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VR2 TECHNICAL MANUAL SK77898/4

1. cccecsececcececeececeecs 51 2 10 Minimum Acceleration ccccccscecscecescscesccess 51 2 11 Minimum Deceleration cccccecescecscsceceeeseecs 52 2 12 Minimum Turn Acceleration ccsccscescscescscess 52 2 13 Minimum Turn Deceleration cccecececeeceeees 52 3 Actuator Parameters cscececorecorerererererers 53 3 1 Number OF Actuators wi cccscccciscciscucessassesbedocescansaseuees 53 3 2 Actuator 1 End Force aenenunernenennvnvevnenennnnvennenennner 53 3 3 Actuator 1 Current Limit Time Out 0 53 3 4 Actuator 2 End FOrce rsrnannnnnnrnenevnnnvnenennvnnnnnenennner 53 3 5 3 6 3 7 3 8 4 1 4 2 4 3 4 4 4 5 4 6 4 7 5 1 5 2 5 3 5 4 Bud 5 6 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 6 13 6 14 6 15 6 16 6 17 Actuator 2 Current Limit Time Out 54 Actuator Selection with Joystick rrrronnrrrrnrnnnnrrr 54 Actuator End Stop Detection rrrarrrnnnnrrnnnnrnnnnennn 54 Actuator End Stop Bleep cccssseecceseeeeeeeeeees 54 Operation Parametelrs ccccseccseeeseeeeeeees 54 EE JE EE 54 INST se 55 Invert Joystick rrrrnnnnrrnrnnnnrrrnnnnnnerrnrnnnnrrnnnnnnnsrnnnnn 55 Stoer COMECE EE ET 55 Switch Bleep Volume rrrrrrnnnnnrrnnnnnnnrrnnnnnnsrrnnsnnner 55 Speed Adjustment while Driving rronrrrnnnnrrnnnnnrre 55 Service Timer rrrasnnarnnnrnnnnnavnnnvnnnrnavnnnvnnsvnnsene
2. Left Motor Disconnected 102 Trip Type 3 Left Motor Wiring Trip rrnnnnnnrrr 102 Trip Type 4 Right Motor Disconnected 102 Trip Type 5 Right Motor Wiring Trip 102 Trip Type 6 Charger Connected c 00000 103 Trip Type 7 Possible Joystick Trip seeeee 103 Trip Type 8 Possible Control System Trip 104 Trip Type 9 Solenoid Brake Trip ccccseeeeees 104 Trip Type 10 High Battery Voltage 0 104 Joystick Displaced at Power up scccceeseeeees 104 Communications ELOP ccseccsscceececeecceceaeeenees 104 Inhibit 2 Active svada 105 Inhibit 3 ACtive rrrnonnrrrnnnnnnrrnnrnnnnrrnnnnnnnrrnnnnnnneene 105 Actuator Motor Wiring Trip e essssssssssssesresessessees 105 Timed Foldback Active ccccccccsssseceeeseeeeeeeeess 105 Thermal Foldback Active ccccccccsssseeeeeeeeeeees 105 Controller in Sleep Mode rrrnnnrrnnnnnnnrrnnnnnnnnrnnnnn 106 Attendant Module Trip rrronnnrrnnrnnnnrrrnnnnnnrrnnnnnnrr 106 Baseless ete cree E eee ere ere eee 107 General Inspection cccssecccceeseeceeeseeseeeseesees 107 AKT 107 Drive Test wssocasasccdessnvandasncnayatenanagadencaabasevesbaavaanects 107 Gredentest car wacsncs arena 108 node 109 Wannes I 109 Driving Technique srrrrnnnnnnrrnnnnnnnrrnnnnnnnrrnnnnnnssene 109 1 1740 0 JE EN E 109 How to Read a TruCharge Battery
3. On Off Button I Speed Profile Increase E Button Horn Button Actuator Button Lights Button Hazards Button Indicator Buttons 78 VR2 Technical Manual Chapter 5 Lighting Module PG Drives Technology 2 2 LIGHT BUTTON INDICATOR To turn on the wheelchair s lights operate this button the associated LED will illuminate continuously If the LED flashes a short circuit in the lighting circuit has been detected Depress the light button to turn off the lights and associated LED 2 3 LEFT TURN INDICATOR BUTTON AND LED To turn on the wheelchair s left turn indicator operate this button the associated LED will flash at the same rate synchronously with the indicator If the LED flashes rapidly either a total short circuit a single lamp open circuit or a total open circuit in the left side indicator circuit has been detected Depress the left indicator button to turn off the indicators and associated LED 2 4 RIGHT TURN INDICATOR BUTTON AND LED To turn on the wheelchair s right turn indicator operate this button the associated LED will flash at the same rate synchronously with the indicator If the LED flashes rapidly either a short circuit a single lamp open circuit or an open circuit in the right side indicator circuit has been detected Depress the right indicator button to turn off the indicators and associated LED 2 5 HAZARD WARNING BUTTON AND LED To turn on the wheelchai
4. Only use the exact tools as specified For details of automatic crimp tools contact Inconnect 30 VR2 Technical Manual Chapter 2 Installation PG Drives Technology 5 WIRING 5 1 GENERAL Study the data sheet for the control system to identify e The output current ratings and restrictions e The connector pin assignments Recommendations for the cross sectional area ratings and materials for wiring are given in the table in section 5 2 These are dependent on the application You are responsible for establishing the suitability of the particular wiring arrangement used on the wheelchair PGDT can make general recommendations for wiring for VR2 control systems but PGDT accepts no responsibility for the wiring arrangement used Make sure that the connectors you use are reliable under all operating conditions and correctly wired with no short circuits Do not use unsuitable components it may result in poor wheelchair reliability the wheelchair for both normal use and stalled conditions PGDT can make general recommendations for wiring of The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on VR2 control systems but PGDT accepts no responsibility or liability for losses of any kind arising from the actual wiring arrangement used The chair manufacturer is responsible for ensuring that only the mating connectors specified by PGDT on the control system s spe
5. Chapter 4 Programming PG Drives Technology Turn Deceleration 80 and Minimum Turn Deceleration 25 Turn Deceleration at step 1 25 of 80 20 Speed settings 2 3 and 4 will interpolate linearly between 20 and 80 Turn Deceleration at step 2 35 Turn Deceleration at step 3 50 Turn Deceleration at step 4 65 3 ACTUATOR PARAMETERS 3 1 NUMBER OF ACTUATORS Set s the number of actuators to be connected to the VR2 control system This value must be set correctly in order to get the most informative and user friendly method of actuator control It is adjustable between 0 2 actuators in steps of 1 3 2 ACTUATOR 1 END FORCE Adjusts the operating force of actuator channel 1 The reason this is programmable is to provide an automatic shut off of an actuator motor at the end position The value is adjustable between 1 and 5 A higher value gives a higher force The value should be chosen so that the actuator can move under its heaviest load condition but will shut off automatically when stalled at the end stop 3 3 ACTUATOR 1 CURRENT LIMIT TIME OUT This adjusts the length of time the control system will apply current to the actuator motor once it has reached its End Force current limit It is adjustable between 50ms and 500ms in steps of 10ms 3 4 ACTUATOR 2 END FORCE Adjusts the operating force of actuator channel 2 The reason this is programmable is to provide an automatic shut off of an actuator motor at the end po
6. For this reason the Lighting Module should be fixed in a position where it cannot be touched by the wheelchair user 3 2 CONNECTION The lighting module has three connector sockets Refer to the illustration in section 3 1 3 2 1 SOCKET 1 This socket accepts a Hirose DF7 series 3 way connector for the control of the LEFT side lights Refer to the illustration in section 3 4 for details 80 VR2 Technical Manual Chapter 5 Lighting Module PG Drives Technology P Pere Cocco Pc cr rece errr eter roe corer cer re eer c reece eee cu rte eee u re arueur ure uueureueurecuuueccuucrcceeouucc mesure meee r green rcuuucurcuueuurcuuuuseuureuuruuruuuurereuueureuucr cre ucrrrrueu ccc mecc rc sreuur eeu sen ree eueurcuueuur cr eueueuureuur cc reuerureuuuccceecr rere eeurrmeccrcreueu recuse r erreur rcreeurrgureun ccc eeucrreeuer rec eeeeereeueuceeecuceeeuann 3 2 2 SOCKET 2 This socket accepts a Hirose DF7 series 3 way connector for the control of the RIGHT side lights Refer to the illustration in section 3 4 for details EEE 3 2 3 SOCKET 3 This socket is the power and communications connection from the VR2 L and accepts the lighting module connection from the VR2 L spur This socket has no identification number 3 3 OUTPUT The maximum current ratings of the Indicator and Lighting outputs are as stated below INDICATORS 3 5A LIGHTS 1 75A O These outputs are self protecting and do not require fuses or circuit breakers
7. Lighting Module To Power Module 3 4 WIRING For lighting module sockets 1 and 2 only use the exact parts specified below for the mating connector Refer to the following illustration for more detail VR2 Technical Manual Chapter 5 Lighting Module 81 PG Drives Technology HRS part numbers Housing DF7 3S 3 96C Crimps DF7 1618SCF PG Drives Technology Connector Boot P76720 As an alternative a complete kit can be purchased from PG Drives Technology PG Drives Technology 3 Way Connector Kit D50301 PGDT recommends the use of 0 75 mm 20 AWG Tri Rated Equipment wire or equivalent Secure all cables to the wheelchair frame over as much of their length as is practical PGDT accepts no liability for losses of any kind arising from damage to or failure of the wheelchair lighting system including any associated wiring It is the responsibility of the wheelchair manufacturer to ensure that the lighting system wiring complies with all relevant standards Lighting Module Wiring Detail I LIGHTS VR2 INDICATORS Tf Connection Function Pin Ground een Pin2 Lights ee Pin3 Indicators 82 VR2 Technical Manual Chapter 5 Lighting Module PG Drives Technology 4 PROGRAMMING The VR2 L contains 3 extra programmable parameters which are described below 4 1 LAMP VOLTAGE Adjusts the operating voltage for the wheelchair s lighting system You can select either 12V or 24V The whee
8. Warning Summary 111 PG Drives Technology 2 12 CRIMPING Defective or poor quality crimps may affect the warranty of the controller PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 4 1 2 13 WIRING GENERAL The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair for both normal use and stalled conditions PGDT can make general recommendations for wiring of VR2 control systems but PGDT accepts no responsibility or liability for losses of any kind arising from the actual wiring arrangement used The chair manufacturer is responsible for ensuring that only the mating connectors specified by PGDT on the control system s specific data sheet are used to connect to the control system PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for ensuring that suitable connectors are used and securely mated throughout the chair wiring system and also for the quality of the wiring system Failure to meet this condition could result in intermittent operation sudden stopping or veering and even create a burn or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 5 1 N 14 BATTERY WIRING The chair manufacturer must install a
9. kind arising from failure to comply with this condition VR2 Technical Manual Chapter 8 Warning Summary 113 PG Drives Technology The chair manufacturer is responsible for ensuring that suitable connectors are used and securely mated throughout the chair wiring system and that the workmanship associated with the wiring system is of a good enough quality Failure to meet this condition could result in intermittent operation sudden stopping or veering or even create a burn or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 3 section 4 1 WIRE GAUGES The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair for both normal use and stalled conditions PGDT can make general recommendations for wiring for control systems but PGDT accepts no responsibility for and accepts no liability for losses of any kind arising from the actual wiring arrangement used Chapter 3 section 4 3 BATTERY WIRING The chair manufacturer must install a suitable circuit breaker to provide protection against short circuits in the battery wiring power loom or the control system Failure to comply with this could result in a fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 3 section 4 4 N N N BATTERY CHARGING Do not excee
10. the capacitance value should not exceed 10nF Section 13 gives more details 36 VR2 Technical Manual Chapter 2 Installation 11 PG Drives Technology PRODUCTION TESTS Perform the following tests in order on each wheelchair before dispatch 11 1 11 2 11 3 11 4 These tests should be conducted in an open space and a restraining device such as a seat belt should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition MOUNTING Make sure that all the control system is securely mounted Do not over tighten any securing screws CABLES AND CONNECTORS Check all cables and connectors for damage Make sure that all connectors are securely mated JOYSTICK AND GAITER Check that the joystick is not bent or damaged Check the thin rubber gaiter or boot around the base of the joystick shaft for damage or splitting Check visually only do not handle the gaiter Check that the joystick returns to the center position when you push and release it PRESET SETTINGS Make sure that the control system is using the preset settings Refer to chapter 3 for detailed instructions Control Systems are always supplied with the settings shown on the relevant data sheet 11 5 OPERATIONAL TEST This test should be carried out on a level floor with at least one meter clear space around the wheelchair Switch on the control system Check that the battery gauge rem
11. Actuators D51425 VR2 PM 60 60A Output No Actuators D51426 VR2 JSM VR2 Joystick Module with No Actuator Control D51427 Joystick Module D51427 Power Module D51425 D51426 The Power Modules D51245 and D51426 can only be used in conjunction with Joystick Module D51427 described in this chapter VR2 Technical Manual Chapter 3 VR2 PM50 60 VR2 JSM 41 PG Drives Technology All the controls are common as previously described in Chapter 1 All information regarding handling advice cleaning requirements and overall control described in Chapter 1 should be followed Joystick Module Joystick Control Panel Charger 6A Only and Programmer Socket Control Paneal Controls 00000 Battery Gauge Maximum Speed Profile Indicator Speed Profile Decrease Button On Off Button i E Speed Profile Increase Button Horn Button 000009 amp 42 VR2 Technical Manual Chapter 3 VR2 PM50 60 VR2 JSM PG Drives Technology 3 MOUNTING AND INSTALLATION 3 1 JOYSTICK MODULE MOUNTING The Joystick Module D51427 dimensions and mounting hole positioning is the same as previously described in Chapter 2 3 2 POWER MODULE MOUNTING The Power Modules D51425 and D51426 dimensions are different as shown in the following diagram The Modules can however be mounted as per the instructions in Chapter 2 JE t 4 POWER MODULE WIRING 4 1 GENERAL Study the
12. Do not expose your control system or its components to damp for prolonged periods If the control system becomes contaminated with food or drink clean it off as soon as possible 2 3 CLEANING Clean the control system and the joystick with a cloth dampened with diluted detergent Be careful when cleaning the joystick Never use abrasive or spirit based cleaners VR2 Technical Manual Chapter 1 Operation 9 PG Drives Technology 3 CONTROLS The VR2 control system has four versions of the front control panel with and without actuator control Most of the controls are common to all versions however the actuator buttons are only included on VR2 control systems with seat actuator control Each of the controls is explained within this section For Lighting controls refer to Chapter 5 Joystick Module Joystick Control Panel Charger and Control Paneal Variants No Actuator Programmer Socket With Actuators Controls po0P 09 Battery Gauge O Maximum Speed Profile Indicator On Off Button Speed Profile Decrease Button z Speed Profile Increase a Button Horn Button Actuator Buttons 10 VR2 Technical Manual Chapter 1 Operation PG Drives Technology 3 1 ON OFF BUTTON AND BATTERY GAUGE The on off button applies power to the control system electronics which in turn supply power to the wheelchair s motors Do not use the on off button to stop the wheelchair un
13. Gauge 110 Battery Charging cccccsscccsssscccesseecseseseeseeeess 110 PG Drives Technology 25 POP FoI EE rn 110 2 6 Joystick KOS scsscccccerstascqusuncscosns epanesetanescnntesectneds 111 2 7 NS 111 2 8 Ve 111 2 9 Program Settings cccsccssscsseccssccessccesscesseeeeeees 111 2 10 Charger Interlock rrnnnnnrnnnnnnrnrnnnrrnrnnnrnnnnnnrnnnnnr 111 PN 111 212 CUO sscadacantertaccsaatdeecsaarteathestdevendomsncamisanhacesantere 112 2 13 Wiring General r rrrrerrnnrrrrnrrnnnnrrrrnrnnnrrrnnnnn 112 2 14 Battery WINE sncsstagtontsontancsstevdaatsandiconsidantesatexesnnans 112 215 DINE MO serenan a A EEN 112 2 16 Off board Charging ccccsssscccccsssseceeceeseeeeeeeees 113 2 17 On board Charging ccssseccccsssseeeeeeceeeeeeeeseees 113 2 18 Production Test cccccccsseccccsescceeeseeeseeeseesaaees 113 TE Nr 113 220 Wire gaues errereen niar N S 114 2 21 Battery Wiring ssssssessessesserssessessersseesrrssessesseese 114 2 22 Battery Charging cccccccsssccccssscccssssecseseseeseeees 114 2 23 Programming Introduction ccccccseeeeeeeeees 114 2 24 Safety ENE Jest 115 2 25 Brake Fault Detect rrrrnnnnrrnnnnnnrrrrnrnnnrrrnnrnnnnnrnnnnn 115 226 uren IMS nssr E dens 115 2 27 Motor Compensation rrnnnrnnnrnnnnrnnnvnnnnrnnnennnurnnnee 115 220 TUNE 115 2 29 Tremor Damping rrrwrrnnrrnnnrnnnrnnnrrnnnrnnnnrnnnernnurnnnee 116 20
14. IN DRIVE This sets whether the PM Inhibit input is interrogated just at entry into Drive or constantly during Drive The programmable options are Yes and No If set to Yes the input will only be interrogated at entry into Drive An example of when this function may be useful is if a tilt sensor is used that could be inadvertently operated when driving over rough terrain By employing this function an inhibit will only be applied if Drive is entered with the seat in a genuinely tilted position If set to No the input will be interrogated constantly during Drive i e normal inhibit operation 6 17 DISABLE INHIBIT 3 IN DRIVE This sets whether the PM Inhibit input is interrogated just at entry into Drive or constantly during Drive The programmable options are Yes and No If set to Yes the input will only be interrogated at entry into Drive An example of when this function may be useful is if a tilt sensor is used that could be inadvertently operated when driving over rough terrain By employing this function an inhibit will only be applied if Drive is entered with the seat in a genuinely tilted position If set to No the input will be interrogated constantly during Drive i e normal inhibit operation 7 GENERAL PARAMETERS 7 1 FAST BRAKE RATE Adjusts the deceleration rate used while fast braking Fast braking is when the joystick is pulled to the reverse position to make a faster stop Adjustable between 0 and 200 in steps of 1
15. Ned 116 LoL EN 116 2 32 Servicing Introduction rronnrnnnnnrrnrnnnrrnnnnnrnnnnnr 116 2 33 Diagnostics Introduction rrrrarrnranrrnnnrrnnnrrnnnvennn 116 2 34 Batteries Discharge Very Quickly rrrnnnnnronnnre 116 gt NS 117 2 36 Gradient Test rrrnnnnnrrnnnnnrnnnnnnrnrnnnrrnrnnnrrnnnnernnnner 117 2 36 Servicing of Defective Units rrrrrnnnnrrrnnrnnnrrrrnnnn 117 1 Electrical Specifications ccccceeecceeeeeeees 119 1 1 VR2 50 60 70 Se 90 wascssccsancvincdussnennensamaviacesdeues advance 119 1 2 VR2 PM 50 amp VR2 PM 60 cecceeceeeceeseeeceeeees 120 1 3 EMC tested on sample wheelchair cc00 120 VR2 Technical Manual 7 PG Drives Technology ABOUT THIS MANUAL The Technical Manual gives an introduction to the VR2 Control System Throughout the manual icons are used to draw the reader s attention The icons used are Note A general point for best practice Caution A point of safety which if ignored could result in damage to the Control System or the vehicle Warning A point of safety which if ignored could cause injury to the individual PG Drives Technology accepts no liability for any losses of any kind if the points are not followed 8 VR2 Technical Manual PG Drives Technology CHAPTER 1 OPERATION 1 INTRODUCTION The relevant contents of this chapter should be included in the wheelchair operating guide Further copies are available from
16. PGDT in either written or disk Adobe PDF format Copies should not be made without the express permission of PG Drives Technology The operation of the VR2 varies dependent on programming This chapter covers all types of operation It is the responsibility of the wheelchair manufacturer to ensure that only the relevant sections of this chapter are included in the wheelchair s operating manual The operation of the VR2 wheelchair control system is simple and easy to understand The control system incorporates state of the art electronics the result of many years of research to provide you with ease of use and a very high level of safety In common with other electronic equipment correct handling and operation of the unit will ensure maximum reliability Please read this chapter carefully it will help you to keep your wheelchair reliable and safe 2 GENERAL 2 1 HANDLING Avoid knocking your control system and especially the joystick Be careful not to strike obstacles with the control system or joystick when you drive Never drop the control system When transporting your wheelchair make sure that the control system is well protected Avoid damage to cables 2 2 OPERATING CONDITIONS Your control system uses industrial grade components throughout ensuring reliable operation in a wide range of conditions However you will improve the reliability of the control system if you keep exposure to extreme conditions to a minimum
17. arising from an incorrect or badly effected repair Chapter 7 section 2 1 BATTERIES DISCHARGE VERY QUICKLY The ambient temperature has a significant effect on battery capacity Therefore if the temperature is lower than normal the wheelchair s range will be reduced In this situation the TruCharge battery gauge still gives an accurate state of charge reading Chapter 7 section 2 4 5 116 VR2 Technical Manual Chapter 8 Warning Summary N N 36 PG Drives Technology BASIC TESTS These tests are a minimum recommendation only It is the responsibility of the service person s to perform other tests relevant to the original trip and wheelchair type are carried out Refer to the wheelchair s Technical Manual for exact information of other tests PGDT accept no liability for losses of any kind arising from the carrying out of the described tests or from not carrying out additional relevant tests These tests should be conducted in an open space and a restraining device such as a seat belt should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 7 section 4 GRADIENT TEST Before carrying out this test ensure another person is present to prevent the wheelchair from tipping backwards Chapter 7 section 4 4 SERVICING OF DEFECTIVE UNITS Any replacement work carried out without the wheelchair manufacturer s permission will invalidate the co
18. as possible We recommend a value of 4n7F 250V AC ceramic The maximum value you should use is 10nF A typical type is Roderstein WY0472MCMCFOK For 4 pole motors a capacitor should be fitted between each pair of brushes 12 1 2 CABLES You do not need to use screened battery and motor looms but e Keep the length of all wiring to a minimum e Make sure the loop area of the wiring is minimized Route the positive and negative wires to each motor together e Route the battery positive and negative wires together Where possible route the battery and motor looms together e Secure the motor and battery looms to the wheelchair frame over as much of their length as is practical 38 VR2 Technical Manual Chapter 2 Installation PG Drives Technology 12 2 IMMUNITY The VR2 control system has been stringently tested for susceptibility to electromagnetic radiation over the frequency range 26 MHz to 1 GHz The test was conducted on a typical wheelchair installation and passed the requirements of EN12184 Follow the recommendations in section 13 to ensure maximum immunity to electromagnetic radiation 13 BATTERY GAUGE For optimum accuracy of the battery gauge and low battery indicator the control system should be programmed with the approximate nominal capacity of the wheelchair battery However accuracy is not greatly affected if the programmed type and capacity do not closely match the battery The most important factor affecting
19. board charger fitted with a Neutrik NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity with that shown on the specific control system s data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Only use the battery charger that has been supplied with your wheelchair The use of incorrect chargers could damage the batteries wheelchair control system or charger itself or may result in parts overheating creating the potential for burns or even fire PGDT accepts no liability for losses of any kind if the charger is incompatible with the control system see Chapter 2 section 8 or any other part of the wheelchair system 11 PROGRAMMING If you cannot find a maximum speed control setting that suits you the control system c
20. check the joystick ribbon cable connections and mating sockets Ensure the cable is connected correctly to both the joystick and the PCB Refer to Section 1 2 for details on removal fitting and calibration of the joystick If the trip is still present after the appropriate checks have been made then the Joystick Module may be defective Refer to Section 5 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 103 PG Drives Technology 3 8 TRIP TYPE 8 POSSIBLE CONTROL SYSTEM TRIP This occurs if the control system detects a problem within itself The control system can only be repaired by an authorized person Refer to Section 5 3 9 TRIP TYPE 9 SOLENOID BRAKE TRIP This occurs when the control system detects a problem in the solenoid brakes or the connections to them 1500 Brake Short 1505 Left Brake Trip 1506 Right Brake Trip Check these connections and the solenoid brakes If the trip is still present after the above checks have been made then the Power Module may be defective Refer to Section 5 3 10 TRIP TYPE 10 HIGH BATTERY VOLTAGE This occurs when the control system detects that the battery voltage has risen above 35V The most common reasons for this are overcharging of the battery or bad connections between the control system and the batteries Check the batteries and the connections to them If the trip is still present after the batteries and connections have been checked then the Power Module may be
21. data sheets for the Power Modules D51425 and D51426 to identify e The output current ratings and restrictions e The connector pin assignments Make sure that the connectors you use are reliable under all operating conditions and correctly wired with no short circuits Do not use unsuitable components it may result in poor wheelchair reliability VR2 Technical Manual Chapter 3 VR2 PM50 60 VR2JSM 43 PG Drives Technology The chair manufacturer is responsible for ensuring that only the mating connectors specified by PGDT on the control systems specific data sheet are used to connect to the control system PGDT accepts no liability for losses of any kind arising from failure to comply with this condition the chair wiring system and that the workmanship associated with the wiring system is of a good enough quality The chair manufacturer is responsible for ensuring that suitable connectors are used and securely mated throughout Failure to meet this condition could result in intermittent operation sudden stopping or veering or even create a burn or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The information pertaining to connectors crimps and crimp tool part numbers can be found in Chapter 2 4 2 POWER MODULE WIRING The VR2 PM50 and VR2 PM60 Power Module each include an Inter Connection cable a battery connector and 2 motor connectors The
22. defective Refer to Section 5 3 11 JOYSTICK DISPLACED AT POWER UP The most common cause of this trip is if the joystick is deflected away from center when the control system is being switched on When the control system is switched on the battery gauge will blink for a short time Check that the user is not deflecting the joystick before the blink finishes If the problem persists refer to section 37 3 12 COMMUNICATIONS ERROR The most likely cause of a communications error is a defective cable between the Power Module and the Joystick Module The cable should be checked for damage and replaced if found to have a fault The Joystick Cable can only be replaced by a person authorized by the wheelchair manufacturer Refer to Section 1 3 for the replacement procedure If the problem persists then either the Power Module or the Joystick Module could be defective Refer to Section 5 104 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology 3 13 INHIBIT 2 ACTIVE This occurs when the Inhibit 2 input is active The Inhibit 2 input is via the INH 2 way connector and is normally associated with speed limit or actuator functions The operation of Inhibit 2 will depend upon the programmed settings and the wheelchair on which it is being used Check all wiring and switches connected to Inhibit 2 If these appear to be in working order then the Power Module may be defective Refer to section 5 3 14 INHIBIT 3 A
23. following diagram gives details of the Power Module connections VR2 PM 50 amp VR2 PM 60 D51425 amp D51426 Connection Motor 1 Battery Motor 2 4 3 WIRE GAUGES The table below gives the minimum recommended wire sizes defined in IS07176 2008 Controller Battery wire size mm Motor Wiring size mm Current Limit A For Length For length For Length For length lt 1000mm 1000mm 1500mm lt 1000mm 1000mm 1500mm 40 3 0 4 0 205 3 0 50 4 0 4 0 3 0 4 0 60 6 0 6 0 3 0 4 0 The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair for both normal use and stalled conditions PGDT can make general recommendations for wiring for 44 VR2 Technical Manual Chapter 3 VR2 PM50 60 VR2 JSM PG Drives Technology control systems but PGDT accepts no responsibility for and accepts no liability for losses of any kind arising from the actual wiring arrangement used PGDT recommend 0 5mm PVC for the brake connections Battery motor brake and on board charger wires should A use PVC coated wire rated to UL1569 4 4 BATTERY WIRING The control system incorporates sophisticated current limiting circuitry as protection for the circuits in the control system ISO 7176 14 requires you to provide protection against short circuits in the battery wiring and the power loom or in the extremely unlikely event of a short circuit in the control system P
24. from failure to comply with this condition Users must not move a control system from one chair type to install it on a different chair type Control systems with different part numbers may have both hardware and software differences to ensure that they are compatible with the electrical and dynamic characteristics of their specific target vehicles The characteristics of one type of control system may not be compatible with a different unauthorized chair Failure to observe this warning could result in an unsafe set up for the wheelchair user and may create a fire hazard depending on the motors wiring connectors and circuit breakers installed on the unauthorized chair PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 4 section 8 2 TORQUE Ensure that the motor compensation is set correctly for the chair torque does not counter the effects of incorrect compensation settings Chapter 4 section 8 6 VR2 Technical Manual Chapter 8 Warning Summary 115 PG Drives Technology 2 29 TREMOR DAMPING The higher Tremor Damping is set the slower joystick response will become When setting Tremor Damping pay particular attention to stopping distances As the parameter dampens the response to the joystick commands stopping distance can be affected To stop the wheelchair with Tremor Damping activated you must release the joystick and allow it to center It is the responsibility of the
25. good check the maximum speed setting If adjusting the speed setting does not remedy the problem then there may be a non hazardous fault Contact your service agent 8 SPEED PROFILE INDICATOR IS STEADY The display will vary slightly depending on whether the control system is programmed to operate with drive profiles For more information on drive profiles refer to Chapter 4 8 7 1 SPEED INDICATION The number of LEDs illuminated shows the maximum speed setting For example if the setting is soeed level 4 then the four left hand LEDs will be illuminated 8 7 2 PROFILE INDICATION The LED illuminated shows the selected drive profile For example if drive profile 4 is selected then the fourth LED from the left will be illuminated 8 8 SPEED PROFILE INDICATOR RIPPLES UP AND DOWN This indicates the control system is locked refer to section 3 2 for details of how to unlock the control system 8 9 SPEED PROFILE INDICATOR FLASHES This indicates the speed of the wheelchair is being limited for safety reasons The exact reason will depend on the type of wheelchair however the most common cause is that the seat is in the elevated position 8 10 ACTUATOR LED FLASHES This indicates that the Actuator s may be inhibited in one or both directions Refer to Chapter 4 for programming details VR2 Technical Manual Chapter 1 Operation 19 PG Drives Technology 9 BATTERY GAUGE The battery gauge is included to let you know h
26. have no effect on actuator inhibits These parameters allow Actuator Channel 1 to be inhibited in either or both directions via either or both the Inhibit 2 and or Inhibit 3 inputs There are a total of 8 parameters that can be set Actuator Channel 1 Up Inhibit in Inhibit 2 Band O Inhibit in Inhibit 2 Band 3 Inhibit in Inhibit 3 Band O Inhibit in Inhibit 3 Band 3 Actuator Channel 1 Down Inhibit in Inhibit 2 Band O Inhibit in Inhibit 2 Band 3 Inhibit in Inhibit 3 Band O Inhibit in Inhibit 3 Band 3 Each parameter can be set to yes or no VR2 Technical Manual Chapter 4 Programming 61 PG Drives Technology Yes Means that particular actuator channel direction of movement will be inhibited when the relevant inhibit input is in that band For example If Actuator Channel 1 Up Inhibit in Inhibit 2 Band 3 is set to yes then Actuator Channel 1 Up direction will be inhibited when the connection to Inhibit 2 is of a resistance within the range of Band 3 No Means that particular actuator channel direction of movement will not be affected by the relevant inhibit band combination For a more detailed example of actuator inhibits refer to section 6 15 2 6 14 ACTUATOR CHANNEL 2 UP INHIBIT AND ACTUATOR CHANNEL 2 DOWN INHIBIT This parameter operates in the same way as Actuator Channel 1 Up Inhibit and Actuator Channel 1 Down Inhibit as described in section 6 13 6 15 INHIBIT EXAMPLES 6 15 1 SPEED INHIBIT EXAMPLES Applica
27. oats eaten E E 30 VR2 Technical Manual 3 PG Drives Technology 4 2 5 1 5 2 5 3 5 4 5 5 8 1 8 2 10 10 1 10 2 10 3 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 12 12 1 12 2 13 Connector EE AR 30 Mine NET 31 pr EE 31 Wire Gauge and Types ronrnrnnnnnrnnnnnnrrnnnnnrrnnnnnsrnnnnrr 31 Battery VE ae 32 Motor WING ccissecsdsanncestcas dest enrian EE 32 Solenoid Brake Wiring ccccssscccessseeceeeeseeseeees 32 Bie MOTOS AE 33 Bleness NNN 34 Batteriene 34 Off board Chai cacatictcccssnscocsansancnesensatcediestencastes 34 On board Charging avsa gesemepnene 35 nhbes ENN 35 Actuator Contro a a a a 35 Actuator End stop Detection cccccsscceeseeeeeeees 36 Actuator InhibitsS rrrronnrorrnrnnnrrrnnrnnnrrrrnrnnnsrrnnsnnner 36 PCTUALOR IVIOTON Senti a 36 Productiom tests AN 37 KIONE EEE 37 Cables and Connectors ccccccccsssseceeseeeseeeeseees 37 Joystick and Gaiter rrannrnnnnnrrnnnnnrrnnnnnrnnnnnnnrnnnnneee 37 Preset Settings rarnnrnnnrnnnnrnnurnnnnrnnnvnnuvennnennuvenenene 37 Operational TeSt ccccssccccsssecccseeseeeeeeseeseeeeeesees 37 ES DI VG vivacssarssitisies jase vagertainediaevensertaiieeriumsadinauaias 38 SOM SO WSS a ances EN NN 38 Electromagnetic Compatibility E M C 38 SE EEE 38 Mn 45 39 B ten GauRge se 39 CHAPTER 3 VR2 PM50 60 VR2 JSM 1 NrRODUGTNON eee are re 41 CONOIS eee SS 42 4 VR2 Technica
28. speed is reduced to 50 then 25 and a full drive inhibit occurs at maximum height Additionally it is required to completely inhibit the tilt function at maximum lift height The VR2 is connected so that Actuator Channel 1 drives the lift motor and Actuator Channel 2 drives the tilt motor An identical circuit to that of the previous example could be used Programming for the Inhibit 2 Threshold Levels and Inhibit 2 Speed Limit in Band x parameters would also be identical to the previous identical As it is the tilt motor which is connected to Actuator Channel 2 the Actuator Channel 2 Up Inhibit and Actuator Channel 2 Down Inhibit parameters would need to be programmed as follows Actuator Channel 2 Up Inhibit in Inhibit 2 Band O no Inhibit in Inhibit 2 Band 3 yes VR2 Technical Manual Chapter 4 Programming 63 PG Drives Technology Inhibit in Inhibit 3 Band O no Inhibit in Inhibit 3 Band 3 no Actuator Channel 2 Down Inhibit in Inhibit 2 Band O no Inhibit in Inhibit 2 Band 3 yes Inhibit in Inhibit 3 Band O no Inhibit in Inhibit 3 Band 3 no Both Actuator Channel 2 Tilt Up and Down directions will be inhibited when the seat is fully raised i e Inhibit 2 input in Band 3 Application 2 A wheelchair is fitted with a reclining seat It is required to offer a programmable angle of recline to suit different users A potentiometer of maximum value 10KOhm is fitted to the recline mechanism and is connected to the VR2 s Inhibit
29. suitable circuit breaker to provide protection against short circuits in the battery wiring power loom or the control system Failure to comply with this could result in a fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 5 3 N 15 DRIVE MOTORS The chair manufacturer is responsible for ensuring that the control system is matched to the motor resistance Failure to do this may result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for always ensuring that any replacement motor or gearbox is fully compatible with the original control system Failure to do this may result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Users must not transfer a control system from one chair type to install it on a different chair type Control systems with different part numbers may have both hardware and software differences to ensure that they are compatible with the electrical and dynamic characteristics of their specific target vehicles The characteristics of one type of control system may not be compat
30. the wheelchair comes to rest and the brakes are applied without the front wheels lifting of the ground 5 SERVICING OF DEFECTIVE UNITS Excluding the items listed in Section 1 of this Chapter there are no serviceable parts in any of the PGDT control systems Consequently any defective units must be returned to PGDT or a PGDT approved service organization for repair Any replacement work carried out without the wheelchair manufacturer s permission will invalidate the control system s warranty Opening or making any unauthorized adjustments or modifications to a control system or its components will invalidate any warranty and may result in hazards to the vehicle user and is strictly forbidden PGDT accept no liability for losses of any kind arising from unauthorized opening adjustments or modifications to a any component of a control system 108 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology CHAPTER 8 WARNING SUMMARY 1 INTRODUCTION This section summarizes all of the very important warnings that appear throughout the text of this manual Do not install maintain or operate the VR2 control system without reading understanding and observing the following warnings Failure to observe these warnings could result in UNSAFE CONDITIONS for the user of a wheelchair or affect the reliability of the control system PG Drives Technology accepts no liability for losses of any kind arising fr
31. which the wheelchair will be used TUV Product Service Germany specify the distance to be as stated in EN12184 If users with particular disabilities need very low braking rates and this results in a longer stopping distance the maximum speed must be re programmed so that the stopping distance requirement is satisfied State in the wheelchair user handbook that it is the responsibility of the person programming the control system to make sure that the stopping distance requirement is satisfied If the braking rate is low the forward and reverse maximum speed settings may need to be re programmed To assist the person in this task include a graph in the wheelchair user handbook showing the relationship between the maximum forward reverse speed settings and the forward reverse braking rate which is required to ensure the correct stopping distance It may be possible to program settings which compromise the stability of the wheelchair Perform suitable tests to establish which programming restrictions are needed to prevent instability State any programming restrictions in the wheelchair user handbook State in the wheelchair user handbook that it is the responsibility of the person programming the control system to make sure that the settings are safe and to note any programming changes that they make VR2 Technical Manual Chapter 2 Installation 25 PG Drives Technology Programming should only be conducted by healthcare professionals wit
32. 0 90A Output No Actuators JSM JSM L VR2 90 A2 90A Output 2 Actuator JSM A JSM A L 2 IMMOBILIZING THE WHEELCHAIR 2 1 PREVENTION OF UNAUTHORIZED USE 26 VR2 Technical Manual Chapter 2 Installation PG Drives Technology TUV requires that the wheelchair must have a means of preventing unauthorized use This can be implemented electronically using the button and joystick sequence detailed in Chapter 1 section 3 2 This method of locking has been chosen to prevent problems arising from lost keys Alternatively an external switch which interrupts the battery or solenoid brake circuit or provides a drive inhibit can be fitted 2 2 CHARGER INTERLOCK ISO 7176 14 requires you to provide a means of preventing the use of the wheelchair while the batteries are being charged The charger socket and on board charger connection fitted to the PG Drives Technology VR2 control systems include an inhibit facility Refer to section 9 for details Contact PG Drives Technology if you need advice The chair manufacturer is responsible for providing a means of preventing the use of the wheelchair while the batteries are being charged PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 3 MOUNTING Sal JOYSTICK MODULE The VR2 Joystick Module has two holes for mounting on the underside The holes are tapped with an M5 thread allowing for a maximum screw penetration depth of 8mm 5 16 Refer
33. 2 input The recline motor is driven by the Actuator Channel 1 output By programming the Actuator Channel 1 Up Inhibit and Actuator Channel 1 Down Inhibit parameters as below it is possible to program the maximum angle of travel of the recline mechanism via the Inhibit 2 Threshold Level parameters Actuator Channel 1 Up Inhibit in Inhibit 2 Band 0 no Inhibit in Inhibit 2 Band 3 yes Inhibit in Inhibit 3 Band O no Inhibit in Inhibit 3 Band 3 no Actuator Channel 1 Down Inhibit in Inhibit 2 Band O no Inhibit in Inhibit 2 Band 3 yes Inhibit in Inhibit 3 Band O no Inhibit in Inhibit 3 Band 3 no Threshold Band Relationship 100 Upper Threshold Level Band 2 v Middle Threshold Level t Lower Threshold Level o This programming means that the Up movement will be inhibited when the Inhibit 2 input in Band 0 i e one end of recline travel and that the Down movement will be inhibited when the Inhibit 2 input is in Band 3 i e the other end of the recline travel Referring the Band diagram below it can be seen that by programming Inhibit 2 Upper Level Threshold and Inhibit 2 Lower Level Threshold then the actual angular range of the recline mechanism is adjusted Note Bands 1 and 2 are never used in actuator inhibits so to give maximum adjustment range in this example then Inhibit 2 Middle Level Threshold is set to 50 64 VR2 Technical Manual Chapter 4 Programming PG Drives Technology 6 16 DISABLE INHIBIT 2
34. 40Vdc 20kHz 0 5 24Vdc 100mA min 1A max Use only Neutrik NC3MX 6A max 50A 60A IPx4 25 C to 50 C 40 C to 65 C EMC TESTED ON SAMPLE WHEELCHAIR Tested at 30V m to EN12184 and ANSI RESNA requirements To EN55022 Class B IEC801 part 2 120 VR2 Technical Manual Chapter 9 Specifications
35. 7 bars will be flashing on the VR2 but it can be reset by disconnecting the Attendant Module and switching the A control system off and on again 106 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology 4 BASIC TESTS After a repair has been completed the following tests should be carried out These are minimum recommendations depending on the nature of the original trip additional tests may be required These tests are a minimum recommendation only It is the responsibility of the service person s to perform other tests relevant to the original trip and wheelchair type Refer to the wheelchair s Technical Manual for exact information of other tests PGDT accept no liability for losses of any kind arising from failure to carry out of the described tests or from not carrying out additional relevant tests These tests should be conducted in an open space and a restraining device such as a seat belt should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 4 1 GENERAL INSPECTION Make sure all connectors are securely mated e Check the condition of all cables and connectors for damage e Check the thin rubber gaiter or boot around the base of the joystick shaft for damage Check visually only do not handle the gaiter e Make sure that all components of the control system are securely mounted e Do not overtighten any securing scr
36. A PG DRIVES TECHNOLOGY VR2 TECHNICAL MANUAL l SK77898 4 PG Drives Technology PG Drives Technology 2012 All rights reserved This manual is furnished under copyright and may only be used in accordance with the terms laid out by PG Drives Technology The information in this manual is furnished for informational use only is subject to change without notice and should not be construed as a commitment by PG Drives Technology Except as permitted by such terms no part of this manual may be reproduced stored in a retrieval system or transmitted in any form or by any means electronic mechanical recording or otherwise without the prior written permission of PG Drives Technology 44 0 1425 271444 2 VR2 Technical Manual TABLE OF CONTENTS PG Drives Technology CHAPTER 1 OPERATION L1 AA ee 9 2 2 Operating Conditions rrrnrenrrnnnnnrrnnnnnrrrnrnnerrnnnnesenne 9 2 CENE EE 9 3 1 On Off Button and Battery Gauge 11 3 2 Locking Unlocking the Wheelchair 0008 11 GEER 0 EEE EEE NER 11 3 4 Maximum Speed Profile Indicator ecce 12 3 5 Horm BUON EE ME NE 12 3 6 Speed Profile Decrease Button ccecce 12 3 7 Speed Profile Increase Button 12 3 8 Actuator Buttons and LEDS rrrronnnnnnrrrnnrnnnnnrrnnnnnrr 12 3 9 Charger and Programmer Socket ccccceeeeeeeees 13 5 1 Driving General ssrrnnnrnnnerernrnnrrnnnnnrrnnnnvrrnnnnesenns 14 5 2 Driving T
37. CTIVE This occurs when the Inhibit 3 input is active The Inhibit 3 input is via the 3 way on board charger OBC and is normally associated with this function The operation of Inhibit 3 will depend upon the programmed settings and the wheelchair on which it is being used Check all wiring switches and OBC if fitted connected to Inhibit 3 If these appear to be in working order then the Power Module may be defective Refer to section 5 3 15 ACTUATOR MOTOR WIRING TRIP This occurs when the control system detects a fault in the wiring to either actuator motor Check the motor connectors and wiring If the trip is still present after the above checks have been made then the Power Module may be defective Refer to Section 5 3 16 TIMED FOLDBACK ACTIVE This occurs when the controller is in Timed Foldback i e the current has been reduced in order to protect the motors Check the motors are in good condition and are allowed to rotate freely In particular check the brakes are releasing fully 3 17 THERMAL FOLDBACK ACTIVE This occurs when the controller is in Thermal Foldback i e the current has been reduced in order to protect the controller There are three trip codes associated with this condition 7821 The current has been reduced 7825 The current has been cut completely 7902 The current has been reduced Check the motors are in good condition and are allowed to rotate freely In particular check the brakes are re
38. Drives Technology 1 4 SAFETY FENCES Limits or fences can be applied to some dealer accessible programmable parameters These limits are known as safety fences and are programmed by PGDT when the Control System is manufactured The purpose of these fences is to prevent the wheelchair being programmed to be too fast or too severe in its acceleration or deceleration The parameters which can have fences applied to them are Forward Speed Acceleration forward amp reverse combined Reverse Speed Deceleration forward amp reverse combined Turning Speed Turn Acceleration forward amp reverse combined Min Power Turn Deceleration forward amp reverse combined Standard PGDT settings are 0 for the minimum fence value and 100 for the maximum fence value meaning there is a full range of adjustment If you wish to apply different fence values please contact PGDT PGDT accepts no liability for losses of any kind if the chair manufacturer does not specify appropriate safety fence values for a particular wheelchair application 1 5 DRIVE PROFILES The VR2 can operate with single or multiple drive profiles A drive profile is a collection of programmable parameters comprising of Acceleration Deceleration Turn Acceleration Turn Deceleration Forward Speed Reverse Speed and Turning Speed The number of drive profiles is determined by the programmable parameter Number of Drive Profiles If Number of Drive Profiles is set to 0 then there is on
39. If this value is set lower than the Deceleration value then the Deceleration value will be used for fast braking 7 2 SOFT STOP RATE Adjusts the deceleration rate that is used while the wheelchair is soft stopping Soft stopping happens if the VR2 is switched off while the wheelchair is being driven Adjustable between 0 and 200 in steps of 1 VR2 Technical Manual Chapter 4 Programming 65 PG Drives Technology 7 3 FRONT WHEEL DRIVE RATE Front Wheel Drive Rate adjusts the driving characteristics of the VR2 to suit a wide range of front wheel driven wheelchairs Adjustable between 1 and 100 in steps of 1 Increasing this value means that the VR2 s software is more suitable for higher speed front wheel drive wheelchairs 7 4 SOFT REVERSE DECELERATION Adjusts the deceleration rate used while the wheelchair is stopping in reverse This rate is separately adjustable from the Deceleration parameter to prevent the wheelchair tipping when reversing down a gradient Adjustable between 25 to 100 in steps of 1 The value is a percentage of the Deceleration parameter A typical value is 70 7 5 REVERSE DRIVING ALARM Sets whether the VR2 gives an audible warning while driving in reverse The parameter can be set to on or off On Means there is an audible alarm given Off Means there is not 7 6 BRAKE DISCONNECTED ALARM Sets whether the VR2 gives an audible warning while the wheelchairs electrical brakes are disconnected The param
40. Refer to Section 5 3 7 TRIP TYPE 7 POSSIBLE JOYSTICK TRIP This occurs if the control system detects a problem within its own joystick or there is a communications error between the Joystick Module and Power Module The joystick can only be replaced by a person authorized by the wheelchair manufacturer 1D05 Joystick Stationary Time Exceeded This occurs when the joystick has been held stationary for an excessive period of time The controller will stop drive to prevent possible damage to the wheelchair s motors Turning the controller Off and On again will clear this error message 7100 Loss of comms to the joystick check the joystick cable and if you have authorization the joystick ribbon cable connections and mating sockets 7101 Loss of comms to the joystick check the joystick cable and if you have authorization the joystick ribbon cable connections and mating sockets 7102 Loss of power to the joystick check the joystick cable and if you have authorization the joystick ribbon cable connections and mating sockets 7103 Internal trip if you have authorization check the joystick ribbon cable connections and mating sockets Ensure the cable is connected correctly to both the joystick and the PCB 7104 Internal trip if you have authorization check the joystick ribbon cable connections and mating sockets Ensure the cable is connected correctly to both the joystick and the PCB 7105 Internal trip if you have authorization
41. S DO NOT RESPOND If the vehicle has more than one actuator check to see how many are not working e Check that all connections between the control system and the actuator motors are correct e Check that the actuator motor is not faulty e This can be achieved by disconnecting the control system and routing power straight to the Actuator motor in question e If the actuator motor is not faulty check the connections between the control system modules are correct e If the connections are good then the Power Module may be defective refer to Section 5 2 4 OTHER CONDITIONS This covers conditions that are not displayed as trip codes or on the TruCharge display This may be because either the control cannot switch on the condition is not considered critical enough to force a trip or the control system cannot detect the condition 98 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology 2 4 1 CONTROL SYSTEM WILL NOT SWITCH ON e Check the battery connections to the control system If these appear to be good then the Power Module may be defective refer to section 5 e Check the cable between the Power Module and the Joystick Module If this appears to be good then either module may be defective refer to section 5 2 4 2 WHEELCHAIR DRIVES SLOWLY This could be caused by one of the following e The control system has been incorrectly programmed e Aspeed limiting function is active e g seat in a rais
42. Timeout Actuator 1 End Force Actuator 2 End Force Actuator Current Limit Timeout is programmable between 0 and 500 in steps of 10ms Actuator End Force is programmable between 1 and 5 in steps of 1 The values should be chosen so that the actuator can move under its heaviest load condition but will shut off automatically and consistently when stalled at the end stop When the actuator end stop is reached an audible feedback can be programmed The associated parameter is Actuator End Stop Bleep Chapter 4 for programming details 10 2 ACTUATOR INHIBITS The Inhibits inputs can be used to inhibit the movement range of the actuator channels You can limit the amount of movement for either actuator channel in either direction by programming Inhibit Bands 0 and or 3 Refer to chapter 4 for programming details 10 3 ACTUATOR MOTORS The VR2 control system is designed to be connected to permanent magnet DC actuator motors The VR2 may not be compatible with actuators that have their own over current detection electronics Actuator assemblies with slipping clutches may also be unsuitable as the motors will never stall therefore not allowing the control system to detect the end stop Please contact PGDT if you are unsure Large values of capacitance should not be connected across the control system s actuator outputs as electrical resonance could occur which may affect control system operation If capacitors are required for E M C purposes
43. YPE 4 RIGHT MOTOR DISCONNECTED This occurs when the control system detects that the right motor has become disconnected Check the right motor motor connectors and wiring If the trip is still present after the above checks have been made then the Power Module may be defective Refer to Section 5 The VR2 control system may be programmed to exchange the left and right motor outputs In this instance this section will refer to the left motor Consult the wheelchair manufacturer for more details 3 5 TRIP TYPE 5 RIGHT MOTOR WIRING TRIP This occurs when the control system detects a fault in the wiring to the right motor in particular if a motor connection has short circuited to a battery connection Check the right motor connectors and wiring 102 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology If the trip is still present after the above checks have been made then the Power Module may be defective Refer to Section 5 The VR2 control system may be programmed to exchange the left and right motor outputs In this instance this section will refer to the left motor Consult the wheelchair manufacturer for more details 3 6 TRIP TYPE 6 CHARGER CONNECTED This occurs when the control system detects that an off board charger is connected Check that the battery charger is disconnected If the trip is still present after the charger has been disconnected then the Joystick Module may be defective
44. ains on or flashes slowly after one second Push the joystick slowly forwards until you hear the parking brakes operate The chair may start to move Immediately release the joystick You must be able to hear each parking brake operate within a few seconds Repeat the test a further three times pushing the joystick slowly backwards left and right VR2 Technical Manual Chapter 2 Installation 37 PG Drives Technology 11 6 TEST DRIVE e Drive the wheelchair and make sure that it operates correctly for all positions of the user controls 11 7 SOFT STOP TEST e Drive the wheelchair at full forward speed and switch the control system off e The wheelchair must not stop suddenly but should decelerate to standstill In addition ensure that the requirements in section 1 3 of this chapter are satisfied 12 ELECTROMAGNETIC COMPATIBILITY E M C The VR2 control system series has been tested for compliance with the EMC requirements of EN12184 The guidelines in this section will help you to make sure that your wheelchair installation will meet the requirements of the directive 12 1 EMISSIONS A typical wheelchair and VR2 installation have been type tested and have passed the requirements of EN55022B Observe the following recommendations to minimize radio frequency emissions 12 1 1 MOTOR SUPPRESSION Solder a suitable suppression capacitor between the brush holders of each motor inside the motor cases Keep the lead length as short
45. alize that even though the control system is signalling a fault it may not be the control system itself that is defective This is because the control system is able to detect problems in other electrical components motors batteries solenoid brakes etc or more importantly the wiring to them When a control system has detected a fault a system trip is indicated Using this guide it is possible to define a trip as belonging to one of 10 types Once this type has been established there are suggestions as to what the possible cause may be The guide should only be used to decide the starting point of your own diagnosis as it is possible for the controller to indicate a fault in another component even though the controller itself may be defective Nevertheless experience has shown that connectors and wiring are the major cause of wheelchair electrical problems so it is necessary to examine these more vulnerable areas first Diagnostics should only be conducted by healthcare professionals with in depth knowledge of PGDT electronic controllers An incorrect or badly effected repair could result in an unsafe set up of a wheelchair PGDT accept no liability for losses of any kind arising from an incorrect or badly effected repair 2 2 DIAGNOSTICS PROCESS For efficient and effective diagnosis the following basic steps should be taken e Establish the type of control system fitted to the wheelchair e Confirm there is a trip or has been an inter
46. an be programmed to meet your needs Programming can be performed using a PP1a DTT Hand held Programmer or specialist PC software and interface cable The PP1a and DDT are hand held units which can be plugged into your controller to alter the controller s programming Your wheelchair distributor or service agent or wheelchair manufacturer will be able to program your controller for you If you have a PP1a or DTT read the user guide before you use it VR2 Technical Manual Chapter 1 Operation 21 PG Drives Technology If you re program your control system make sure that you observe any restrictions given in your wheelchair user manual Note any changes you make for future reference Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT electronic control systems Incorrect programming could result in an unsafe set up of a wheelchair PGDT accepts no liability for losses of any kind if the programming of the control system is altered from factory pre set values 12 JOYSTICK KNOBS The knob fitted to your joystick is suitable for most applications If you would prefer another type there is a range of alternatives available Please contact your wheelchair distributor or manufacturer for advice Do not replace the joystick knob with any unauthorized item it may cause hazardous operation Do not replace the joystick knob with any unauthorized item It may cause hazardous operation PGDT acce
47. attendant light is on the attendant module systems joystick has control 2 2 1 CONTROL BUTTON This transfers drive control of the wheelchair between the VR2 and the attendant module system 2 3 ACTUATOR BUTTON AND LEDS All VR2 Attendant Module system s have an actuator button fitted as standard If the VR2 is programmed with 0 actuators then this button has no function However if VR2 is programmed with 1or 2 actuators the operation of this button will differ Refer to the relevant section below 2 3 1 WHEELCHAIRS WITH ONE ACTUATOR Depressing the actuator button once will enter actuator adjustment mode This will be indicated by the illumination of both actuator LEDs Actuator adjustment can then be made by deflecting the joystick forwards and backwards To re enter drive mode depress either the actuator button or the speed button 2 3 2 WHEELCHAIRS WITH TWO ACTUATORS Depressing the actuator button will enter actuator adjustment mode Depressing the button once illuminates the LEFT LED and deflection of the joystick forwards or backwards will adjust the actuator connected to that channel Selection between the two actuators is achieved by deflecting the joystick to the left and right As the actuator selected changes then so will the LED which illuminates LEFT for actuator 1 and RIGHT for actuator 2 86 VR2 Technical Manual Chapter 6 Attendant Module PG Drives Technology To re enter drive mode depress either the actuat
48. authorized persons The warranty will be void if the VR2 has not been used in accordance with VR2 Technical Manual SK77898 the VR2 has been subject to misuse or abuse or if the VR2 has been modified or repaired by unauthorized persons VR2 Technical Manual Chapter 1 Operation 23 PG Drives Technology 24 VR2 Technical Manual Chapter 1 Operation PG Drives Technology CHAPTER 2 INSTALLATION 1 DOCUMENTATION 1 1 VR2 OPERATION This chapter must be read in conjunction with chapter 3 when installing D51425 D51426 and D51427 Study Chapters 1 2 3 and 4 It is important that the operation information in these chapters is supplied with the wheelchair either as part of the wheelchair user handbook or as a separate document This chapter sets out the installation conditions that must be complied with in order to meet the safety requirements of T V Germany ISO7176 14 and EN12184 1 2 PROGRAM SETTINGS The VR2 control system is supplied with PGDT defined generic program settings It is the manufacturer s responsibility to program the control system to suit the vehicle model and ensure safe operation in compliance with relevant legal requirements over the whole of the operating range PGDT accepts no liability for losses of any kind due to incorrect programming or the VR2 Control System Refer to Chapter 4 for programming details The wheelchair must stop within the maximum distance specified for the country in
49. bit 2 Speed Limit in Band 3 is set to 0 then the drive will be fully inhibited when the connection to Inhibit 2 is of a resistance within the range of Band 3 For a detailed example of actuator inhibits refer to section 6 15 2 6 3 INHIBIT 2 OPERATION 58 VR2 Technical Manual Chapter 4 Programming PG Drives Technology This parameter is only relevant if one of the Inhibit 2 Speed Limit in Band x values is set to 0 i e a drive inhibit The parameter can be set to Latching or Non latching If set to Latching remove the inhibit then the VR2 must be switched off and on again to resume drive after an inhibit condition has occurred If set to Non latching then drive will be possible as soon as the inhibit condition is removed If Inhibit 2 is set to latching then the TruCharge battery gauge will flash 6 bars to indicate a trip See Chapter 1 section 8 3 6 4 INHIBIT 2 DEBOUNCE This parameter sets the amount of time a connection to Inhibit 2 input must be stable before it is interpreted as a valid condition This parameter is particularly useful for switch types that exhibit bounce such as mercury switches which are often used on tilt mechanisms The parameter is programmable between 100ms and 4000ms in steps 100ms 6 5 SEAT REVERSAL The input Inhibit 2 can be configured to provide a seat reversal function Seat reversal is used on wheelchair models which can be converted from rear wheel drive to front wheel drive by r
50. ce the available current Programmable between 0 and 250 in steps of 1 Second Current Foldback Level This parameter sets the percentage of current foldback when the control system is at the Current Foldback Threshold for a period greater than current Foldback Time The value is a percentage of the programmed Current Limit Max Programmable between 25 and 100 in steps of 1 Boost Drive Current This is the current the VR2 can deliver for the period of time set by Boost Drive Time Programmable between 20A and the control system s maximum in steps of 1 Amp Boost Drive Time This is the length of time that the VR2 can deliver the Boost Drive Current for Programmable between 0 and 10 in steps of 1 Second Current Foldback Temp This parameter sets the temperature within the control system at which the current starts to reduce linearly Programmable between 25 and 70 in steps of 1 Degrees C 68 VR2 Technical Manual Chapter 4 Programming PG Drives Technology O It is important that the maximum values stated in the table VR2 Current Management are not exceeded Example 1 Time Threshold Level The parameters Threshold Time and Level can be used to protect the motors from overheating If the motor current exceeds the value set by Threshold for a period set by Time then the VR2 s current output will be reduced to a value set by Level After a fixed reset period of 5 x Current Foldback Time the current output will be allow
51. ch the current starts to reduce linearly Current Temperature Relationship Current hj Temperature It is important that the maximum values in the table shown below are not exceeded for the VR2 model you are working with The values in the table above should never be exceeded Doing so will invalidate the warranty and affect the long term reliability of the control system Example 3 Boost VR2 90 ONLY The parameters Boost Drive Current and Boost Drive Time provide a current boost for a set period of time on demand Such as when the wheelchair is being driven up an incline Current Time Relationship Current un Time Ww En 1 Current Limit Max This is the current the VR2 can deliver until the programmed value of Current Foldback Temperature is reached 2 Boost Drive Current This is the current the VR2 can deliver for the time defined by Boost Drive Time 3 Boost Drive Time 70 VR2 Technical Manual Chapter 4 Programming PG Drives Technology This is the time for which the VR2 can deliver the current by Boost Drive Current 4 Current Foldback Time This sets the time for which VR2 will deliver the current defined by Current Limit Max 5 Current Foldback Level This parameter sets the percentage of current foldback when the control system is at the Current Foldback Threshold 8 2 MOTOR COMPENSATION This matches the VR2 to suit different motor types in order to ach
52. cific data sheet are used to connect to the control system PGDT accepts no liability for losses of any kind arising from failure to comply with this condition the chair wiring system and also for the quality of the wiring system Failure to meet this condition could result in The chair manufacturer is responsible for ensuring that suitable connectors are used and securely mated throughout intermittent operation sudden stopping or veering and even create a burn or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 5 2 WIRE GAUGE AND TYPES The table below gives the minimum recommended wire sizes defined in IS07176 2008 Controller Battery wire size mm Motor Wiring size mm Current Limit A For Length For length For Length For length lt 1000mm 1000mm 1500mm lt 1000mm 1000mm 1500mm 60 6 0 6 0 3 0 4 0 80 6 0 8 0 4 0 5 0 100 6 0 No guidance 6 0 6 0 UY PGDT recommend 0 5mm PVC for the brake connections Battery motor brake and on board charger wires should A use PVC coated wire rated to UL1569 VR2 Technical Manual Chapter 2 Installation 31 PG Drives Technology 5 3 BATTERY WIRING The control system incorporates sophisticated current limiting circuitry as protection for the circuits in the control system ISO 7176 14 requires you to provide protection against short circuits in the battery wiring and the power loom or in the extremely unlikely
53. ction 14 PROGRAM SETTINGS It is the manufacturers responsibility to program the control system to suit the vehicle model and ensure safe operation in compliance with relevant legal requirements over the whole of the operating range PGDT accepts no liability for losses of any kind due incorrect programming or the VR2 Control System Refer to Chapter 3 for programming details Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT electronic control systems Incorrect programming could result in an unsafe set up of a wheelchair for the user PGDT accept no liability for losses of any kind if the programming of the control system is altered from factory pre set values PGDT accept no liability for losses of any kind if the drive or stability characteristics of the chair are altered without prior notification and discussion with PGDT Chapter 2 section 1 2 CHARGER INTERLOCK The chair manufacturer is responsible for providing a means of preventing the use of the wheelchair while the batteries are being charged PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 2 2 POSITION It is possible for the case temperature of the Power Module to rise above 41 C 107 F For this reason the Lighting Module should be fixed in a position where it cannot be touched by the wheelchair user Chapter 2 section 3 2 2 VR2 Technical Manual Chapter 8
54. d e The VR2 will now enter the Calibration sequence e Connect the Ribbon Cable and make sure the joystick is centered e Press the horn key until the VR2 bleeps e The 2 left most speed display LEDs will flash e Push and hold the joystick fully forward and press the horn key until the VR2 bleeps VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 93 PG Drives Technology The 3 left most speed display LEDs will flash Push and hold the joystick fully to the left and press the horn key until the VR2 bleeps The 4 left most speed display LEDs will flash Push and hold the joystick fully to the right and press the horn key until the VR2 bleeps All 5 speed display LEDs will flash Pull the Joystick fully back and press the horn key until the VR2 bleeps The speed display will go out and the TruCharge display will flash all 10 LEDs Turn the VR2 off Isolate the Joystick Module by disconnecting the Joystick Cable from the Power Module Reassemble the joystick module ensuring the rubber gasket is correctly positioned and replace the 5 retaining screws Tightening to 0 8Nm 7 inch Ibs Q Incorrect fitting of the Gasket could seriously affect the Joystick Module s resistance to moisture ingress Turn the controller on again If the replacement or the calibration sequence has been unsuccessful the TruCharge display will flash 7 bars Refer to Chapter 1 Section 8 5 If the Joystick does not operate correctly or i
55. d PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 46 VR2 Technical Manual Chapter 3 VR2 PM50 60 VR2 JSM PG Drives Technology CHAPTER 4 PROGRAMMING 1 INTRODUCTION This chapter gives an overview of the programmable parameters within the VR2 control system The VR2 can be programmed with a PP1 Handheld Programmer DTT or a PG Drives Technology PC Programmer This chapter does not give details of how to make adjustments for these details please refer to the relevant documentation for the programmer you are using Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT control systems Incorrect programming could result in an unsafe set up of a wheelchair for a user PGDT accept no responsibility for losses of any kind if the programming of the control system is altered from the factory pre set values 1 1 HAND HELD PROGRAMMERS The PP1a and DDT are hand held units which can be plugged into your controller to alter the controller s programming Your wheelchair distributor or service agent or wheelchair manufacturer will be able to program your controller for you The PP1a and the DTT handheld programmers are intended to give dealers and therapist access to the programmable parameters which can be used to adjust the wheelchair to an individual user These parameters are Acceleration Deceleration Turn Acceleration Turn Decelerat
56. d the maximum charging current of 6A rms Always use an off board charger fitted with a Neutrik NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity to be compatible with the pin polarity shown on the control system s specific data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 3 section 4 6 2 23 PROGRAMMING INTRODUCTION Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT control systems Incorrect programming could result in an unsafe set up of a wheelchair for a user PGDT accept no responsibility for losses of any kind if the programming of the control system is altered from the factory pre set values Chapter 4 section 1 114 VR2 Technical Manual Cha
57. depress the selected actuator button as indicated by the associated LED To select the other actuator depress the opposite actuator button It is also possible to select the other actuator by left or right movements of the joystick This alternative selection method is dependent on the programming of the control system see Chapter 3 Joystick Actuator Adjustment UP SELECT lt gt SELECT v DOWN 3 9 CHARGER AND PROGRAMMER SOCKET This socket should only be used for programming and charging the wheelchair Refer to section 10 for more details This socket should not be used as a power supply for any other electrical device Connection of other electrical devices may damage the control system or affect the E M C performance of the wheelchair The control system s warranty will be voided if any device other than a PG Drives Technology Programmer or the battery charger supplied with the wheelchair is connected into this socket VR2 Technical Manual Chapter 1 Operation 13 PG Drives Technology 4 GETTING READY TO DRIVE e Operate the on off switch The battery gauge will blink then remain on after a second e Check that the maximum speed control is set to a level which suits you e Push the joystick to control the speed and direction of the wheelchair If you push the joystick before or just after you switch the control system on the battery gauge will ripple up and down and the wheelchair will not be allowed to mo
58. e setting for each of the parameters listed previously and the control system s maximum speed setting can be changed with the maximum speed profile increase and decrease buttons If the value of Number of Drive Profiles is 2 to 5 there is a corresponding number of drive profiles and each listed parameter can be individually set within a profile The maximum speed profile increase and decrease buttons are then used to switch between the available profiles V Although a number of Drive Profiles can be set to one the operation is the same as setting to 0 but without the A ability to change maximum speed settings 2 SPEED PARAMETERS 2 1 ACCELERATION Adjusts the value for forward and reverse acceleration of the wheelchair Adjustable in steps of 1 from 0 to 100 A higher value gives faster acceleration This programmed value of acceleration occurs when speed setting 5 is selected Its value at other settings depends on the value of the Minimum Acceleration parameter VR2 Technical Manual Chapter 4 Programming 49 PG Drives Technology 2 2 DECELERATION Adjusts the value for forward and reverse deceleration or braking of the wheelchair Adjustable in steps of 1 from 0 to 100 A higher value gives faster deceleration This programmed value of deceleration occurs when speed setting 5 is selected Its value at other settings depends on the value of the Min Deceleration parameter 2 3 TURN ACCELERATION Adjusts the value for turni
59. echnical Manual Chapter 2 Installation PG Drives Technology 8 2 ON BOARD CHARGING The VR2 control systems have a 3 way connector for connection to an on board battery charger Refer to section 4 for connector details The maximum permissible charging current is 12A rms For details of how to provide a suitable inhibit function refer to section 9 Do not exceed the maximum charging current of 12 Arms Always use an on board charger fitted with the Inconnect parts specified in section 4 2 PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity to be compatible with the pin polarity shown on the control system s specific data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 9 INHIBITS The VR2 control system contains two highly versatile inputs that can be configured to provides drive inhibit speed limiting and actuator inhibit functions These inputs are referred to as Inhibit 2 and Inhibit 3 Inhibit 2 input
60. echnique rnrannnnnnannrnnnnnrnnnnnvrnnnnnvrnrnnssenns 14 6 1 9 74 0 EEE ENE 15 7 1 Daily Checks rassnnnnnnrrnnnnernnnnnennnnnnvnnnnnsvnnnnnsvnnnnesenes 16 7 2 Weekly Checks rrrnnrnnnnnnrnnnnunernnnnnvnnnnnevnnnnnsvnrnnssenns 16 7 3 SEMVICING sorrerari i aE 16 8 1 Battery Gauge is Steady rrrrnrnnnrnnnnnnrrnnnnrrnnnnenenns 17 8 2 Battery Gauge Flashes SIOWILY ccccccsecceseeeeeees 17 8 3 Battery Gauge Steps Up rrrrnannnernnnvnnsrnnvnnnennseneenn 17 8 4 Battery Gauge Flashes Rapidly even with the joystick released ac ssc csscsevauntniaqanisaunsacancoitadisuaabieasads 17 8 6 Slow or sluggish MOVEMENL ccccccsseccceeeeceeeeees 19 8 7 Speed Profile Indicator is Steady 19 8 8 Speed Profile Indicator Ripples Up and Down 19 8 9 Speed Profile Indicator Flashes esscr 19 8 10 Actuator LED Flashes rrrnnnnrrnnnnnnnrrnnnnnnnrrnnnnnnnsene 19 9 1 Howto Read a TruCharge Battery Gauge 20 CHAPTER 2 INSTALLATION IE REN 25 1 2 Program Salaam ekemasedam 25 13 SOTMSUOD sessen eiin EE i 26 1 4 Other INFOLIMATION scssisiscacciscasciccncdaseacessadsecsasiansnceos 26 1 5 Control System Make up ccccccesseceeeeeeeeeeeeeees 26 2 1 Prevention of Unauthorized Use eee eee eeeee 26 22 Charger Interlock i inusumanuerarmsmassinsdidtes 27 3 1 Joystick Module Lesser 27 3 2 Power Module MOunting ccccsssccccsseceeeeseeeeees 28 4 1 COIE EE
61. ection must be read in conjunction with section 6 6 There are 4 parameters that can be set Inhibit 3 Speed Limit in Band 0 Inhibit 3 Speed Limit in Band 1 Inhibit 3 Speed Limit in Band 2 Inhibit 3 Speed Limit in Band 3 Each is programmable between 0 and 100 in steps of 1 The value in each band s parameter sets the wheelchair s maximum driving speed when the VR2 s Inhibit 3 input is in that band For example if Inhibit 3 Speed Limit in Band 3 is set to 0 then the drive will be fully inhibited when the connection to Inhibit 3 is of a resistance within the range of Band 3 For a detailed example of drive inhibits and speed limits refer to section 6 15 1 6 8 INHIBIT 3 OPERATION This parameter is only relevant if one of the Inhibit 3 Speed Limit in Band x values is set to 0 i e a drive inhibit The parameter can be set to Latching or Non latching If set to Latching remove the inhibit then the VR2 must be switched off and on again to resume drive after an inhibit condition has occurred If set to Non latching then drive will be possible as soon as the inhibit condition is removed If Inhibit 3 is set to latching then the TruCharge battery gauge will indicate the wheelchair is charging when the inhibit is active See Chapter 1 section 8 3 6 9 INHIBIT 3 DEBOUNCE This parameter sets the amount of time a connection to Inhibit 3 input must be stable before it is interpreted as a valid condition This parameter is particu
62. ed position on wheelchairs fitted with lifting seats Defective motor or defective brake 2 4 3 WHEELCHAIR WILL NOT DRIVE IN A STRAIGHT LINE This could be caused by a defective motor or defective brake 2 4 4 ONE MOTOR OR BRAKE BECOMES VERY WARM This could be caused by a defective motor or defective brake 2 4 5 BATTERIES DISCHARGE VERY QUICKLY The batteries can discharge very quickly for several reasons these are described below e Worn or damaged batteries check battery condition e Charger defective or incorrect charger being used check charger operation refer to wheelchair s operating manual e Incorrect batteries being used refer to wheelchair manufacturer s instructions for correct battery types e One motor or brake jamming The ambient temperature has a significant effect on battery capacity Therefore if the temperature is lower than normal the wheelchair s range will be reduced In this situation the TruCharge battery gauge still gives an accurate state of charge reading VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 99 PG Drives Technology 2 5 TRIP DIAGNOSIS There are two methods of trip diagnosis 2 5 1 TRIP DIAGNOSIS WITH THE TRUCHARGE The TruCharge Flash Codes are illustrated in Chapter 1 Section 8 5 2 5 2 USING A PROGRAMMER TO READ THE TRIP CODE If you connect a programmer while the TruCharge display is flashing rapidly then a four digit trip code will be dis
63. ed to return to the full current if demanded This reset period is to allow the motor s sufficient time to cool As shown by the diagram that follows Current Foldback Description Current Current Foldback Threshold Current Foldback Level Time o Current 5 x Time Foldback Time Settings VR2 is programmed to Current Limit Max 60 Amps Current Foldback Threshold 60 Amps Current Foldback Time 15 Seconds Current Foldback Level 25 This is useful for protecting motors against potential damage when the wheelchair is being used on a long gradient After 15 seconds the current output of the VR2 will reduce to 25 of 60A 15A After 5 x 15s 75s the current output will return to 60A If no timed foldback is required simply set Current Foldback Level to 100 Example 2 Temperature The VR2 protects itself by measuring its internal temperature When this temperature reaches a certain level the current output starts to reduce This relationship is shown in the following illustration 1 Current Foldback Threshold This is the current the VR2 can deliver until the programmed value of Current Foldback Temperature is reached 2 Current Limit Min This is the current the VR2 will deliver at 80 C internal temperature VR2 Technical Manual Chapter 4 Programming 69 PG Drives Technology 3 Current Foldback Temp This parameter sets the temperature within the control system at whi
64. eep Timer Joystick Throw Invert Joystick Steer Correct Switch Bleep Volume Speed Adjustment while Driving Service Timer Battery Section 5 Low Battery Flash Cable Resistance Calibration Factor Low Battery Alarm Low Voltage Cut Out Low Voltage Time Inhibit Inhibit 2 Threshold Levels Inhibit 2 Speed Limit Bands Inhibit 2 Operation Inhibit 2 Debounce Seat Reversal Inhibit 3 Threshold Levels Inhibit 3 Speed Limit Bands Section 6 Inhibit 3 Operation Inhibit 3 Debounce Inhibit 1 Alarm Inhibit 2 Alarm Inhibit 3 Alarm Inhibit Actuator Channel 1 Up Down Inhibit Actuator Channel 2 Up Down Disable Inhibit 2 in Drive Disable Inhibit 3 in Drive General Section 7 Fast Brake rate Soft Stop Front Wheel Drive Rate Soft Reverse Deceleration Rate Reverse Driving Alarm Brake Disconnect Alarm K10 Lock Function Enabled Brake Fault Detect Brake Voltage Output Voltage Motor Section 8 Current Limit Max Current Foldback Threshold Current Foldback time Current Foldback level Current Foldback Temperature Current Limit Min Boost Drive Current Boost Drive Time Motor Compensation Invert M1 Direction Invert M2 Direction Motor Swap Torque Tremor Damping Joystick Stationary Time Joystick Stationary Range Demand Clipping R net Turning Torque Memory Functions Section 9 Read System Log Clear System Log Read Timer Clear Timer 48 VR2 Technical Manual Chapter 4 Programming PG
65. enerated by the VR2 attendant module The VR2 attendant system comprises of VR2 DM VR2 Power Module Joystick Attendant Module and an Attendant Intermediate Cable A The VR2 DM cannot be used in conjunction with VR2 PM 50 amp VR2 PM 60 D51425 D51246 or VR2 D51427 This allows the drive and actuator functions of the wheelchair to be controlled either by the occupant or by an attendant from another location on the wheelchair Attendant Module Joystick Control Panel Joystick Knob Option Control Panel Controls Cc Maximum Speed Indicator Maximum Speed Button Y N amp Pr tt y VA a Actuator Button Control Button amp Indicator VR2 Technical Manual Chapter 6 Attendant Module 85 PG Drives Technology 2 CONTROLS 2 1 JOYSTICK This controls the speed and direction of the wheelchair Push the joystick in the direction you wish to go The further you push it the faster the speed Releasing the joystick stops the wheelchair and automatically applies the brakes When in actuator control mode pushing the joystick left and right will toggle selection between the available actuators Operating the joystick in the forward and reverse directions will adjust the selected actuator 2 2 CONTROL BUTTON AND INDICATOR 2 2 1 CONTROL INDICATOR This shows which joystick has control If the red wheelchair light is on the wheelchair occupant s joystick has control If the green
66. essesseesee 72 Invert M2 Direction rnernnenennuvnnernnnnrnnuvnnevennnennnee 72 MOT Mar 72 TORE dd 72 Tremor Damping asornerrnervvnnvnnuvrnerennnennuvnnerennnenneee 73 Joystick Stationary Time rrrrannnnnnnnnrnnnnnrrnnnnnrnnnnnr 73 Joystick Stationary Range rrrannnnnnnnnrnnnnnrrnnnnnrnnnnrr 73 Demand Clipping R net rrrrrrrrnnrnnnnnrrrrrrnnnnnn 73 Turning TOrque arnnnennernnnrrnnnrnnnrnnnennnnrnnnvnnnennnusnneee 74 Memory Functions 74 Revver 74 se EE 74 Read System Log rnrnnnnrnnnnnrnnnnnnrnnnnnrrnnnnsvnnnnnesnnnnnr 75 Erase Systemi LOB cs ccescnensanepenanentaaensenannrsnesteneneedaces 75 SEV A E a EE EA E TE 75 htoddomn NN 77 Con ER 77 Actuator Button and LEDS rorevevernrnevevevnvnenevnvnnnen 77 Light Button Indicator rrrrnnnnnrnnnnnrrnrnnnrrnnnnnvnnnner 79 VR2 Technical Manual 5 PG Drives Technology 2 3 2 4 2 5 3 1 3 2 33 3 4 4 1 4 2 4 3 2 1 2 2 3 2 51 2 4 4 1 4 2 1 1 1 2 1 3 1 4 2 1 Left Turn Indicator Button and LED eerrnnnonnnnnnrrr 79 Right Turn Indicator Button and LED 66 79 Hazard Warning Button and LED sseeeee 79 Lighting Module Installation cc0cccceees 80 VIOLIN EEE EE EE EE 80 CONMECU ON Hasse G 80 GJE a RE 81 EE REE 81 Pro eannn EE 83 LMD VO FE a cccunsiventiteosscnandendunatewerinctondinpaviandsonsteats 83 Lamp Wattage Luarvvunskudmemraassennsteresikadnie 83 Ind
67. eter can be set to on or off On Means there is an audible alarm given Off Means there is not 7 7 K10 PROGRAMMING RESTRICTION Sets whether the VR2 is field programmable or not The parameter can be set to on or off On Means the VR2 cannot be programmed with dealer access programmers such as a PP1a or PC Programmer Off Means the VR2 can be programmed with these types of devices 66 VR2 Technical Manual Chapter 4 Programming PG Drives Technology 7 8 LOCK FUNCTION ENABLED Sets whether the VR2 s locking sequence can be used to prevent the wheelchair being driven by unauthorized persons The parameter can be set to on or off On Means the Lock function is available Off Means it is not 7 9 BRAKE FAULT DETECT Sets whether the VR2 Detects a fault in the wheelchair s electrical brakes or the connections to them The parameter can be set to on or off On Means the VR2 will detect brake faults Off Means the VR2 will not detect brake faults This parameter should only ever be set to off if there are no electrical brakes fitted to the wheelchair 7 10 BRAKE VOLTAGE This sets the voltage output from the power module to the solenoid brake it can be programmed to 12V or 24V brakes It is essential that the control system is programmed to the correct brake voltage or damage may be done to the control system the brakes or the drive performance of the wheelchair 7 11 OUTPUT VOLTAGE This sets the value of vo
68. event of a short circuit in the control system Place a suitable circuit breaker in series with the battery supply refer to section 4 2 for example in the link between two 12V batteries If your batteries are held in separate enclosures you must provide a circuit breaker with each of them The rating of the circuit breaker must match the capacity of the wiring used We recommend the use of a 70A circuit breaker for VR2 60 amp 70A systems and a 90A circuit breaker for VR2 90A systems This recommendation is derived from well proven field experience of various international wheelchair manufacturers Nevertheless manufacturers must confirm these recommendations by carrying out suitable tests ISO 7176 14 states that the minimum operating time for the circuit breaker when the wheelchair is stalled is 15 seconds The chair manufacturer must install a suitable circuit breaker to provide protection against short circuits in the battery wiring power loom or the control system Failure to comply with this could result in a fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 5 4 MOTOR WIRING In order to detect the disconnection of a motor while the wheelchair is in motion the brake current must pass through the same connectors as the motor current so that disconnection of either motor will interrupt the brake circuit and trip the control system Refer also to section 5 5 When the co
69. ews 4 2 BRAKE TEST These tests should be carried out on a level floor with at least one meter clear space around the wheelchair e Switch on the control system e Check the TruCharge display remains on or flashes slowly after one second e Push the joystick slowly forwards until you hear the parking brakes operate The wheelchair may start to move e Immediately release the joystick You must be able to hear each parking brake operate within 2 seconds e Repeat the test a further three times pushing the joystick slowly backwards left and right 4 3 DRIVE TEST With the maximum speed control in the minimum position drive the wheelchair in all directions ensuring the drive is comfortable and easy to control for the user Repeat the above but with the speed control set to maximum VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 107 PG Drives Technology 4 4 GRADIENT TEST Before carrying out this test ensure another person is present to prevent the wheelchair from tipping backwards Drive the wheelchair forwards up its maximum rated gradient While on the gradient release the joystick and ensure the wheelchair comes to rest and the brakes are applied without the front wheels lifting of the ground Deflect the joystick forwards and continue driving up the slope Ensure the pick up is smooth and positive Stop the wheelchair and reverse down the gradient While on the gradient release the joystick and ensure
70. f the calibration sequence does not appear then run through the following Check that Joystick Module is receiving power from the Power Module 1 3 1 3 1 The LEDs should light up Repeat the replacement procedure ensuring that all the cables are securely connected and that the connectors clean clear and not damaged Repeat the calibration procedure JOYSTICK CABLE REPLACEMENT JOYSTICK CABLE REMOVAL Isolate the Joystick Module by disconnecting the Joystick Cable from the Power Module Remove the 5 retaining screws from the underside of the Joystick Module Disconnect the Serial Cable from the PCB 94 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology Retaining Screws x2 Charger Connection amp Cable Base Plan View Remove the 2 retaining screws holding the Charger Socket and Cable Slide the Charger Socket and Cable out of the plastic base Charger Connection amp Cable VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 95 PG Drives Technology 1 3 2 FITTING A JOYSTICK CABLE e Insert the new Charger Socket and Cable into the plastic case e Attach the cable from the new Charger Socket and Cable onto the PCB e Secure the Charger Socket and Cable with the 2 retaining screws e Reassemble the joystick module ensuring the rubber gasket is correctly positioned and replace the 5 retaining screws Incorrect fitting of the Gasket could seriously affec
71. for losses of any kind arising from the unexpected stopping of the wheelchair or from the improper use of the wheelchair or control system Do not operate the control system if the chair behaves erratically or shows abnormal signs of heating sparks or smoke Turn the control system off at once and consult your service agent PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Electronic equipment can be affected by Electro Magnetic Interference EMI Such interference may be generated by radio stations TV stations other radio transmitters and cellular phones If the chair exhibits erratic behavior due to EMI turn the control system off immediately and consult your service agent PGDT accepts no liability for losses of any kind arising from failure to comply with this condition and International E M C legislation PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The wheelchair user must comply with all wheelchair safety warnings PGDT accepts no liability for losses of any It is the responsibility of the chair manufacturer to ensure that the wheelchair complies with appropriate National kind arising from failure to comply with this condition 7 SAFETY CHECKS The electronic circuits in your control system have been designed to be extremely safe and reliable The on board microcomputer carries out safety checks at up to 100 times per sec
72. gt o eee 9 A Lighting Module Attendant Module Attendant Module Intermediate Cable To Power Module 5 JOYSTICK ORIENTATION Reorientation of the joystick is only required when the Attendant Module system has been mounted on a wheelchair so that the control buttons are not facing in the wheelchairs forward drive direction Reorientation is achieved as follows e Ensure the Control of the VR2 has been set to the Attendant Module system The Green LED indicating the attendant module system is in control must be illuminated VR2 Technical Manual Chapter 6 Attendant Module 89 PG Drives Technology e Turn the entire system off at the VR2 by pressing the ON OFF button e On the Attendant Module system hold the speed button down and the joystick displaced from center at the same time as turning the system back on at the VR2 by pressing the ON OFF button Continue to hold the speed button and joystick until the Green and Red control LED s on the attendant module system begin to flash alternately This will occur after approximately 5 seconds Also at this time the speed display will go blank e Release both e Press the speed button again the control LED s will both illuminate and 1 LED on the speed display will be visible e Fully deflect the joystick to the desired forward position and press the speed button Now 2 LED s on the speed display will be visible e Fully deflect the joystick to the desired left po
73. h in depth knowledge of PGDT electronic control systems Incorrect programming could result in an unsafe set up of a wheelchair for the user PGDT accepts no liability for losses of any kind due to failure to or incorrect programming or the VR2 Control System 1 3 SOFT STOP The VR2 has a programmable value called Soft Stop Rate which sets the emergency stopping distance You must ensure that the emergency stopping distance is within the distance specified for the country in which the wheelchair will be used T V Product Service Germany specify the distance to be as stated in EN12184 1 4 OTHER INFORMATION You must provide a diagram in the wheelchair user handbook showing the user controls and the main features of the control system In addition you should include a brief specification of operating supply voltage range and operating temperature range 1 5 CONTROL SYSTEM MAKE UP The VR2 Control System is made up of a minimum of 2 modules the Joystick Module and the Power Module The following table shows the relationship between the two modules Power Module Description Joystick Module Options VR2 50 50A Output No Actuators JSM JSM L VR2 60 60A Output No Actuators JSM JSM L VR2 60 A1 60A Output 1 Actuator JSM A JSM A L VR2 60 A2 60A Output 2 Actuators JSM A JSM A L VR2 70 70A Output No Actuators JSM JSM L VR2 70 A1 70A Output 1 Actuator JSM A JSM A L VR2 70 A2 70A Output 2 Actuators JSM A JSM A L VR2 9
74. hair s electrical system Please follow this procedure Switch off the control system Make sure that all connectors on the wheelchair and the control system are mated securely Check the condition of the battery If you can t find the problem try using the self help guide given in section 8 5 Switch on the control system again and try to drive the wheelchair If the safety circuits operate again switch off and do not try to use the wheelchair Contact your service agent 8 5 SELF HELP GUIDE If a system trip occurs you can find out what has happened by counting the number of bars on the battery gauge that are flashing Below is a list of self help actions Try to use this list before you contact your service agent Go to the number in the list which matches the number of flashing bars and follow the instructions If the problem persists after you have made the checks described above contact your service agent VR2 Technical Manual Chapter 1 Operation 17 PG Drives Technology 7 LED 8 LED 9 LED 10 LED 7 LED S 8 Bar A a The battery needs charging or there is a bad connection to the battery Check the connections to the battery If the connections are good try charging the battery The left hand motor has a bad connection Check the connections to the left hand motor The left hand motor has a short circuit to a battery connection Contact your service agent The right hand m
75. he motor outputs will be swapped Off Means they will not 8 6 TORQUE The Torque parameter boosts the current to the motors at low speed settings If the motor is stalled for example the wheelchair is stuck against an obstacle such as a door threshold then this will be automatically detected and the current to the motors will be increased allowing the obstacle to be overcome Torque can be set between 0 and 100 A value of 0 means the Torque parameter has no effect Higher values mean that more current will be permitted in the described stall conditions Ensure that the motor compensation is set correctly for the chair torque does not counter the effects of incorrect compensation settings The higher the Torque setting the more responsive the chair becomes to joystick commands If set too high the chair can have a jerky or jumpy feel 72 VR2 Technical Manual Chapter 4 Programming PG Drives Technology 8 TREMOR DAMPING This parameter allows the effects of hand tremor to be reduced If the user has a condition that results in hand tremor then increasing the value of Tremor Damping will reduce the effect of the tremor making the wheelchair more controllable Tremor Damping can be set between 0 and 100 A value of 0 means Tremor Damping has no effect Note even at this value there is inherent damping in the control system Higher values apply a higher level of damping The higher Tremor Damping is set the sl
76. i static protection measures are not followed VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 91 PG Drives Technology 1 2 JOYSTICK REPLACEMENT 1 2 1 JOYSTICK REMOVAL e Isolate the Joystick Module by disconnecting the Joystick Cable from the Power Module e Remove the 5 retaining screws from the underside of the Joystick Module Top Section Retaining Screws x5 Gasket Base Section Base Plan View e Disconnect the Ribbon Cable from the joystick Joystick Knob Gaiter Top Plan View Joystick e Remove the Joystick knob 92 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology e Remove the 2 retaining screws from the joystick base Retaining Screws x2 Top Plan View Joystick e Slide joystick out through the Top Section e Remove the Gaiter Rubber Boot AEE ET 1 2 2 FITTING A JOYSTICK Ensure Gaiter Rubber boot is positioned with the flange firmly against the underside of the Top Section Ensure the joystick is in the correct orientation The notch on the joystick plate should lineup with the Key in the Top Section e Slide joystick up through the Top Section e Check the seal of the Gaiter Rubber boot and secure using the 2 retaining screws Tightening to 0 8Nm 7 inch Ibs e Connect the Joystick Cable to the Power Module e Power up the VR2 with the Joystick Ribbon Cable disconnected The VR2 should flash the left most speed Le
77. ible with a different unauthorized chair Failure to observe this warning could result in an unsafe set up for the wheelchair user and may create a fire hazard depending on the motors wiring 112 VR2 Technical Manual Chapter 8 Warning Summary N y Op N 17 2 18 2 19 PG Drives Technology connectors and circuit breakers installed on the unauthorized chair PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 6 OFF BOARD CHARGING Do not exceed the maximum charging current of 12 A rms Always use an off board charger fitted with a Neutrik NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity with that shown on the specific control system s data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liabilit
78. icator Fault Detect rrrnrrrnnnnnrrnrnnnrnnnnnnrnnnnnner 83 ntodldaim ree es 85 tones 86 eo EE EE 86 Control Button and Indicator rwrnvrnernvvnvvnvnnvnvrnerr 86 Actuator Button and LEDS rarerernenenvnvnvnenennvnenenener 86 Wheelchairs with One Actuator cccecceceeeeeees 86 Maximum Speed Button and Indicator 87 nstalatom FN 87 CONDECION I NER 88 Connection to the VR2 Attendant module 88 VR2 Attendant Module amp Lighting Module 89 Joystick Orientation a eee 89 senn 91 Introduction erornnnnnrrnnnnnrnnnnnrrnrnnnrrnnnnernnnnnsrnnnnneee 91 Joystick Replacement rrmnnnnnnrnnnnnrrnnnnnrnnnnnnnrnnnnnnee 92 Joystick Cable Replacement rrrrnnnnnrnnnnnnnrrrnnnnnnnnnne 94 Keypad Replacement rornrnnnnnnrnnnnnnrnrnnnrnnnnnnrnnnnener 96 BIE OE EE 97 NEF ero CEI OMe EE 97 6 VR2 Technical Manual 2 2 2 3 2 4 2 5 3 1 32 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 3 12 3 13 3 14 3 15 3 16 3 17 3 18 3 19 4 1 4 2 4 3 2 1 2 2 2 3 2 4 Diagnostics PYOCESS snacicdsocsscsensecadscannnctaeimanceataoneaiseas 97 Detecting a Trip has Occurred rrrnranrrrrnnrrvnrnnerennn 97 Other CONnditions cccccccssescccssseeceeesecseseseeseaees 98 Trip DiagnosiS ruarnnnnrnnernnnrrnnnrnnnrnnnersnnrnnnsnnnusnnnee 100 Trip Types and Their Possible Causes 101 Trip Type 1 Low Battery Voltage rrrrrrrrnnnnnrr 102 Trip Type 2
79. ice interval is set for 1000 hours i e Service Timer 1000h However the service is actually conducted at 1050 hours After this service the Service Timer is set for the next service interval and it is at this point that 1050h will be written to the Service Log This facility allows a wheelchair OEM or service agent to determine if the required service routine has been carried out VR2 Technical Manual Chapter 4 Programming 75 PG Drives Technology 76 VR2 Technical Manual Chapter 4 Programming PG Drives Technology CHAPTER 5 LIGHTING MODULE 1 INTRODUCTION This section of the manual describes the operation installation and programming differences generated by the VR2 lighting system The VR2 lighting system comprises of VR2 L VR2 Power Module Joystick Module fitted with lighting control buttons and a VR2 lighting module VR2 LM The VR2 L cannot be used in conjunction with VR2 PM 50 amp VR2 PM 60 D51425 D51246 or VR2 D51427 2 CONTROLS There are common controls between the VR2 and VR2 L control system that operates as previously described in Chapter 1 Where a control has been moved this will be noted however where a control has changed a description of its new functionality and use will be given All information regarding handling advice cleaning requirements and overall controls described in Chapter 1 should be followed Refer to the illustration on the following page for the new VR2 L c
80. ies may be worn out 9 1 HOW TO READ A TRUCHARGE BATTERY GAUGE If the battery gauge shows red yellow and green the batteries are charged If the battery gauges show just red and yellow then you should charge the batteries as soon as you can If the battery gauge shows just red either steady or flashing slowly then you should charge the batteries immediately Do not operate the control system if the battery is nearly discharged Failure to comply with this condition may leave the user stranded in an unsafe position such as in the middle of a road PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 10 BATTERY CHARGING To charge the wheelchair batteries connect the charger plug into the battery charging socket on the VR2 You will not be able to drive the wheelchair when the charger is connected 20 VR2 Technical Manual Chapter 1 Operation PG Drives Technology To connect the charger plug ensure the single pin is at the bottom as shown in the following illustration then offer the charger plug to the VR2 in a horizontal orientation The molded guide on the VR2 will help you to locate the plug Ensure the plug is pushed fully in position Charger Connection m Charger Plug WSS to bottom gt my Do not exceed the maximum charging current For D51427 the maximum charging current is 6Arms for all other VR2 JSMs it is 12 Arms Always use an off
81. ieve optimal performance and drive control This value should be set in accordance with the armature resistance of the motor and all cables and connectors between the VR2 and the motor The value is set in milli Ohms mQ A recommended value is e 70 of the armature resistance cables and connectors Motor manufacturers should be able to supply figures for armature resistance and cable and connectors may typically be 40mQ Example Motor has armature resistance of 200mQ Cables and connectors are 40mQ Set Motor Compensation to 0 7 x 200 40 170mQ Never exceed the 70 relationship described above The chair manufacturer is responsible for ensuring that the control system is matched to the motor resistance Failure to do this may result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for always ensuring that any replacement motor or gearbox is fully compatible with the original control system Failure to do this may result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Users must not transfer a control system from one chair type to install it on a different chair ty
82. ile It is possible to program the control system so this button has no effect while the wheelchair is being driven refer to Chapter 4 3 7 SPEED PROFILE INCREASE BUTTON This button increases the maximum speed setting or if the control system is programmed for drive profile operation selects a higher drive profile It is possible to program the control system so this button has no effect while the wheelchair is being driven refer to Chapter 4 3 8 ACTUATOR BUTTONS AND LEDS Depending on whether the wheelchair is fitted with one or two actuators the operation of these buttons will differ Refer to the relevant section below 12 VR2 Technical Manual Chapter 1 Operation PG Drives Technology 3 8 1 WHEELCHAIRS WITH ONE ACTUATOR Depressing either actuator button will enter actuator adjustment mode This will be indicated by the illumination of both actuator LEDs Actuator adjustment can then be made by deflecting the joystick To re enter drive mode depress either actuator button 3 8 2 WHEELCHAIRS WITH TWO ACTUATORS Depressing either actuator button will enter actuator adjustment mode If the left button was depressed the associated LED will be illuminated and deflection of the joystick will adjust the actuator motor connected to that channel If the right button was depressed the associated LED will be illuminated and deflection of the joystick will adjust the actuator connected to the other channel To re enter drive mode
83. ion Forward Speed Reverse Speed Turning Speed Power Profiles Actuator Selection Actuator 1 End Force Actuator 2 End Force Actuator End Stop Bleep Sleep Timer Joystick Throw Invert joystick Steer Correct Switch Bleep Volume Speed Adjustment while Driving Reverse Driving Alarm Torque Tremor Damping 1 2 PC PROGRAMMER There are three versions of the PC Programmer one for dealers and therapists which gives the same access level as the PP1a handheld programmer one for wheelchair OEM s which gives access to all standard VR2 control system parameters and one for use by OEM s on their production lines These are known as Dealer OEM and Manufacturing respectively For details of how to use these software packages with VR2 refer to the documentation supplied with the software VR2 Technical Manual Chapter 4 Programming 47 PG Drives Technology 1 3 PARAMETERS The parameters have been separated into workable groups for easy referencing Speeds Section 2 Acceleration Deceleration Turn Acceleration Turn Deceleration Forward Speed Reverse Speed Turning Speed Power Number of Drive Profiles Minimum Acceleration Minimum Deceleration Minimum Turn Acceleration Minimum Turn Deceleration Actuators Section 3 Number of Actuators Actuator 1 End Force Actuator 1 Current Limit Timeout Actuator 2 End Force Actuator 2 Current Limit Timeout Actuator End stop bleep Actuator Selection with Joystick Operation Section 4 Sl
84. ion of the TruCharge battery gauge This is normally set at the factory and should not need further adjustment 5 4 LOW BATTERY ALARM This parameter sets whether the VR2 will give an audible alarm to signal a low battery condition The point at which the alarm will sound corresponds to the Low Battery Flash Level setting The parameter can be set to On or Off On Means an alarm will sound Off Means there will be no alarm 5 5 LOW VOLTAGE CUT OUT This allows programming of the level the voltage must reach for the period set by Low Voltage Time before the control system ceases to operate It is programmable from 16V to 22V in steps of 0 5V 5 6 LOW VOLTAGE TIME This allows programming of the length of time the voltage must be below the Low Voltage Cut Out Level before the control system ceases to operate Programmable from 1 to 255 seconds in steps of 1 second 6 INHIBIT PARAMETERS The VR2 contains two highly versatile inhibit inputs that can be configured to provide drive inhibit speed limiting and actuator inhibit functions These inputs are referred to as Inhibit 2 and Inhibit 3 Inhibit 2 is via a dedicated 2 way connector on the Power Module Inhibit 3 is via pin 3 of the On board Charger connector on the Power Module 6 1 INHIBIT 2 THRESHOLD LEVEL Inhibit 2 has 4 possible input states known as bands Each band corresponds to a range of electrical resistance connected to the input The range or size of each band i
85. is located in the INH 2 connector on the Power Module Inhibit 3 input is located in the ON BOARD CHARGER connector on the Power Module Refer to section 4 VR2 Connections Each input has a number of associated programmable parameters Refer to Chapter 4 for details on programming 10 ACTUATOR CONTROL The VR2 control system has the facility for 2 actuator output channels Each actuator channel can supply a maximum current of 12A The VR2 provides automatic end stop detection for each actuator see section 10 1 To ensure correct operation of the user controls for 1 or 2 actuator applications it is necessary to program the control system accordingly The parameter for adjustment is Number of Actuators Refer to Chapter 4 for details of programming VR2 Technical Manual Chapter 2 Installation 35 PG Drives Technology 10 1 ACTUATOR END STOP DETECTION The VR2 continuously monitors the actuator drive current so that when the actuator reaches the end of its travel the rise in current is detected and the power to the actuator is automatically shut off When the actuator current reaches the programmed End Force for a period of time greater than the programmed Actuator Current Limit Timeout the actuator is stopped Because of the wide variation in actuator motors and applications the end stop current threshold is programmable The parameters for adjustment are Actuator 1 Actuator Current Limit Timeout Actuator 2 Actuator Current Limit
86. ks or smoke Turn the control system off at once and consult your service agent PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Electronic equipment can be affected by Electro Magnetic Interference EMI Such interference may be generated by radio stations TV stations other radio transmitters and cellular phones If the chair exhibits erratic behavior due to EMI turn the control system off immediately and consult your service agent PGDT accepts no liability for losses of any kind arising from failure to comply with this condition VR2 Technical Manual Chapter 8 Warning Summary 109 PG Drives Technology It is the responsibility of the chair manufacturer to ensure that the wheelchair complies with appropriate National and International EMC legislation PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The wheelchair user must comply with all wheelchair safety warnings PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 1 section 6 1 HOW TO READ A TRUCHARGE BATTERY GAUGE Do not operate the control system if the battery is nearly discharged Failure to comply with this condition may leave the user stranded in an unsafe position such as in the middle of a road PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapte
87. l Manual 3 Mounting and Installation s es 43 3 1 Joystick Module MOUNTING ccccccssseeeeeeeeeeeees 43 3 2 Power Module MOunting cccssscccsssseeceeeeeeeees 43 4 Power Module WIring cccccssccccessececeenees 43 4 1 E r EEE 43 4 2 Power Module WITing c csccccssseecceeseeceeeseesees 44 4 3 Wire PAWS EEE 44 4 4 Battery VI 45 4 5 SOIEMOIG BU AK CS secu ssc ceecnsecpouseneneasestenueecusce ices maiors 45 4 6 Battery Charging rrrrnnnrrnnnnnrrnnnnnrnnnnnrrnvnnnrrnnnnnsennn 45 CHAPTER 4 PROGRAMMING 1 INTRODUGHON EN 47 1 1 Hand held Programme ls ccccsseeecssseeeeeeeeeesaes 47 1 2 PC Programmer rrnrrannnnunnnvranvnnuvnnvrnnnnnuennennnnnnusener 47 1 3 PAN UC S ini 48 EE 1187 FENCO EE 49 1 5 Drive Profil S ccccceccececcsceccececcsceceececescucescecescs 49 2 Speed Parameter cts e seco 49 2 1 Acceleration cccccecececoececscsccecececscarcececscesareeees 49 2 2 Deceleration rrnannrnanannnnnnvnenevnnnnnenenevnnnnnenenennnnnnen 50 2 3 Turn Acceleration ccccscsccscscecscaccscecscscatencececs 50 2 4 Turn Deceleration ssssssssesseseseesesorseseesescesesersesee 50 2 5 Forward Speed scsccccsssecccssecceesecseeseesseneeesees 50 2 6 Reverse Speed ccccsssccccssscccceesceceesecseecessenseees 50 2 7 Turning Speed mrnerrrnrnnrrrnnnnrrnvnnnrrnvanernnnnnsennnnneee 51 2 8 PN 51 2 9 Number of Drive Profiles
88. lace a suitable circuit breaker in series with the battery supply refer to section 4 2 for example in the link between two 12V batteries If your batteries are held in separate enclosures you must provide a circuit breaker with each of them The rating of the circuit breaker must match the capacity of the wiring used We recommend the use of a 70A circuit breaker for VR2 PM 50 amp VR2 PM 60 systems This recommendation is derived from well proven field experience of various international wheelchair manufacturers Nevertheless manufacturers must confirm these recommendations by carrying out suitable tests ISO 7176 14 states that the minimum operating time for the circuit breaker when the wheelchair is stalled is 15 seconds The chair manufacturer must install a suitable circuit breaker to provide protection against short circuits in the battery wiring power loom or the control system Failure to comply with this could result in a fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 4 5 SOLENOID BRAKES The control system will be immobilized instantly if the brake current is less than approximately 100mA e The maximum continuous current is 1A The Power Modules D51425 and D51426 are designed to operate with 24V brakes only 4 6 BATTERY CHARGING The Modules described in this Chapter support off board charging only While the battery is being charged the VR2 s TruCharge di
89. larly useful for switch types that exhibit bounce such as mercury switches which are often used on tilt mechanisms The parameter is programmable between 100ms and 4000ms in steps 100ms 6 10 INHIBIT 1 ALARM 60 VR2 Technical Manual Chapter 4 Programming PG Drives Technology This parameter sets whether there is an audible alarm given when VR2 Inhibit 1 is active Inhibit 1 is the inhibit associated with the off board charging socket on the front face of the VR2 The parameter can be set to on or off On Means an audible alarm will sound when Inhibit 1 is active Off Means there will be no alarm 6 11 INHIBIT 2 ALARM This parameter sets whether there is an audible alarm given if VR2 Inhibit 2 is active Inhibit 2 is normally the inhibit associated with the actuator functions of the VR2 The parameter can be set to on or off On Means an audible alarm will sound when Inhibit 2 is active Off Means there will be no alarm 6 12 INHIBIT 3 ALARM This parameter sets whether there is an audible alarm given if VR2 Inhibit 3 is active Inhibit 3 is normally the inhibit function associated with the on board charger connections of the VR2 The parameter can be set to on or off On Means an audible alarm will sound when Inhibit 3 is active Off Means there will be no alarm 6 13 ACTUATOR CHANNEL 1 UP INHIBIT AND ACTUATOR CHANNEL 1 DOWN INHIBIT This section must be read in conjunction with section 6 1 Note Band 1 and Band 2
90. lchair s lights and indicators should be fitted with lamps of the corresponding value If 12V is selected then the lights and indicators will remain a constant brightness regardless of the battery voltage TUV Germany require this constant brightness condition 4 2 LAMP WATTAGE Adjusts the control system to match the wattage power of the indicator lamps Correct setting of this parameter is required to accurately detect the failure of an indicator lamp You can set this parameter to 5W 10W or 21W TUV Germany require that 21W lamps be used for the indicators 4 3 INDICATOR FAULT DETECT Sets whether the VR2 L will detect defective turn indicator lamps You can set this parameter to On or Off On means the VR2 L will detect defective lamps and signal this condition to the user by flashing the relevant turn indicator LED on the VR2 L at a faster rate Off means that defective lamps will not be detected If the wheelchair has just one turn indicator per side this parameter should be set to Off TUV Germany requires that indicator lamp faults with 12V 21W bulbs connected are detected and the condition signalled to the user VR2 Technical Manual Chapter 5 Lighting Module 83 PG Drives Technology 84 VR2 Technical Manual Chapter 5 Lighting Module PG Drives Technology CHAPTER 6 ATTENDANT MODULE 1 INTRODUCTION This section of the manual describes the operation installation and programming differences g
91. leasing fully VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 105 PG Drives Technology 3 18 CONTROLLER IN SLEEP MODE This condition is indicated by the Status Indicator blinking on once every 2 5 seconds It is not a trip condition but an indication that the controller has gone to sleep To awake the system switch off and on again 3 19 ATTENDANT MODULE TRIP The Attendant Module has its own diagnostic facility which operates in the following way Code 7107 2 LEDs b If the red and green control indicator LED s are flashing rapidly and alternately then the VR2 has tripped Refer to Chapter 1 section 8 5 for further details Codes 7140 7141 7142 7143 amp 7145 3 LEDs If 3 LEDs on the maximum speed indicator are flashing then there is an internal trip in the Attendant an Module The Attendant Module must be disconnected and returned to PG Drives Technology control system off and on again 7 bars will be flashing on the VR2 but it can be reset by disconnecting the Attendant Module and switching the DD Codes 7170 amp 7147 4 LEDs If 4 LEDs on the maximum speed indicator are flashing then the Attendant Module joystick has caused a trip Ensure the joystick was not displaced when powering the control system up If the joystick is centered and the trip still registers then the joystick is defective and the dual module must be disconnected and returned to PG Drives Technology P
92. less there is an emergency If you do you may shorten the life of the wheelchair drive components The battery gauge shows you that the wheelchair is switched on It also indicates the operating status of the wheelchair Details are given in section 8 0 3 2 LOCKING UNLOCKING THE WHEELCHAIR The VR2 control system can be locked to prevent unauthorized use The locking method is via a sequence of key presses and joystick movements as detailed below To lock the wheelchair e While the control system is switched on depress and hold the on off button e After 1 second the control system will beep Now release the on off button e Deflect the joystick forwards until the control system beeps e Deflect the joystick in reverse until the control system beeps e Release the joystick there will be a long beep e The wheelchair is now locked To unlock the wheelchair e Use the on off button to switch the control system on The maximum speed profile indicator will be rippling up and down e Deflect the joystick forwards until the control system beeps e Deflect the joystick in reverse until the control system beeps e Release the joystick there will be a long beep e The wheelchair is now unlocked 3 3 JOYSTICK The primary function of the joystick is to control the speed and direction of the wheelchair The further you push the joystick from the center position the faster the wheelchair will move When you release the joystick the brake
93. ltage applied to the motor when the joystick is fully deflected and the relevant speed forward or reverse is set to 100 This feature allows you to choose a motor voltage value such that the wheelchair s top speed will remain constant all the time the battery voltage is above that value This value can be set between 20 and 25V in steps of 0 5V 8 MOTOR PARAMETERS 8 1 CURRENT LIMIT MAX CURRENT LIMIT MIN CURRENT FOLDBACK THRESHOLD TIME LEVEL amp TEMPERATURE BOOST CURRENT amp TIME These parameters affect the VR2 s current output with relationships to time and internal VR2 temperature The parameters associated with the Motors are VR2 Technical Manual Chapter 4 Programming 67 PG Drives Technology Current Limit Max This is the current the VR2 can deliver until the programmed value of Current Foldback Temperature is reached Programmable between 20A and the Control System s Maximum in steps of 1 Amp Current Limit Min This is the current the VR2 will deliver at 80 C internal temperature Programmable between 20 and Current Limit Max in steps of 1 Amp Current Foldback Threshold This parameter sets the level of current which when exceeded activates the Current Foldback Time parameter Programmable between 20 and the Current Limit Max in steps of 1 Amp Current Foldback Time This parameter sets the maximum time the control system can be at its current Foldback Threshold before the control system begins to redu
94. mature resistance of the motor and all cables and connectors between the VR2 and the motor The value is set in milli Ohms mQ A recommended value is e 70 of the armature resistance cables and connectors Motor manufacturers should be able to supply figures for armature resistance and cable and connectors may typically be 40mQ Example Motor has armature resistance of 200m 2 Cables and connectors are 40mQ Set Motor Compensation to 0 7 x 200 40 170mQ Failure to match the control system with the motors may result in poor control characteristics If you have any doubts about the suitability of a particular motor type or you need advice on measuring motor impedance contact PGDT The chair manufacturer is responsible for ensuring that the control system is matched to the motor resistance Failure to do this may result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for always ensuring that any replacement motors or gearboxes are fully compatible with the originals that the control system was designed to match Failure to do this may result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising fr
95. mittent trip e Establish the trip type e Refer to the trip table e Refer to the possible cause as indicated by the trip table and carry out recommended investigative and corrective action 2 3 DETECTING A TRIP HAS OCCURRED Firstly observe the control system s TruCharge battery gauge display This will behave as described in one of the following sections 2 3 1 FLASHING RAPIDLY The control system is tripped VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 97 PG Drives Technology e Connecting a programmer to the control system while this is happening will give you a trip code e To determine the trip type refer to section 3 2 3 2 FLASHING SLOWLY No trip is currently detected by the control system The slow flash is an indication that the batteries require charging e Atrip may have occurred previously read the control system s diagnostic log then refer to section 3 to establish the trip type 2 3 3 DISPLAY IS STEADY No trip is currently detected by the control system e Atrip may have occurred previously read the control system s diagnostic log then refer to section 3 to establish the trip type 2 3 4 DISPLAY DOES NOT ILLUMINATE No power is reaching the control system e Ensure the batteries are fully charged and that all connections between batteries and the control system are made e If these connections are good then the Power Module may be defective refer to Section 5 2 3 5 ACTUATOR
96. module s IPx4 rating VR2 Technical Manual Chapter 6 Attendant Module 87 PG Drives Technology Do not mount the Attendant Module in a position which would expose it to excessive shock or vibration The Attendant Module is designed to withstand levels of shock and vibration experienced when mounted to the chassis of a wheelchair and has been tested in accordance with BS2011 part 2 1Eb 1987 and BS2011 part 2 1Fd 1973 for Bump and Random Vibration respectively Direct impacts onto the Attendant Module system should be avoided Contact PGDT if you need further advice O When the Attendant Module has been installed and connected the joystick may need re orientation Refer to section 5 of this part of the manual for details 4 CONNECTION Secure all cables to the wheelchair frame over as much of their length as is practical 4 1 CONNECTION TO THE VR2 ATTENDANT MODULE The VR2 Attendant Module system is connected to the VR2 Attendant module Control System via a designated cable as shown below using the cable supplied VR2 Attendant Module System Configuration Attendant Module To Joystick Module Attendant Module intermediate Cable To Power Module 88 VR2 Technical Manual Chapter 6 Attendant Module PG Drives Technology 4 2 VR2 ATTENDANT MODULE amp LIGHTING MODULE Including a VR2 Attendant Module into a lighting configuration VR2 Attendant Module System Configuration aa i i VR2 L re
97. n below 16V Check the condition of the batteries and the connections to the control system If the trip is still present after the batteries and connections have been checked then the Power Module may be defective Refer to section 5 In the case of 2C02 the Control System is making a log of the times that the Low Battery Lockout has been initiated 3 2 TRIP TYPE 2 LEFT MOTOR DISCONNECTED This occurs when the control system detects that the left motor has become disconnected Check the left motor motor connectors and wiring If the trip is still present after the above checks have been made then the Power Module may be defective Refer to Section 5 The VR2 control system may be programmed to exchange the left and right motor outputs In this instance this section will refer to the right motor Consult the wheelchair manufacturer for more details 3 3 TRIP TYPE 3 LEFT MOTOR WIRING TRIP This occurs when the control system detects a fault in the wiring to the left motor in particular if a motor connection has short circuited to a battery connection Check the left motor connectors and wiring If the trip is still present after the above checks have been made then the Power Module may be defective Refer to Section 5 The VR2 control system may be programmed to exchange the left and right motor outputs In this instance this section will refer to the right motor Consult the wheelchair manufacturer for more details 3 4 TRIP T
98. n the Power Module and the wheelchair chassis Mount the control system in a position allowing a free flow of air around the case It is possible for the case temperature of the Power Module to rise above 41 C 107 F For this reason the Power Module should be fixed in a position where it cannot be touched by the wheelchair user Chapter 5 section 3 1 Contact PGDT if you need further advice 3 2 3 CABLES The cables to the Power Module must be routed and secured in such a way as to prevent damage to them for example by cutting or crushing 28 VR2 Technical Manual Chapter 2 Installation 4 CONNECTIONS PG Drives Technology There are 9 generic VR2 Power Module configurations Each Power Module includes a Joystick connector a battery connector 2 motor connectors Left and Right an on board charger an individual inhibit input and up to 2 actuator control connections On Power Modules with less than 2 Actuator Connections the un populated connectors will be blanked off VR2 60 amp VR2 70 VR2 70 RN amp VR2 90 Connection Motor 1 Brake ve SS Motor ve Inhibit 2 On board Charger 3 1 nnn 2 Actuators Tt 2 2 ee Battery Motor 2 Brake ve Brake ve a Brake ve Motor ve Motor ve Motor ve 12V I CIRCUIT BREAKER 12V INH 2 Function 1 OV 2 Inhibit 2 OBC Function 1 Battery ve 2 Inhibit 3 3 OV Joystick Actuator Movement Pin 1 Pin 2 Movemen
99. ng acceleration of the wheelchair from 0 to 100 in steps of 1 A higher value gives faster acceleration This programmed value of acceleration occurs when speed setting 5 is selected Its value at other settings depends on the value of the Minimum Turn Acceleration parameter 2 4 TURN DECELERATION Adjusts the value for turning deceleration or braking of the wheelchair Adjustable in steps of 1 from 0 to 100 A higher value gives faster deceleration This programmed value of deceleration occurs when the Joystick Module has speed setting 5 selected Its value at other settings depends on the value of the Minimum Turn Deceleration parameter 2 5 FORWARD SPEED Adjusts the minimum and maximum values for forward speed of the wheelchair Adjustable in steps of 1 from 0 to 100 A higher value gives a faster speed The minimum value occurs when speed setting 1 is selected and the maximum value occurs at speed setting 5 2 6 REVERSE SPEED Adjusts the minimum and maximum values for reverse speed of the wheelchair Adjustable in steps of 1 from 0 to 100 A higher value gives a faster speed The minimum value occurs when the speed setting 1 is selected and the maximum value occurs at speed setting 5 50 VR2 Technical Manual Chapter 4 Programming PG Drives Technology 2 7 TURNING SPEED Adjusts the minimum and maximum values for the turning speed of the wheelchair Adjustable in steps of 1 from 0 to 100 A higher value gives a faster
100. ntrol system s warranty PGDT accept no liability for losses of any kind arising from unauthorized opening adjustments or modifications to a any component of a control system Chapter 7 section 5 VR2 Technical Manual Chapter 8 Warning Summary 117 PG Drives Technology 118 VR2 Technical Manual Chapter 8 Warning Summary PG Drives Technology CHAPTER 9 SPECIFICATIONS 1 ELECTRICAL SPECIFICATIONS 1 1 VR250 60 70 amp 90 Supply Voltage 24Vdc Operating Voltage 16Vdc to 35Vdc Peak Voltage 35Vdc Reverse Battery Voltage 40Vdc PWM Frequency 20kHz 0 5 Brake Voltage 12Vdc or 24Vdc Brake Current 100mA min 1A max Charger Connector Use only Neutrik NC3MX Batt Charging Current 12A max Actuator Current 12A max Maximum Drive Current VR2 60 60A VR2 70 70A VR2 90 90A Moisture Resistance IPx4 Operating Temperature 25 C to 50 C Storage Temperature 40 C to 65 C VR2 Technical Manual Chapter 9 Specifications 119 PG Drives Technology 1 2 Supply Voltage Operating Voltage Peak Voltage Reverse Battery Voltage PWM Frequency Brake Voltage Brake Current Charger Connector Batt Charging Current Maximum Drive Current VR2 PM 50 VR2 PM 60 Moisture Resistance Operating Temperature Storage Temperature 1 3 Susceptibility Emissions ESD VR2 PM 50 amp VR2 PM 60 24Vdc 16Vdc to 35Vdc 35Vdc
101. ntrol system is starting up or standing by it is able to detect a disconnected motor or a short circuit between a motor connection and either battery supply With the TruCharge battery gauge the number of flashing bars indicates the type of trip Auxiliary switches will disconnect the brake circuit if either circuit breaker operates In this way the control system can detect that the motor has been disconnected and stop the wheelchair Should the motor be put into a stalled condition the timed current foldback facility in the control system can also be used to offer some level of motor protection 5 5 SOLENOID BRAKE WIRING The control system will be immobilized instantly if the brake current is less than approximately 100mA The maximum continuous current is 1A The VR2 control system can be programmed to operate with either 12 or 24V brakes Refer to Chapter 4 for programming details 32 VR2 Technical Manual Chapter 2 Installation PG Drives Technology 6 DRIVE MOTORS The control system is designed to be connected to permanent magnet DC motors fitted with suitable gearboxes and solenoid brakes In order to optimize the performance of the wheelchair the control system must be matched to the motor terminal impedance This matching is implemented by programming the control system The parameter for adjustment is Motor Compensation Refer to Chapter 4 for details The Motor Compensation value should be set in accordance with the ar
102. oard charger The maximum permissible charging current is 12A rms Only chargers fitted with Neutrik NC3MX plugs should be connected into the VR2 control system The pin connections of the socket are as below Pin Connection 1 Battery Positive 2 Inhibit 3 Battery Negative To prevent the wheelchair from driving while the charger is connected pin 3 must be linked to pin 2 inside the charger s plug Do not exceed the maximum charging current of 12A rms Always use an off board charger fitted with a Neutrik NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity to be compatible with the pin polarity shown on the control system s specific data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 34 VR2 T
103. of motor damage Do not adjust these values without consulting the wheelchair manufacturer PGDT accept no liability for losses of any kind resulting from the adjustment of this parameter 8 10 DEMAND CLIPPING R NET Demand clipping is necessary to ensure good speed and direction control of the wheelchair in all circumstances including heavy loads and low battery conditions Off If set to Off it uses the standard VR2 algorithm VR2 Technical Manual Chapter 4 Programming 73 PG Drives Technology On If set to On it uses the R net version of the demand clipping algorithm In some wheelchair application setting the parameter On can allow allows higher speeds to be maintained when making regular course adjustments 8 11 TURNING TORQUE VR2 PM 50 amp VR2 PM 60 Only D51425 D51246 Turning Torque is a way of boosting the Current to the motors when a wheelchair is attempting to turn at low speeds under a heavy load Example Attempting to turn on a thick carpet If the wheelchair is stalled and the controller is receiving a turn signal the current applied to the motor will be gradually increased to a value of Current Limit Max in attempt to clear the obstacle As soon as the obstacle is cleared then the current is gradually stepped down until normal operating current is achieved Turning Torque can be set between 0 and 100 in steps of 5 0 Represents no increase in the current 100 Represents the Current Limit Max se
104. of an Audible bleep to tell you when the Actuator is stalled at its end stop This parameter can be set to On or Off 4 OPERATION PARAMETERS 4 1 SLEEP TIMER Sets the period of time before the control system will turn itself off if the wheelchair is not driven The time can be set between 0 and 30 minutes in steps of 1 minute If the time is set to 0 the system will never turn itself off 54 VR2 Technical Manual Chapter 4 Programming PG Drives Technology 4 2 JOYSTICK THROW This allows you to program the control system so that full speed can be reached with a reduced joystick movement throw This is particularly useful for wheelchair users with limited hand or arm movement 4 3 INVERT JOYSTICK This parameter inverts the direction of travel when moving the joystick This parameter can be set to On or Off On Deflecting the joystick Forward will result in Reverse drive Off Deflecting the joystick Forward will result in Forward drive O Left and Right deflection of the joystick remain unchanged 4 4 STEER CORRECT This parameter compensates for any mismatching of motors to ensure that the wheelchair drives directly forward when the control system s joystick is being pushed directly forward It is normally set to zero but may be varied from 9 to 9 in increments of 1 If the chair is veering to the left you should increase the setting If the chair veers to the right decrease the setting If Swap Motors is set this l
105. of the control system are securely mounted Do not over tighten any securing screws 7 3 SERVICING To ensure continued satisfactory service we suggest you have your wheelchair and control system inspected by your service agent after a period of 1 year from commencement of service Contact your service agent for details when the inspection is due 8 CONTROL SYSTEM STATUS INDICATION The battery gauge and maximum speed profile indicator show the status of the control system indicates that many reported faults are due to wheelchair problems rather than the control system A number of supposedly defective control systems returned to us are subsequently found to operate correctly This 16 VR2 Technical Manual Chapter 1 Operation PG Drives Technology 8 1 BATTERY GAUGE IS STEADY This indicates that all is well 8 2 BATTERY GAUGE FLASHES SLOWLY The control system is functioning correctly but you should charge the battery as soon as possible 8 3 BATTERY GAUGE STEPS UP The wheelchair batteries are being charged You will not be able to drive the wheelchair until the charger is disconnected and you have switched the control system off and on again 8 4 BATTERY GAUGE FLASHES RAPIDLY EVEN WITH THE JOYSTICK RELEASED The control system safety circuits have operated and the control system has been prevented from moving the wheelchair This indicates a system trip i e the VR2 has detected a problem somewhere in the wheelc
106. ogic will be reversed 4 5 SWITCH BLEEP VOLUME Switch Bleep Volume sets the volume of the audible feedback given whenever a button on the VR2 is operated Adjustable between 0 and 10 in steps of 1 If the parameter is set to 0 then the Switch Bleep function is effectively switched OFF The higher the value the louder the audible feedback 4 6 SPEED ADJUSTMENT WHILE DRIVING This parameter sets whether the VR2 s speed profile buttons are active while the wheelchair is being driven The parameter can be set to on or off On Means the buttons are active while the wheelchair is being driven so the user can make maximum speed setting adjustments or select a different drive profile while actually moving Off Means the buttons are not active while the wheelchair is being driven so the joystick must be released and the wheelchair at rest before maximum speed setting adjustments or different drive profile selections can be made VR2 Technical Manual Chapter 4 Programming 55 PG Drives Technology 4 7 SERVICE TIMER VR2 PM 50 amp VR2 PM 60 Only D51425 D51246 The service timer function is used to set the number of hours that need to elapse before the controller notifies the user that a new service is required The service timer can be programmed between Ohrs off and 10000 hours in steps of 10 hours When the service timer is active the TruCharge display will flash 900ms on 100ms second off for the first 20 seconds after
107. ol system see Chapter 2 section 8 or any other part of the wheelchair system Chapter 1 section 10 PROGRAMMING Programming should only be conducted by healthcare professionals with in depth knowledge of PGDT electronic control systems Incorrect programming could result in an unsafe set up of a wheelchair PGDT accept no liability for losses of any kind if the programming of the control system is altered from factory pre set values Chapter 1 section 11 110 VR2 Technical Manual Chapter 8 Warning Summary 2 6 2 8 2 N 9 PG Drives Technology JOYSTICK KNOBS Do not replace the joystick knob with any unauthorized item it may cause hazardous operation PGDT accepts no liability for losses Chapter 1 section 12 SERVICING PGDT accept no liability for losses of any kind arising from unauthorized opening adjustment or modifications to the VR2 control system If the control system is damaged in any way or if internal damage may have occurred through impact or dropping have the product checked by qualified personnel before operating PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 1 section 13 WARRANTY The warranty will be void if the VR2 has not been used in accordance with VR2 Technical Manual SK77898 the VR2 has been subject to misuse or abuse or if the VR2 has been modified or repaired by unauthorized persons Chapter 1 se
108. om failure to comply with any of the conditions in the warnings listed below Failure to observe these warnings will invalidate the VR2 warranty The wheelchair manufacturer may wish to use this section as a check list to ensure the risk areas identified below have been addressed within their own wheelchair designs and associated documentation 2 WARNINGS 2 1 DRIVING TECHNIQUE The wheelchair user must be capable of driving a wheelchair safely PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 1 section 5 2 2 2 HAZARDS Although the VR2 control system is designed to be extremely reliable and each unit is rigorously tested during manufacture the possibility of a system malfunction always exists however small the probability Under some conditions of system malfunction the control system must for safety reasons stop the chair instantaneously If there is any possibility of the user falling out of the chair as a result of a sudden braking action it is imperative that a restraining device such as a seat belt is supplied with the wheelchair and that it is in use at all times when the wheelchair is in motion PGDT accept no liability for losses of any kind arising from the unexpected stopping of the wheelchair or from the improper use of the wheelchair or control system Do not operate the control system if the chair behaves erratically or shows abnormal signs of heating spar
109. om failure to comply with this condition Users must not move a control system from one chair type to install it on a different chair type Control systems with different part numbers may have both hardware and software differences to ensure that they are compatible with the electrical and dynamic characteristics of their specific target vehicles The characteristics of one type of control system may not be compatible with a different unauthorized chair Failure to observe this warning could result in an unsafe set up for the wheelchair user and may create a fire hazard depending on the motors wiring connectors and circuit breakers installed on the unauthorized chair PGDT accepts no liability for losses of any kind arising from failure to comply with this condition VR2 Technical Manual Chapter 2 Installation 33 PG Drives Technology 7 BATTERIES The control system is designed for operation with 24 V lead acid batteries The batteries may be wet or gel electrolyte types Contact PGDT for advice on battery selection 8 BATTERY CHARGING The VR2 control system supports both on board and off board methods of battery charging While the battery is being charged the VR2 s TruCharge display will continuously ripple or step upwards The two methods of charging are described in the following sections 8 1 OFF BOARD CHARGING All VR2 control systems have a battery charging socket mounted on their front face for connection to an off b
110. ond To supplement this safety monitoring you should carry out the following periodic checks VR2 Technical Manual Chapter 1 Operation 15 PG Drives Technology If the control system fails any of these checks do not use the wheelchair and contact your service agent 7 1 DAILY CHECKS Joystick With the control system switched off check that the joystick is not bent or damaged and that it returns to the center when you push and release it If there is a problem do not continue with the safety checks and contact your service agent 7 2 WEEKLY CHECKS Solenoid parking brake This test should be carried out on a level floor with at least one meter clear space around the wheelchair e Switch on the control system e Check that the battery gauge remains on or flashes slowly after one second e Push the joystick slowly forwards until you hear the parking brakes operate The chair may start to move e Immediately release the joystick You must be able to hear each parking brake operate within a few seconds e Repeat the test a further three times pushing the joystick slowly backwards left and right Connectors Make sure that all connectors are securely mated Cables Check the condition of all cables and connectors for damage Joystick gaiter Check the thin rubber gaiter or boot around the base of the joystick shaft for damage or splitting Check visually only do not handle the gaiter Mounting Make sure that all the components
111. ontrol layout 2 1 ACTUATOR BUTTON AND LEDS Depending on whether the VR2 is programmed with 1 or 2 actuators the operation of this button will differ Refer to the relevant section below For actuator programming refer to Chapter 4 2 1 1 WHEELCHAIRS WITH ONE ACTUATOR Depressing the actuator button once will enter actuator adjustment mode This will be indicated by the illumination of both actuator LEDs Actuator adjustment can then be made by deflecting the joystick forwards and backwards To re enter drive mode depress either the actuator button or a speed button 2 1 2 WHEELCHAIRS WITH TWO ACTUATORS Depressing the actuator button will enter actuator adjustment mode Depressing the button once illuminates the LEFT LED and deflection of the joystick forwards or backwards will adjust the actuator connected to that channel Selection between the two VR2 Technical Manual Chapter 5 Lighting Module 77 PG Drives Technology actuators is achieved by deflecting the joystick to the left and right As the actuator selected changes then so will the LED which illuminates LEFT for actuator 1 and RIGHT for actuator 2 To re enter drive mode depress the actuator button again or depress either speed button Joystick Module Joystick Control Panel Charger and Programmer Socket Control Panel Variants No Actuator With Actuators Controls Battery Gauge Maximum Speed Profile Indicator Speed Profile Decrease Button
112. or button or the speed button 2 4 MAXIMUM SPEED BUTTON AND INDICATOR 2 4 1 MAXIMUM SPEED INDICATOR This shows the maximum speed setting for the wheelchair when the Attendant Module system has control There are five settings setting 1 is the lowest speed and setting 5 is the highest speed The speed setting is changed with the speed button 2 4 2 MAXIMUM SPEED BUTTON This sets the maximum speed of the wheelchair when the Attendant Module system has control Depressing the button increases the controller s maximum speed by one step until it has reached step 5 The next depression then brings the speed back down to step 1 If the control system is programmed for drive profile operation then the attendant module system speed adjuster button will only adjust the speed within the selected profile Changing between drive profiles can only be achieved using the VR2 3 INSTALLATION The Attendant Module has four holes for mounting on the underside Refer to the following illustration for details of the hole positions The holes are tapped with an M5 thread to a depth of 10mm 3 8 cii gt mm 1 65 limm 4 0 43 42mm 1 65 15mm 0 6 View of underside HOLE CTS The Attendant Module is not sensitive to mounting orientation except where it is exposed to water or dust In this situation the control system must be mounted with the joystick shaft pointing vertically upwards in order to maintain the attendant
113. otating the seat through 180 The parameter for adjustment is Seat Reversal the effect of this parameter is explained below Seat Reversal can be set to On or Off ON Connecting the Inhibit 2 input to OV will reverse the motors forward direction Motor direction and axes changes as normal and the Front Wheel Drive Rate function is used OFF Seat Reversal has no effect 6 6 INHIBIT 3 THRESHOLD LEVEL Inhibit 3 has 4 possible input states known as bands Each band corresponds to a range of electrical resistance connected to the input The range or size of each band is programmable via three parameters Inhibit 3 Lower Level Threshold Inhibit 3 Middle Level Threshold and Inhibit 3 Upper Level Threshold The diagram in section 6 1 shows the concept 100 corresponds to a resistance of 10KOhm or greater including an open circuit on pin 2 of Inhibit 3 0 corresponds to a short circuit between pins 2 and 3 of Inhibit 3 Each of the Level Threshold parameters can be set to a value of 0 to 100 in steps of 1 meaning the range of each band is programmable This allows for versatile programming of drive inhibit soeed limit and actuator inhibit conditions from just one input VR2 Technical Manual Chapter 4 Programming 59 PG Drives Technology For details of drive inhibit and speed limit programming refer to section 6 7 For details of actuator inhibit programming refer to section 6 13 6 7 INHIBIT 3 SPEED LIMIT IN BAND X This s
114. otor has a bad connection Check the connections to the right hand motor The right hand motor has a short circuit to a battery connection Contact your service agent The wheelchair is being prevented from driving by an external signal The exact cause will depend on the type of wheelchair you have one possibility is the battery charger is connected A joystick fault is indicated Make sure that the joystick is in the center position before switching on the control system A possible control system fault is indicated Make sure that all connections are secure The parking brakes have a bad connection Check the parking brake and motor connections Make sure the control system connections are secure An excessive voltage has been applied to the control system This is usually caused by a poor battery connection Check the battery connections A communication fault is indicated Make sure that the joystick cable is securely connected and not damaged An Actuator trip is indicated If more than one actuator is fitted check which actuator is not working correctly Check the actuator wiring 18 VR2 Technical Manual Chapter 1 Operation PG Drives Technology If the programmable parameter Motor Swap has been enabled then left and right hand references in this table will need transposing 8 6 SLOW OR SLUGGISH MOVEMENT If the wheelchair does not travel at full speed or does not respond quickly enough and the battery condition is
115. ow much charge is left in your batteries The best way for you to use the gauge is to learn how it behaves as you drive the wheelchair Like the fuel gauge in a car it is not completely accurate but it will help you avoid running out of fuel The battery gauge works in the following way When you switch on the control system the battery gauge shows an estimate of the remaining battery charge The battery gauge gives you a more accurate reading about a minute after you start driving the wheelchair V When you replace worn out batteries fit the type recommended by the wheelchair manufacturer If you use another type the battery gauge may be inaccurate The amount of charge in your batteries depends on a number of factors including the way you use your wheelchair the temperature of the batteries their age and the way they are made These factors will affect the distance you can travel in your wheelchair All wheelchair batteries will gradually lose their capacity as they age The most important factor that reduces the life of your batteries is the amount of charge you take from the batteries before you recharge them Battery life is also reduced by the number of times you charge and discharge the batteries To make your batteries last longer do not allow them to become completely flat Always recharge your batteries promptly after they are discharged If your battery gauge reading seems to fall more quickly than usual your batter
116. ower joystick response will become When setting Tremor Damping pay particular attention to stopping distances As the parameter dampens the response to the joystick commands stopping distance can be affected To stop the wheelchair with Tremor Damping activated you must release the joystick and allow it to center It is the responsibility of the wheelchair manufacturer to ensure requirements on stopping distances are adhered to 8 8 JOYSTICK STATIONARY TIME If the joystick is held in a deflected position i e away from center for a period of time exceeding this value it is assumed the deflection is accidental and drive to the motors will be cut The programmable range is 0 60 minutes in steps of 1 minute A value of 0 disables this function It is not normally necessary to adjust this parameter motor damage Do not adjust these values without consulting the wheelchair manufacturer PGDT accept no liability The value of both this parameter has been selected by the wheelchair manufacturer in order to minimize the risk of for losses of any kind resulting from the adjustment of this parameter 8 9 JOYSTICK STATIONARY RANGE This sets the window within the joystick is considered to be stationary It the joystick moves by more than this value the timer is reset It is not normally necessary to adjust this parameter The value of this parameter has been selected by the wheelchair manufacturer in order to minimize the risk
117. pe Control systems with different part numbers may have both hardware and software differences to ensure that they are compatible with the electrical and dynamic characteristics of their specific target vehicles The characteristics of one type of control system may not be compatible with a different unauthorized chair Failure to observe this warning could result in an unsafe set up for the wheelchair user and may create a fire hazard depending on the motors wiring connectors and circuit breakers installed on the unauthorized chair PGDT accepts no liability for losses of any kind arising from failure to comply with this condition VR2 Technical Manual Chapter 4 Programming 71 PG Drives Technology 8 3 INVERT M1 DIRECTION This inverts the direction of rotation of motor channel M1 On a standard VR2 M1 relates to the left motor channel The parameter can be set to on or off On means the motor output M1 will be inverted Off means the motor will rotate in the normal direction 8 4 INVERT M2 DIRECTION This inverts the direction of rotation of motor channel M2 On a standard VR2 M2 relates to the right motor channel The parameter can be set to on or off On means the motor output M2 will be inverted Off means the motor will rotate in the normal direction 8 5 MOTOR SWAP This swaps the motor output channels of the VR2 l e left becomes right and right becomes left The parameter can be set to on or off On Means t
118. peed control system minimizes the effects of slopes and different types of terrain The wheelchair user must be capable of driving a wheelchair safely PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 14 VR2 Technical Manual Chapter 1 Operation PG Drives Technology 6 PRECAUTIONS FOR USE UY In the event of the wheelchair moving in an unexpected way RELEASE THE JOYSTICK This action will stop the A wheelchair under any circumstances 6 1 HAZARDS Do not drive the wheelchair Beyond restrictions indicated in your wheelchair user manual for example maximum inclines curb height etc In places or on surfaces where a loss of wheel grip could be hazardous for example on wet grassy slopes If you know that the control system or other crucial components require repair Although the VR2 control system is designed to be extremely reliable and each unit is rigorously tested during manufacture the possibility of a system malfunction always exists however small the probability Under some conditions of system malfunction the control system must for safety reasons stop the chair instantaneously If there is any possibility of the user falling out of the chair as a result of a sudden braking action it is imperative that a restraining device such as a seat belt is supplied with the wheelchair and that it is in use at all times when the wheelchair is in motion PGDT accept no liability
119. played Refer to the trip code table in section 3 V You must connect the programmer to the control system after the TruCharge display has started flashing If the A programmer is already connected when the flashing commences the trip code will not be displayed 100 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology 3 TRIP TYPES AND THEIR POSSIBLE CAUSES Once the trip type has been established refer to the relevant section below for further information Trip Trip Description amp Reference Trip Trip Description amp Reference Code Type Code Type gt frnsoearenep 39 mo 7 m oT rier nor 1506 1E03 Charging Refer to section 3 6 7105 7 er DN i i 7 7 7 3 7 3 7 3C00 3 7 S ip 3 Left Motor Wiring Trip 3 3 7821 Thermal Foldback Active 3 17 mo ruter nor rar GS atone asleTHP 1 a Right Motor Wiring Trip 3 5 7902 Thermal Foldback Active 3 17 Right Motor Wiring Trip 3 5 All Other 70r8 Possible Control System Trip 3 7 amp Codes 4401 Bo Control System Trip 3 8 1 S Flashing Speed Indicator LED s 3E01 hell 2 A Flashing Actuator LED s 3 D Flashing LED s on the Attendant Module VR2 Technical Manual Chapter 7 Servicing amp Diagnostics 101 PG Drives Technology 3 1 TRIP TYPE 1 LOW BATTERY VOLTAGE This occurs when the control system detects that the battery voltage has falle
120. pter 8 Warning Summary N 25 N 26 PG Drives Technology SAFETY FENCES PGDT accepts no liability for losses of any kind if the chair manufacturer does not specify appropriate safety fence values for a particular wheelchair application Chapter 4 section 1 4 BRAKE FAULT DETECT This parameter should only ever be set to off if there are no electrical brakes fitted to the wheelchair Chapter 5 section 7 9 CURRENT LIMITS The values in the table VR2 Current Management should never be exceeded Doing so will invalidate the warranty and affect the long term reliability of the control system Chapter 4 section 8 1 MOTOR COMPENSATION Never exceed the 70 relationship described above The chair manufacturer is responsible for ensuring that the control system is matched to the motor resistance Failure to do this may result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising from failure to comply with this condition The chair manufacturer is responsible for always ensuring that any replacement motors or gearboxes are fully compatible with the originals that the control system was designed to match Failure to do this may result in poor control characteristics which in extreme instances can make a chair uncontrollable and potentially unsafe PGDT accepts no liability for losses of any kind arising
121. pts no liability for losses of any kind arising from failure to comply with this condition 13 SERVICING All repairs and servicing must be carried out by authorized service personnel Opening or making any unauthorized adjustments or modifications to the control system or its components will invalidate any warranty and may result in hazards to yourself or other people and is strictly forbidden It is possible to replace the cable and the joystick by following instructions laid down by PG Drives Technology Refer to Chapter 7 Servicing amp Diagnostics PGDT accept no liability for losses of any kind arising from unauthorized opening adjustment or modifications to the VR2 control system If the control system is damaged in any way or if internal damage may have occurred through impact or dropping have the product checked by qualified personnel before operating PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 14 WARRANTY The VR2 control system is covered by a warranty period defined by the wheelchair manufacturer For details of the warranty period please contact your service agent The warranty will be void if the VR2 control system has Not been used in accordance with the VR2 control system Technical Manual SK77898 Been subject to misuse or abuse 22 VR2 Technical Manual Chapter 1 Operation PG Drives Technology Been modified or repaired by non
122. r s hazard warning lamps operate this button the associated LED will flash at the same rate The left and right turn indicator LEDs will also flash If the LED s flash rapidly either a short circuit a single lamp open circuit or an open circuit in the entire indicator circuit has been detected Depress the hazard waning button to turn off the lights and associated LED VR2 Technical Manual Chapter 5 Lighting Module 79 PG Drives Technology 3 LIGHTING MODULE INSTALLATION 3 1 MOUNTING The lighting module should be mounted vertically with the connector sockets pointing down using M3 5 Europe or 6 40 USA screws The lighting module must be mounted in a position where it is not exposed to conditions of water or dust above those specified in IS07176 9 Do not mount the lighting module in a position which would expose it to excessive shock or vibration The lighting module is designed to withstand levels of shock and vibration experienced when mounted to the chassis of a wheelchair and has been tested in accordance with BS2011 part 2 1Eb 1987 and BS2011 part 2 1Fd 1973 for Bump and Random Vibration respectively Direct impacts onto the lighting module should be avoided Contact PGDT if you need further advice Mount this way up Fixing Holes Left Side Lights RightSide Lights amp Indicators amp Indicators TO VR2 It is possible for the case temperature of the Lighting Module to rise above 41 C 107 F
123. r 1 section 9 1 2 4 BATTERY CHARGING Do not exceed the maximum charging current For D51427 the maximum charging current is 6Arms for all other VR2 JSMs it is 12 Arms Always use an off board charger fitted with a Neutrik NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity with that shown on the specific control system s data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Only use the battery charger that has been supplied with your wheelchair The use of incorrect chargers could damage the batteries wheelchair control system or charger itself or may result in parts overheating creating the potential for burns or even fire PGDT accepts no liability for losses of any kind if the charger is incompatible with the contr
124. ronnrrnnnrrrnnnrrnnnnrrnnnrrnnenee 62 Inhibit Examples f 0ctsexcusacnsssurscetertarensvacriacenctassanesowes 62 Disable Inhibit 2 in Drive rrarrrnnnrrrrnnrrnnnrrrrnnrrnen 65 Disable Inhibit 3 in Drive cccceeccccseeseceeeeeeeeeees 65 7 1 7 2 7 3 7 4 7 5 7 6 1 7 7 8 1 9 7 10 7 11 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 8 9 8 10 8 11 9 1 9 2 9 3 9 4 9 5 2 1 2 2 PG Drives Technology General Parameters a a A a 65 Fast Brake Rate icsacacccastudswsnaiionasanstianseciiGrandvetaiaedsaad 65 Solt Stop RITE EN eR 65 Front Wheel Drive Rate ccccesccceseeceseeeeeeeeeeees 66 Soft Reverse Deceleration cccccccsssseceeeeseeeeeees 66 Reverse Driving Alarm rrrnnnnnnnrnnnnnnnnrrnnnnnnnnvnnnnn 66 Brake Disconnected Alarm ccccccssecceseeeeeeeeeenes 66 K10 Programming Restriction cccccseeeeseeeeeees 66 Lock Function Enabled rrrnnnrrnnnrrnnanrrnnnrrnnnnrnneeee 67 Brake Fault Detect sisiesssiivccsssacuevaccecvansneasessnasainesciss 67 Brake Voltage scssi aerieni no n 67 Output VIG Sci cts ccusecenscusncesavtacensavenecductutecensaeiea 67 MotorParameters Hd 67 Current Limit Max Current Limit Min Current Foldback Threshold Time Level amp Temperature Boost Current amp Time rrnnnnnnnnenvnnenennnnennnnsnnnenennener 67 Motor Compensation sesccesncanncsnarseansancoceatenassnneiasmans 71 Invert M1 Direction sssssssssessesssresessesserer
125. s are automatically applied VR2 Technical Manual Chapter 1 Operation 11 PG Drives Technology If the wheelchair is fitted with actuators the joystick can also be used to select and move actuators refer to section 3 8 for more details 3 4 MAXIMUM SPEED PROFILE INDICATOR This is a gauge which shows the maximum speed setting for the wheelchair or if the control system is programmed for drive profile operation the selected drive profile For more information on drive profiles refer to Chapter 4 This gauge also indicates if the speed of the wheelchair is being limited or if the control system is locked refer to sections 8 8 and 8 9 3 4 1 MAXIMUM SPEED INDICATOR This is a gauge that shows the maximum speed setting of the wheelchair There are five speed settings step 1 is the lowest speed and step 5 is the highest speed For details of how to change the maximum speed setting see sections 3 6 and 3 7 3 4 2 PROFILE INDICATOR This is an indicator that shows the selected drive profile There may be up to 5 drive profiles available this depends on the programming of the control system refer to Chapter 4 For details of how to select drive profiles see sections 3 6 and 3 7 3 5 HORN BUTTON The horn will sound while this button is depressed 3 6 SPEED PROFILE DECREASE BUTTON This button decreases the maximum speed setting or if the control system is programmed for drive profile operation selects a lower drive prof
126. s programmable via three parameters Inhibit 2 Lower Level Threshold Inhibit 2 Middle Level Threshold and Inhibit 2 Upper Level Threshold The following diagram shows the concept VR2 Technical Manual Chapter 4 Programming 57 PG Drives Technology Threshold Band Relationship 100 Upper Threshold Level Band 2 v Middle Threshold Level t Lower Threshold Level o t 100 corresponds to a resistance of 10KOhm or greater including an open circuit on pin 2 of Inhibit 2 0 corresponds to a short circuit between pins 1 and 2 of Inhibit 2 Each of the Level Threshold parameters can be set to a value of 0 to 100 in steps of 1 meaning the range of each band is programmable This allows for versatile programming of drive inhibit speed limit and actuator inhibit conditions from just one input For details of drive inhibit and speed limit programming refer to section 6 2 For details of actuator inhibit programming refer to section 6 12 6 2 INHIBIT 2 SPEED LIMIT IN BAND X This section must be read in conjunction with section 6 1 There are 4 parameters that can be set Inhibit 2 Speed Limit in Band 0 Inhibit 2 Speed Limit in Band 1 Inhibit 2 Speed Limit in Band 2 Inhibit 2 Speed Limit in Band 3 Each is programmable between 0 and 100 in steps of 1 The value in each band s parameter sets the wheelchair s maximum driving speed when the VR2 s Inhibit 2 input is in that band For example if Inhi
127. sition The value is adjustable between 1 and 5 A higher value gives a higher force The value should be chosen so that the actuator can move under its heaviest load condition but will shut off automatically when stalled at the end stop VR2 Technical Manual Chapter 4 Programming 53 PG Drives Technology 3 5 ACTUATOR 2 CURRENT LIMIT TIME OUT This adjusts the length of time the control system will apply current to the actuator motor once it has reached its End Force current limit It is adjustable between 50ms and 500ms in steps of 10ms 3 6 ACTUATOR SELECTION WITH JOYSTICK This parameter determines whether selection between different actuator channels can be made with left right movements of the joystick You can set between on and off On Means that selection between actuator channels can be made with the joystick and the actuator buttons Off Means that only the actuator buttons can be used to select between actuator channels The parameter is only applicable if the Number of Actuators parameter is set to greater than 1 3 7 ACTUATOR END STOP DETECTION This can protect the actuator motor from high levels of current over extended periods of time This parameter can be set to On or Off On The parameters Actuator End Force and Actuator Current Limit Time Out are activated and stop the actuator motors Off The actuator will not be automatically stopped by the control system 3 8 ACTUATOR END STOP BLEEP This allows the use
128. sition and press the speed button The speed display will now be flashing all 5 LED s If the reorientation has been unsuccessful then the speed display will show only one LED In this instance repeat the entire sequence e Turn the entire system off and on again at the VR2 by pressing the ON OFF button before attempting to drive 90 VR2 Technical Manual Chapter 6 Attendant Module PG Drives Technology CHAPTER 7 SERVICING amp DIAGNOSTICS 1 SERVICING 1 1 INTRODUCTION The VR2 Joystick Module has been designed and constructed to allow field replacements of some key components The replaceable components are The Joystick The Joystick Cable The Keypad Any replacement work carried out without the wheelchair manufacturer s permission will invalidate the control system s warranty PGDT accepts no liability for losses of any kind if the procedure and safety guidelines are not followed These operations should only be carried out by a trained Healthcare Technician While performing the following operations the technician should use anti static protection such as the RadioShack 276 2397 or Farnell 8247056 anti static wristbands PG Drives Technology recommends anti static protection to specification IEC 61340 5 2 Failure to use the correct anti static protection could cause damage to the control system PGDT accepts no liability for losses of any kind if the correct ant
129. snnnener 56 Battery Parameters rasrnnrrnrnnernsvnnsrnsvnnsvnsenes 56 Low Battery Flash Level rrrannrnnnnnnnrnnnnnrrnvnnnnnnnn 56 Cable Resistance rrrarrrnnnnnnrnnnnvrrnrnnnrnnnnnernnnnnevennnee 56 Calibration Factor rarornnnnnornnnnrrrnrnnnrnnnnnnernnnnnerennne 56 Low Battery Alarm rannrnnnnnornnnnnrnnnnnnrnnnnnnrnnnnnsnnnn 57 Low Voltage Cut OUt rrrnnnnnnrnnnnnrnnnnnnnrnnnnnsrrnnnnnsennn 57 LOW Voltage Time rrrnannrnnnnnnrnnnnnrnnnnnnnrnnnnsrrnnnnesennn 57 InhibitP raneters er eini 57 Inhibit 2 Threshold Level ccccsecccsesseceeeeeeeeeees 57 Inhibit 2 Speed Limit in Band X rrronnnrnnnnnnrnvnnnnennn 58 Inhibit 2 Operation rrrrnnnnornnnnnnnrrnnrnnnnnnrnnnnnnssrnnnnn 58 Inhibit 2 Debounce iccsztsctencscasecccarsetonwsteseddaetencsasaveas 59 Seat Reversal EE EE 59 Inhibit 3 Threshold Level rrrrnnrrnnnrrnnnnrrnnnnrrnnnrrnner 59 Inhibit 3 Speed Limit in Band X rrrrnroronrrrrnrnnnnrrnnnnn 60 Inhibit 3 Operation rorrrnnnnnrrnnnnnrrnnnnnnrnvnnnrrnvnnnsnnnn 60 Inhibit 3 DEDOUNCE rrrrannrnnnnnrrnnnnerennnnnernnnnnernnnnenenen 60 Inhibit 1 Alarme seeoorernnrrrrerrrnnnrrnnnrrnnnrrnnnnernnnsennee 60 Inhibit 2 Alarme seeerrororrrnrrvnrnrrrrnnnrernrnnrsvnnnnerenn 61 Tala ole EE 61 Actuator Channel 1 Up Inhibit and Actuator Channel 1 Down Inhibit essrronrrnnnrrrnnnrrnnnnrrnnnsrnneree 61 Actuator Channel 2 Up Inhibit and Actuator Channel 2 Down Inhibit srr
130. speed If Drive Profile 0 is selected then the minimum value occurs when speed setting 1 is selected and the maximum value occurs when speed setting 5 is selected 2 8 POWER Sets the power of the wheelchair Adjustable in steps of 1 from 0 to 100 Power is the ability of a wheelchair to climb a hill or overcome an obstacle If it is set to 100 then the wheelchair will provide full power Values below 100 will result in reduced power A typical use is to minimize damage to doorways or furniture if the wheelchair is being used indoors The values can be set independently between drive profiles meaning separate indoor and outdoor profiles can be defined Example VR2 70 is programmed to Current Limit Max 70 Amps Power Profile 1 100 Power Profile 2 50 This means that in profile 1 the VR2 will output 70A but in profile 2 will output 50 of 70A 35A 2 9 NUMBER OF DRIVE PROFILES Refer to section 1 5 2 10 MINIMUM ACCELERATION Adjusts the minimum value for forward and reverse acceleration of the wheelchair Adjustable in increments of 1 of the Acceleration value This percentage of the Acceleration value occurs when the VR2 speed setting is at 1 See following example Acceleration 80 and Minimum Acceleration 25 Acceleration at step 1 25 of 80 20 Speed settings 2 3 and 4 will interpolate linearly between 20 and 80 Acceleration at step 2 35 VR2 Technical Manual Chapter 4 Programming 51 PG Dri
131. splay will continuously ripple or step upwards The maximum permissible charging current is 6A rms Only chargers fitted with Neutrik NC3MX plugs should be connected into the VR2 control system The pin connections of the socket are as below Pin Connection 1 Battery Positive 2 Inhibit VR2 Technical Manual Chapter 3 VR2 PM50 60 VR2JSM 45 PG Drives Technology 3 Battery Negative To prevent the wheelchair from driving while the charger is connected pin 3 must be linked to pin 2 inside the charger s plug NC3MX plug Failure to observe these conditions could result in poor contact resistance in the charger connector Do not exceed the maximum charging current of 6A rms Always use an off board charger fitted with a Neutrik resulting in overheating of the charger plugs This presents a potential burn hazard for the user PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity to be compatible with the pin polarity shown on the control system s specific data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazar
132. t Forward ve ve Channel Up Backward ve ve Channel Down VR2 Technical Manual Chapter 2 Installation 29 PG Drives Technology 4 1 CRIMPING Good quality crimping is essential in ensuring the long term reliability of the wheelchair s electrical system Poor quality crimps may initially appear to be satisfactory but over time they may cause problems It is recommended that crimp quality is maintained by implementing the procedures detailed in IEC 60352 2 1990 Defective or poor quality crimps may affect the warranty of the control system PGDT accepts no liability for losses of any kind arising from failure to comply with this condition 4 2 CONNECTOR KITS The connector kits can be purchased from PG Drives Technology or from Inconnect directly Inconnect details are as below Inconnect UK Avertronics INC Taiwan 44 0 845 25 70 666 886 0 4 2358 1581 www inconnect uk net www inteam ws Connector Kits PGDT Reference Inconnect Reference Motor D50750 IPG 7401 PS Battery D50751 IPG 7401 PS Motor 90 D49713 PG80 M IPG 5401 Battery 90 D49712 PG80 B IPG 5402 On Board Charger D50752 IPG 7301 PS Inhibit 2 D50753 IPG 8201 PS Actuator D50754 IPG 8202 PS Hand tools for crimping and extraction are available from Inconnect The references are as follows Crimp tool for 0 5 1 0mm wire ICT 29020 Crimp tool for 4 0 6 0mm wire ICT 29030 Extraction tool for 0 5 1 0mm gt IET 503 Extraction tool for 4 0 6 0mm gt IET 560
133. t the Joystick Module s resistance to moisture ingress e Connect the Joystick Cable to the Power Module e Turn the controller on If the procedure has not been followed correctly or the cable is faulty the TruCharge display will flash 7 bars and the Speed Indicator will flash all 5 LEDs Refer to Section 3 At this point e Check all connections e Repeat the procedure e Should the procedure fail twice try a new cable 1 4 KEYPAD REPLACEMENT e Disconnect Joystick Cable from the Power Module e Gently lift the top corner of the keypad with a scalpel e Remove the damaged keypad e Ensure surface area is clear clean and free of adhesive e Place the new keypad into position ensuring there are no gaps around the edges and press firmly to stick e Re connect Joystick Cable to the Power Module e Turn control system on and check the operation of the buttons If trouble is experienced activating any of the buttons ensure that the pad is correctly positioned and firmly adhered to the joystick module s surface Q Incorrect fitting of the Keypad could seriously affect the Joystick Module s resistance to moisture ingress 96 VR2 Technical Manual Chapter 7 Servicing amp Diagnostics PG Drives Technology 2 DIAGNOSTICS 2 1 INTRODUCTION The primary objective of this section is to assist service personnel in finding the likely area of a detected fault within the whole wheelchair electrical system It is important to re
134. the controller is switched On The service reminder is reset by incrementing the Service Timer in the PC Programmer Active diagnostic display s will always take precedence over the Service Reminder 5 BATTERY PARAMETERS 5 1 LOW BATTERY FLASH LEVEL This parameter sets the point at which the VR2 s TruCharge battery gauge starts to flash slowly to warn of a low battery condition Adjustable between 0 and 10 in steps of 1 This corresponds to the number of bars shown on the battery gauge For example if this value is set to 2 then the flashing will occur when the gauge drops to 2 bars 5 2 CABLE RESISTANCE This parameter should be set to the total value of the electrical resistance of wires between the batteries and the VR2 body This parameter ensures the TruCharge battery gauge gives an accurate reading under all driving conditions Adjustable between 0 and 255mQ in steps of 1mQ The value should take into account the electrical resistance in both the positive and negative connections The battery wires in the VR2 cable have a typical electrical resistance of 4 6mQ metre Therefore if the VR2 has a 1 3m cable the Cable Resistance setting must be at least 1 3 x 4 6mQ x 2 12mQ To this value you must also add the resistance of the wheelchair wiring between the batteries and the VR2 connectors 5 3 CALIBRATION FACTOR 56 VR2 Technical Manual Chapter 4 Programming PG Drives Technology This allows further fine calibrat
135. the accuracy of the battery gauge is the resistance of the cable and connections between the battery and the control system The control system must be matched approximately to the cable resistance of your wheelchair to make the battery gauge accurate The parameter for adjustment is Cable Resistance refer to Chapter 4 for details on programming As a guide 2 5 mm cable has a resistance of about 8 milliohms per meter 4 mm cable has about 5 milliohms per meter Circuit breakers and connectors usually account for about 15 milliohms These values will be chosen at the time the control system is being specified by the wheelchair manufacturer Like the preset acceleration rates once the values for the battery are decided they are programmed into control systems during manufacture and should never need changing e Control systems are set for a nominal 40amp hour battery and a 40 milliohm cable resistance If you need advice contact PGDT VR2 Technical Manual Chapter 2 Installation 39 PG Drives Technology 40 VR2 Technical Manual Chapter 2 Installation PG Drives Technology CHAPTER 3 VR2 PM50 60 VR2 JSM 1 INTRODUCTION This Chapter describes the differences of the following modules It is therefore important that the entire manual has been read and understood Major differences are 6A Charging Current No On Board Charging Unique Inter Connection System Modules Description PG Part Number VR2 PM 50 50A Output No
136. tion A wheelchair is fitted with an elevating seat As the seat raises the maximum speed is reduced to 50 then 25 and a full drive inhibit occurs at maximum height A circuit such as follows is used Actuator Inhibit Possible Switch Set up Inhibit 2 a S W 3 G 2K2 SW 2 2K2 SW 1 Inhibit 2 When the seat is in the fully lowered position all switches are closed and the electrical resistance is a short circuit or 0 Ohms As the seat raises SW1 opens giving 2 2KOhms then SW2 opens giving 4 4KOhms and at full height SW3 opens giving a complete open circuit Programming would be as below Inhibit 2 Threshold Levels 62 VR2 Technical Manual Chapter 4 Programming PG Drives Technology Upper Level Threshold 54 Middle Level Threshold 34 Lower Level Threshold 12 This gives a band arrangement as follows Inhibit Bands DI ore SSS i 2K2 22 12 As good practice the threshold limits have been chosen so the actual resistance values that trigger a change are in the approximate center of the bands thereby eliminating the risk of a system erroneously switching between bands The 4 Speed Limits for Inhibit 2 would need to be set as below Inhibit 2 Speed Limit in Band 0 100 Speed Limit in Band 1 50 Speed Limit in Band 2 25 Speed Limit in Band 3 0 Application 1 In an identical fashion to the previous example a wheelchair is fitted with a lifting seat and as the seat raises the maximum
137. to the following diagram 42mm 1 65 Nom 40 0mm 1 57 View of Underside 3 1 1 ORIENTATION The control system is not sensitive to mounting orientation except where it is exposed to water or dust In this situation the control system must be mounted with the joystick shaft pointing vertically upwards to maintain resistance to IPx4 as stated on the data sheet If you want to use any other mounting attitudes then contact PGDT for advice VR2 Technical Manual Chapter 2 Installation 27 PG Drives Technology 3 2 POWER MODULE MOUNTING Fix the Power Module to the wheelchair chassis using suitable M5 or equivalent hardware 3 2 1 ORIENTATION The function of the Power Module is not sensitive to mounting orientation however it should be mounted in such a way that water cannot enter and remain in the connector recesses It is recommended that the unit is not mounted with the connectors uppermost The Power Module has an IPX4 dust and water resistance rating 161 0 165 0 6 34 6 49 3 2 2 POSITION The Power Module must be mounted in a position where it is not exposed to conditions of water or dust above those specified in IS07176 9 The Power Module has excellent thermal performance but to improve this further it may be secured against a metal part of the wheelchair chassis To provide even better thermal performance a non silicone thermally conductive paste or pad may be applied betwee
138. tting This is dependent on the resistance of the motors connected if the resistance is high then Current Limit Max may 7 not be achievable Ensure that the motor compensation is set correctly for the wheelchair 9 MEMORY FUNCTIONS The VR2 has a timer and a diagnostic log These can be read and cleared using the PP1a Programmer or the PC Programmer 9 1 READ TIMER The VR2 has a timer which records how long the wheelchair is in use The timer runs whenever the joystick is moved away from the center position and stops when the joystick is returned The timer records the number of hours the wheelchair has been in use 9 2 CLEAR TIMER This function resets the VR2 s timer This function is only present in the OEM and Manufacturing versions of the PC Programmer 74 VR2 Technical Manual Chapter 4 Programming PG Drives Technology 9 3 READ SYSTEM LOG The VR2 has a diagnostic log facility which stores the number of occurrences of the last eight detected system problems This allows you to view the contents 9 4 ERASE SYSTEM LOG This function clears the VR2 s diagnostic log This function is only present in the OEM and Manufacturing versions of the PC Programmer 9 5 SERVICE LOG This records the actual number of hours that the wheelchair was in use before a service was undertaken The record is made each time the Service Timer is programmed to the next service interval An example is given below The first serv
139. ve You must release the joystick to resume normal operation If you do not release the joystick within five seconds the wheelchair will not be able to move even if you release the joystick and push it again The battery gauge will then flash rapidly You can reset this condition by switching the control system off and on again If the battery gauge flashes rapidly then the VR2 has detected a problem somewhere in the wheelchair s electrical system Refer to section 8 5 for details 5 TIPS FOR USING YOUR CONTROL SYSTEM 5 1 DRIVING GENERAL Make sure that the control system is mounted securely and that the joystick position is correct The hand or limb you use to operate the joystick should be supported for example by the wheelchair arm pad Do not use the joystick as the sole support for your hand or limb wheelchair movements and bumps could upset your control 5 2 DRIVING TECHNIQUE The control system interprets your joystick movements and produces appropriate movements of your wheelchair You will need very little concentration to control the wheelchair which is especially useful if you are inexperienced One popular technique is to simply point the joystick in the direction you want to go The wheelchair will home in on the direction you push the joystick The further you push the joystick away from the rest position the faster the wheelchair will go Releasing the joystick will stop the wheelchair The intelligent s
140. ves Technology Acceleration at step 3 50 Acceleration at step 4 65 2 11 MINIMUM DECELERATION Adjusts the minimum value for forward and reverse deceleration of the wheelchair Adjustable in increments of 1 of the Deceleration value This percentage of the Deceleration value occurs when the VR2 speed setting is at 1 See following example Deceleration 80 and Minimum Deceleration 25 Deceleration at step 1 25 of 80 20 Speed settings 2 3 and 4 will interpolate linearly between 20 and 80 Deceleration at step 2 35 Deceleration at step 3 50 Deceleration at step 4 65 2 12 MINIMUM TURN ACCELERATION Adjusts the minimum value for turning acceleration of the wheelchair Adjustable in increments of 1 of the Turn Acceleration value This percentage of the Turn Acceleration value occurs when the VR2 speed setting is at 1 See following example Turn Acceleration 80 and Minimum Turn Acceleration 25 Turn Acceleration at step 1 25 of 80 20 Speed settings 2 3 and 4 will interpolate linearly between 20 and 80 Turn Acceleration at step 2 35 Turn Acceleration at step 3 50 Turn Acceleration at step 4 65 2 13 MINIMUM TURN DECELERATION Adjusts the minimum value for turning deceleration of the wheelchair Adjustable in increments of 1 of the Turn Deceleration value This percentage of the Turn Deceleration value occurs when the VR2 speed setting is at 1 See following example 52 VR2 Technical Manual
141. wheelchair manufacturer to ensure requirements on stopping distances are adhered to Chapter 4 section 8 7 2 30 MOUNTING It is possible for the case temperature of the Lighting Module to rise above 41 C 107 F For this reason the Lighting Module should be fixed in a position where it cannot be touched by the wheelchair user Chapter 5 section 3 1 WIRING For lighting module sockets 1 and 2 only use the exact parts specified below for the mating connector PGDT accepts no liability for losses of any kind arising from damage to or failure of the wheelchair lighting system including any associated wiring It is the responsibility of the wheelchair manufacturer to ensure that the lighting NO W y system wiring complies with all relevant standards Chapter 6 section 3 4 N 32 SERVICING INTRODUCTION Any replacement work carried out without the wheelchair manufacturer s permission will invalidate the control system s warranty PGDT accepts no liability for losses of any kind if the procedure and safety guidelines are not followed These operations should only be carried out by a trained Healthcare Technician Chapter 7 section 1 1 2 33 DIAGNOSTICS INTRODUCTION Diagnostics should only be conducted by healthcare professionals with in depth knowledge of PGDT electronic controllers An incorrect or badly effected repair could result in an unsafe set up of a wheelchair PGDT accept no liability for losses of any kind
142. y for losses of any kind arising from failure to comply with this condition Chapter 2 section 8 1 ON BOARD CHARGING Do not exceed the maximum charging current of 12A rms Always use an on board charger sited with the Inconnect parts specified in section 4 2 PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Ensure that the charger plug pins are of the correct polarity with that shown on the specific control system s data sheet Failure to observe this condition could result in a burn hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Do not disconnect batteries or open circuit the circuit breaker while charging is in progress Failure to observe this condition could result in a burns hazard or fire hazard PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 8 2 PRODUCTION TEST These tests should be conducted in an open space and a restraining device such as a seat belt should always be used PGDT accepts no liability for losses of any kind arising from failure to comply with this condition Chapter 2 section 11 MOUNTING The chair manufacturer is responsible for ensuring that only the mating connectors specified by PGDT on the control systems specific data sheet are used to connect to the control system PGDT accepts no liability for losses of any

VR2 TECHNICAL MANUAL SK77898/4

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