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Cub Cadet 769-08543 Lawn Mower User Manual

1. m Fn EN i B 8 4 d P ani P adis P ani N T 1 71 Rear L Turn I e Rear R Turn T O Front L Turn E hy Front R Turn re Actuator 1 Running Lights CE Actuator 2 Fig 5 Basic wiring diagram Curtis 1740 powerbase 14 pin logic connector The mating connector is 14 pin Molex Mini Fit Junior p n 39 01 2140 You should use the matching Molex pins p n 44476 3112 which are suitable for high current and 18 24 AWG wire The pin out is as follows Pin 1 Seat Motor 1 Pin 8 Seat Motor 1 Pin2 Seat Motor 2 Pin 9 Seat Motor 2 Pin3 B Pin 10 Running Lights Pin4 B Pin 11 Front Right Turn Pin 5 Multi Function Input 1 Pin 12 Front Left Turn Pin 6 Multi Function Input 2 Pin 18 Rear Right Turn Pin 7 Multi Function Input 3 Pin 14 Rear Left Turn Curtis enAble 40 Series Manual Rev B 2 INSTALLATION amp WIRING Fig 6 Wiring for the Multi Function inputs Multi Function Input 1 MF3 MF2 MF1 B B B A Inhibit Speed Limit High B Inhibit Speed Limit Low MF3 MF2 MF1 B B 1 Linear Speed Pot gt lt
2. Ne 2 The MyChair parameter allows you to select Profile 1 Profile 2 or a blended profile between the two MYCHAIR PARAMETER B PARAMETER RANGE DESCRIPTION MyChair 1 0 2 0 Setting this parameter to 1 0 selects Profile 1 a setting of 2 0 selects Profile 2 All other settings 1 1 1 9 select a blend between Profiles 1 and 2 V P Profile 1 is characterized by the parameter settings in the Profile 1 Drive and Steer menus Profile 2 is characterized by the parameter settings in the Profile 2 Drive and Steer menus Typically Profile 2 is configured with more aggressive settings than Profile 1 The Drive and Steer menus for the two profiles allow the OEM to set up two different drive and steering feels for each configuration for a total of 8 different combinations configurations x 2 profiles In practice many more chair personalities are immediately available through these two parameters alone Configuration and MyChair as the profile can be set at any of eleven points along the profile continuum This provides tremendous versatility without the need for customizing any of the other parameters 20 Curtis enAble 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS Drive Parameters for Profiles 1 amp 2 The Drive menu contains the major parameters that affect the forward and reverse speed response and feel of the chair There are separate Drive menus for Profile 1 and Profile 2 Take
3. p 25 JOVSHCK pyi eorias p 26 Sound amp Display p 27 Handcontrol Inhibit p 27 Seal noinein ii p 28 Lights essssssssss p 29 Motor Controller Current Limits p 29 Multi Function Inputs Input Tserp p 30 Input 2e p 31 Input 3 unie p 32 Compensation p 33 r Motors amp Brakes p 34 Battery suse p 35 Curtis enAble 40 Series Manual Rev B 19 5 PROGRAMMABLE PARAMETERS Configuration and MyChair Parameters The 1740 powerbase holds four complete data sets containing values for all the programmable parameters This allows the OEM to have one controller whose four configurations are set up to match four different chair models The Configuration parameter is used to select which of these four configurations is active CONFIGURATION PARAMETER E PARAMETER RANGE DESCRIPTION Configuration 1 4 The powerbase stores up to four complete data sets or configurations This parameter is used to select which of the four is active However you must unplug the programmer and plug it in again Upon changing this parameter every parameter in the new configuration becomes active immediately in the powerbase so that it can upload view and adjust the settings for the newly active parameters
4. EM brake Halt Act 1 Dir On Off Actuator 1 will be halted in the negative direction Halt Act 1 Dir On Off Actuator 1 will be halted in the positive direction Halt Act 2 Dir On Off Actuator 2 will be halted in the negative direction Halt Act 2 Dir On Off Actuator 2 will be halted in the positive direction Speed Limit 0 100 Sets the speed limit that will be in effect when Off Swvl Seat 2 d and Input 3 is active see Active Low parameter J 32 Curtis enAble 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS Compensation Parameters COMPENSATION MENU PARAMETER RANGE DESCRIPTION High Speed Comp 0 100 Sets motor load compensation at high speeds Higher values provide stronger disturbance rejection while smaller values provide smoother operation Low Speed Comp 0 100 Sets motor load compensation at low speeds Higher values provide stronger disturbance rejection while smaller values provide smoother operation Anti Rollback Comp 0 150 Provides increased compensation at very low speeds to help prevent rollback on hills or ramps Larger values provide more torque Extra Uphill Comp 0 12 0 V Extra compensation added to the drive command when stopping on an uphill slope This should be set high enough to keep the chair from rolling backwards when stopping on an incline Uphill Threshold 0 100 Detection threshold that allows the controller to
5. Deceleration rate out of a turn when chair is traveling at high speed Turn Decel Low Speed 1 100 Deceleration rate out of a turn when chair is traveling slowly Steer Sensitivity 1 100 Controls on center steering gain of the throttle This parameter adjusts how much throttle movement is necessary to make small steering adjustments while the vehicle is traveling at speed A value of 1 will make the controller very insensitive requiring large movements to make subtle steering adjustments A value of 100 will give the throttle very high steering gain on center Gate Shape 20 100 Provides electronic gating of the joystick output command The turn command and speed command are both restricted as a function of joystick position see Figure 11 Typically higher values are appropriate for rear drive and lower values for front drive Speed Full Turn Speed NoTurn Patent pending 0 100 0 200 These two parameters provide dynamic turn radius control with the allowed turning radius being a function of speed see Figure 12 The slower the chair is traveling the tighter it is allowed to turn Speed Full Turn sets the speed below which there is no limit on the turning radius For example with Speed Full Turn set to 20 the turn limiting map will begin at 20 this means that full turning is available when the chair is traveling below 20 of max speed Setting Speed Full Turn to 100 elim
6. STEP 2 Ifthe chair is still not responsive you may need to raise the High Speed Comp value set during procedure Conversely if it is too jittery or nervous even at low settings you may need to lower the High Speed Comp value 3 Tune the Quick Stop and the Emergency Stop The Quick Stop engaged when the joystick is quickly reversed and the Emer gency Stop engaged when the On Off button on the handcontrol is pressed while the chair is being driven allow the chair to be stopped more quickly than by the normal deceleration release of joystick to neutral STEP 1 Drive the chair full speed and reverse the joystick quickly engag ing the Quick Stop feature STEP 2 Adjust the Quick Stop Factor parameter Program gt Profile 1 gt Drive menu to provide the fastest possible safe stop STEP 3 Because the Quick Stop feature is very fast it is often hard to release the joystick fast enough to prevent the chair from actu ally starting to drive in the opposite direction You can use the Quick Stop Pause parameter Program Handcontrol Joystick menu to provide a delay giving the operator time to release the joystick after the Quick Stop STEP Again drive the chair at full speed but this time turn the system off using the On Off button on the handcontrol The chair will quickly come to a stop as defined by the Emergency Stop param eter Program Profile 1 Drive menu Adjust this parameter for the fastest pos
7. 40 Curtis enAble 40 Series Manual Rev B 7 TUNING GUIDE Set Up Compensation Setting the compensation parameters carefully will provide the proper control force during turning caster reversal and hill and curb climbing and will also provide smooth and responsive acceleration and steering Once the compen sation values have been set typically they do not need to be adjusted again However sometimes the chair feels too jumpy or too sluggish even after the best attempts to tune the drive and steering parameters If this is the case you will want to come back to the compensation parameters STEP l Using the keypad select the lowest speed mode STEP 2 Turn the chair left and right while adjusting the Low Speed Comp parameter Program Motor Controller Compensation menu If the casters will not flip around and the chair stalls increase the Low Speed Comp value STEP 3 You should never use 10096 compensation a typical value is 50 to 8096 If you find that a very high Low Speed Comp is needed it is possible that the PWM is being limited by the Turn Min Speed parameter Program Profile 1 Steer menu which will need to be adjusted higher STEP If Low Speed Comp is set too high the chair will feel jumpy or jerky while turning If it does reduce the Low Speed Comp STEP 5 Initially set the High Speed Comp equal to the Low Speed Comp When you reach the Steering Sensitivity procedure you may wish
8. 0 100 Sets the speed limit when the input is high or the potentiometer wiper is at 100K to B V P 30 Curtis enAble 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS Multi Function Input 2 Parameters Multi Function Input 2 menu can be used to inhibit one or both actuators and to set a corresponding speed limit Multi Function Input 2 is at Pin 6 on the 14 pin connector see Figure 6 page 9 a MULTI FUNCTION INPUT 2 MENU E PARAMETER RANGE DESCRIPTION Off Seat 0 1 0 Multi Function Input 2 ignored 1 Inhibit and or Speed Limit functions active depending on whether input is high or low see next parameter Active Low On Off When programmed On the Inhibit and Speed Limit functions are active when the switch is closed pulled low to B when programmed Off these functions are active when the switch is open Charger inhibit On Off Enables Input 2 to be used with an on board charger The charger will pull the inhibit active during charging which will inhibit drive light the charger and battery icons in the handcontrol display and engage the EM brake Halt Act 1 Dir On Off Actuator 1 will be halted in the negative direction Halt Act 1 Dir On Off Actuator 1 will be halted in the positive direction Halt Act 2 Dir On Off Actuator 2 will be halted in the negative direction Halt Act 2 Dir On Off Actuator 2 will be halted in the positive direction Speed Limit 0 100 Sets the
9. 100kQ Multi Function Input 2 MF3 MF2 MF1 B B oO Multi Function Input 3 MF3 MF2 MF1 B B oO On board Charger Can use Multi Function Input 1 2 or 3 for inhibit MF1 B B pe aS on e zE F rm N optional optional CHARGER Molex High Current Contacts must be used for onboard charging through this connector Allowable current is 12 amps continuous Curtis enAble 40 Series Manual Rev B 2 INSTALLATION amp WIRING CONNECTING THE CONTROL MODULES The communications cable on the 1741 user handcontrol and on the 1742 attendant control each terminate in a plug that fits into the powerbase s 6 pin connector The attendant control s cable includes a Y junction into which the user handcontrol s cable connects as shown in Figure 7 Fig 7 Connecting the 1741 control modules to the HAND ONTKOL powerbase 1742 ATTENDANT CONTROL 1740 POWERBASE 1740 POWERBASE 5 pin charger programmer port The user handcontrol has a 5 pin port that accommodates a battery charger and a 1311 programmer although not at the same time The charger plugs three pins fit into sockets 1 2 and 3 The programme
10. 27 5 27 5 V Voltage at drive motor 1 M2 Voltage 27 5 27 5 V Voltage at drive motor 2 M1 PWM 100 100 PWM applied to drive motor 1 M2 PWM 100 100 PWM applied to drive motor 1 Brake On Off Status of electromagnetic brake System Resistance 0 477 Estimated motor resistance in real time This value will fall between the programmed System Resistance and Hot System Resistance values Resistance Test 0 477 Resistance of the system as measured by the powerbase at the M1 and M2 terminals This variable only displays an accurate resistance reading when the Motor Test Mode parameter see page 35 is On BATTERY o Battery Voltage 0 38 5 V Voltage of the main battery BDI 0 100 Battery state of charge as estimated by the powerbase Sooo J Curtis enAble 40 Series Manual Rev B 37 7 TUNING GUIDE TUNING GUIDE This section shows you how to to zero in on the desired drive feel for the chair The procedures should be conducted in the sequence given because successive steps build upon the ones before Please follow them carefully and do not skip over any steps Make sure you are in a clear and open area when you start the tuning process You will need to use a 1311 handheld programmer in order to conduct these procedures The tuning procedures show you how to adjust various programmable parameters to accomplish specific performance goals Refer to the descriptions of the
11. Actuator 2 will drive same as list above for Actuator 1 Actuator 2 Speed 0 100 The PWM setting speed for Actuator 2 Actuator 2 Stop Current 0 12 A The driver shuts off if the current rises above this level Simultaneous Speed 0 100 The PWM setting speed when both actuators are active Note The stop current when both actuators are operating simultaneously will be the lower of the two set stop currents Actuator Stop Time 3 120 sec The actuator shuts off if it runs longer than this time Actuator Open Detect 0 4 2A An actuator fault is detected if the current falls below this level 28 Curtis enAble 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS Lights and Current Limits Parameters LIGHTS MENU B PARAMETER RANGE DESCRIPTION Running Lights On Off Set to On if the vehicle has running rights Running Light Volts 12 24 V Defines the voltage for the running lights Bulbs will be held at a constant brightness Min Light Current 0 26 5 A Defines the minimum allowed driver current for the running lights below this current a fault will be declared Indicators On Off Set to On if the vehicle has indicator lights Indicator Volts 12 24 V Defines the voltage for the indicator lights Bulbs will be held at a constant brightness Min Indicator Current 0 26 5 A Defines the minimum allowed driver current for the indicator ligh
12. Attendant control 1742 diagnostics sss 51 TABLE D 1 Specifications 1740 powerbase D 1 TABLE D 2 Specifications 1741 handcontrol 4e ttt rrt at D 1 TABLE D 3 Specifications 1742 attendant control 42 2 D 1 Curtis enAble 40 Series Manual Rev B V 1 OVERVIEW Fig 1 Curtis enAble 40 Powerchair Control System powerbase 1740 user handcontrol 1741 attendant control 1742 OVERVIEW The Curtis enAble 40 Powerchair Control System provides outstanding versatility packaged in an easy to install easy to use set of three components a powerbase motor controller with optional seat actuators and lights an ergonomic handcontrol with an intuitive icon LCD display and an optional compact attendant control The enAble 40 provides the perfect solution for rear mid and front drive powerchairs With its advanced seating control it will also be the right fit for many Rehab chair configurations Like all Curtis motor control products the enAble 40 system offers superior control of drive performance delivering a ride that is smooth and responsive in all modes acceleration deceleration forward or backward on smooth indoor surfaces up a hill or over gravel Key features include Powerbase WY Best in market drive feel and control for front mid and rear wheel drive chairs v Full 50 and 75 amp power ratings in a rugged compact and sealed enclosure
13. Left and Right Turn Indicator buttons activate the corresponding turn indicators Pressing the turn indicator button again will turn the indicator off Also note that pressing the opposite turn indicator button will cancel the first indicator and activate the new one The turn indicator icons in the LCD flash in synchronicity with the actual turn indicator lights 14 Curtis enAble 40 Series Manual Rev B 3 USER HANDCONTROL Mode Button With the chair in Drive and the joystick in neutral pressing the Mode button selects Mode 1 actuator 1 and the appropriate portion of the chair icon lights up Moving the joystick to the right selects Mode 2 actuator 2 moving the joystick to the right again selects both modes Moving the joystick to the right yet again will return to Mode 1 To exit actuator mode press the Mode button again or move the joystick to the left The fill in portions of the chair illuminate to show which actuator is active In this example Actuator 1 is the seatback and Actuator 2 is both legs For programming see Seat menu page 28 Se ke d MODE BUTTON JOYSTICK MOVED JOYSTICK MOVED PRESSED M TO RIGHT TO RIGHT AGAIN MODE 1 MODE 2 MODES 1 2 Curtis enAble 40 Series Manual Rev B 15 3 USER HANDCONTROL LCD DISPLAY The LCD on the handcontrol briefly displays all of the system s icons as shown in Figure 9 during its self test routine on startup Battery Discharge Indicat
14. a complete stop If it grabbed or even drove the chair backward try it over with gradually increasing Downhill Threshold values until this effect goes away If the chair is still slowly creeping at the end of the stop try increasing thee Max Downhill Comp After adjusting the thresholds it is necessary to go back to the ramp and verify and possible re tune some of the uphill or down hill parameters Repeat steps 2 through 6 until you are satisfied with both ramp and flat floor performance If ramp performance degrades with hot motors run the Motor Test procedure Program Motors amp Brakes menu while the motors are hot Set the Hot System Resistance parameter to the same value as the result of the test Be sure to turn off the Motor Test parameter after the test 46 Curtis enAble 40 Series Manual Rev B 8 DIAGNOSTICS amp TROUBLESHOOTING DIAGNOSTICS AND TROUBLESHOOTING The 40 series control system detects a wide variety of faults or error conditions and communicates information about them in three ways By the icons displayed in the LCD on the user handcontrol By flashing LEDs on the attendant control By displaying the fault name in the programmer s Faults menu The alerts indicated on the handcontrol LCD give the user a pretty good indication of what the problem is see Table 1 Similarly the flashing LEDs on the attendant control provide the attendant with basic information about the problem se
15. applicable parameters in Section 5 if there is any question about what any of them do Select the Correct Configuration Thegeneric 1740 powerbase contains four complete parameter sets correspond ing to four basic wheelchair types Configuration 1 Rear wheel drive Configuration 2 Mid wheel drive Configuration 3 Front Mid wheel drive Configuration 4 Front wheel drive The first tuning procedure is therefore to select the correct configuration STEP 1 Plug the programmer into its port on the handcontrol and set the Configuration parameter to 1 2 3 or It is the top parameter in the Program menu STEP 2 Unplug the programmer and plug it in again Now the selected configuration s parameters will be uploaded from the powerbase into the programmer Set Up These Basic Parameters before Driving Before driving the chair it is important to set up these basic parameters STEP 1 Set the proper brake voltage for your brakes using the Brake Turn On Voltage parameter Program Motors amp Brakes menu STEP 2 Set the Single Brake Drive parameter to match your wiring Program Motors amp Brakes menu STEP 3 For now set Extra Uphill Comp 0 and Downhill Gain 0 Program gt Motor Controller gt Compensation menu You will tune these parameters later 38 Curtis enAble 40 Series Manual Rev B 7 TUNING GUIDE 8 Set up the Speed Modes The chair can have up to nine different spee
16. careful note of the parameters that are affected by the speed limit Speed Mode setting versus those parameters that are affected by the actual chair speed DRIVE MENU B PARAMETER RANGE DESCRIPTION Fwd Max Speed 1 100 Full forward speed when speed limit is 100 Fwd Min Speed 1 100 Full forward speed when speed limit is 0 Fwd Accel High Speed 1 100 Forward acceleration when speed limit is 100 Fwd Accel Low Speed 1 100 Forward acceleration when speed limit is 0 Soft Start 0 100 Higher values make the drive take off smoother Fwd Decel High Speed 1 100 Deceleration rate used when chair is traveling forward at high speed Fwd Decel Mid Speed 1 100 Deceleration rate used when chair is traveling forward at medium speed Fwd Decel Low Speed 1 100 Deceleration rate used when chair is traveling forward slowly Soft Stop 1 100 Deceleration rate used just before the chair stops Lower values make the stop smoother Rev Max Speed 1 100 Full reverse speed when speed limit is 100 Rev Min Speed 1 100 Full reverse speed when speed limit is 0 Rev Accel High Speed 1 100 Reverse acceleration when speed limit is 100 Rev Accel Low Speed 1 100 Reverse acceleration when speed limit is 0 Rev Decel High Speed 1 100 Deceleration rate used when chair is traveling at high speed in reverse Rev Decel Low Speed 1 100 Deceleration rate used when chair is traveling s
17. differentiate between an uphill ramp and flat ground After setting Extra Uphill Comp set the Uphill Threshold high enough to keep the chair from driving forward when stopping from very low speed on flat ground Downhill Gain 0 100 Allows smooth stopping on downhill slopes This should be set high enough to ensure the chair stops smoothly in the downhill direction Downhill Threshold 0 255 Detection threshold that allows the controller to differentiate between a downhill ramp and flat ground After setting Downhill Gain set the Downhill Threshold high enough to keep the chair from driving backwards when stopping from very high speed on flat ground Max Downhill Comp 0 255 Sets the maximum compensation allowed by the downhill gain algorithm Must be set higher than the Downhill Threshold Lower this value if the chair has a tendency to drive backwards when stopping on a downhill Preload Rate 0 4 0 sec Controls smoothness of restart on inclines Higher values will give smoother restarts on a ramp but may cause problems when transitioning from a ramp to flat ground Extra Motor Comp 0 100 Provides additional compensation for the non linear losses of the drive motor This parameter can be used to improve low speed control on ramps and hills Max Motor Voltage 0 28 V Sets the maximum battery voltage that can be applied to the motor Volts Headroom 0 4 0 V Amount of spare
18. even when the attendant control is on J 24 Curtis enAble 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS Speed Mode Parameters The Speed Mode menu allows the therapist dealer or OEM to set the number of modes that can be selected by the user and by the attendant and the speed limit of each mode It is important to note that the speed limit setting works like a speed pot It adjusts the drive and turn speed and response as a linear interpolation from the min and max parameters set in the profile for parameters set in the P B p profile see the Drive and Steer menus pages 21 and 22 Speed acceleration and deceleration are all affected by the Speed Mode Example Profile 1 is active and has the following parameters Fwd Max Speed 100 Fwd Min Speed 20 Turn Accel High Speed 80 Turn Accel Low Speed 60 The selected Speed Mode is set at 50 The resultant drive and steer conditions would therefore be Forward Speed 100 20 50 20 60 Turn Acceleration 80 60 50 60 70 SPEED MODE MENU B PARAMETER RANGE DESCRIPTION Number of Modes 2 9 Number of speed modes that can be accessed by the user Speed 1 0 100 Speed limit setting for Speed Mode 1 Speed 2 0 100 Speed limit setting for Speed Mode 2 Speed 3 0 100 Speed limit setting for Speed Mode 3 Speed 4 0 100 96 Speed limit setting for Spe
19. system with the attendant control wakes up the powerbase The attendant control is in charge If the On Off button on the user handcontrol is then pressed the user handcontrol will wake up and its Speed Mode indicator will display an icon indicating the chair is operating under Attendant control The user can control the lights and horn but not the drive and seat functions Depending on the setting of the Attendant Takeover parameter the user handcontrol may or may not be able to power down the system when both controls are active 18 Curtis enAble 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS PROGRAMMABLE PARAMETERS The enAble 40 Powerchair Control System has a number of parameters that can be programmed using a Curtis 1311 handheld programmer or Curtis 1314 PC Programming Station The programmable parameters allow the vehicle s performance to be customized to fit the needs of specific applications For information on 1311 programmer operation see Appendix B For information on how to use the parameters to optimize chair perfor mance see Section 7 Tuning Guide The programmable parameters are grouped hierarchically into these menus PROGRAM MENU Configuration p 20 I MyChair o ae p 20 r Profile 1 DIVE iiri e ait p 21 jc p 22 r Profile 2 same parameters as Profile 1 r Handcontrols p 24 Speed Mode
20. 4 N m LAN lt 173 6 8 gt lt 4 0 0 16 lt 181 7 1 zz 46 4 1 83 z n n U im a pog potirioon l l l 12 194 061 Dimensions in millimeters and inches A groove on the underside of the powerbase simplifies alignment when the powerbase is mounted on a tube and provides stability Curtis enAble 40 Series Manual Rev B 2 INSTALLATION amp WIRING Mounting the 1741 Handcontrol Brass inserts in the user handcontrol allow it to be securely mounted and re moved reinstalled many times The handcontrol is designed to fit both tube and plate mounting systems Fig 3 Mounting dimensions Curtis 1741 user handcontrol 115 4 53 z 4 170 7 6 69 M5 mounting thread 4 plcs Max length of thread 15 mm Max torque 4 N m n A 30 V 1 18 85 3 35 Y Dimensions in millimeters and inches Curtis enAble 40 Series Manual Rev B 6 2 INSTALLATION amp WIRING Mounting the 1742 Attendant Control Like the handcontrol the attendant control has brass inserts that allow it to be securely mounted and removed reinstalled many times The field rep
21. DI SETUP APPENDIX A BATTERY DISCHARGE INDICATOR BDI SETUP The Battery Discharge Indicator on the enAble 40 system is quite flexible and when properly set up will provide the user with reliable information on the status of the battery system The batteries can be charged either with an onboard charger or an offboard charger With onboard charging the charger is permanently mounted on the chair and one of the Multi Function Inputs is used for charging functions With offboard charging the charger is plugged into the charger port on the handcontrol when it s time to charge and the Multi Function Inputs are not used for charging functions The BDI parameters Program Battery menu must be set up specifically for the type and size of the charger the battery size and the chairs expected drive cycle When setting up the BDI parameters use the same chair and set of bat teries for the entire procedure Do not drive the chair or charge the batteries except when requested to do so in the procedure Follow the steps in the order they are presented Before beginning the procedure set the following initial values Partial Charge Min 25 Full Voltage 24 5 Empty Voltage 20 4 Reset Voltage 26 3 Start Charge Voltage 23 9 Discharge Factor 10 Charge Factor 30 Step 1 Setting the Reset Voltage l a Plug in the charger and fully charge the batteries With the charger still attached and running measure the final bat
22. Note Speed No Turn should never be set lower than Speed Full Turn doing so will disable the Dynamic Turn Radius Control algorithm STEP Repeat steps 2 and 3 making readjustments as needed The Gate Shape and Dynamic Turn Radius Control parameters adjusted in step 3 interact closely with the basic Turn Accel and Turn Decel parameters adjusted in step 2 STEP 5 When the performance seems close you can try these two ad ditional maneuvers to test and fine tune a Drive the chair straight and do a 180 turn and travel straight back the way you came Did the chair turn around smoothly Did it snap back into the straight line precisely b Place a cone or box on the floor Travel toward it at full speed and attempt to maneuver around it quickly Did the chair respond easily without needing extra corrections after the quick dodge 2 Adjust the Steering Sensitivity The Steering Sensitivity parameter Program Profile 1 Steer menu adjusts the sensitivity to small steering inputs This parameter is greatly affected by the chairs drive wheel configuration Rear wheel drive chairs typically need the highest adjustments while mid wheel and front wheel drive chairs are naturally sensitive and require a lower setting 44 Curtis enAble 40 Series Manual Rev B 7 TUNING GUIDE STEP 1 Drive the chair full speed and note how well it responds to small movements Adjust the Steering Sensitivity value for more response
23. VY Revolutionary MyChair parameter tunes the overall chair feel to fit each users unique needs with a single parameter v Patented Auto Trim automatically and continuously corrects steering alignment which can be thrown off by tire motor and gearbox wear and replacement v Integration of lights and actuators provides these options at a minimum cost and without installation of additional wiring or modules VY Four independent configurations in each powerbase with every parameter stored Curtis enAble 40 Series Manual Rev B 1 OVERVIEW VY Three flexible Multi Function input pins for advanced seat actuator inhibits speed limiting and swivel chair functions usually found only on high end systems VY Powerbase software is upgradable in the field or in the factory v Onboard or offboard charging up to 12 amps accommodates high capacity batteries Y Compatible with the 1311 and 1314 programmers User handcontrol v Stylish and ergonomic design Y Intuitive at a glance icons on LCD display with backlight viewable in any lighting S Three keypad configurations that match the application S Nine programmable speed modes are quickly and easily accessible while driving v Industry standard 3 pin XLR charger programmer port VY Key lock function to lock out unwanted drivers VY Rugged and flexible communications cable VY Field replaceable keypad joystick and communications cable Attend
24. ack but instead holds its position when the brakes are applied Be careful not to set it too high as with too much Extra Uphill Comp the vehicle could creep forward Now drive down the ramp and release the joystick adjusting the Downhill Gain parameter until the chair comes to a smooth stop before the brakes are applied You want just enough gain to allow this function to stop the chair before the brakes are ap plied Too little and the chair will continue to creep down the hill too much and the chair will stop abruptly You may need to adjust the Brake Delay parameter Program Motors amp Brakes menu to give the downhill hold function time to work properly normally 0 5 to 0 8 seconds is enough If the chair is inconsistent on downhill ramps sometimes stopping while other times creeping you may need to compen sate for the non linear losses of the motor Try increasing the Extra Motor Comp parameter and repeating several downhill stops from different speeds The stopping should become more consistent Do not add more Extra Motor Comp than is neces sary to achieve this consistency Next drive on flat ground and adjust the Uphill and Down hill Threshold parameters To set the Uphill Threshold make small forward movements of the joystick and let go just as the vehicle starts to move If the chair bumps forward increase the threshold value Now drive the chair full speed and release the joystick Notice the feel just before coming to
25. actuator fault may clear Check wiring Check that the leg rest is not jammed Check actuator replace if faulty Replace powerbase 48 Curtis enAble 40 Series Manual Rev B 8 DIAGNOSTICS amp TROUBLESHOOTING Table 1 HANDCONTROL INDICATORS cont d HANDCONTROL LCD DISPLAY FAULT WARNING REMEDY V Undervoltage Warning 1 Recharge battery 2 Replace old battery 3 If this is happening frequently replace charger 4 Check charger port on handcontrol replace if damaged Overvoltage Warning 1 Wait for voltage to come down 2 Replace old battery 3 Check charger replace if faulty Controller Over Undertemperature Warning Drive Thermal Warning 1 If too hot wait for controller to cool 2 If too cold drive chair in limited current mode until controller warms up 1 Wait for motor to cool Open Motor Fault 1 Check wiring 2 Replace motor 3 Replace powerbase Left Indicator Fault 1 Press Left Indicator button 2 Replace bulb 3 If fault continues check wiring Right Indicator Fault 1 Press Right Indicator button 2 Replace bulb 3 If fault continues check wiring E M M Pd S 408 N 50 N Hazard Lights Fault 1 Press Right or Left Indicator button 2 Replace bulb 3 If fault continues check wiring a M E a 4 00 S Running Lights Fault 1 P
26. ant control VY Easily connected to the system with plug in line autoconnect feature v Programmable takeover control VY Field replaceable keypad joystick and communications cable The 40 Series introduces a number of unique features Here are some brief descriptions Configurations The powerbase stores four configurations which are complete setups with data settings for every parameter This means the OEM can have four configu rations in one product in effect four products in one The dealer can stock just one 4 in 1 model and use the Configuration parameter to select the most appropriate data block for each chair and each customer Each configuration is a complete setup including two profiles for each This means the 1740 actually holds eight different ready made setups Curtis enAble 40 Series Manual Rev B 1 OVERVIEW Profiles Each configuration in the 40 Series has two complete operational Profiles each with its own speed acceleration and other response parameters The Profiles are used two ways MyChair where Profiles 1 and 2 can be blended to provide a range of feels through very simple and safe programming Swivel Chair Mode where Multi Function Input 3 selects between Profile 1 or Profile 2 MyChair The MyChair function provides a very fast and simplified way for the therapist to custom tune a chair to a specific user With this one parameter the ther
27. anual Rev B APPENDIX A BDI SETUP formula Charge Factor 10 Battery amp hrs Charger amps 5 d Starting with the dead battery from Step 4 plug in the charger After 10 minutes of charging measure the battery voltage with a meter Set the Start Charge Voltage parameter to this value 5 e The Charge Factor is basically a charge timer A setting of 10 1 hour Using the Charge Factor setting calculate the time it should take to reach 50 charge 50 time Charge Factor 20 After the calculated 50 time stop the charger and turn on the enAble 40 system Plug in the 1311 and read the BDI off the Monitor menu 5 f Using the BDI displayed on the 1311 adjust the Charge Factor using this formula New Charge Factor Original Charge Factor BDI reading 2 with the BDI being expressed decimally e g 40 0 40 If the BDI reading was too low the new Charge Factor will be reduced and thus speed up the charge calculation If the BDI reading was too high the charge calculation is too fast and the Charge Factor will be increased by this formula Step 6 Setting the Partial Charge Min When charging with an offboard charger the powerbase will continuously monitor the charge cycle even if the handcontrol is turned off with the On Off button However when charging with an onboard charger the system does not power up and therefore the system cannot monitor the battery voltage during charging When the user powers u
28. apist can adjust the aggressiveness and speed of the chair to suit the situation MyChair works by blending the key parameters from Profiles 1 and 2 as the MyChair parameter is adjusted from 1 0 Profile 1 to 2 0 Profile 2 in 0 1 steps for 11 different blends Normally the OEM sets the parameters of Profile 1 for a slower and less responsive chair and Profile 2 to the fastest and most responsive settings By adjusting the MyChair parameter the therapist can easily select between factory determined safe minimum and maximum drive configurations without understanding the details of chair stability compensa tion turn control etc Swivel Chair The Swivel Chair feature allows the Mode Seat input to select between Profiles 1 and 2 while automatically switching the motor drive directions and wheel position parameters for chairs that have a two position seat These chairs pro vide front wheel drive for high speed outdoor mode and rear wheel drive for indoor mode by simply rotating the seat 180 degrees MyChair does not work in Swivel Chair mode Profile 1 is used when the switch is open and Profile 2 when the switch is closed Selectable Speed Modes The therapist can select from 2 to 9 different speed modes for the user to access with the up down speed mode buttons on the handcontrol The therapist can set each speed mode independently in a linear or non linear progression This allows the therapist and user to select just
29. ation for CE FDA documentation on file FDA Master File TUV approved MODEL NUMBER NOMINAL BATTERY VOLTAGE PEAK CURRENT LIMIT CONTINUOUS CURRENT LIMIT OPTIONS 24V 24V 24V 24V 24V 24V 1740 10XX 1740 20XX 1740 12XX 1740 22XX 1740 13XX 1740 23XX Table D 2 1741 USER HANDCONTROL Case dimensions Wx LxH 85 x 170 x 115 mm Height is to top of joystick 3 35 x 6 69 x 4 53 15A 25A 15A 25A 15A 25A 50A 75A 50A 75A 50A 75A actuators actuators actuators amp lights actuators amp lights Table D 3 1742 ATTENDANT CONTROL Case dimensions WxLxH 75 x 84 x 126 5 mm Height is to top of joystick 2 95 x 3 3 x 4 98 MODEL NUMBER OPTIONS MODEL NUMBER OPTIONS 1741 20XX 1741 22XX actuators 1741 23XX actuators amp lights 1742 20XX D 1 Curtis enAble 40 Series Manual Rev B
30. c Turn Radius Control turned off Speed No Turn 100 Speed Full Turn 100 Set the Gate Shape 50 b Set up the Gate Shape by driving full forward at 100 speed and then moving the joystick to the left or right 45 degrees against the gate Adjust the Gate Shape up or down Curtis enAble 40 Series Manual Rev B 43 7 TUNING GUIDE to increase or decrease the speed the chair drives while mak ing a wide turn c To add Dynamic Turn Radius Control first adjust the Speed Full Turn parameter Select the slowest speed mode and drive the chair at full throttle making fast sharp turns left and right If the chair responds as desired select the next higher speed mode and again drive the chair at full throttle making fast sharp turns Continue working your way up through the speed modes until you notice instability or feel the chair turns too sharply Set the Speed Full Turn parameter to just below the the value of that speed mode d Next adjust the Speed No Turn parameter Start by set ting Speed No Turn 200 Select the fastest speed mode and drive at full throttle making fast sharp turns If the chair feels unstable in fast turns lifts a wheel or turns too sharply decrease the Speed No Turn parameter until stable performance is achieved Then select the next slower speed mode and repeat the exercise Work your way down through the speed modes to the slowest mode adjusting the value of Speed No Turn as you go
31. ck at all times Adjust the Turn Min Speed parameter such that the slow rotation and the slow straight speed match It should not feel like the vehicle slows down or speeds up as you go from turning to straight and back to turning STEP 3 Now select the highest speed mode and adjust the Turn Max Speed parameter to a reasonable higher setting Take care not to make it too fast as this will make steering very difficult and be uncomfortable for the operator Again driving from full turn to full straight and back should provide a consistent speed feel 42 Curtis enAble 40 Series Manual Rev B 7 TUNING GUIDE 9 Set Up the Turn Accel Decel Rates Adjusting the feel of the steering is one of the most critical steps in the tun ing process The turn speeds accelerations and decelerations must all match with the chair drive wheel configuration travel speeds and joystick mapping to provide safe responsive and intuitive control One of the most important points is to always keep the Turn Decel parameters higher faster than the Turn Accel parameters This will allow the operator to come out a turn faster than it was entered and prevents a wallowing insecure feel The parameters adjusted during this procedure are all found in the Program gt Profile 1 Steer menu STEP l Start out with the two Dynamic Turn Radius Control parameters turned off Speed No Turn 100 Speed Full Turn 100 Set the Gate Shape 100 Be car
32. d Actuator 2 is the seat For programming see Seat menu o 9 5 MODE 1 MODE 2 BOTH BUTTON e BUTTON MODE BUTTONS PRESSED PRESSED PRESSED page 28 Once in actuator mode via one of the mode buttons moving the joystick to the right will cycle through the options Mode 1 Mode 2 Both Mode 1 To exit actuator mode either move the joystick to the left or press the button corresponding to the active mode again Curtis enAble 40 Series Manual Rev B 13 3 USER HANDCONTROL Fig 8c Keypad for the Drive Actuators Lights handcontrol Drive with Actuators and Lights 8 button Keypad This keypad s eight buttons are the standard four On Off Horn Speed Up Speed Down plus a Running Lights button two buttons for the turn indica tors left and right and an Actuator Mode button The hazard lights i e flashing left and right turn signals front and rear are activated by pressing both turn indicator buttons simultaneously They will continue to flash even if the system is powered down To turn off the hazard lights press either indicator button again Both actuator modes are accessed with the single Mode button Running Lights Button Pressing the Running Lights button turns on the headlamps and any other running lights on the chair Pressing the button again turns them off When the lights are on the running lights icon in the LCD is illuminated Turn Indicator Buttons The
33. d modes The operator selects them by pressing the handcontrol s Up and Down buttons STEP 1 STEP 2 STEP 3 Define how many speed modes there will be using the Number of Modes parameter Program gt Handcontrol gt Speed menu Define the maximum limit for each of these speed modes starting with Speed 1 Set the highest speed mode you have to 100 The speeds between Speed 1 and this highest speed do not need to be linear However the speeds do have to be a progression with each higher numbered speed being faster than the one before it Set the Forward and Reverse Minimum Speed parameters Program gt Profile 1 gt Drive menu to 1 for now This will allow the chair s minimum speed to be directly controlled by the Speed 1 setting Match the Powerbase to the Motor Wiring The Motor Swap parameter Program gt Motors and Brakes menu allows you to invert and or swap the left and right motor characteristics in order to match the way the chair is wired without physically swapping the wires around STEP 1 STEP 2 Move the joystick slightly forward and left and observe how the chair moves Release the joystick If the chair moves in the correct direction the Motor Swap parameter is set correctly If it does not select the next Motor Swap setting and repeat Step 1 until you find the right setting to match your wiring Determine the System Resistance This value is critical to the internal speed es
34. djust all three parameters alike until deceleration feels right from this low speed b Select a speed mode that commands about 5096 speed Adjust Fwd Decel High Speed and Mid Speed keeping both at the same value until deceleration feels right from mid speed c Select a speed mode that commands 10096 speed Adjust Fwd Decel High Speed until deceleration feels right from full speed d Decelerate from various speeds paying particular attention to the feel of the chair just before it comes to a complete stop Adjust the Soft Stop parameter to provide a softer lower values or quicker higher values deceleration rate that is acceptable across the whole speed range d Decelerate from full throttle in each speed mode to make sure all provide appropriate deceleration STEP 10 Add more Tremor Suppression if necessary to block rapid forward and reverse vibrations This will also round out the acceleration curve and soften overall drive responsiveness STEP 11 Accelerate from a stop and adjust the Soft Start parameter to provide a softer higher values or quicker lower values initial takeoff Set Up the Turn Speeds The parameters adjusted during this procedure are both found in the Program Profile 1 Steer menu STEP 1 Using the keypad select the lowest speed mode STEP 2 Turn the chair completely right or left and then slowly go to full straight forward drive taking care to stay at the full stroke of the joysti
35. e Table 2 The Faults menu of the 1311 or 1314 programmer provides more specific information If the Error Beep parameter see page 27 is programmed On faults will be announced with a continuous beeping and warnings with a double beep re peated every minute Some faults are not recoverable and require a field technician to replace or repair a system component However sometimes the fault circuits catch a temporary or extreme event that is not a true fault in the system Turning the power off and back on again will allow you to determine if the fault is perma nent or repeatable Some faults and most warnings can be remedied by correcting an operational condition for example in response to a Low Battery warning recharge the battery or in response to a problem with the lights replace a worn out bulb If the problem doesn t go away when power is recycled or if the precise nature of the fault isnt clear connect a programmer and look in the Faults menu to find more information about the precise fault that is occurring The problem may be as simple as a loose connection or faulty wiring that can be easily fixed Curtis enAble 40 Series Manual Rev B 47 8 DIAGNOSTICS amp TROUBLESHOOTING HANDCONTROL DIAGNOSTICS Faults are typically indicated by the wrench icon plus a flashing icon for the problem site Warnings are indicated by the warning symbol instead of the wrench or in the case of keylock by the key icon a
36. e amount of steer command above which the speed command is clamped to zero Typically this is set at 93 98 Quick Stop Pause 0 0 1 0 sec Sets a pause before going into reverse after a quick stop This gives the operator time to return the joystick to center without moving backwards Start Delay 0 0 1 0 sec Delays movement after the throttle is first moved off center Calibrate On Off Turn this On to start the throttle autocalibration procedure This parameter must be set back to Off after the procedure is complete To run the procedure for the user handcontrol joystick Turn on the system with the user handcontrol put its joystick in the center neutral position and set the Calibrate parameter On The horn will beep once Then slowly rotate the joystick either CCW or CW at full deflection through two complete rotations At this point the horn will again beep once Release the joystick and reset the calibration parameter to Off If there is a faulty reading during this procedure the horn will beep 4 times and a Joystick Error will be displayed To run the procedure for the attendant control joystick Turn on the system with the attendant control do not turn on the user handcontrol Follow the same procedure as for calibrating the user handcontrol joystick When calibrating the attendant control joystick the beeps are replaced with flashing green LEDs in the chair icon 26 Curtis enAb
37. e display on the user handcontrol to ascertain which fault is present then see Table 1 for further information CHAIR ICON LEDs GREEN Flashing Seatback LED Seat Recline Fault See Table 1 Flashing Seat LED Seat Lift Fault See Table 1 Flashing Leg LED Left or Right Leg Fault See Table 1 All the chair LEDs flashing Actuator Over Under Temperature Warning See Table 1 BDI LED Flashing Red Undervoltage See Table 1 Flashing Green Overvoltage See Table 1 Flashing Red Amber Green in Sequence Charging battery inhibit Curtis enAble 40 Series Manual Rev B 5 9 MAINTENANCE MAINTENANCE There are no user serviceable parts in the Curtis 1740 controller No attempt should be made to open repair or otherwise modify the controller Doing so may damage the controller and will void the warranty Replacement parts are however available for the Curtis 1741 user hand control and Curtis 1742 attendant control See Appendix C for part numbers Itisrecommended that the controllerand handcontrol s be kept clean and dry and that the controller s fault history file be checked and cleared periodically CLEANING Cleaning the controller exterior will help protect it against corrosion and pos sible electrical control problems created by dirt grime and chemicals that are part of the operating environment and that normally exist in batt
38. e only 4 button Keypad drive actuators 6 button Keypad drive actuators lights 8 button Lens Curtis p n 37751 Curtis p n 37389 Curtis p n 37397 Curtis p n 37396 Curtis p n 37378 Curtis p n 37379 Replacement Parts 1742 Attendant Control Joystick Communication cable Keypad Curtis p n 37751 Curtis p n 17858320 Curtis p n 17858300 Curtis enAble 40 Series Manual Rev B APPENDIX D SPECIFICATIONS APPENDIX D SPECIFICATIONS D 1 1740 POWERBASE Nominal input voltage PWM operating frequency Storage ambient temperature range Operating ambient temperature range Heatsink overtemperature cutoff Heatsink undertemperature cutoff Package environmental rating Weight Dimensions Wx LxH Actuator option Lighting option Regulatory compliance 24V 15 6 kHz 40 C to 85 C 40 F to 185 F 25 C to 50 C 13 F to 122 F Linear cutback starts at 85 C 185 F complete cutoff at 95 C 203 F Half speed below 25 C 13 F complete cutoff at 40 C 40 F IP54 1 0 kg 2 3 Ibs 181 x 105 x 46 4 mm 7 1 x 4 1 x 1 83 Two four quadrant variable speed actuator drivers 12A max with stall protection and automatic end stop detection intended to operate seat lift motors Three 3 5A circuits provide constant brightness and faulted light detection hazard lights continue after key off StVZO compliant Meets EEC emission and immunity requirements Document
39. ed Mode 4 Speed 5 0 100 96 Speed limit setting for Speed Mode 5 Speed 6 0 100 96 Speed limit setting for Speed Mode 6 Speed 7 0 100 Speed limit setting for Speed Mode 7 Speed 8 0 100 Speed limit setting for Speed Mode 8 Speed 9 0 100 96 Speed limit setting for Speed Mode 9 Attendant Speed 1 0 100 Speed limit setting for Attendant Speed Mode 1 Attendant Speed 2 0 100 Speed limit setting for Attendant Speed Mode 2 J Curtis enAble 40 Series Manual Rev B 25 5 PROGRAMMABLE PARAMETERS Joystick Parameters JOYSTICK MENU PARAMETER RANGE DESCRIPTION Perimeter Deadband 0 50 Sets how close to the stop gate the joystick must be moved before it is considered full on With a setting 0 the joystick must move all the way to the stop Center Deadband 5 20 Sets how far from center the joystick must move to begin chair movement and release the brakes With the minimum setting of 5 only a small movement is required to start the chair moving Hysteresis 5 10 Sets how far the throttle joystick must be moved past the Center Deadband before the brakes are released Brakes are reengaged at the Center Deadband This keeps the brakes from chattering on and off near the deadband Creep Speed 0 20 Sets the initial drive speed when the joystick is rotated out of the neutral deadband Rotate Deadband 90 100 Allows easier counter rotation by specifying th
40. eful during the next steps as full speed and turning are allowed Keep the area clear and use a wide open space Do not drive near walls or other immovable objects STEP 2 Next adjust the Turn Accel and Turn Decel parameters for both high and low speeds Drive the chair carefully and make right angle 90 turns If the chair takes too wide an arc increase the Turn Accel value If the chair does not recover out of the curve quickly or overshoots increase the Turn Decel value If the chair whips into the curve too quickly lower the Turn Accel value or possibly the Turn Speed value If the chair snaps into the straight line too quickly or feels jerky in steering from left to right lower the Turn Decel value Conduct these maneuvers at both high and low speeds adjusting the appropriate parameters STEP 3 The speed at which the chair enters a turn greatly impacts the tuning of the accel and decel turning rates The enAble 40 system has two features that can be used to slow the chair down or restrict turning as a function of speed Gate Shape and Dynamic Turn Radius Control see Figures 11 and 12 page 23 Gate shaping is the traditional method it simply causes the chair to slow down based on a fixed map when the joystick is moved to the left or right Dynamic Turn Radius Control works by restricting the chair s turning radius as a function of chair speed You can use either both or neither of these features a Leave the Dynami
41. ery powered systems When working around any battery powered vehicle proper safety precautions should be taken These include but are not limited to proper training wearing eye protection and avoiding loose clothing and jewelry Use the following cleaning procedure for routine maintenance Never use a high pressure washer to clean the controller 1 Remove power by disconnecting the battery 2 Discharge the capacitors in the controller by connecting a load such as a contactor coil or a horn across the controller s B and B terminals 3 Remove any dirt or corrosion from the power and signal connector areas The controller should be wiped clean with a moist rag Dry it before reconnecting the battery 4 Make sure the connections are latched FAULT HISTORY The 1311 programmer s Fault menu can be used to access the controller s fault history file The programmer will read out all the faults the controller has experienced since the last time the fault history file was cleared The faults may be intermittent faults faults caused by loose wires or faults caused by operator errors After a problem has been diagnosed and corrected it is a good idea to clear the fault history file This allows the controller to accumulate a new file of faults By checking the new fault history file at a later date you can readily determine whether the problem was indeed fixed 52 Curtis enAble 40 Series Manual Rev B APPENDIX A B
42. he Auto Trim parameter Program gt Motors amp Brakes menu STEP 2 Drive the chair forward as straight as possible for at least 20 sec onds release the joystick and let the chair come to a complete stop with the EM brakes set STEP 3 Repeat Step 2 for five or ten minutes and the chair will be trimmed for you by the Auto Trim feature STEP 4 The fastest way to trim the chair is to do it manually Turn off the Auto Trim parameter Program gt Motors amp Brakes menu STEP 5 Drive the chair straight ahead briefly and then release the joy stick Note whether the chair veers when stopping or requires the joystick to be off center to drive straight STEP 6 If the chair is not tracking properly adjust the Motor Trim parameter Program Motors amp Brakes menu up or down to correct it After you ve had some experience doing this you will probably develop a feel for this adjustment and be able to do it quite quickly STEP 7 When the chair is tracking properly turn on the Auto Trim parameter so that any further trim adjustments will be done automatically Set Up MyChair This guide tunes only Profile 1 To tune Profile 2 repeat all the Drive and Steer procedures through 3 using the Profile 1 settings as a starting point STEP 1 Set the MyChair parameter to 1 0 which is Profile 1 Later after Profile 2 has also been defined MyChair can be set to Profile 1 to Profile 2 or to a point between see page 3
43. heats the drive current is cut back until it reaches the programmed Motor Current Rating The Motor Cutback Gain determines how quickly this cutback will occur once the Time at Max Current has expired Gear Soften 0 100 Gear softening allows smoother transitions between forward and reverse and is more noticeable when the chair is tuned aggressively i e with extremely fast accel decel rates and max speeds A gear softening value of 100 provides maximum softening and a value of 0 eliminates the feature Single Brake Drive On Off Allows using only the M1 brake output to drive two 12V brakes in series Brake Turn On Voltage 12 24 V Sets the initial voltage of the brakes when they first turn on Set this parameter to match your brakes Brake Cutback Voltage 6 24 V Sets the level to which the brake coil voltage will be reduced after approx 1 sec at full battery voltage This feature saves power and prevents overheating Brake Delay 0 1 0 sec Sets the length of the delay between when zero speed is detected and the brakes are set 34 Curtis enAble 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS Battery Parameters MOTORS amp BRAKES MENU cont d B PARAMETER RANGE DESCRIPTION Motor Swap 0 7 Inverts and or swaps the left and right motor characteristics Motor Test Mode On Off Puts the system into a reduced current test mode to allow the mot
44. hen both together then Actuator 1 etc See Seat menu page 28 When the attendant control is used to select seat modes the corresponding chair icon component on the handcontrol s LCD display also lights up INDICATOR LEDs The indicator LEDs on the attendant control provide information about the battery the mode and when in Seat mode which actuator is active The tri color Battery LED codes are as follows Solid RED low charge Solid AMBER partial charge Solid GREEN full charge Flashing RED empty need to recharge Flashing GREEN overvoltage warning Sequencing RED AMBER GREEN charging in progress The tri color Mode LED codes are as follows Solid AMBER Attendant Speed Mode 2 Solid GREEN Attendant Speed Mode 1 Flashing RED fault OFF chair operating in Seat Mode Thegreen Seat LEDs light solid in the appropriate segments ofthe chair icon when operating in Seat mode A flashing LED indicates an actuator driver fault WHO S IN CHARGE User Handcontrol vs Attendant Control The user handcontrol 1741 and attendant control 1742 share control de pending on the power on sequence and the setting of the Attendant Takeover parameter see page 24 Starting the system with the user handcontrol wakes up the powerbase The user handcontrol is in charge If the On Off button on the attendant control is then pressed the attendant control takes over and is in charge of the drive and seat functions Starting the
45. ht line performance over the lifetime of the chair Dynamic Turn Radius Control As the chair drives faster its momentum increases dramatically and making quick sharp corners can upset the balance and steering feel of the chair The Curtis proprietary Dynamic Turn Radius Control tempers the aggresssiveness of the steering as a function of speed to provide an always in control feel at every speed and through every turn Familiarity with your Curtis enAble Powerchair Control System will help you install and operate it properly We encourage you to read this manual carefully If you have questions please contact the Curtis office nearest you Curtis enAble 40 Series Manual Rev B 2 INSTALLATION amp WIRING Fig 2 Mounting dimensions Curtis 1740 powerbase INSTALLATION AND WIRING INSTALLING THE 40 SERIES SYSTEM The 40 Series modules powerbase user handcontrol and attendant con trol have been designed for convenient installation Mounting the 1740 Powerbase The powerbase is easily mounted to the chair by means of two bolts and can be oriented in any position nn 7 51 7 2 03 105 4 1 O ol 5 3 0 21 2 plcs Nel LZ M5 bolts Max torque
46. inates any limitation on turning Speed No Turn sets the speed above which no turning is allowed The range for this parameter extends up to 200 of the programmed forward and reverse max speeds in order to allow the chair to turn with little or no limitation even when it is traveling at full speed Speed No Turn must be set higher than Speed Full Turn 22 Curtis enAble 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS Steer Parameters for Profiles 1 amp 2 This endpoint is fixed at 10 FORWARD nc The Gate Shape determines the position of the knee on this 45 line GATE SHAPE LEFT p RIGHT Rotate Deadband adjusts this endpoint which in these examples is set to 95 REVERSE Fig 11 Electronic gating using the Gate Shape parameter No Turn Speed No Turn sets the speed above which no turning is allowed ad TURN RADIUS MAPS 2 r SpeedFullTum 0 lt UO anne 3339 Speed No Turn 100 z ra Speed Full Turn 40 5 4 E 77707777 Speed No Turn 100 m E a 7 Speed FullTurn 40 J a rar Speed No Turn 200 qut aet Pd Fd Full Turn Speed Full Turn sets the speed 0 50 100 150 200 below which full turning is allowed TRAVEL SPEED as percentage of Max Speed papi In this example turning is limited at all speeds When the chair is traveling slowly turning is only somewhat lim
47. ited As it approaches full speed turning is severely limited At full speed no turning is allowed With Speed Full Turn 40 turning is not affected at all at speeds below 40 Turning is increasingly limited as the chair approaches full speed As in the previous example no turning is allowed at full speed Soa Here the Speed No Turn parameter is set to 200 allowing much more turning capability at high speeds than with the other two examples Even at full speed the chair has 60 turning capability Fig 12 Dynamic turn radius control using the patent pending Speed Full Turn and Speed No Turn parameters Curtis enAble 40 Series Manual Rev B 23 5 PROGRAMMABLE PARAMETERS Handcontrol Parameters The three parameters in the Handcontrols menu apply to the 1741 user hand control and the 1742 attendant control Following this menu are four additional submenus related to these controls Speed Mode Joystick Sound amp Display and Handcontrol Inhibit HANDCONTROLS MENU PARAMETER RANGE DESCRIPTION Auto Shutoff 0 60 min The chair will automatically shut down after this period of inactivity Setting this parameter to O disables the auto shutoff feature Key Lock Function 0 2 Determines how a locked system can be powered up A setting of 0 disables the lock feature To lock the system hold down the On Off button on either control for more than two seconds When the but
48. jenuell ey Ly 0vZ L CURTIS INSTRUMENTS INC 200 Kisco Avenue Mt Kisco New York 10509 USA Tel 914 666 2971 Fax 914 666 2188 www curtisinstruments com Mobility System A0 series POWERCHAIR CONTROL SYSTEM 2006 CURTIS INSTRUMENTS INC 40 series Manual p n 37893 Rev B November 2006 CONTENTS CONTENTS Fwd Max Min Speed Fwd Accel High Low Soft Start Fwd Decel High Mid Low Soft Stop Rev Max Min Speed Rev Accel High Low Rev Decel High Low Tremor Suppression Quick Stop Factor Emergency Stop Steer Parameters Profiles 1 92 eerte 22 Turn Max Min Turn Accel High Low Turn Decel High Low Steer Sensitivity Gate Shape Speed Full Turn Speed No Turn Handcontrol Parameters 4 221251 24 Auto Shutoff Key Lock Function Attendant Takeover Speed Mode Paramtelt nascessteeieani Dita etae heir te cui leges 25 Number of Modes Speed 1 9 Attendant Speed 1 2 Joystick Parameters 52e oie pr nr R aS 26 Perimeter Center and Rotate Deadband Hysteresis Creep Speed Quick Stop Pause Start Delay Calibrate le OVERVIEW X 1 Ge Ti oro NNNM Rm 2 Profiles P n 3 DMS T 3 VILI Qr c ent 3 Selectable Speed Modes oie ui tributa etus abit 3 Multi Function Inputs s sssssessssesesesessssssesesesesseseseseecossseseseses 4 2 Auto T cR ES 4 EM Dynamic Turn Radius Control auiu
49. laceable cable can be rotated to either of two positions fore and aft Fig 4 Mounting as dimensions Curtis 1742 1 89 M4 ting th 4 pl attendant control mountng tread 4 pies Max length of thread 4 mm Max torque 2 5 N m 75 2 95 48 1 89 4 98 Dimensions in millimeters and inches Curtis enAble 40 Series Manual Rev B 7 2 INSTALLATION amp WIRING POWERBASE WIRING Wiring for the 1740 powerbase is shown in Figure 5 The connections to the 14 pin connector are optional depending on the level of functionality desired For use with the simplest handcontrol the basic drive only version no logic connections are required for use with the full featured handcontrol drive with lights and seat actuators all the connections shown in Figure 5 are required Additional features can be added to the system by wiring additional components to the Multi Function pins 4 7 see Figure 6 The motor and battery connector housings have been specifically designed for the enAble 40 system and must be purchased directly from your Curtis dealer or sales representative The electrical connectors are standard AMP parts Curtis also provides a kit with all the parts required to connect the high power wiring to the powerbase See Appendix C for part numbers
50. le 40 Series Manual Rev B 5 PROGRAMMABLE PARAMETERS Sound amp Display and Charger Inhibit Parameters d SOUND amp DISPLAY MENU B PARAMETER RANGE DESCRIPTION Rev Beep On Off Provides a backup alarm when the chair is in reverse Command Beep On Off Provides a short beep each time a button is pressed Error Beep On Off Provides a beep when errors are present Backlight Day 0 100 Sets the brightness of the LCD display backlight when the running lights are off Backlight Night 0 100 Sets the brightness of the LCD display backlight when the running lights are on II A The parameters in the Handcontrol Inhibit menu allow the actuator func tions to remain active i e inhibit Off while the charger is plugged into the handcontrol One or both actuators can be halted in either both or neither direction Setting an Inhibit to Off allows that specific movement such as tilt forward during charging The chair s drive functions are disabled automatically when the charge inhibit input is pulled to ground HANDCONTROL INHIBIT MENU B PARAMETER RANGE DESCRIPTION Halt Act 1 Dir On Off Actuator 1 will be halted in the negative direction Halt Act 1 Dir On Off Actuator 1 will be halted in the positive direction Halt Act 2 Dir On Off Actuator 2 will be halted in the negative direction Halt Act 2 Dir On Off Actuator 2 will be halted in the positive direction Curtis e
51. lim t E ee 22 APPENDIX A Guidelines for BDI Setup APPENDIX B 1311 Programmer Operation APPENDIX C Mating Connectors amp Replacement Parts APPENDIX D Specifications 40 Series System iv Curtis enAble 40 Series Manual Rev B FIGURES TABLES FIGURES FIG 1 Curtis 40 Series Powerchair Control System 1 FIG 2 Mounting dimensions 1740 powerbase esee 5 FIG 3 Mounting dimensions 1741 user handcontrol 6 FIG 4 Mounting dimensions 1742 attendant control 7 FIG 5 Basic wiring diagram 1740 powerbase eee 8 FIG 6 Wiring for the Multi Function inputs eere 9 FIG 7 Connecting the control modules to the powerbase 10 pic 8a Handeontrol Drive Only keypad ioseph traps 12 FIG 8b Handcontrob Drive Actuators keypad ees 13 FIG 8c Handcontrol Drive Actuators Lights keypad 14 HG Oe Handcontrol LCD display 6088 ses encshantnauicerncauorstinidencentes 16 He 10s Attendant conttal Module issmssceanisecsermenaianabiiemnandennand 17 FIG 11 Electronic gating using the Gate Shape parametefariesirssesreeiiirsicireiseirisee 23 FIG 12 Dynamic turn radius control using the Speed Full Turn and Speed No Turn parameters 23 FIG B 1 Curtis 1311 handheld progrdbuugr ouns nacer eee B 1 TABLES TABLE 1 Handcontrol 1741 diagnostics eere niet rrnee 48 TABLE 2
52. lowly in reverse Tremor Suppression 0 100 Higher values provide more filtering to suppress rapid hand movements Quick Stop Factor 0 100 Multiplier for the deceleration rate when the joystick is quickly reversed from forward A setting of 50 provides deceleration that is approximately twice as fast as the normal decel rate A setting of 0 provides deceleration at the normal rate and a setting of 100 provides the fastest possible stop Emergency Stop 1 100 Deceleration rate applied at key off or in the event of a fault Curtis enAble 40 Series Manual Rev B 2 5 PROGRAMMABLE PARAMETERS Steer Parameters for Profiles 1 amp 2 The Steer menu contains the major parameters that affect the steering and turning response speed and feel of the chair There are separate Steer menus for Profile 1 and Profile 2 Take careful note of the parameters that are affected by the speed limit Speed Mode setting versus those parameters that are affected by the actual chair speed STEER MENU PARAMETER RANGE DESCRIPTION Turn Max Speed 1 100 Turn speed when speed limit is 100 Turn Min Speed 1 100 Turn speed when speed limit is 0 Turn Accel High Speed 1 100 Acceleration rate into a sharper turn when chair is traveling at high speed Turn Accel Low Speed 1 100 Acceleration rate into a sharper turn when chair is traveling slowly Turn Decel High Speed 1 100
53. n Light Current Indicators Indicator Volts Min Indicator Current Indicator Timeout Current Limits Parameters sorrienni ensaia 29 Peak Drive and Brake Current Limit Peak Current Time Multi Function Input 1 Parameters 125 entes 30 Off InbL InbH Spd Charger Inhibit Halt Act 1 Dir Halt Act 2 Dir Speed Limit Low High Multi Function Input 2 Parameters 2 irte 31 Off Seat Active Low Charger Inhibit Halt Act 1 Dir Halt Act 2 Dir Speed Limit Multi Function Input 3 Parameters 2er erre 32 Off Swvl Spd Active Low Charger Inhibit Halt Act 1 Dir Halt Act 2 Dir Speed Limit Compensation Parameters esee 33 High Speed Low Speed Anti Rollback Extra Uphill Max Downhill and Extra Motor Comp Uphill Threshold Downhill Gain and Threshold Preload Rate Max Motor Voltage Volts Headroom Motors amp Brakes Parameters ccccccccccssscesseceesseceeesesseeees 34 Auto Trim Motor Trim System Resistance Hot System Resistance Motor Current Rating Time at Max Current Motor Cutback Gain Gear Soften Single Brake Drive Brake Turn On and Cutback Voltage Brake Delay Motor Swap Motor Test Mode Battery Parameters 11 2 ect beet iens 35 Partial Charge Min Full Empty Reset and Start Charge Voltage Discharge Factor Charge Factor 6 MONITOR MENU unire uaa tre s 36 fs TUNING GUIDE s toti nvecto atn o sr ei A EE P Ed 38 8 DIAGNOSTICS amp TROUBLESHOOTING ossessi 47 9 IS M EU Oi Erde Lp O
54. nAble 40 Series Manual Rev B 27 5 PROGRAMMABLE PARAMETERS Seat Parameters The parameters in the Seat menu select which part of the seat each actuator controls how fast it can move and how end stops are detected Additional parameters enable the simultaneous use of two actuators and select how the joystick will drive the seat functions SEAT MENU PARAMETER Toggle Control Mode RANGE On Off DESCRIPTION Setting this parameter On allows the joystick to be used as a toggle switch Moving the joystick forward or backward switches the output driver to the next state e g up off down off Once a state has been entered the driver will continue in that state until the joystick is toggled the Mode button is pressed or the function reaches its end of travel When this parameter is set Off the output driver provides positive voltage to the actuator motor when the joystick is moved forward and negative voltage when it is moved backward Simultaneous Mode On Off Allows both drivers to be on at the same time Actuator 1 Function 0 5 Selects which component Actuator 1 will drive 0 No actuator 1 Seatback 2 Seat 3 Left Leg 4 Right Leg 5 Both Legs Actuator 1 Speed 0 100 The PWM setting speed for Actuator 1 Actuator 1 Stop Current 0 12 A The driver shuts off if the current rises above this level Actuator 2 Function 0 5 Selects which component
55. nd in the case of over undertemperature by the thermometer icon Although additional icons may be displayed at the same time the ones shown in Table 1 are the ones that define the various fault warnings Table 1 HANDCONTROL FAULT amp WARNING INDICATORS HANDCONTROL LCD DISPLAY FAULT WARNING REMEDY Cycle power 2 Replace powerbase Power Section Fault or Current Sensor Fault or EEPROM Fault or Main Relay Fault or Precharge Fault or HW Failsafe Fault Handcontrol Fault or Joystick Fault Joystick Out of Center Joystick Stuck OOC Joystick Out of Range Return joystick to neutral and cycle power Recalibrate joystick see Joystick menu page 26 Check joystick cable and cable connections Replace joystick Replace handcontrol These flash alternately Communications Fault Check cable and cable connections Replace cable Brake Fault Check wiring Replace motor Replace powerbase Seatback Actuator Driver Fault Select drive or a different actuator fault may clear Check wiring Check that the seatback is not jammed Check actuator replace if faulty Replace powerbase Seat Actuator Driver Fault Select drive or a different actuator fault may clear Check wiring Check that the seat is not jammed Check actuator replace if faulty Replace powerbase Leg Actuator Driver Fault Select drive or a different
56. or to be stalled and the motor system resistance to be accurately measured and displayed in the 1311 s Monitor screen The resultant value must be used for the System Resistance parameter above After getting the measurement be sure to set the Motor Test Mode parameter back to Off X J The Battery menu allows any lead acid battery to be installed and the BDI algorithm tailored to match it Actual usage duty cycle greatly affects the settings and the overall accuracy of the BDI algorithm The power level and type of battery charger used also affect the BDI algorithm and therefore testing must be done to match the charger as well See Appendix A for guidelines on setting up these BDI parameters BATTERY MENU B PARAMETER RANGE DESCRIPTION Partial Charge Min 10 100 The amount of BDI change that is required to reset the BDI to a higher charged value Reset Voltage will override this parameter Full Voltage 0 36 0 V Voltage at or above which 10096 BDI is displayed Empty Voltage 0 36 0 V Voltage at or below which 0 BDI is displayed Reset Voltage 0 36 0 V Voltage at which the BDI calculator will be reset to 100 Start Charge Voltage 0 36 0 V Voltage above which the battery is considered charging Discharge Factor 1 100 Discharge rate of the battery Larger values are for larger batteries which discharge more slowly Charge Factor 1 100 Charge rate of the battery Larger values are for larger batteries which charge more slowly Ne C
57. or Seat BDI Actuator Fault Brake Key je kock a Warning ignis Joystick O I iei Lli Legrest Temperature Attendant L Tum Actuators POWetb ese Warning Control R Turn Indicator Indicator Lights Charging Drive Speed Lights Plug Motor Mode Fig 9 LCD display on the handcontrol Two indicators are lit when the chair is in drive the BDI icon which uses its seven bars to represent the level of charge and the Speed Mode indicator which displays the active Speed Mode 1 through 9 Some indicators Key Lock Brake Fault Warning Powerbase and Temperature Warning are lit only when when the system detects a condition that triggers them Some indicators Charging Plug Running Lights are lit steadily when the corresponding function is active When they are flashing they indicate the location of a problem the Fault or Warning or Temperature Warning will be lit as appropriate along with the flashing icon See Table 1 page 46 The Turn Indicator icons flash in synchronicity with the actual turn in dicators If there is a problem the Warning icon will light and the Turn Signal indicator will flash at twice its normal rate The Attendant Control icon is lit continuously when the chair is under attendant control 16 Curtis enAble 40 Series Manual Rev B 4 ATTENDANT CONTROL ATTENDANT CONTROL 1742 The attendant control is a compact joystick module that allows an attendant to cont
58. ors bumps etc do not cause changes in vehicle speed Moving the joystick right and left side to side proportionately controls the turning radius and turn rate of the vehicle KEYPADS Three versions of the handcontrol are available Drive Only Drive with Actua tors and Drive with Actuators and Lights Three keypad layouts correspond to the three versions Drive Only 4 buttons m on off m horn m speed up m speed down Drive Actuators 6 buttons m on off m horn m speed up m speed down m seat mode 1 m seat mode 2 Drive Actuators Lights 8 buttons m on off m horn m speed up m speed down mL turn m R turn m headlights m mode The functions of the various buttons are described in the following pages Curtis enAble 40 Series Manual Rev B 11 3 USER HANDCONTROL Fig 8a Keypad for basic Drive Only handcontrol these buttons are standard on all the keypads 6 el Drive Only 4 button keypad The Drive Only keypad has four buttons On Off Horn Speed Up and Speed Down These four basic buttons are standard on all the keypad versions On Off Button The Power On Off button is located at the top of the keypad above the display This button can also be used to lock the chair see Handcontrol menu page 24 Horn Button Pressing the Horn button sounds the horn The horn is generally used to alert nearby pedestrians to the oncoming chair Beyond this ba
59. p the system to check the charge the BDI is estimated at that point In either case when the user unplugs the charger and powers on the system the estimated BDI is compared to the previous BDI reading and the Partial Charge Min setting and the new BDI value is calculated accordingly Because a battery can naturally recover some voltage by simply resting it is important that the Partial Charge Min parameter be set carefully to provide a true indica tion of actual charging 6 a Leave the system turned on with the 1311 plugged in If you are using an offboard charger you will have to unplug it 6 b Set the Partial Charge Min to 1 and record the BDI displayed in the Monitor menu Turn the system off and unplug the 1311 6 c Wait 2 to 3 hours and then turn the system back on Plug in the 1311 and record the new BDI displayed in the Monitor menu During the wait period the battery chemistry has equalized causing the bat tery voltage to rise When the system was turned on after the wait the BDI algorithm used the Empty Voltage and Full Voltage parameters to Curtis enAble 40 Series Manual Rev B A 3 APPENDIX A BDI SETUP determine a new estimated battery charge level and then reset the BDI to the new estimate Unfortunately this estimate is wrong because in fact no charge was actually put onto the battery 6 d The Partial Charge Min parameter is designed prevent these false estimates Subtract the pre wait BDI val
60. r is always the lowest of all the applicable limits Each of the three Multi Function inputs has its own programming menu Multi Function Input 1 can be used to inhibit the actuators or to set a speed limit with either a high B or a low B input It can also be used to provide a variable speed limit based on the position of a potentiometer or to accom modate a high side or low side onboard charger Multi Function Input 1 is at Pin 5 on the 14 pin connector see Figure 6 page 9 g MULTI FUNCTION INPUT 1 MENU PARAMETER RANGE DESCRIPTION Off InbL InbH Spd 0 3 0 Multi Function Input 1 ignored 1 Inhibit drive or actuators when input is low 2 Inhibit drive or actuators when input is high 3 Speed limit varies with input voltage Charger Inhibit On Off Enables Input 1 to be used with an on board charger The charger pulls the inhibit active during charging which will inhibit drive light the charger and battery icons in the handcontrol display and engage the EM brake Halt Act 1 Dir On Off Actuator 1 will be halted in the negative direction Halt Act 1 Dir On Off Actuator 1 will be halted in the positive direction Halt Act 2 Dir On Off Actuator 2 will be halted in the negative direction Halt Act 2 Dir On Off Actuator 2 will be halted in the positive direction Speed Limit Low 0 100 Sets the speed limit when the input is low or the potentiometer wiper is fully to B Speed Limit High
61. r plug s two pins fit into sockets 4 and 5 Both plugs are designed to snap securely into the port view looking RES Pin1 B into the port 7 OO Pin2 B 2 1 Pin 3 Inhibit active to ground B O Pin4 TXD Pin5 RXD 3 Allowable current for a charger in this port is 8 amps continuous 12 amps peak The inhibit pin pin 3 halts all chair travel during charging Additionally it can prevent specific actuator movements 10 Curtis enAble 40 Series Manual Rev B 3 USER HANDCONTROL USER HANDCONTROL 1741 The 40 Series handcontrol is designed to be user friendly The keypad buttons are responsive and clearly marked The LCD display is crisp and clear with intuitive icons and backlighting to enhance daytime and nighttime readability The communication cable is thin flexible and field replaceable The handcontrol is the main user interface to the control system All user commands come from the handcontrol s keypad and joystick The handcontrol is also the information center of the system All faults errors limits and status operational characteristics are displayed on its LCD display JOYSTICK Moving the joystick straight forward and straight backward proportionately controls the travel speed of the chair Neutral center position always requests no movement Two deadbands one around neutral and one at the full throw against the gate provide a zone at each extreme where small movements caused by trem
62. ress Running Lights button 2 Replace bulb 3 If fault continues check wiring A A 4 Lt LI The numerical icon showing the present Speed Mode flashes Speed Limit Warning 1 Return seat to normal or upright position 2 If fault continues check all limit switches and wiring Curtis enAble 40 Series Manual Rev B 49 8 DIAGNOSTICS amp TROUBLESHOOTING Table 1 HANDCONTROL INDICATORS cont d HANDCONTROL LCD DISPLAY FAULT WARNING REMEDY Low battery 1 Recharge battery VL onn Qv Locked mode 1 Unlock the system 9 Chair under attendant control 1 Turn off attendant control 1742 Battery charging inhibit 1 Unplug charger when charging is complete The bars on the battery icon light up in a chase sequence These icons indicate a problem only if they appear when they shouldn t 50 Curtis enAble 40 Series Manual Rev B 8 DIAGNOSTICS amp TROUBLESHOOTING ATTENDANT CONTROL DIAGNOSTICS The LEDs on the attendant control are used to communicate information about faults warnings and battery charging The Mode LED the BDI LED and the LEDs in the chair icon signal warnings by flashing For more information turn on the user handcontrol and refer to Table 1 Table 2 ATTENDANT CONTROL FAULT amp WARNING INDICATORS SIGNAL FAULT WARNING INFO COMMENTS MODE LED RED Various faults and warnings Se
63. rol the drive and seat functions while walking behind at a comfortable pace It has direct seat control access and easy to read BDI Mode and Actua tor indicator LEDs Fig 10 Attendant control module Actuator LEDs Seat Back Seat Left Leg Battery LED Right Leg Mode LED On Off Button Mode Button Joystick JOYSTICK The joystick allows the attendant to control the chair s speed and direction of travel when the attendant module is in charge see section below on precedence relationship between the handcontrol and the attendant module KEYPAD The keypad has two buttons an On Off button and a Drive Actuator Mode button The Mode button is multi functional When the system powers up it will enter Drive mode and the Mode LED will be lit green or amber depending on which Drive mode was last active Drive speed is limited by Attendant Speed 1 or 2 see Speed Mode menu page 25 A short press on the Mode button toggles between Attendant Speed Modes 1 and 2 Curtis enAble 40 Series Manual Rev B 17 4 ATTENDANT CONTROL Pressing the Mode button longer than one second while the joystick is in neutral will select the Seat mode The Mode LED will go dark and the LED corresponding to Actuator 1 will be illuminated in the chair icon Actuator 1 is automatically selected when first entering Seat mode Moving the joystick to the right cycles through the options Actuator 2 t
64. sible safe stop Tune the Ramp Control The powerbase has uphill and downhill control algorithms that make driving on ramps and grades easier and more comfortable You will need to find a nice long medium grade about 796 for these tests Most of the parameters adjusted during this procedure are found in the Program Motor Controller Compensation menu STEP l Set Extra Uphill Comp to a very low value such as 0 2 this is necessary because the controller will never use Anti Rollback Comp if Extra Uphill Comp is set to 0 STEP 2 Drive up the hill and release the joystick The chair will roll back and drop the brake STEP 3 Increase the Anti Rollback Comp parameter and repeat the test Continue until it feels like the chair is being restricted when rolling backward The Anti Rollback Comp parameter must be Curtis enAble 40 Series Manual Rev B 7 TUNING GUIDE STEP 4 STEP 5 STEP 6 STEP 7 STEP 8 set higher than the Low Speed Comp parameter and can be set higher than 10096 Be careful though as too high settings can cause the chair to jerk and oscillate If this happens lower the Anti Rollback Comp value Adjust the Extra Uphill Comp parameter next This adds a voltage to hold the chair still and stops nearly all rollback Starting from a setting of OV drive up the hill and release the joystick Repeat this step each time increasing the Extra Uphill Comp until the chair will not roll b
65. sic function the horn can be programmed to provide several other functions a back up alarm audible feedback for button presses and an error code beep see Sound amp Display menu page 27 Speed Down and Speed Up Buttons The Speed Down and Speed Up buttons are used to select the speed mode Pressing the Speed Down button selects the next lower speed mode each time it is pressed while pressing the Speed Up button selects the next higher speed mode The speed modes function like incremental positions on a variable speed pot 12 Curtis enAble 40 Series Manual Rev B 3 USER HANDCONTROL Fig 8b Keypad for the Drive Actuators handcontrol Drive with Actuators 6 button keypad This keypad s six buttons are the standard four On Off Horn Speed Up Speed Down plus two buttons to activate the two actuator modes The mode buttons show one dot for Mode 1 and two dots for Mode 2 Actuator Mode Buttons With this handcontrol there s a button for each mode Actuator Mode 1 and Actuator Mode 2 The joystick must be in neutral before pressing an actuator mode button Pressing a mode button causes the LCD chair icon s outline segments to illuminate the fill in portion of the specific actuator illuminates to show which actuator is active Actuator 1 or Actuator 2 Pressing both Mode buttons simultaneously causes both actuators to be active In this example Actuator 1 is the seatback an
66. speed limit that will be in effect when Input 2 is active Curtis enAble 40 Series Manual Rev B 31 5 PROGRAMMABLE PARAMETERS Multi Function Input 3 Parameters Multi Function Input 3 can be used to provide a swivel chair function 1 Al ternatively it can be used to provide an appropriate speed limit when a switch is activated 22 Multi Function Input 3 is at Pin 7 on the 14 pin connector see Figure 6 page 9 MULTI FUNCTION INPUT 3 MENU B PARAMETER RANGE DESCRIPTION Off Swvl Seat 0 2 0 Multi Function Input 3 ignored 1 Provides swivel chair function This is used specifically for chairs with seats that can rotate from rear drive to front drive With this parameter set to 1 the Profile will switch from Profile 1 to Profile 2 when Input 3 is active see next parameter In addition the motor directions will be inverted and swapped The MyChair setting is ignored when in swivel mode 2 Sets the speed limit specified below when Input 3 is active Active Low On Off When programmed On the Inhibit and Speed Limit functions are active when the switch is closed pulled low to B when programmed Off these functions are active when the switch is open Charger inhibit On Off Enables Input 3 to be used with an on board charger The charger will pull the inhibit active during charging which will inhibit drive light the charger and battery icons in the handcontrol display and engage the
67. stiee tiic a dpa did 4 pu 2 INSTALLATION AND WIRING eee 5 Installing the 40 Series Systemen rto riter 5 Pawerbase Witing seca aene Saute o eee e mri e cibo eai 8 L Connecting the Control Modules prts 10 3 USER HANDCONTROL 1741 esee 11 p lori c 11 Keypads Oc DWIBOS s cntoxi heben etn bh sci uu b Eu ads ace 11 LCD Display AR 16 4 ATTENDANT CONTROL 1742 esee 17 p SOV SEL inito tro e ER RO RYE 17 Keypad Gc PUtions erreur a i 17 EM Tiichcatot LEDS as aeta toc dro E apio SR en edd HDD 18 Takeover User vs Attendant Control csciscecsrcsectscnseoeonies 18 5 PROGRAMMABLE PARAMETERS ee 19 Configuration Parameter and MyChair Parameter 20 Drive Parameters Profiles 1622 essere 21 Curtis enAble 40 Series Manual Rev B ii CONTENTS Sound s Display Parameters siciessccscnancessenseucnedvidensaniosens 27 Reverse Command and Error Beep Backlight Day Night Handcontrol Inhibit Parameters esses 27 Halt Actuator 1 Dir Halt Actuator 2 Dir Seat Parameters i dece tae erbe Fr de e E A HE dee gots 28 Toggle Control Mode Simultaneous Mode Speed Actuator 1 2 Function Speed Stop Current Actuator Stop Time Actuator Open Detect Lights Pardmietels aassrenetivestetwestrme dte ai UHR PE RARE 29 Running Lights Running Light Volts Mi
68. tatus of the Handcontrol Inhibit input SEAT eee Actuator 1 Voltage 37 5 437 5 V Voltage applied to Actuator Motor 1 Actuator 2 Voltage 37 5 437 5 V Voltage applied to Actuator Motor 2 Actuator Current 12 0 12 0 A Current through the actuator motors 36 Curtis enAble 40 Series Manual Rev B 6 MONITOR MENU MONITOR MENU cont d b ITEM DISPLAY RANGE DESCRIPTION LIGHTS ee Indicator Current 0 26 5 A Current through the indicator lights Running Light Current 0 26 5 A Current through the running lights MOTOR CONTROLLER e M1 Bridge Temp 0 200 C Temperature of power section for drive motor 1 M2 Bridge Temp 0 200 C Temperature of power section for drive motor 2 Current Limit 0 90 A Ultimate current limit of the powerbase taking into account boost mode thermal protection etc Motor Thermal Cutback 0 100 Amount the current is being reduced due to the motor thermal protection algorithm MFI Speed Limit 0 100 Lowest speed limit in effect for MFI 1 3 MFI1 Active On Off Status of Multi Function Input 1 MFI2 Active On Off Status of Multi Function Input 2 MFI3 Active On Off Status of Multi Function Input 3 MOTORS amp BRAKES Motor Trim 127 127 Status of the Auto Trim function M1 Current 90 0 90 0 A Current in drive motor 1 M2 Current 90 0 90 0 A Current in drive motor 2 M1 Voltage
69. termine the new setting New Discharge Factor Present Discharge Factor 1 BDI with the BDI being expressed decimally e g 90 0 90 4 If the BDI did go to 0 increase the Discharge Factor parameter by the time it took to reach 096 prematurely Use this formula to determine the new setting New Discharge Factor Present Discharge Factor time it took to drain the battery time it took to get 0 BDI indication Step 5 Setting the Charge Factor and Start Charge Voltage How you set the Charge Factor and Start Charge Voltage parameters depends on how you want the BDI gauge to respond to partial charging The tradi tional method is to require a full recharge and not to reset the BDI gauge until the battery is full The enAble 40 can also be set to allow the user to stop the charge in mid cycle and display a proportional amount of charge or partial charge reading If you want to require a full charge to reset the BDI gauge 5 a Set the Charge Factor to 100 5 b Set the Start Charge Voltage equal to the Reset Voltage With these settings the BDI will not recalculate until the very end of the charge cycle and the Reset Voltage not the charge time will trigger the BDI to 100 If you want to use the partial charge feature 5 c Based on the Amp Hour rating of the batteries and the charger s aver age amp output initially calculate and set the Charge Factor using this A 2 Curtis enAble 40 Series M
70. tery voltage with a Digital Volt Meter DVM 1 b Turn off or disconnect the charger and let the batteries sit for 1 hour Measure the battery voltage again l c Set the Reset Voltage parameter to a value between these two measure ments Step 2 Setting the Full Voltage 2 a Select a medium speed mode and drive the chair for 10 to 15 minutes 2 b After this time and while driving straight on a level surface record the battery voltage displayed in the 1311 s Monitor menu 2 c Set the Full Voltage parameter to this value Curtis enAble 40 Series Manual Rev B A APPENDIX A BDI SETUP Step 3 Setting the Empty Voltage 3 a Normally a value of 1 7 volts per cell is used as the empty point This corresponds to a setting of 20 4 V For some sealed batteries this may be too low Consult the battery manufacturer if you are unsure Step 4 Setting the Discharge Factor 4 a Resume driving the chair in a normal cycle 4 b Pay attention to the battery voltage BDI and time c At some point you will feel the chair become sluggish and notice the battery voltage drop significantly with basic maneuvers This is the fully discharged point of the battery Stop driving 4 d The BDI should have indicated 096 before this point to prevent the battery pack from wearing out prematurely 4 e If the BDI does not read 0 reduce the Discharge Factor parameter proportionately to the indicated remaining BDI Use this formula to de
71. the 1311 programmer are available each of which can adjust the parameters at its own access level and below A Dealer programmer for example can adjust all the Dealer Service and User access parameters but not the OEM access parameters Fig B 1 Curtis 1311 handheld programmer LCD Display seven lines alphanumeric Parameter Modification Key to increase and decrease values Navigation Key to move around through the programmer menus Bookmark Keys for jumping easily back and forth between fields Curtis enAble 40 Series Manual Rev B B 1 APPENDIX B 1311 PROGRAMMER PROGRAMMER OPERATION The 1311 programmer is easy to use with self explanatory functions After plugging in the programmer wait a few seconds for it to boot up and gather information from the controller For experimenting with settings the programmer can be left plugged in while the vehicle is driven The bookmark keys can make parameter adjustment more convenient for example they allow you to easily toggle between a readout in the Monitor menu and a parameter in the Program menu PROGRAMMER MENUS There are six main menus which in turn lead to nested submenus Program provides access to the individual programmable parameters see Section 5 Monitor presents real time values during vehicle operation these include all inputs and outputs as well as the mapped throttle values and conditioned thro
72. the right number and speed for all conditions of driving Some need only indoor and outdoor modes while other users prefer to use three or four different speed modes just around the normal walking pace to make travel with pedestrian friends and family easier Curtis enAble 40 Series Manual Rev B 3 1 OVERVIEW Multi Function Inputs The 40 Series introduces a level of seat and vehicle speed limiting inhibit modes normally found on only the highest end Rehab systems Three Multi Function Inputs on the powerbase plus the Inhibit on the handcontrol charger port allow for flexible charger configurations onboard offboard seat actuator inhibits in one or both directions and up to four separate speed limits linked to these inputs Possible applications include Inhibit drive and lock out tilt back but not height or tilt forward for an offboard charger Limit the drive speed when the seat is tilted with a second limit if the seat 1s raised Provide an end of travel for any seat function Lock out lift when the seat is reclined e Add a variable speed limit based on a seat tilt pot or seat height pot Auto Trim As the chair is used the gearbox motor brushes and tires wear This adversely affects the straight line drive performance and trim of the chair The Auto Trim feature continuously monitors the driving behavior of the chair and corrects the trim automatically to provide consistent straig
73. timation and compensation algo rithms Once it has been set it should not be modified throughout the following tuning procedures STEP 1 STEP 2 STEP 3 STEP 4 STEP 5 STEP 6 Slowly drive the chair flush against a wall high curb or some other immovable object Set the Motor Test parameter Program gt Motor amp Brakes menu On This puts the system into a special mode with limited current Select the highest speed mode using the handcontrol keypad Go to the Monitor gt Motors amp Brakes menu and scroll down to Resistance Test Push the joystick full forward driving the chair hard against the object or wall and note the Resistance Test value Set the System Resistance parameter Program gt Motors amp Brakes menu to this monitored value Curtis enAble 40 Series Manual Rev B 39 7 TUNING GUIDE STEP 7 For now set the Hot System Resistance parameter at about 1096 higher than System Resistance this parameter will be adjusted later 3 STEP 8 Return to the Motor Test parameter Program Motor amp Brakes menu and turn it Off Trim the Chair Trimming the chair ensures that it truly runs straight forward when it is com manded to so see page 4 There are two ways to do this the easiest way Steps 1 3 and the fastest way Steps 4 7 Use whichever technique you prefer STEP l The easiest way to trim the chair is to let the Auto Trim feature do it for you Turn on t
74. to lower the High Speed Comp value if the chair seems too nervous or stiff at high speed Set the Forward and Reverse Accel Decel Rates The parameters adjusted during this procedure are all found in the Program Profile 1 Drive menu STEP 1 Use the keypad to select the fastest speed mode STEP 2 Setthe Fwd Max Speed parameter to 10096 and the Rev Max Speed parameter to a lower value for a comfortable reverse speed STEP 3 Set the Tremor Suppression parameter to 6096 which will provide nominal filtering STEP Accelerate forward from a dead stop and adjust the Fwd Accel High Speed parameter for a slightly aggressive feel We will soften it later with other parameters STEP 5 Accelerate in reverse from a dead stop and adjust the Rev Accel High Speed parameter similarly STEP 6 To adjust the Rev Decel drive the chair in reverse at full throttle and then release the joystick Adjust the Rev Decel High Speed parameter to provide the required stopping distance STEP 7 Use the keypad to select the slowest speed mode STEP 8 Repeat Steps 2 6 for the corresponding low speed parameters Curtis enAble 40 Series Manual Rev B A 7 TUNING GUIDE STEP 9 Next we will adjust the Fwd Decel which uses an advanced algo rithm First set the Soft Stop parameter to 1096 a Select a speed mode that commands about 10 20 speed Set Fwd Decel High Speed Mid Speed and Low Speed to the same value and a
75. ton is released the system will power down in a locked condition The unlocking procedure depends on the setting of the Key Lock Function parameter If set to 1 During the LCD display s startup self test sequence press the horn button user handcontrol or mode button attendant control The handcontrol s normal horn sound is replaced with a small beep during the unlocking procedure If the procedure is not done successfully at the end of the startup sequence only the key icon will be displayed indicating the system is still locked To unlock the system power it down and try again If set to 2 Manipulate the joystick as follows during the display s startup self test sequence push the joystick forward until there s a beep then backwards until there s a beep and finally to center until there s a beep If you are using the attendant control to unlock the system instead of hearing beeps you will see the LEDs flash If the procedure is not done successfully at the end of the startup sequence only the key icon will be displayed indicating the system is still locked To unlock the system power it down and try again Attendant Takeover Controls whether the user handcontrol can power down the system when the attendant control is on When this parameter is set to 1 the attendant control is in command and the handcontrol cannot power down the system When this parameter is set to 2 the user handcontrol can power down the system
76. ts below this current a fault will be declared Indicator Timeout 0 30 sec Sets the maximum amount of time an indicator light will flash before auto shutdown Setting this parameter to O disables this function X To set these minimum driver currents accurately base your calculations on the monitored values for Running Light Current and Indicator Current as displayed in the programmer s Monitor menu Bo coenae Ls CURRENT LIMITS MENU PARAMETER RANGE DESCRIPTION Peak Current Limit 25 75 A Provides a boost Sets the motor current limit that will be allowed for the peak current time Peak Current Time 0 60 sec Sets the maximum time that the peak current is allowed Drive Current Limit 25 60 A Sets the motor current limit during normal driving Brake Current Limit 25 60 A Sets the motor current limit during regen braking s The current limit range maxes out at 50 A for 50 amp controllers Curtis enAble 40 Series Manual Rev B 29 5 PROGRAMMABLE PARAMETERS Multi Function Input 1 Parameters The powerbase has three Multi Function Inputs which can be used to create a very flexible array of seat adjustment and drive speed limiting functions The speed limits imposed by the Multi Function inputs act like speed modes they cause an interpolation between each ofthe min and max parameter pairs in the active profile Profile 1 or 2 Note that the final speed limit of the chai
77. ttle requests see Section 6 Faults presents diagnostic information see Section 8 and also a means to clear the fault history file Functions provides access to the parameter cloning upload download func tions Information displays data about the host controller model and serial numbers date of manufacture and hardware and software revisions Programmer Setup displays data about the programmer and provides LCD contrast control B 2 Curtis enAble 40 Series Manual Rev B APPENDIX C CONNECTORS amp PARTS LIST APPENDIX C MATING CONNECTORS amp REPLACEMENT PARTS High Power Connectors 1740 Powerbase Complete battery and motor connector kit The kit contains 2 Motor connector housings Battery connector housing Female Maxi Power Timer contacts Female Std Power Timer contacts Motor connector boots N A Q Battery connector boot Items in the kit can be ordered separately Contacts can also be ordered directly from AMP Large AMP contacts Small AMP contacts Curtis p n 381570001 Curtis p n 37383 Curtis p n 37384 Curtis p n 12690FC34 Curtis p n 12690FC35 Curtis p n 37938 Curtis p n 37939 AMP p n 962928 1 AMP p n 927831 1 Low Power Connector 1740 Powerbase 14 pin Molex Mini Fit Junior Matching Molex high current pins Molex p n 39 01 2140 Molex p n 44476 3112 Replacement Parts 1741 User Handcontrol Joystick Communication cable Keypad driv
78. ue step 6 b from the post wait BDI value step 6 c and use this as the lowest setting for Partial Charge Min It is recommended that you use a somewhat higher value in order to block short charges which are not an effective way of charging the battery Do not use 10096 unless you want to disable the partial charge function Typically 30 50 is a reasonable compromise 6 e Plug in the charger and complete the full charge Step 7 Rerun and Verify This procedure will give good initial settings for the BDI algorithm You should test these settings under various conditions to verify that they provide an ac ceptable indication of the battery state of charge The settings can be fine tuned by repeating the entire procedure It is important to note that battery age and driving conditions hilliness driving surface weight of user will all affect the accuracy of the BDI measure ment Curtis enAble 40 Series Manual Rev B APPENDIX B 1311 PROGRAMMER APPENDIX B Curtis 1311 HANDHELD PROGRAMMER The Curtis 1311 handheld programmer provides programming diagnostic and test capabilities for the enAble 40 Series Powerchair Control System The programmer plugs into the 5 pin connector on the user handcontrol power is supplied by the powerbase The unit consists of an LCD display rocker type keys for navigating through the display and for modifying parameters 4 and three keys that can be used as bookmarks Multiple versions of
79. urtis enAble 40 Series Manual Rev B 35 6 MONITOR MENU MONITOR MENU Through its Monitor menu the 1311 programmer provides access to real time data during chair operation The Monitor menu has six submenus which follow the Active Config parameter at the top of the menu MONITOR MENU I Active Config r Hanacontrol Seat Lights Motor Controller Motors amp Brakes Battery MONITOR MENU h ITEM Active Config DISPLAY RANGE 1 4 HANDCONTROLS o Handcontrol SW Ver 0 255 DESCRIPTION Configuration that is currently selected Version number of the handcontrol software Drive Command Turn Command 100 100 100 100 Requested normalized to 100 Y axis throttle request incorporating the deadbands Requested normalized to 100 X axis throttle request incorporating the deadbands Speed Mode 1 9 Speed Mode setting Speed Command 0 100 6 Speed Limit value in effect Horn Button On Off Status of the Horn button Mode Button On Off Status of the Mode button Aux 1 Button On Off Status of the Aux 1 button e Aux 2 Button On Off Status of the Aux 2 button 3 Left Turn Button On Off Status of the Left Turn button Right Turn Button On Off Status of the Right Turn button Hazards Button On Off Status of the Hazards button Running Lights Button On Off Status of the Running Lights button Handcontrol Inhibit On Off S
80. voltage reserved for steering inputs at full speed or when climbing ramps or curbs Curtis enAble 40 Series Manual Rev B 33 5 PROGRAMMABLE PARAMETERS Motors amp Brakes Parameters MOTORS amp BRAKES MENU B PARAMETER RANGE DESCRIPTION Auto Trim On Off Enables disables the patented Auto Trim feature see page 4 Motor Trim 127 4127 Sets the motor trim allowing for straight line tracking despite differences in motor characteristics Setting this parameter to zero provides no steering correction System Resistance 0 477 Sets the actual system resistance motor brushes wiring connections used for load compensation and speed estimation It is important that the value set here is taken directly from the Motor Test described below Hot System Resistance 0 477 Sets an estimate of system resistance when the motors are hot Initially set this parameter at about 10 higher than the System Resistance parameter If ramp performance degrades with hot motors run the Motor Test described below while the motors are hot and use the result as the value for this parameter Motor Current Rating 0 90 A Sets the level to which the motor current will cut back if the motor s thermal protection threshold is exceeded Time at Max Current 0 120 sec Sets the estimated time that the motor can withstand maximum drive current before overheating Motor Cutback Gain 0 100 When the motor over

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