Permobil ESP R-Net User manual

ESP
USER MANUAL
Enhanced Steering Performance
US
R-Net

ESP
Enhanced Steering Performance
Produced and published by Permobil AB, Sweden
Edition 1, 2008-04
Product code: 205229-US-0
R-Net

How to contact Permobil
Head Office of the Permobil group

User Manual ESP Contents
5
Contents
Introduction .................................................................................................... 6
Safety rules.................................................................................................... 7
Programming ................................................................................................ 8
Error indications ............................................................................................ 9
Troubleshooting .......................................................................................... 10

User Manual ESP Introduction
6
Introduction
The purpose of the ESP module is to make your wheelchair safer to use. ESP
stands for Enhanced Steering Performance.
The ESP module is programmed by Permobil to give the wheelchair optimal
performance. Individual adaptations can mean that minor adjustments may be
required at a later date. The preprogrammed parameters may only be adjusted
by technicians familiar with the ESP module.
The ESP module is installed in the wheelchair chassis. See the service manual
for the chassis for further information.
The ESP module is connected to the wheelchair control system. The module
contains a sensor that measures any course deviations made by the wheelchair.
A processor uses this information to correct any deviations from the course set
by the user using the wheelchair’s steering device. The ESP module uses the
information from the sensor and the steering device to calculate a corrected
steering signal. The steering signal is then passed on to the wheelchair’s R-Net
output stage, which controls the drive motors.
The function of the ESP module requires access to the full capacity of the output
stage. These different parameters must therefore be adjusted to their maximum
values or to other predefined values.
NB. The parameters for the output stage, Power Module (PM), are set by
Permobil and must not be changed. The ESP module has integral functions
for controlling the wheelchair’s performance, acceleration, course stability,
etc. If any changes are required to the way the wheelchair is operated, the
ESP module must be reprogrammed.

User Manual ESP Safety rules
7
Safety rules
- There must be no changes made to the output stage parameters.
- The ESP module may only be programmed by technicians familiar with the
ESP module’s functions.
- Changes made to the ESP module parameters must be documented. The
parameter values must be recorded before and after changes.
- Wheelchairs with ESP module installed are supplied programmed for optimum
performance. Changes to the value of a parameter should mean a decrease
in the current value. Raising a parameter’s value can mean that the wheelchair
becomes unstable and difficult to maneuver.
- Once changes have been made to ESP module parameters, the wheelchair
must be test-driven before being returned to the user.
NB. If tests are performed in which the ESP module is disconnected, please
note that steering characteristics are set to a very high value. This makes
the wheelchair very difficult to maneuver. Ensure that there is plenty of
space around the wheelchair when the test is being performed.

User Manual ESP Programming
8
Programming
The ESP module has 20 parameters adjusted using Permobil PC Programmer
for R-Net, product code 1822585, and the associated dongle. The procedure is
described in greater detail in the PC Programmer for R-Net User Manual.
The ESP module is installed in the chassis. It is not possible to program the
module directly.
The 20 programmable parameters can be seen in Fig. 1.
Fig. 1. Example of settings for R-Net control panel with joystick, JSM. The first
19 adjust R-Net output stage (PM) parameters for “speed”, which can be set for
optional drive profiles. The twentieth parameter, “switched input”, is used to
select the drive device used for each profile. “No” position means analog joystick
or attendant control. For button control, change the parameter to “Yes”.

User Manual ESP Programming and parameter settings
9
Error indications
The ESP module is equipped with two LEDs, one green and one red, to indicate
module status. See Fig. 2. These are useful for troubleshooting. The table in
Fig. 3 shows the functions of the LEDs.
The green LED means the wheelchair is ready for use.
The red LED gives access to various error codes by flashing at different
intervals. The number of flashes indicates which error code it concerns. See
section on troubleshooting, page 10.
Status Red Green
Before start Off Off
Module is not active On Off
Normal mode, wheelchair functions according
to completed calibrations Off On
Calibration mode On On
Error indication Flashes Off
Fig. 3. Various indications of the LEDs.
Fig. 2. Both LEDs on the ESP module show
the current status of the module. The red
LED is on the left in the picture, and the
green is on the right.

User Manual ESP Software version and troubleshooting
10
Troubleshooting
There are a number of flash codes to assist in troubleshooting. The red LED
on the ESP module flashing a certain number of times indicates an error. The
table below specifies what error a certain number of flashes indicates. The
control panel display also normally shows an error message in text format.
Permobil’s PC Programmer for R-Net provides further information on errors
indicated.
Description of error LCD text on
control panel
Flash-
es
Check and/or
replace
Power Module in Latched Drive
Mode Bad Settings 1Programming
Incorrect reference voltage,
VCC/2 Module Error 2ESP module
PWM Offset adjustment outside
its working range Module Error 3ESP module
Gyro sensor value outside specified
limits Module Error 4ESP module
Module Test Flag not set in
EEPROM Module Error 5ESP module
Incorrect calibration value in
EEPROM Recalibrate 6ESP module
Cannot read program object in
time, time limit reached. Cycle Power 7
Switch system
off/on. Check
cabling and all
R-Net units.
AD/DA Controller not
synchronized Cycle Power 8
Switch system
off/on. Check
cabling and all
R-Net units.
Non-existent instruction Module Error 9ESP module
Program/system error Module Error 10
Switch system
off/on. Check
cabling and all
R-Net units.

Product code: 205229-US-0