Permobil ESP Bedienungsanleitung

ESP

USER MANUAL

Enhanced Steering Performance

ESP

Enhanced Steering Performance

Produced and published by Permobil AB, Sweden

Edition 2, 2008-1

Product code: 205008-US-0

How to contact Permobil

Head Office of the Permobil group

ESP User Manual Contents

Contents

Introduction .................................................................................................... 6

Safety rules.................................................................................................... 7

Programming ................................................................................................ 8

Parameter settings ........................................................................................ 9

Program version .......................................................................................... 10

Troubleshooting .......................................................................................... 10

Resetting the factory settings and calibrating the sensor ............................11

ESP User Manual Introduction

Introduction

The task of the ESP module is to give your wheelchair safer driving properties.

ESP stands for Enhanced Steering Performance.

The ESP module is programmed by Permobil to give the wheelchair optimum

performance. Customization may mean that small adjustments are necessary

afterwards. Adjustments to the preprogrammed parameters may only be made

by an engineer with good knowledge of the ESP module.

The ESP module is installed on the wheelchair chassis. See the chassis service

manual for further information.

The ESP module is connected between the wheelchair actuator and the output

stage, Pilot+. The module contains a sensor that measures the wheelchair’s

course deviations. A processor uses the information to correct any deviations

from the course the user set using the wheelchair actuator. The ESP module

uses the information from the sensor and the actuator to calculate a correct

control signal. The control signal is then passed to the wheelchair output stage,

Pilot+, which controls the drive motors.

Operation of the ESP module requires access to the full capacity of the output

stage. Pilot+’s various parameters therefore need to be adjusted to predefined

values to guarantee full maneuverability.

NB. The parameters in the Pilot+ output stage are set by Permobil and

must not be changed. If changes need to be made to the wheelchair

properties, they must be made via adjustments to the ESP module. The

ESP module has built-in functions to control wheelchair performance,

acceleration, course stability, etc.

ESP User Manual Safety rules

Safety rules

- No changes may be made to the Pilot+ output stage parameters.

Reprogramming with PP1c, ESP PC Programmer or similar equipment may

not take place.

- The ESP module may only be programmed by engineers who have good

knowledge of ESP functions.

- Changes made to the parameters of the ESP module must be documented.

Note the values of the parameters before and after changes.

- The ESP module is supplied preprogrammed for best performance. Any

change to a parameter’s value should mean a reduction in the value.

Increasing a parameter’s value may cause the wheelchair to become unstable

and hard to maneuver.

- When changes have been made to the ESP module parameters, the wheelchair

must be test-driven before it is returned to the user.

NB. If tests are carried out with the ESP module disconnected, you should

be aware that the control characteristics are set to very high values. This

makes the wheelchair hard to maneuver. Ensure that there is adequate free

space around the wheelchair where the test is carried out.

ESP User Manual Programming

Programming

The ESP module has 16 adjustable parameters. Changes are made to the values

of the parameters using three buttons on the front of the module. The ESP

module is installed on the wheelchair chassis For further information on its location,

see the chassis service manual.

1. Hold down the “S” button while starting the wheelchair with the main power

switch on the control panel. The ESP module display displays “P1”.

NB If the wheelchair has an additional joystick, the ESP module display displays

“CJ” for a short while. This means that the joystick’s neutral position is being

calibrated. Ensure that the joystick is in its neutral position on startup. If it is not,

the calibration will fail and the error code “E6” will be displayed. Error codes are

discussed on page 10.

2. Release the “S” button. The display displays “01”, which means parameter

no. 1.

3. Using the plus or minus button, you can step through the various parameters.

4. Press the “S” button to read the value for the parameter selected.

5. Using the plus or minus button, you can increase or reduce the value of the

parameter selected.

6. Press the “S” button to save the value set. The display returns to displaying

the parameter number.

7. Scroll with the plus or minus button to another parameter.

8. Exit the programming mode by switching off the wheelchair with the main

power switch on the control panel.

ERROR CODES

E1: OMNI+/JOYSTICK+

E2: DATA TIME OUT

E3: SENSOR

E4: PROCESSOR ADC

E5: ATT JOYSTICK

E6: EPROM

E7: INTERNAL/CODE

E8: WATCHDOG

S+-

ESP Module-JS

ESP module front panel.

ESP User Manual Programming & parameter settings

Parameter settings

* Recommended range for most users.

Example:

The wheelchair is too fast in speed position 5.

To reduce the maximum speed, go to the programming mode and step to

parameter 9.

Press the “S” button to see the current setting. Adjust the value downwards

using the minus button.

Save the value set by again pressing the “S” button.

Switch off and then start the wheelchair with the main power switch on the

control panel to test-drive the wheelchair.

Remember that the maximum speed is reduced if the seat lift is raised. The seat

lift must, therefore, be in its lowest position during the test drive.

Number Standard Range* Min. Max. Step Designation

115 10 - 75 595 5Max. acceleration (speed 5)

215 5 - 50 595 5Max. acceleration (speed 1)

375 20 - 75 595 5Max. deceleration (speed 5)

430 10 - 70 595 5Max. deceleration (speed 1)

540 25 - 75 595 5Max. turn acceleration (speed 5)

615 10 - 50 595 5Min. turn acceleration (speed 1)

760 35 - 80 595 5Max. turn deceleration (speed 5)

840 30 - 60 595 5Min. turn deceleration (speed 1)

995 20 - 95 595 5Max. forward speed (speed 5)

10 15 10 - 80 595 5Min. forward speed (speed 1)

11 25 10 - 50 595 5Max. reverse speed (speed 5)

12 10 10 - 30 595 5Min. reverse speed (speed 1)

13 80 50 - 90 595 5Max. turning speed (speed 5)

14 65 25 - 80 595 5Min. turning speed (speed 1)

15 2N/A 1 5 1 Attendant high speed selection

16 1N/A 1 5 1 Attendant low speed selection

Error

code Designation Remark Check and/or replace

E1 OMNI+/Joystick

Control panel sending

error message Control panel

E2 Data time out Interruption in data

communication

ESP module, cables, control

panel or output stage

E3 Sensor Sensor error ESP module

E4 Processor ADC Sensor error ESP module

E5 Att Joystick Additional joystick

error Additional joystick

E6 EPROM EPROM data error ESP module, reset factory set-

tings, calibrate

E7 Internal/Code Software code error ESP module

E8 Watchdog Processor error ESP module

E9 Profile change Operating error

Switch off the main power switch

on the control panel. Switch it on

again.

ESP User Manual Program version & troubleshooting

Program version

The ESP module program version is displayed in the display for a second when

the wheelchair is started using the main power switch on the control panel.

Example: The ESP module display displays 60 on startup. This means that the

ESP module has program version 6.0.

Troubleshooting

When the wheelchair electronics system indicates an error in the output stage, it

may also be the ESP module that found an error. The ESP module troubleshoots

all vital parts continuously. If an error is found, the wheelchair stops and an error

code is displayed in the ESP module display. When the error code has been

read off, suitable action can be taken according to the table below.

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