 60027 Issue 4 January 1998 Example Consider a Power Module connected to an SLM via five other DX Modules using metre cables DX Power Module aH Li bt Ed bd vet DX DX DX DX DX SLM m Module Module Module Modulej Module 24V AY Servo Motor Example of DX Module interconnection The total resistance of the 0 V return path bet
40. rrent limit A Stall Timeout Fault Flash Code 11 is displayed by the SLM refer to Diagnostics section 8 If set to on motor PT is enabled PT parameters define the thermal characteristics of the motors used in wheelchair The OEM must provide sample motors or detailed motor specifications to Dynamic Controls Ltd Dynamic will provide recommended setting to ensure correct motor protection against overheating PT parameter see above PT parameter see above The maximum motor temperature used for PT protection of the motor PT parameter see above 7 ProgrammiAg Parameter High Voltage Roll b Start Range 24 V 33 V Accessed by DCL High Voltage Roll b End Range 28 V 33 V Accessed by DCL Waggle Time Range 20 5100 ms 5 1 sec Accessed by DCL Waggle Test State on off Accessed by DCL Straighten at Start State yes no Accessed by DCL 4Programming No 60027 Issue 4 January 1998 Purpose Above this battery voltage the wheelchair speed will be progressively reduced The purpose is to reduce excessive battery voltage when the wheelchair is driven down a slope When the battery voltage exceeds this voltage the SLM will automatically turn on the side lights to prevent the battery being over charged Note A value of 29 V or greater is recommended to avoid the side lights coming on when the battery is charging Above this battery voltage no driving speed will b
41. ry 8 Diagnostiss Message Steering Fault Pot Wiper Voltage Pot Res Fault Motor O C Fault B6Diagnostics No 60027 Issue 4 January 1998 Fault and Possible Cause Cause 1 A 5S Uwr Action Cause 1 Action lt Cause 1 Action lt lt Position Sense Pot may have mechanical fault such as the pot turning or the shaft slipping Clutch may be slipping The steering may be excessively loaded Incorrect motor speed calibration Check the Position Sense Pot for mechanical failure Ensure that the clutch is properly engaged Ensure that there is nothing impeding the movement of the steering wheels Recalibrate SLM using an HHP The Position Sense Pot Wiper may be open circuit The Position Sense Pot Wiper may be shorted to a battery terminal an end terminal on the pot the clutch switch or a motor terminal Faulty Pot Check for the above and repair if necessary Check voltage on Position Sense Pot end terminal A Position Sense Pot end terminal may be open circuit Any Position Sense Pot terminal may be shorted to a battery terminal another terminal on the pot the clutch switch or a motor terminal Faulty Pot Incorrect setting of Pot End Min Voltage Or Pot End Max Voltage Check for the above and repair if necessary Check voltage on Position Sense Pot end terminal Correct programming and reprogram chair Cause Servo motor
42. se This defines the rate at which the SLM attempts to respond to a large decrease in steering lock A small decrease in lock demand is approached at the maximum possible deceleration The lock demand at which this parameter is used is set by the PCD in the SLM wheelchair program also by the Turning Accel Pt parameter Note The Turning Deceleration value is normally set as high or higher than the Turning Acceleration value An inadequate Turning Deceleration value can result in an unsafe wheelchair condition ZProgramming 5 Installation No 60027 Issue 4 January 1998 7 3 SLM PCD Parameters Note Refer to section 7 4 Using the PCD for PCD operating instruction Refer to section 7 5 Using the HHP for HHP operating instructions 7 3 1 Steering Profile Parameters For each of the eight Steering Profiles Program 1 Program 8 there are 12 Steering Profile parameters which define the Maximum Turning Speed see section 7 2 Parameter Purpose Range Max Fwd Spd 25 Turn 35 100 Max Fwd Spd 50 Turn 25 100 Max Fwd Spd 75 Turn 20 100 Max Fwd Spd 100 Turn 15 100 Max Rev Spd 25 Turn 35 100 Max Rev Spd 50 Turn 25 100 Max Rev Spd 75 Turn 20 100 Max Rev Spd 100 Turn 15 100 Accessed by Dealer 10096 Forward amount P of eft 10090 75 50 25 straight 25 50 75 100 Right turn 100 Reverse 5 Installati6 No 60027 Issue 4 January 1998 Parameter Purpose The first e
43. set to yes sidelights front and rear are enabled State yes no If set to no there will be no response to a DX Accessed by OEM Remote sidelight button being pressed other than a beep for some varieties of remotes Indicators Enable As for the Side Lights Enable parameter State yes no Accessed by OEM Hazard Enable As for the Side Lights Enable parameter State yes no Accessed by OEM 7 Programming 29 No 60027 Issue 4 January 1998 7 2 2 Drive Program Parameters The DX System supports up to five Drive Programs The Drive Programs are defined in the DX Remote programming as factory settings specified by the customer The Drive Programs govern the driving performance of the wheelchair as suitable for different environmental conditions The DX Remote Drive Programs are covered in the relevant DX Remote Installation Manual Three Drive Program Parameters are however treated differently in the servo steered DX System Parameter Purpose Maximum Turning The maximum speed available when the joystick is Speed fully deflected left or right Range 10 100 96 The value assigned to Maximum Turning Speed is not Accessed DCL a single performance setting but a pointer to select one of eight Steering Programs see section 7 3 1 The Steering Programs are defined by the PCD in the SLM wheelchair program The Maximum Turning Speed value selects a Steering Program as follows 10 49 selects Steering Progra
44. st be calibrated to the individual wheelchair system using the HHP These parameters are all described in section 7 3 The first four parameters calibrated by the HHP are approached sequentially The eight Restrictor Plate parameters are grouped and calibrated in one operation of the HHP 7 5 1 Initial Operation 1 Plug HHP into the Programmer Socket on the DX Remote and turn the DX System on The initial screen appears for two seconds Dynamic DX Programmer VERSION 1 10 2 Then the main menu screen reads MAIN MENU View or edit Program 1 NEXT 3 Press NEXT until the Technician Mode screen appears MAIN MENU Technician Mode disabled Enable NEXT YES 7 ProgrammiAg 4 5 No 60027 Issue 4 January 1998 Press YES and a screen will appear to enter the three digit password Technician Mode Enter Password 000 EXIT D1 D2 Press the D1 D2 and D3 buttons to cycle each digit through to the correct password When the password reads correctly press the EXIT button The screen now reads MAIN MENU Technician Mode enabled Disable NEXT YES Step four toggles this screen between Technician Mode Enabled to Technician Mode Disabled Press NEXT until the screen reads T MAIN MENU View or edit Servo Steering Module NEXT YES Press YES Press YES The display reads VIEW EDIT SERVO MOD Veer compensation Right 3
45. tch input is active low i e input is low if steering disengaged State high low Accessed by OEM Set to high if clutch input is active high 7 Programmi No 60027 Issue 4 January 1998 7 4 Using the PCD Programmable parameters relating to the SLM are contained in the DX Remote UCM Remote and the SLM programs These programs can be modified using the PCD Programming Configuration Diagnostic tool To view and or edit these parameters L 2 Enter the PCD s Main Menu screen as described in the PCD Manual Select the Edit Wheelchair Library menu option Select either Edit Standard Wheelchair Program or Edit Custom Wheelchair Program where appropriate Select the chair program that you wish to view or edit Select the Edit Module Parameters menu option Select SLM or UCM Remote Scroll through the list of parameters See sections 7 2 and 7 3 for the list of parameters that require programming and their functions Adjust parameters as required Press ENTER to accept the changes or ESC to exit without saving Select Write Program to Library option and press ENTER These values will now be part of the Standard Wheelchair Program for this type of wheelchair and be automatically downloaded to the DX Remote and the SLM when using the Program Wheelchair option 44Programming No 60027 Issue 4 January 1998 7 5 Calibrating the SLM using the HHP There are twelve SLM parameters that mu
46. tery types It is recommended that two 12 V batteries with capacity greater than 20 A hours be used 5 4 5 SLM Connection to Lights There are three lighting outputs Pin 2 Side Lights Pin 3 Left Indicators Pin 4 Right Indicators The Side Light Output This output is used to power head and tail lights Multiple bulbs can be connected to the output in parallel as shown in the following diagram The output is active pull down when the light is turned on The Left and Right Indicator Outputs These outputs are also active pull down when the light is turned on Again multiple bulbs can be connected to each output 5 Installation 21 No 60027 Issue 4 January 1998 Power Source Wiring of the lights is dependant on the source of the power When the regulated 13 5 V Power Supply is fitted SLM TUV the lights are wired to Pin 5 When not fitted SLM the lights are wired to Pin 16 For convenience the standard SLM which has no such regulator has Pin 5 connected to Pin 16 internally This allows the lights to be wired to Pin 5 Pin 16 supplies the power to operate the lighting control circuits and also the 13 5 V regulator if fitted Right Indicator Left Indicator Side Lights Lighting Non regulated 24 V Supply Regulated 13 5 V Supply from Battery or DXBUS if fitted Example of Lighting Wiring 22 5 Installation SLM TUV Lighting Connections The three l
47. ue 4 January 1998 The time taken for the servo motor to travel the full range from left lock to right lock and visa versa This is calibrated using the HHP The speed of response of the servo motor For slow motors this value should be low and for fast motors the damping should be high Warning An unsuitably high or low value can make the wheelchair unstable Range 96 60 100 40 100 20 100 0 100 60 100 40 100 20 100 0 100 The maximum forward and reverse speeds for four non zero lock positions 25 50 75 and 100 turning lock The physical restrictor plate fitted to the DX Remote is calibrated with these parameters using the HHP If the DX Remote is replaced these parameters must be recalibrated Plate parameters are grouped and calibrated in one operation of the HHP Purpose Stall Time Range 5 50 seconds Accessed by DCL Stall Timeout State yes no Accessed by DCL PT State on off Accessed by DCL OEM PT Threshold Range 10 90 96 Accessed by DCL OEM Motor Time Scale Range 10 200 Accessed by DCL OEM Max Motor Temp Range 70 200 EC Accessed by DCL OEM No 60027 Issue 4 January 1998 The stall timeout delay If the current limit is exceeded for more than this time a Stall Timeout Fault SLM Flash Code 11 will be displayed by the SLM refer to Diagnostics section 8 If set to yes driving is disabled after Stall Time if in cu
48. ween the Power Module and SLM is 6X 5 Ret Reg 132 mOhms This means that the maximum load that the SLM can drive and not exceed the 1 0 V drop requirement is 1 0 132 8 A If for example the servo motor and lighting that the SLM is required to drive has a peak current of 10 A the interconnection order of the DX modules will have to be changed to place the SLM closer to the Power Module The above example illustrates a fundamental rule of DX Module interconnection All DX Modules that connect to high current loads e g actuators motors and lights must be connected as close to the Power Module as possible The above example is simplified and does not include current to other DX Modules The DXBUS maximum current rating of 12 A is for the entire DX System Operation of the SLM at its maximum rating of 30 A peak current is not possible from the DXBUS supply To supply greater than the 12 A DXBUS current see section 5 4 4 16 5 Installation No 60027 Issue 4 January 1998 This favours topologies such as Battery 24V ee FF O M O E E gd H H H I L IL gt gt High Current Modules Low Current Modules Nearest Power Module Furthest away from Power Module Rationalised In line Topology Battery T _TLIL DX Power Module AL dd i Two way star Topology us vico VR BE iid Multi Star Topology 5 Installation 17
49. ystick is deflected fully left or right It must be set higher than the Pot Voltage Tol parameter to avoid an error when the wheelchair is in full left or right lock Warning Setting Max Pot End V too high or Min Pot End V too low may prevent some position sense potentiometer faults being detected Max Pot End V The maximum allowable voltage at the end of the position sense potentiometer If the voltage Range 3200 5000 mV exceeds this value a Steering Fault SLM Flash 3 2 5V Code 3 is displayed by the SLM Accessed by DCL A suggested value is 4 75V for a 10K ohm potentiometer Refer to Diagnostics section 8 Min Pot End V The minimum allowable voltage at the end of the position sense potentiometer If the voltage is less Range 3000 4900 mV than this value a Steering Fault SLM Flash 3 4 9 V Code 3 is displayed by the SLM Accessed by DCL A suggested value is 4 3V for a 10K ohm potentiometer Refer to Diagnostics section 8 Parameter Purpose 10 Safety and Miisuse Warnings Motor Speed Range 20 5 100 ms 0 02 5 1 sec Accessed by Dealer User HHP calibrated Motor Damping Factor Range 0 100 Accessed by DCL Restrict Fwd Spd 25 Restrict Fwd Spd 50 Restrict Fwd Spd 75 Restrict Fwd Spd 100 Restrict Rev Spd 25 Restrict Rev Spd 50 Restrict Rev Spd 75 Restrict Rev Spd 100 Accessed by Dealer User HHP calibrated Parameter 4 Programming No 60027 Iss
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