Master Switch Interface
DX-MASTERSW
INSTALLATION MANUAL
Information in this document is subject to change without notice and does not represent a commitment on the part of Dynamic Europe Ltd. No part of this manual may be reproduced or transmitted in any form, or by any means, electronic or mechanical, including photocopying or recording, for any purpose without the written permission of Dynamic Europe Ltd.
Copyright 2001 by Dynamic Europe Ltd. All rights reserved.
Printed in the United Kingdom.
Part Number GBK59692
(European Reference No. GBK9992)
Version 3.0 June 2002
Contents
1 INTRODUCTION ... 1
2 RELATED DOCUMENTATION... 2
3 OPERATION / FEATURES ... 3
4 INSTALLATION AND TESTING ... 6
5 BATTERIES, CHARGING & BATTERY CONDITION WARNINGS ... 9
6 GENERAL PROGRAMMING ... 13
7 HHP PROGRAMMING ... 16
8 WIZARD PROGRAMMING ... 22
9 DIAGNOSTICS AND FAULT FINDING ... 27
10 MAINTENANCE ... 33
11 SAFETY AND MISUSE WARNINGS ... 34
12 ELECTROMAGNETIC COMPATIBILITY (EMC)... 37
13 INTERNATIONAL STANDARDS ... 38
14 WARRANTY ... 39
15 SALES AND SERVICE INFORMATION ... 40
16 APPENDIX A : SPECIFICATIONS... 41
17 APPENDIX B : ABBREVIATIONS ... 42
1 Introduction
The DX Master Switch Interface is a DX compatible Master Remote, which allows any wheelchair to be driven using up to five switches - four for direction including forward, reverse, left and right, and one for ON/OFF. It is also compatible with a wide variety of remotely mounted Secondary Remote devices.
These include joysticks, chin, tray, head, and finger controls.
The DX Master Switch Interface and the associated DX Power Module are fully programmable to cater for a wide range of chair types and user needs. Correct installation and programming are essential to ensure optimum performance and safety.
This manual and others listed below must be read and understood. For more information contact Dynamic Controls Ltd or an agent as listed in Section 15.
Example DX System
DX Power Module
Either / or
DX Secondary Remote (eg. DX-RJM)
Optional External Speed Pot.
4 or 5 switch device
DX-MASTERSW
Dynamic Controls Ltd. welcomes feedback from its customers on its products and documentation. If you would like to comment on this manual or the product it describes, please contact us at any of the
addresses at the back of this manual, or by email at info@dynamic-controls.co.nz
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 that describes the installation requirements of that particular module.
This Manual describes installation of the DX Master Switch Interface only and must therefore be read in conjunction with the:
• DX Power Module (PM) Installation Manual
• DX Hand Held Programmer (HHP) Installation Manual
• DX Wizard (Help Screens)
• Installation Manuals for all other DX Modules to be used in your application.
3 Operation / Features
On/Off
The On/Off button toggles the system power between ON and OFF. This can be done two ways - either via the button on the front panel of the Master Switch Interface itself, or by connecting a 5th switch between pins 6 and 8 of the 9 pin
‘D’ connector. The fifth switch in all integrated devices sold by Dynamic, such as the TASH range, will already be wired correctly for this function.
System Status LED
The DX System Status LED is displayed by a single LED and is lit when the system is turned ON. It also flashes in groups called Flash Codes, to indicate system faults. Refer also to Diagnostics (Section 9), for fault code details.
Remote Status Display
A single LED displays the Master Switch Module Status. This LED will flash if there is an internal Master Switch Interface fault, in which case the module should be replaced, or if an OONAPU fault has occurred (see description later in this section).
9 Pin ‘D’ Connector
Programming Socket 1/0
DX BUS Socket External Speed
Control Socket
To Battery Charger Speed Control System Status
LED Remote
Status LED
Battery Gauge
On / Off Button
Speed Control
The Master Interface supports a single Drive Program, with a user selectable speed control. This can be done in one of two ways - either by turning the speed pot on the front panel of the Master Switch itself, or a remotely mounted
alternative, as illustrated, using the External Speed Control Socket provided. Note the external option overrides the speed control
on the front panel.
Changes to all other drive variables can be made with a Hand Held Programmer - refer to Section 7 (HHP Programming), for more information.
Battery Gauge Display
Battery capacity is continuously indicated by a set of LEDs. These are arranged in a line colour coded from right to left as green, orange and red. As battery capacity reduces, the number of LEDs lit decreases.
A full display of green, orange and red LEDs represents a “full” battery, with charge typically more than 90% of useable capacity.
Flashing red LEDs only represents a “nearly empty” battery, with charge typically less than 10% of useable capacity. When this occurs the user should look to re- charge their batteries as soon as possible. Note around this time a loss of
performance will occur, due to the low charge, and battery saver feature managing the amount of power available.
The battery gauge is also used to display various battery condition warnings. See Section 5 (Batteries, Charging and Battery Condition Warnings), for more information.
Battery Saver
The DX system will limit the amount of power available whenever the battery voltage drops below 21 volts under load. This feature is designed to prevent over discharge, as well as maximise the range under ‘reserve charge’. The Battery
10K LOGARITHMIC POT POT END POT END
WIPER MONO JACK PLUG
Programming Socket
A standard HHP / Wizard socket. For more information on programming refer also to General Programming (Section 6), HHP Programming (Section 7), and Wizard Programming (Section 8).
Standard DX BUS connection
For connecting the DX Master Switch Interface to the DX System, using a DX BUS cable. Refer also Installation and Testing (Section 4).
Battery Charger Socket
Standard 3 pin XLR type battery charger socket. Refer to Batteries, Charging and Battery Condition Warnings (Section 5), for more information.
9 Pin ‘D’ Switch Socket
For switch operation of forward, reverse, left, right and On/Off functions. See below for pin out.
Joystick OONAPU
The DX Master Switch Interface features Out Of Neutral At Power UP (OONAPU) detection.
If the system is powered up with any of the forward, reverse, left or right commands activated, the System Status LED flashes rapidly for as long as the condition persists up to a maximum of 5 seconds.
If the condition persists after 5 seconds, a DX Module Fault (Flash Code 1) is signalled on the System Status LED, and the Remote Status LED flashes. This is a latching fault and must be cleared by powering the system Off and On again with the fault removed.
forward reverse left right
common on / off 1
2
3
4
5
6
7
8
9
1 2 3 4 6 8
4 Installation and Testing
DX Master Switch Interface Mounting
The DX Master Switch Interface is mounted by 3 x M4 screws.
Dimensions of the mounting positions are shown below.
Note : If the programmer socket needs to be accessible when the DX Remote is mounted, make allowance for this prior to fitting.
DX Master Switch Connection with the DX System
The Master Switch Interface should be connected to any of the other DX modules
89 mm 36 mm 26.5 mm
36 mm 39 mm
114 mm
Note : A BUS cable is not supplied with the Master Switch Interface and needs to be ordered separately. The correct length will be dependent on the position of the connecting modules.
Example DX System: Option 1 – Switch Control
Example DX System: Option 2 – DX Secondary Remote Control
WARNING: Do not use the frame of a wheelchair or scooter as the earth return for any lights or actuators. Making any low resistance connection to the frame is regarded as a possible safety hazard and not allowed by international
DX Power Module
Optional External Speed Pot.
4 or 5 switch device DX-MASTERSW
DX Power Module
DX Secondary Remote (eg. DX-RJM)
Optional External Speed Pot.
Optional On/Off switch
DX-MASTERSW
Testing
Ensure that all DX Modules used in your DX System have been installed as specified in their Installation Manuals. The Master Switch Interface needs to be correctly programmed for the appropriate wheelchair prior to testing.
The Master Switch Interface contains the complete wheelchair system set up, from which all DX Modules download their relevant information when the DX System is first turned on. Refer to Section 6 (General Programming), for more information.
Powering Up Method
Power up the Master Switch Interface by pressing the On/Off switch.
Power Up Response
The power up response for the Master Switch Interface is :
• The System Status LED will come on steady.
Note : The first time the Master Switch Interface is turned on, the System Status LED will flash a fault. This is because the Master Switch Interface must download its information to the DX Power Module . Turn the Master Switch Interface off then on to clear this fault. Refer to the later Auto Download section.
• At least one of the LED’s on the Battery gauge will be on.
DX Master Switch Interface Check Sequence
Perform the following Master Switch Interface check sequence:
1. Press the On/Off switch again and check the Power LED turns off. Press it again to turn it on.
2. If switches are being used for driving, test that each of the switches will cause the wheelchair to move in the correct direction at the required speed.
3. If the external On/Off switch (5th multi-switch) is being used, check that this also turns the DX system on and off.
5 Batteries, Charging & Battery Condition Warnings
Battery Type
The DX System is designed to perform optimally with either Lead-Acid or Gel Cell 24 V deep cycle batteries, rated at 20 - 120 Amp hours. The maximum average discharge rate must not exceed half the rated capacity, in Amp hours.
High continuous discharge rates dramatically reduce the available battery
capacity. For example, at a discharge rate equal to the rated capacity, the available capacity is 50 - 60 %. At a discharge rate of half the rated capacity, the available capacity is 70 - 80 %.
A wheelchair that draws maximum average battery current of 20 A, requires a battery of at least 40 Amp hours. A battery of only 20 Amp-hours, would begin to suffer a drop in performance at about half of its available capacity. The 40 Amp hour battery would have a full performance range of 4.5 greater than the 20 Amp hour battery; a 80 Amp hour battery would only increase this range by 2.5 when compared to a 40 Amp hour battery.
Battery Charging
The satisfactory performance of the DX system is critically dependent on the type and state of the batteries. The battery charger used must be correctly selected and adjusted according to the battery manufacturer instructions. Failure to do so may damage or destroy the batteries, give poor range, or be potentially dangerous.
Batteries should not be abused (for example by deep discharging or overcharging), and must be operated maintained and charged according to manufacturer’s instructions.
A warning from the Master Switch Interface (red battery gauge LEDs flashing) will alert the user when the wheelchair needs charging. When this occurs the user should look to charge as soon as possible. Note that around this time the ‘battery saver’ feature will reduce wheelchair drive performance. This feature is designed to maximise battery reserves, and will also contribute towards extending battery life, by reducing the risk of over discharging.
The charger socket itself is a 3-pin XLR type with pin configurations as shown above. Ensure that the charger used is compatible with this pin out before connection. Charger plugs suitable for connecting battery chargers to all Dynamic fitted wheelchairs and scooters are available from Dynamic, quoting part number GCN0309.
Important
1. The safety link between B- and the Inhibit pin must be fitted so that the wheelchair is prevented from driving while the batteries are being charged.
2. When charging using the Master Switch Interfaces battery charger socket the charger should be rated at no more that a maximum of 8 amps peak current. It is very important to remember that chargers can be rated either by ‘peak current’, or ‘root mean square (RMS)’. A charger rated at 8amps RMS may be capable of supplying up to 14 amps peak current, and may not be compatible with the charger socket fitted to the Master Switch. Contact your battery charger manufacturer for more information.
3. Do not disconnect batteries or open the circuit breaker during charging.
4. If connecting the charger wakes up the DX system (even if initially turned off), leave it turned on. This allows the charging process to be monitored by the Power Module, and ensures battery gauge accuracy. Later versions of the Master Switch do not wake up.
5. Charging is completed only when indicated by the battery charger. Do not confuse indication from the battery charger with the Master Switch battery gauge. The Master Switch battery gauge is designed to show capacity while driving, not during charging.
Battery Condition Warnings
Battery condition warnings are also displayed via the Master Switches battery gauge. The number of LEDs flashing will determine what type of warning is being made.
Battery High Warning Condition
This condition will occur when the battery voltage exceeds 28V in neutral and can be distinguished by all battery gauge LEDs flashing.
The cause can be:
• The wheelchair is on charge, and the batteries are nearing full capacity
• The batteries are overcharged
• The wheelchair is travelling down a slope and the batteries are full (regeneration).
• The batteries are faulty
The wheelchair will drive during this fault condition and will reset automatically when the battery voltage drops below 28V.
Battery Low Warning Condition
This condition occurs when the battery voltage drops below 23.3V, in neutral.
The cause can be:
If the battery gauge flashes with orange or green LED’s lit, but the cause is not due to a Battery High warning condition, the battery or battery wiring may be faulty.
If the battery gauge flashes with just the left 3 or 4 LED’s after stopping the wheelchair, the battery may be too small for the wheelchair type, or the battery may be old or damaged.
The wheelchair will drive during this fault condition and will continue until battery voltage increases back over 23.3V.
A Battery Low warning normally coincides with a Low Capacity warning.
Low Capacity Warning Condition
This condition will occur when the calculated available battery capacity drops below 10%, and can be distinguished by the very left red LED(s) flashing. When this occurs, the user should look to charge as soon as possible.
The wheelchair will drive during this fault condition and will continue until the batteries have been sufficiently charged.
6 General Programming Warning !!
Incorrect or inappropriate programming of a DX System can put the wheelchair into a dangerous state. Dynamic Controls accept no responsibility or liability for accidents caused by incorrect programming. This and the following Programming section, and the HHP Manual, must be read and understood before attempting to program a DX System.
Ensure that the programmed wheelchair complies with all prevailing regulatory requirements for your country and application.
Introduction
The driving performance of the DX System is dependant on its programming.
Different features can be selected and parameters fine tuned for a particular application, or to suit the requirements of an individual.
The DX Master Remote and the DX Power Module are the modules most responsible for defining the driving performance of the DX System. Software in the DX Master Switch Interface, processes the switch and joystick movements according to its Drive Programs, and sends direction and speed commands to the PM.
Default Programs
The Master Switch Interface is programmed during manufacturing with a set of factory default settings that are incorporated into a controlled document by Dynamic. The default settings programmed into a Master Switch Interface will not be suitable for all DX Systems and must be checked and reprogrammed prior to connecting with a DX System.
The optimum settings for all programmable DX Modules are determined by the wheelchair manufacturer (OEM). 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.
Note As all program settings are stored in the Master Remote, replacement of the Master Remote in the DX System may result in a change in Drive Program values that may be substantially and dangerously different from those of the Master Remote it replaced. The Wizard may be used to up load and save the 'old' system settings for later reprogramming of the replacement unit.
Note 2 As the DX-MASTERSW is a switch device rather than a Joystick Device, Standard Wheelchair Programs should not be downloaded into the product from the Dynamic Wizard as this will configure the device to work as a Joystick device, which will result in a permanent Flash Code 1 – Module Fault. The configuring of a DX-MASTERSW to work with specific wheelchairs must be carried out by manually adjusting the individual parameters within the Wizard to suit the wheelchair requirements. In the event of the program being incorrectly adjusted, there is a 3.5 in Disk enclosed with the DX-MASTERSW on which there is a DX-MASTERSW Wizard recovery file.
Auto Download
The DX System has a feature called Auto Download. It is designed to minimise the programming requirements associated with Module servicing and
replacement.
When replacing all modules, except a DX Master Remote
A DX Module with a flashing Status LED is considered faulty and should be replaced. The replacement module is likely to be programmed differently to the one that it replaces, which could leave the wheelchair in a dangerous state. The DX System automatically detects that a DX Module swap has occurred, and the programmed data from the old module is transferred to the replacement module.
Auto Download is achieved by the DX Master Remote containing both its own programming and also a backup copy of the programmed data for all other DX Modules. The Auto Down load occurs immediately on power up after the Module has been replaced.
When replacing a DX Master Remote
When replacing a DX Master Remote turn the DX system On and Off twice to correctly initiate the auto download. If powered up and down just once a Module fault (Flash Code 1) is displayed on the DX Master Remotes System Status LED and also the Status LED of the Master Remote. When the system is turned Off and On for a second time, the fault is cleared and the auto download is correctly terminated.
Warning: When a Master Switch Interface is replaced it will perform an Auto Download to all DX Modules. New values may result in a change in Drive Program values that may be substantially and dangerously different from those of the Master Switch Interface it replaced.
Do not attempt to drive or test the DX System before the correct and suitable wheelchair program has been installed in the Master Switch Interface using the Wizard. The Master Switch Interface can be programmed with the Wizard using a
‘dummy’ DX System and / or a 24V power supply, or on the wheelchair provided driving is prevented e.g. by disengaging the drive wheels.
In Summary
• When replacing a DX Master Remote - after replacing turn the DX system Off and On twice to perform the auto download. Remember the replacement module is likely to be programmed differently to the one it replaces. Take a record of the settings of the old module and copy into the new module.
• When replacing all other modules - after replacing turn the DX system Off and On once to correctly perform the auto download. New modules will be updated with old settings. No further programming is necessary.
Programming Tools
Two programming tools are available, the HHP (Section 9) and the Wizard (Section 10).
7 HHP Programming
The DX Hand Held Programmer (HHP) is the normal programming tool used by dealers, allowing easy adjustment of all commonly adjusted Drive Program parameters.
Warning: The DX HHP is for use only by wheelchair manufacturers, their authorised dealers and support personnel. It is not intended for use by the wheelchair user.
The DX HHP Manual should be read and understood before attempting to use it.
Hand Held Programmers are now available in many common European languages, including English, German, Spanish Italian, Dutch, French and Swedish. Part numbers for ordering follow:
DX-HHP-FGS English, French, German, Spanish DX-HHP-GIS English, German, Italian, Spanish DX-HHP-GDW English, German, Dutch, Swedish
HHP Operation
1. Plug HHP into the Programmer Socket on the Master Switch Interface and turn the DX System on. The HHP will prompt the user to select a language, for example
DX HHP V1.XX
Select a Language
ENG FR DEU ESPA
2. The HHP will then enter the Main Menu.* * MAIN MENU * *
View or edit?
1. View or Edit Program 1 2. Joystick Reverse
3. View or Edit Remote Module 4. View or Edit Power Module
The first two sub-menus are available to all HHP users. The last two are available only to those with a ‘Technician’ password.
Note : Pressing ‘Exit’ at any point during HHP use will return the user to the Main Menu.
To View / Adjust Drive Programs
Entering this sub-menu allows the user to select and adjust many common drive performance variables.
1. From the Main Menu Press ‘Next‘ until the screen reads.
* * MAIN MENU * * View or edit?
Program : 1 ?
NEXT YES
2. Press ‘YES’ to edit Drive Program.3. The screen now reads:
TUNE PROG 1 RESPONSE Max forward speed
25%
EXIT NEXT UP DOWN
Press ‘NEXT’ to step through the adjustable parameters.These are : Forward Acceleration Forward Deceleration Max reverse speed Reverse acceleration Reverse deceleration Max turning speed Turning acceleration Turning deceleration Damping point Joystick source
For all parameters, excluding Joystick Source, press ‘UP’ or
‘DOWN’ to adjust the value.
4.. Joystick Source
The Joystick Source screen reads:
Joystick source
Local
EXIT NEXT SWAP
Pressing ‘SWAP’ toggles the parameter between:
‘Remote’ if an RJM based input device is fitted (see Option 1, Switch Control, Page 7)
‘Local’ if the forward, reverse, left and right switches connected directly to the Master Switch Interface are to be used (see Option 2, DX Secondary Remote Control, Page 7)
Important : For all HHP changes to take effect the user must return to the Main Menu, by selecting the ‘Exit’ button prior to disconnecting the HHP. If not changes made will not be saved.
Joystick Reverse
Entering this sub-menu allows the user to swap the left and right functions.
1. From the Main Menu press ‘NEXT’ until the screen reads :
* * MAIN MENU * * Joystick reverse
No
NEXT SWAP
2. Pressing ‘SWAP’ toggles the parameter between ‘Yes’ and ‘No’.3. If set to 'No', a left and right selection causes a left and right turn, respectively.
If set to 'Yes', a left and right selection produces the opposite effect. Forward and reverse functions are not affected.
This parameter is identical to the Wizard parameter Reverse UCM Joystick.
To Enable Technician Mode
Access to the Technician Mode is required to be able to enter the ‘View or Edit Remote Module’ and ‘View or Edit Power Module’ sub-menus.
1. From the Main Menu press 'NEXT' until the Technician Mode screen appears:
* * MAIN MENU * * Technician Mode disabled. Enable ?
NEXT YES
2. Press 'YES' and a screen will appear to enter the three digit password.Technician Mode Enter Password
0 0 0
EXIT D1 D2 D3
3. Press the D1, D2 and D3 buttons to cycle each digit through to the correct
4. Press ‘YES’ until the screen reads :
* * MAIN MENU * * Technician Mode enabled. Disable ?
NEXT YES
Pressing ‘YES’ toggles this screen between Technician Mode Enabled and Technician Mode Disabled.
View or Edit Remote Module
Access to this sub-menu is required to calibrate joysticks.
Note : The Master Switch Interface is designed for use of switches, not joysticks.
For this reason joystick calibration is not required.
1. Enable the Technician Mode
2. Press 'NEXT’ in the main menu until the screen reads :
* * MAIN MENU * * View or edit Remote Module ? (Tech Only)
NEXT YES
Press 'YES'.3. The display reads:
JOYSTICK CALIBRATION
EXIT NEXT BEGIN
4. Press 'BEGIN'.
JOYSTICK CALIBRATION Rotate J/S
-> Neutral -> END
EXIT END
5.
Move the joystick around the outer physical extremities of the restrictor plate.Ensure that all corners are pressed into. Return the joystick to neutral.
6.
Press ‘END’ to end the sequence and return to the main menu. The calibration is saved.View or Edit Power Module
Use this sub-menu to change Veer and Load Compensation. Refer to the DX Power Module Manual for more information.
Saving HHP Changes
The HHP can be used to program the DX “on line” while the chair is being driven. This is extremely convenient, but should also be done with extreme caution, as small changes can make potentially big differences in wheelchair performance. Remember to select ‘Exit’ prior to disconnecting the HHP for changes to be saved.
8 WIZARD PROGRAMMING
The Wizard is the programming tool used by wheelchair manufacturers to define both the performance and setup of a wheelchair. It is especially suited to programming production runs of identical wheelchairs or modules, or individual highly customised wheelchairs. The Wizard is available in two versions:
DX-WIZ-OEM Generally used by the wheelchair manufacturer. Suitable for programming a wide range of performance and set up parameters.
DX-WIZ-DLR Similar in function to the above, but with a reduced range of programmable options. This ensures that options that the manufacturer wishes to keep control of cannot be disturbed.
Parameters that may cause hazards or require special expertise to set are not available for adjustment.
Warning : The Wizard is a very powerful tool and as such requires well trained operators and a disciplined approach to usage and distribution.
It is up to the wheelchair manufacturer to determine whether they will allow distribution of the Wizard to dealers.
WIZARD Operation
Wizard operation is via Wizard software installed onto a Personal Computer (PC). Other essential components include a Dongle, which allows access to the software, and a cable that provides the link between PC and wheelchair. The software, dongle, cable and manual are all included as part of the Wizard kit.
Drive Program Parameters
As with the HHP, the Wizard can also be used to adjust all commonly adjusted Drive Program parameters.
Program (Profile) 6 is a special program that is automatically selected when an
Miscellaneous Parameters
The Wizard is also used to set up and configure other system devices not directly related to Drive Programs, including keypad, motor, and park brake options.
Note : The Master Switch Interface does not directly support the operation of either actuators or lighting. For actuator operation a DX-ARC (Actuator Remote Control) can be added to the system.
Some of these parameters can be viewed but not edited by a Wizard. Other parameters are further restricted from Editing/Viewing by lower privilege Wizards.
Master Switch Interface Drive Program Settings
Note : The Master Switch Interface supports one drive profile only, so changes to the following variables should be made in Program 1. Changes to Programs 2-5 will not have any effect.
High programmed values equal faster speeds, faster acceleration (shorter time to top speed), and faster deceleration (shorter braking distance). This is equally applicable whether it is forward, reverse or turning speeds.
Max Forward Speed * Range : 10 - 100% Default : 80
Sets the maximum speed obtainable when the user selects the forward command.Forward Acceleration * Range : 10 - 70% Default :
15 Sets the acceleration rate when the user selects the forward command.Warning : Setting the Acceleration / Deceleration too low or too high can result in an unsafe wheelchair. Test thoroughly after programming to ensure that the wheelchair complies with regulatory requirements such as ISO7176 and the GMD-TNO Homologation Directive R04 for maximum allowable braking distance.
Forward Deceleration * Range : 15 - 100% Default : 45
Sets the deceleration rate when the user de-activates the forward command.Max Reverse Speed * Range : 10 - 100% Default : 40
Reverse Acceleration * Range : 10 - 70% Default :
25 Sets the acceleration rate when the user selects the reverse command.Reverse Deceleration * Range : 15 - 100% Default : 45
Sets the deceleration rate when the user de-activates the reverse command.Max Turning Speed * Range : 10 - 100% Default : 30
Sets the maximum turning speed obtainable for left or right selections.Turning Acceleration * Range : 10 - 70% Default :
10 Sets the acceleration rate for left or right selections.Turning Deceleration * Range : 15 - 100% Default : 35
Sets the deceleration rate when the user de-activates the left or right commands.Damping Point* Range : 10 - 100% Default : 50
The Damping Point sets the compromise between joystick directness and wheelchair controllability. When there is a large change in joystick demand (either the user speeds up or slows down quickly), the acceleration rate (when speeding up quickly) or deceleration rate (when slowing down quickly) is reduced to provide a smoother performance. The higher the damping point the more the reduction in acceleration and deceleration rates.Warning : An unsuitably high or low value can make the wheelchair unstable.
Joystick Source* State : Local / Remote Default :
Local Selects whether the Drive Program will use the switches plugged directly to the Master Switch Interface or an external RJM based input control device.Local = switches plugged into Master Switch (see Option 1, Page 7) Remote = external RJM based DX Module (see Option 2 - Page 7)
Reverse Joystick * State: normal / reverse Default: normal
Reverses the direction of the left and right commands.Sleep Timeout Range : 1 - 15 min. Default : 15
Inactivity timeout. The DX system goes to step after 'x' minutes of inactivity, if enabled.Master Switch Keypad & Speed-pot Settings
Maximum Profile Number Range: 1-5 Default:
1 Only 1 Drive program is available with the Master Switch Interface. This must not be altered.Wrap profiles State: yes / no Default:
yes Must be set to ‘yes’. The Master Switch Interface does not use this facility.Change Prof Driving State: yes / no Default:
no Must be set to ‘no’. The Master Switch Interface does not use this facility.Allow non-driving profile State: yes / no Default:
no Must be set to ‘no’. The Master Switch Interface does not use this facility.Lock enable State: yes / no Default:
no Must be set to ‘no’. The Master Switch Interface does not use this facility.Speed Pot Scalar Range: 20 - 100% Default: 40
This adjusts the minimum speed that the Speed Control will select. 20% of full speed is the slowest that can be selected.Sleep Mode Enable State: on / off Default: on
Set to 'on' if Sleep Mode is required. System goes to sleep (partial power down) after [sleep timeout] minutes of inactivity. The DX system can be woken up by operating any of the driving controls.Master Switch Joystick Settings
Neutral Maximum Range: 10 - 50 Default: 10
Determines the neutral window size. Affects any joysticks used in the system.Adjust only in special cases.
Neutral to PB Delay Range: 20 - 5000 msec Default: 100
The delay between zero output speed and de-energising the Park Brake. It is dependant on the particular Park Brake mechanics and motor characteristics. It is set so as to minimise the jerk or roll back when parking on a slope. The jerk is also influenced by the Load Compensation setting in the PM.Reverse UCM J Stick State: normal /reverse Default: normal
Reverses the direction (left / right) of the Master Remote switches. If set to 'normal', left and right switch selections causes a left and right turn, respectively.If set to ‘reverse', left and right switch selections produces the opposite effect.
Forward and reverse is not affected.
ACU Enable State: yes / no Default: yes
Must be set to ‘yes’ for Attendant Control Unit (ACU) operation. The Master Switch Interface will automatically detect the presence of an ACU when the DX System in turned on. (View only, not adjustable by OEM.)Reverse ACU J Stick State: normal/reverse Default: normal
Reverses the direction (left / right) of the ACU joystick. If set to ‘normal', left and right joystick deflection causes a left and right turn, respectively.If set to 'reverse', left and right joystick deflection produces the opposite effect.
Forward and reverse is not affected. Used if the ACU is mounted upside down to maintain normal joystick sense.
RJM Enable State: yes / no Default: yes
Must be set to ‘yes’ for Remote Joystick Module (RJM) operation. The Master Switch Interface will automatically detect the presence of an RJM when the DX System in turned on. (View only, not adjustable by OEM.)Reverse RJM J Stick State: normal/reverse Default: normal
Reverses the direction (left / right) of the RJM joystick. If set to 'Norm', left and right joystick deflection causes a left and right turn, respectively.9 Diagnostics and Fault Finding
DX Master Switch Interface diagnostics can be examined in two ways:
• From Flash Codes signalled by the System Status LED on the Master Switch Interface, or
• By using the Wizard.
Flash Codes
Any fault condition on the DX system will cause the Master Switch Interface’s System Status LED 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. The title of the Flash Code fault is also displayed by the HHP if connected to the faulty wheelchair.
Faults that effect the safety of the chair will cause the chair to stop while less critical ones will be indicated but allow the chair to continue driving. Some faults will automatically clear when the fault condition is removed, in which case the System Status LED will become steady and the wheelchair may be driven normally. Others faults are latched and must be cleared by turning the DX System off, waiting for two seconds, turning it back on again.
DX System Status LED Flash Code
Likely Cause of Condition and Possible Action
1 DX Module Fault (see Limp Mode below) Cause:
Action
An Auto Download has occurred.
➨ Turn the Master Switch Interface off then on again.
Cause:
Action
The Master Switch Interface is not correctly programmed.
➨ Try reprogramming the Master Switch Interface.
Cause:
Action
Connection between DX Modules may be faulty, or there may be an internal fault in a Module.
➨ Check DXBUS connections and replace where necessary.
➨ If the Status LED on another Module is flashing, replace the Module.
➨ An expected module may not be present (e.g. the DX CLAM Module).
2 DX Accessory Fault Cause:
Action
There is a fault in an accessory device attached to a DX Module (excluding the PM). Examples of faults in accessory devices may be : the clutch is, or has been, disengaged; a light bulb is short or open circuit; an actuator terminal is shorted to Battery +.
➨ Check all accessory devices connected to your DX System.
3 Left (M1) Motor Fault Cause:
Action
The connection from the PM left (M1) connector to its associated motor, or the motor itself, is
defective. The connection is either open or short circuit.
➨ Disconnect the left motor plug and check continuity between the motor pins on M1.
4 Right (M2) Motor Fault Cause:
Action
The connection from the PM right (M2) connector to its associated motor, or the motor itself, Is defective. The connection is either open or short circuit.
➨ Disconnect the right motor plug and check continuity between the motor pins on M2.
5 Left (M1) Park Brake Fault
Cause: The M1 plug connection to its associated Park brake is either open or short circuit.
6 Right (M2.) Park Brake Fault Cause:
Action
The M2. Plug connection to its associated Park brake is either open or short circuit.
➨ Disconnect the M2. plug and check continuity between the two Positronic park brake pins.
7 Low Battery Fault Cause:
Action
The battery charge is not sufficient to allow safe driving. It has fallen below 17V
➨ Check battery connection and terminals. The battery voltage should be similar when the batty is on charge, and when it isn’t. Check that fuses have not blown, or circuit breakers tripped. Replace battery if worn out or if capacity is insufficient for the user’s needs.
Note: The wheelchair will behave sluggishly and the Battery Gauge will flash indicating low battery voltage prior to the display of this fault.
8 Overvoltage Fault Cause:
Action
Cause:
Action
The battery voltage has exceeded 32V.
➨ If this fault occurs during battery charging, the battery charger is defective or incorrectly adjusted.
➨ Check the battery chargers open circuit voltage is in accordance with the battery manufacturers limits, and is less than 32V.
The battery connector is making intermittent contact when the wheelchair is stopped, or travelling down a slope.
➨ Check that the battery wiring and terminating is secure.
9 CANL Fault (see Limp Mode below) Cause:
Action
1. An invalid voltage has been detected on the DXBUS CANL line.
2. Communication is not possible using the CANL wire.
➨ 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.
10 CANH Fault (see Limp Mode below)
Cause 1. An invalid voltage has been detected on the DXBUS CANH line.
2. Communication is not possible using the CANH wire, or the CANH and CANL wires are shorted together.
3. Hazard lights were turned on when the DX System was turned on.
4. The CANH is used to generate a Kill signal by any DX Module which detects an unsafe condition, or by an external device such as an emergency stop switch.
The CANH wire is pulled to either Battery + or Battery - and causes the DX System to shut down.
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.
➨ If generated by a Kill signal, the cause of the fault is severe.
11 Stall Timeout Fault
Cause: The motor current has been at, or close to, current limit for longer than the Stall Timeout parameter value.
12 Module Mismatch
Cause: There is a compatibility problem between DX Modules in the System. The wheelchair will be disabled.
Action ➨ Consult your Dynamic Service Centre.
Cause: The data held by the Master Switch Interface for another DX Module is corrupt or incompatible with that module.
Limp Mode
If the DX System detects some faults, it will revert to Limp Mode. This is a reduced speed mode that recognises problems, but allows the wheelchair user to limp home, where the problem can be assessed. Some examples of Limp Mode are:
1. Power Module EPROM Fault
On detection of this fault, all speed parameters are reduced to one half of their programmed value; the Current Limit is reduced; and the Load Compensation is set to zero. This may occur with Flash Code 1, and the PM Status LED will also flash.
2. Remote (UCM) EEPROM Fault
On detection of this fault, maximum speed is set to a known and low gain value. Load Compensation and Current Limit are not affected. This fault will also cause Flash Code 1 to be displayed and the Master Switch Interface’
Remote Status LED will also flash.
3. Communications Fault
If the DXBUS goes into single wire mode (CANL or CANH are unstable or shorted), all speed parameters are reduced to one half of their programmed value. This may occur with Flash codes 9 and 10.
WIZARD Diagnostics
The Wizard can also be used to provide more detailed information about the fault.
Status Report
Status report gives you the current status of the wheelchair, including faults and other warning conditions currently active.
1. To view Status Report - from the ‘Diagnostics’ menu, select ‘Status Report’, or alternatively click on the ‘Diagnose Status Report’ icon.
2. To print Status Report - from the ‘Diagnostics’ menu, select ‘Print Report’, or alternatively click on the ‘Diagnose Print Report’ icon. This will display the Current Status for both the Master Switch Interface (UCM Remote) and Power Module.
Fault History
Fault history displays all faults and warning conditions recorded for the wheelchair since the Fault History was last erased.
1. To view Fault History - from the ‘Diagnostics’ menu, select ‘View Chair log’.
2. To erase Fault History - from the ‘Diagnostics’ menu, select ‘Erase Chair Log’.
3. To print Fault History - from the ‘Diagnostics’ menu, select ‘Print Report’, or alternatively click on the ‘Diagnose Print Report’ icon. This will display the Event log for both the Master Switch Interface (UCM Remote) and Power Module.
HHP Diagnostics
Although not as comprehensive as the Wizard diagnostics, brief explanations of faults can also be obtained by plugging the HHP Programmer into the DX System while the fault condition exists.
10 Maintenance
1. All vehicle components should be regularly checked for loose, damaged or corroded connectors, terminals, or cabling. All cables should be restrained to protect them from damage. Damaged components should be replaced.
2. All switchable functions at the Dynamic Electronics System should be regularly tested to ensure they function correctly.
3. All Dynamic Electronic 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 Dynamic Electronic Component - do not attempt to open any case or undertake any repairs as warranty claims will be affected.
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.
11 Safety and Misuse Warnings
Warnings to be included in the User Manual
The following warnings are applicable to both the installer and the user, and must be passed on to the end user before use of the product.
• Do not install, maintain or operate this equipment without reading,
understanding and following the proper instructions and manuals, otherwise injury or damage may result.
• A warning must be conveyed to the operator that they have the responsibility to ensure that the vehicle is kept in a good safe operating condition, and ensure that components, such as cables, are protected from damage be securing them in optimum positions.
• Users and suppliers of Assistive Mobility products should give consideration to the possibility of a failure to operate, or an incorrect operation, by the product. Should an operator be left with limited or no mobility due to an equipment failure, they should still be able to summon assistance from where ever they may be.
• A warning must be conveyed to the operator that the controller could cause the chair to come to sudden stop. In situations where this may affect the safety of the operator, this will require the fitting and wearing of a seat belt.
• Performance adjustments should only be made by professionals of the health care field or persons fully conversant with this process and the operators capabilities. Incorrect settings could cause injury to the operator or bystanders, or damage to the vehicle or surrounding property.
• Incorrect or inappropriate programming can put the wheelchair into a dangerous state. Dynamic Controls accepts no responsibility of liability for accidents caused by incorrect programming. This Programming section and the Dynamic Wizard Installation Sheet / Online Help must be read and understood before attempting to program the controller.
moving in a direction or speed that is not intended. Programmers should consider this risk when programming setting other than default.
• When the controller is replaced it will be loaded with default parameters.
This may result in incorrect and dangerous programming for a particular wheelchair system if the wheelchair program installed in the Commando is not suitable for that wheelchair system.
• Do not attempt to drive or test the controller before the correct and suitable wheelchair program has been installed using the Wizard.
• The user should turn the system off while getting in and out of the wheelchair.
• Ensure the vehicle is turned off when not in use.
• Do not operate the vehicle if it behaves erratically, or shows abnormal response, heating, smoke or arcing. Turn the system off at once and consult your Service Agent.
• Do not operate the vehicle if the battery is nearly flat as a dangerous situation may result due to loss of power in an inopportune place.
• The controller should not be operated when the temperature is below -25°C or above 50°C.
• The wheelchair must not be driven when the manual park brake release is operated.
• The manual park brake release should not be operated on a slope.
• If the wheelchair drives without demand, press the On/Off switch.
• No connector pins should be touched as contamination or damage due to electrostatic discharge may result.
• Most electronic equipment is influenced by Radio Frequency Interference (RFI). Caution should be exercised with regard to the use of portable communications equipment in the area around such equipment. While Dynamic Controls Ltd. has made every effort to ensure that RFI does not cause problems, very strong signals could still cause a problem. If RFI causes erratic behaviour, turn the vehicle off immediately. Leave off while
transmission is in progress. Turn your wheelchair of scooter off before using your cell phone or portable communication devices.
• In the event of a fault indicator flashing while driving (battery gauge and/or Status LED), the operator must insure that the system is behaving normally. If not, the system must be turned off and a service agent contacted.
• Report any malfunctions immediately to your Service Agent.
Service and Configuration Warnings
• The following warnings are applicable to the installation technician only.
• Ensure that the programmed wheelchair complies with all prevailing regulatory requirements for your country and application.
• The completed installation must be thoroughly checked and all
programmable options correctly adjusted for safe operation prior to use.
• After the vehicle has been configured, check to make sure the vehicle performs to the specifications entered in the programming procedure. If the vehicle does not perform to specifications, turn the vehicle off immediately and re-program. Repeat this procedure until the vehicle performs to specifications.
12 Electromagnetic Compatibility (EMC)
Dynamic Electronic Controllers have been tested on typical vehicles to confirm compliance with the following EMC standards:
Emissions: CISPR22, class B
Susceptibility: IEC1000-4-3
ESD: IEC1000-4-2
Compliance levels and set-up as per ISO 7176, part 21.
National and international directives require confirmation of compliance on particular vehicles. Since EMC is dependant on the particular installation, each variation must be tested. The guidelines in this section are written to assist with meeting EMC requirements.
Minimising Emissions
Motors Motor brushes generate electromagnetic emissions. It may be necessary to fit capacitors between the brush holders and the motor case. Ensure the leads are kept as short as possible. A suitable capacitor is 4n7, 250V Ceramic.
Wiring Keep wire lengths as short as practical for a tidy layout.
Minimise any wire loops, particularly loops of single wires as opposed to wire return pairs.
Endeavour to run wires as send and return pairs.
Where practical, attach cables to wheelchair frame.
Immunity to Radiated Fields
Follow the wiring recommendations for minimising emissions.
Immunity to ESD
Follow the wiring recommendations for minimising emissions.
Ensure all vehicle sub-frames and modules are electrically connected.
Ensure any metal casing on speed setting potentiometers is electrically connected to the vehicle frame.
Do not leave connection points unnecessarily exposed.
13 International Standards
Dynamic Controls products built today allow our customers' vehicles to conform to national and international requirements. In particular to:
ISO7176-9 Climatic Tests for Electric Wheelchairs
ISO7176-14 Power and Control Systems for Electric Wheelchairs ISO7176-21 Requirements and test Methods for Electromagnetic
Compatibility of Electric Powered Wheelchairs and Scooters.
However the performance of controllers fitted to wheelchairs and scooters is very dependent on the design of the scooter or wheelchair. Final compliance must be obtained by the vehicle manufacturer for their particular vehicle. No component compliance certificate issued by Dynamic Controls relieves a wheelchair/scooter manufacturer from compliance testing their particular vehicles.
14 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 the warranty period, 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.
15 Sales and Service Information
For Sales and Service advice, or in case of difficulty, please contact:
16 Appendix A : Specifications
Electrical
Compatible with standard DXBUS
Operating voltage range 18V - 32 V d.c.
Charger rating 12A continuous, limited by DX BUS rating.
Quiescent Current <1mA Off, typically 100mA On
Mechanical
Weight: 350 grams
Mounting: As per Installation section 6, Mounting Case material: Black, powder coated, aluminium
Environmental
Parameter Min Max Units
Operating ambient temperature range -25 50 °C
Storage temperature range -25 70 °C
Operating and storage humidity 0 90 %RH
Environmental Rating IP54
Durability ISO7176 part 14 (pending).
Vibration Specification BS2011: part 2Fd and BS7527: section 3.5,
class 5M3.
[Refer also to section 14, Electromagnetic Compatibility (EMC)] Abbreviations
17 Appendix B : Abbreviations
Abbreviation Expansion / Explanation
ACU Attendant Control Unit. A DX Module containing a joystick that is used by someone other than the person in the wheelchair to control the wheelchair.
ARC Actuator Remote Control. A DX Module consisting of buttons to control up to five actuators.
CAN Controller Area Network
CANH Controller Area Network High line. One of the four wires which make up the DXBUS.
CANL Controller Area Network Low line. One of the four wires that make up the DXBUS.
CLAM Combined Lighting and Actuator Module. A DX Module with five actuator and three lighting outputs.
DX Dynamic Control Modular Mobility System
DXBUS The DX System communication CAN communication lines plus power supply to DX Modules.
ESD Electrostatic Discharge
HHP Hand Held Programmer. The HHP can be used by both DX System and all DLxxUxxx Controllers.
ISO International Standards Organisation
LED Light Emitting Diode
Abbreviation Expansion / Explanation
OONAPU Out Of Neutral At Power Up. A fault condition produced if the DX System is turned on while the joystick is not in the neutral (non-driving) position.
PC Personal Computer
PCD/WIZARD A Programming Configuration Diagnostics tool used by the DX System.
PMB/PM DX Power Module. The DX Module that produces the DX System output to the motors and park brakes.
RFI Radio Frequency Interference.
RJM Remote Joystick Module. A DX Module that contains a joystick only, and can be used to control the wheelchair instead of the DX Remote used in the DX System.
SLM Servo Lighting Module. A DX Module that provides steering control to a servo wheelchair. It also has lighting outputs.
TAM Two Actuator Module. A DX Module with two actuator outputs.
TÜV A German Safety Standards Authority.
UCM User Control Module. The core component of all DX Remotes. The name is sometime used interchangeably with DX Remote.
