Curtis 40 manual

1740/-41/-42 Manual C URTIS I NSTRUMENTS, I NC. 200 Kisco Avenue Mt. Kisco, New Y ork 1 0509 USA T el. 9 1 4.666.297 1 Fax 9 1 4.666.2 1 88 www .cur tisinstruments.com © 2006 CUR TIS INSTR UMENTS, INC . 40 -series POWERCHAIR CONTROL SYSTEM 40-series Manual, p/n 37893 Rev. B: November 2006[...]

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Curtis enAble ® 40-Series Manual, Rev. B iii CONTENTS 1. O VER VIEW ..............................................................................1 Configurations .....................................................................2 P rofiles .................................................................................3 M yChair ™ .......[...]

iv Curtis enAble ® 40-Series Manual, Rev. B CONTENTS Sound & Display Parameters ............................................27 Reverse, Command, and Error Beep; Backlight Day/N ight Handcontrol Inhibit P arameters ........................................27 Halt Actuator 1 Dir-/+; Halt Actuator 2 Dir-/+ Seat P arameters ........................[...]

Curtis enAble ® 40-Series Manual, Rev. B v FIGURES FIG . 1: Curtis 40-Series P owerchair Control System ............................ 1 FIG . 2: M ounting dimensions, 1740 powerbase .................................. 5 FIG . 3: M ounting dimensions, 1741 user handcontrol ......................... 6 FIG . 4: M ounting dimensions, 1742 attendant cont[...]

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1 Curtis enAble ® 40-Series Manual, Rev. B O VER VIEW The C ur tis enAble ® 40 P owerchair Control S ystem provides outstanding versatility packaged in an easy-to-install, easy-to-use set of three components: a po werbase (motor controller) with optional seat actuators and lights, an ergonomic handcontrol with an intuitive icon LCD display , and [...]

2 Curtis enAble ® 40-Series Manual, Rev. B 1 — OVER VIEW ✔ Three flexible M ulti-Function input pins for advanced seat actuator inhibits, speed limiting, and swivel chair functions usually found only on high-end systems. ✔ P owerbase software is upgradable in the field or in the factory . ✔ Onboar d or offboard charging up to 12 amps acc[...]

3 Curtis enAble ® 40-Series Manual, Rev. B 1 — OVER VIEW Profiles Each configuration in the 40-Series has two complete operational P rofiles, each with its own speed, acceleration, and other response parameters. The P rofiles are used two ways: • M yChair ™ — where P rofiles 1 and 2 can be blended to provide a range of “ feels,” t[...]

4 Curtis enAble ® 40-Series Manual, Rev. B 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 M ulti- F unction Inputs on the powerbase plus the Inhibit on the handcontrol charger port allo w for flexible charger configurations (onboa[...]

5 Curtis enAble ® 40-Series Manual, Rev. B 2 — INST ALLA TION & WIRING 2 Fig. 2 Mounting dimensions, Curtis 1740 pow erbase. Dimensions in millimeters (and inches) INST ALLA TION AND WIRING INST ALLING THE 40-SERIES SYSTEM The 40-Series modules—powerbase, user handcontrol, and attendant con - trol—have been designed for convenient instal[...]

6 Curtis enAble ® 40-Series Manual, Rev. B Mounting the 1741 Handcontrol Brass inser ts in the user handcontrol allow it to be securely mounted and re - mov ed/reinstalled many times. The handcontrol is designed to fit both tube and plate mounting systems. Fig. 3 Mounting dimensions, Curtis 1741 user handcontrol. Dimensions in millimeters (and in[...]

7 Curtis enAble ® 40-Series Manual, Rev. B Mounting the 1742 Attendant Control Like the handcontrol, the attendant control has brass inserts that allow it to be securely mounted and remov ed/reinstalled many times. The field replaceable cable can be rotated to either of two positions, fore and aft. Fig. 4 Mounting dimensions, Curtis 1742 attendan[...]

8 Curtis enAble ® 40-Series Manual, Rev. B Fig. 5 Basic wiring diagr am, Curtis 1740 pow erbase. 2 — INST ALLA TION & WIRING PO WERB ASE WIRING Wiring for the 1740 powerbase is shown in F igure 5. The connections to the 14-pin connector ar e optional, depending on the level of functionality desired. F or use with the simplest handcontrol (th[...]

9 Curtis enAble ® 40-Series Manual, Rev. B 2 — INST ALLA TION & WIRING Fig. 6 Wiring for the M ulti-Function inputs. Molex High Current Contacts must be used for onboar d charging through this connector . Allowable current is 12 amps continuous.[...]

10 Curtis enAble ® 40-Series Manual, Rev. B 1741 HANDCONTROL 1740 POWERBASE 1742 A TTEND ANT CONTROL 1740 POWERBASE 4 1 5 2 3 Pin 1 B+ Pin 2 B- Pin 3 Inhibit (active to ground/B-) Pin 4 TXD Pin 5 RXD 2 — INST ALLA TION & WIRING CONNECTING THE CONTROL MODULES The communications cable on the 1741 user handcontrol and on the 1742 attendant cont[...]

11 Curtis enAble ® 40-Series Manual, Rev. B 3 USER HANDCONTROL (1741) The 40-S eries 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[...]

12 Curtis enAble ® 40-Series Manual, Rev. B Drive Only (4-button keypad) The Drive Only keypad has four buttons: On/Off, Horn, Speed Up , and S peed Do wn. These four basic buttons are standard on all the keypad versions. On/Off Button The P ower On/Off button is located at the top of the keypad, abov e the display . Th is b ut to n c an al so be [...]

13 Curtis enAble ® 40-Series Manual, Rev. B Drive with Actuators (6-button keypad) This keypad’ s six buttons are the standard four (On/Off , Horn, Speed U p, S peed Down) plus two buttons to activate the two actuator modes. The mode buttons show one dot (for Mode 1) and two dots (for M ode 2). Actuator Mode Buttons With this handcontrol, there [...]

14 Curtis enAble ® 40-Series Manual, Rev. B Drive with Actuators and Lights (8-button Keypad) This keypad’ s eight buttons are the standard four (On/Off , Horn, Speed U p, S peed Down) plus a Running Lights button, two buttons for the turn indica- tors (left and right), and an Actuator M ode button. The hazard lights (i.e., flashing left and ri[...]

15 Curtis enAble ® 40-Series Manual, Rev. B 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. Mo ving the joystick to the right selects Mode 2 (actuator 2); moving the joystick to the right again selects both modes. M oving[...]

16 Curtis enAble ® 40-Series Manual, Rev. B LCD DISPLA Y The LCD on the handcontrol briefly displays all of the system ’ s icons, as shown in F igure 9, during its self-test routine on startup. Fig. 9 L CD display on the handcontrol. T wo indicators are lit when the chair is in drive: the BDI icon (which uses its seven bars to represent the lev[...]

17 Curtis enAble ® 40-Series Manual, Rev. B On/Off Button Mode Button Mode LED Battery LED Actuator LEDs (Seat Back) (Seat) (Left Leg) (Right Leg) Joystic k 4 — A TTENDANT CONTROL 4 A TTEND ANT CONTROL (1742) The attendant control is a compact joystick module that allows an attendant to control the drive and seat functions while walking behind a[...]

18 Curtis enAble ® 40-Series Manual, Rev. B 4 — A TTENDANT CONTROL P ressing the M ode button longer than one second while the jo ystick is in neutral will select the Seat mode. The M ode 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 S ea[...]

19 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS 5 PR OGRAMMABLE P ARAMETERS The enAble ® 40 P owerchair Control System has a number of parameters that can be programmed using a Curtis 1311 handheld programmer or Curtis 1314 PC P rogramming S tation. The programmable parameters allow the vehicle ’ s performance to be c[...]

20 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Configuration and MyChair Parameters The 174 0 po we rbas e ho lds fou r co mple te data set s co ntai ning val ues for all the pr ogr amm abl e pa ram ete rs. T his all ow s the OEM to hav e one con tr oll er who se four con figu rati ons are set up to mat ch fou r diff[...]

21 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Drive Parameters (for Profiles 1&2) The Drive menu contains the major parameters that affect the for ward and reverse speed, response, and feel of the chair . There are separate Drive menus for P rofile 1 and Profile 2. T ake careful note of the parameters that are [...]

22 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Steer Parameters (for Profiles 1&2) The Steer menu contains the major parameters that affect the steering and turning response, speed, and feel of the chair . There are separate S teer menus for P rofile 1 and Profile 2. T ake careful note of the parameters that are[...]

23 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Steer Parameters (for Profiles 1&2) Fig. 12 Dynamic tur n r adius control, using the patent-pending Speed F ull T ur n and Speed N o T ur n par ameters. Fig. 11 Electronic gating, using the G ate Shape par ameter .[...]

24 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Handcontrol Parameters The thr ee parameters in the Handcontr ols menu apply to the 1741 user hand- control and the 1742 attendant control. F ollowing this menu are four additional submenus r elated to these controls: S peed M ode, J oystick, Sound & Display , and Hand[...]

25 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: 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. I t is important to note that the speed limit setting works like a speed [...]

26 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Joystick Parameters JO YSTICK MENU P ARAMETER RANGE DESCRIPTION P erimeter Deadband 0–50 % Sets how close to the stop (gate) the joystic k must be moved before it is considered full on. With a setting 0%, the joystic k must mov e all the wa y to the stop. Center Deadband[...]

27 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Sound & Display and Charger Inhibit Parameters 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, o[...]

28 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: 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 fu[...]

29 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Lights and Current Limits Parameters LIGHTS MENU P ARAMETER RANGE DESCRIPTION Running Lights On/Off Set to On if the v ehicle has running rights. Running Light V olts 12–24 V Defines the voltage for the running lights. Bulbs will be held at a constant brightness. Min Li[...]

30 Curtis enAble ® 40-Series Manual, Rev. B 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 M ulti-Function inputs act like speed modes; they cause an interpolation between each of the min and max parameter pair[...]

31 Curtis enAble ® 40-Series Manual, Rev. B Multi-Function Input 2 menu can be used to inhibit one or both actuators, and to set a corresponding speed limit. M ulti-Function Input 2 is at Pin 6 on the 14-pin connector; see F igure 6, page 9. 5 — PROGRAMMABLE P ARAMETERS: Multi-Function Input 2 Parameters MUL TI-FUNCTION INPUT 2 MENU P ARAMETER R[...]

32 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Multi-Function Input 3 Parameters Mul ti-F uncti on Inpu t 3 can be us ed to pr ov ide a swiv el cha ir fun cti on (=1 ). Al- ternatively , it can be used to provide an appropriate speed limit when a switch is activated (=2). M ulti-Function Input 3 is at Pin 7 on the 14-p[...]

33 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Compensation Parameters COMPENSA TION MENU P ARAMETER RANGE DESCRIPTION High Speed Comp 0–100 % Sets motor load compensation at high speeds. Higher values provide stronger disturbance rejection, while smaller v alues provide smoother operation. Low Speed Comp 0–100 % S[...]

34 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Motors & Brakes Parameters MO T ORS & BRAKES MENU P ARAMETER RANGE DESCRIPTION A uto-T rim On/Off Enab les/disables the patented Auto-T rim f eature; see page 4. Motor T rim -127 – +127 Sets the motor trim, allowing f or straight line tracking despite diff erence[...]

35 Curtis enAble ® 40-Series Manual, Rev. B 5 — PROGRAMMABLE P ARAMETERS: Battery Parameters 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 o verall accuracy of the BDI algorithm. The power level and type of battery charger use[...]

36 Curtis enAble ® 40-Series Manual, Rev. B 6 6 — MONITOR MENU MONIT OR MENU Thr oug h its Mo nito r men u, th e 131 1 pro gram mer pro vid es ac cess to re al-t ime dat a dur ing chai r ope rati on. The M onit or menu has s ix sub men us, whic h fol low the A ctiv e Con fig para met er at the top of the me nu: MONIT OR MENU —Active Config ?[...]

37 Curtis enAble ® 40-Series Manual, Rev. B 6 — MONITOR MENU MONIT OR MENU , cont’ d ITEM DISPLA Y RANGE DESCRIPTION LIGHTS • • • Indicator Current 0–26.5 A Current through the indicator lights. Running Light Current 0–26.5 A Current through the r unning lights. MO T OR CONTROLLER • • • M1 Bridg e T emp 0 – 200 °C T empe rat[...]

38 Curtis enAble ® 40-Series Manual, Rev. B 7 7 — TUNING GUIDE TUNING GUIDE This section sho ws you how to to zero in on the desir ed drive feel for the chair . The procedures should be conducted in the sequence given, because successive steps build upon the ones befor e. Please follow them car efully and do not skip ov er any steps. Make sure y[...]

39 Curtis enAble ® 40-Series Manual, Rev. B 7 — TUNING GUIDE 3 Set up the Speed Modes The chair can have up to nine different speed modes. The operator selects them by pressing the handcontrol’ s Up and Down buttons. STEP 1. Define how many speed modes there will be, using the N umber of M odes parameter (P rogram > Handcontrol > Speed [...]

40 Curtis enAble ® 40-Series Manual, Rev. B STEP 7. F or no w , set the Hot System Resistance parameter at about 10% higher than System Resistance; this parameter will be adjusted later . STEP 8. Return to the Motor T est parameter (P rogram > Motor & Brakes menu) and turn it Off. 6 T rim the Chair T rimming the chair ensures that it tr uly[...]

41 Curtis enAble ® 40-Series Manual, Rev. B 8 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 pro vide smooth and responsive acceleration and steering. Once the compen - sation values have been set, typically they do n[...]

42 Curtis enAble ® 40-Series Manual, Rev. B STEP 9. N ext we wil l a djus t t he Fwd De cel, wh ich use s a n a dva nced al go- rit hm. F irst , set the S oft S top par ame ter to 10 %. a. S ele ct a s pee d mode t hat comm and s abou t 10–2 0% spee d. S et F wd Dec el Hi gh S pee d, M id S pee d, a nd Low S pee d t o the sam e va lue , and adj [...]

43 Curtis enAble ® 40-Series Manual, Rev. B bl Set Up the T urn 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, [...]

44 Curtis enAble ® 40-Series Manual, Rev. B to incr eas e or decr eas e the spee d the cha ir driv es wh ile mak- ing a wid e turn . c. T o ad d Dyn amic T ur n Rad ius C ontr ol, first adju st th e S pee d Fu ll T urn par amet er . Sel ect the slo west sp eed mod e and dr ive the cha ir a t f ull thr ottl e, m akin g f ast shar p tu rns lef t an[...]

45 Curtis enAble ® 40-Series Manual, Rev. B STEP 1. Drive the chair full speed and note how well it responds to small movements. Adjust the S teering Sensitivity v alue for more response. STEP 2. If th e ch air is stil l n ot r esp ons ive , y ou m ay n eed to rai se t he Hi gh S pee d Comp valu e set dur ing pro cedu re 8 . Conversely , if it is [...]

46 Curtis enAble ® 40-Series Manual, Rev. B 7 — TUNING GUIDE set higher than the Low S peed Comp parameter , and can be set higher than 100%. Be careful, though, as too high settings can cause the chair to jerk and oscillate. If this happens, lower the Anti-Rollback Comp value. STEP 4. A djus t the Ex tra Up hil l Comp param ete r next . Thi s a[...]

47 Curtis enAble ® 40-Series Manual, Rev. B 8 8 — DIAGNOSTICS & TROUBLESHOOTING DIA GNOSTICS AND TROUBLESHOO TING 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 [...]

48 Curtis enAble ® 40-Series Manual, Rev. B HANDCONTROL DIA GNOSTICS F aults are typically indicated by the wrench icon plus a flashing icon for the problem site. W arnings are indicated by the warning symbol instead of the wrench—or , in the case of keylock, by the key icon, and in the case of over/ undertemperature, by the thermometer icon. A[...]

49 Curtis enAble ® 40-Series Manual, Rev. B T able 1: HANDCONTROL INDICA T ORS, cont’ d HANDCONTROL LCD DISPLA Y F A UL T/W ARNING REMED Y Under v oltage W ar ning 1. Recharge batter y . 2. Replace old battery . 3. If this is happening frequently , replace charger. 4. Check charger por t on handcontrol; replace if damaged. Overvoltage Warning. 1[...]

50 Curtis enAble ® 40-Series Manual, Rev. B T able 1: HANDCONTROL INDICA T ORS, cont’ d HANDCONTROL LCD DISPLA Y F A UL T/W ARNING REMED Y Low battery . 1. Recharge battery . Lock ed mode. * 1. Unloc k the system. Chair under attendant control. * 1. T ur n off attendant control (1742). Batter y charging; inhibit. * 1. Unplug charger when chargin[...]

51 Curtis enAble ® 40-Series Manual, Rev. B A TTEND ANT CONTROL DIA GNOSTICS The LEDs on the attendant control are used to communicate information about faults, warnings, and batter y charging. The Mode LED, the BDI LED, and the LEDs in the chair icon signal warnings b y flashing. F or more information, turn on the user handcontrol and refer to T[...]

52 Curtis enAble ® 40-Series Manual, Rev. B 9 MAINTENANCE The re are no user servic eabl e par ts in the Cu rtis 1740 cont rol ler . N o att empt sho uld be ma de to open , r epai r , or oth erwis e mod ify the cont rol ler . D oing so ma y dama ge the co ntr olle r and wil l voi d the war rant y . R epla ceme nt par ts ar e, ho wev er , av aila b[...]

Curtis enAble ® 40-Series Manual, Rev. B A-1 APPENDIX A: BDI SETUP APPENDIX A B A TTER Y DISCHARGE INDICA T OR (BDI) SETUP The B atter y D ischarge I ndicator on the enAble 40 system is quite flexible and, when properly set up , will provide the user with r eliable information on the status of the battery system. The batt erie s can be char ged e[...]

A-2 Curtis enAble ® 40-Series Manual, Rev. B Step 3. Setting the Empty V oltage 3.a N ormally a value of 1.7 volts per cell is used as the empty point. This corresponds to a setting of 20.4 V . F or some sealed batteries, this may be too low . Consult the batter y manufacturer if you are unsure. Step 4. Setting the Discharge F actor 4.a R esume dr[...]

Curtis enAble ® 40-Series Manual, Rev. B A-3 formula: Charge Factor = 10 * (Batter y amp-hrs / Charger amps). 5.d S tar ting with the dead batter y from Step 4, plug in the charger . After 10 minutes of charging, measure the battery voltage with a meter . Set the S tart Charge V oltage parameter to this value. 5.e The Charge F actor is basically a[...]

A-4 Curtis enAble ® 40-Series Manual, Rev. B determine a new estimated battery charge level and then reset the BDI to the new estimate. U nfortunately , this estimate is wrong — because in fact no charge was actually put onto the batter y . 6.d The P arti al Cha rge M in par amet er is de sign ed pr ev ent th ese fa lse es tima tes . S ubtract t[...]

Curtis enAble ® 40-Series Manual, Rev. B A-5 A-1 Fig. B-1 Curtis 1311 handheld progr ammer . APPENDIX B: 1311 PROGRAMMER APPENDIX B Curtis 1311 HANDHELD PROGRAMMER The C ur tis 1311 handheld programmer provides programming, diagnostic, and test capabilities for the enAble ® 40-Series P ower chair Contr ol S ystem. The programmer plugs into the 5-[...]

A-6 Curtis enAble ® 40-Series Manual, Rev. B A-2 APPENDIX B: 1311 PROGRAMMER PROGRAMMER OPERA TION 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 . F or experimenting with settings, the programmer can be left plu[...]

Curtis enAble ® 40-Series Manual, Rev. B A-7 APPENDIX C: CONNECTORS & P ARTS LIST C-1 APPENDIX C MA TING CONNECT ORS & REPLA CEMENT P ARTS High Po wer Connectors, 1740 P owerbase Complete batter y and motor connector kit Cur tis p/n 381570001 The kit contains: 2 Motor connector housings Cur tis p/n 37383 1 Batter y connector housing Cur ti[...]

A-8 Curtis enAble ® 40-Series Manual, Rev. B APPENDIX D SPECIFICA TIONS APPENDIX D: SPECIFICA TIONS MODEL NUMBER OPTIONS 1742-20XX — D-1 T able D-1: 1740 PO WERBASE Nominal input voltage 24 V PWM operating frequency 15.6 kHz Storage ambient temperature range -40°C to 85°C (-40°F to 185°F) Operating ambient temperature range -25°C to 50°C ([...]