PG Drives Technology VR2 series Quick start guide

VR2 SERIES
WHEELCHAIR
CONTROL SYSTEM
OPERATION,
INSTALLATION &
PROGRAMMING
SK77898/2
PG DRIVES TECHNOLOGY

VR2 CONTROL SYSTEM
SK77898/2
PG DRIVES TECHNOLOGY
II
© PG Drives Technology 2006
All rights reserved.
This manual is furnished under copyright and may only be used in accordance with
the terms laid out by PG Drives Technology.
The information in this manual is furnished for informational use only, is subject to
change without notice, and should not be construed as a commitment by PG
Drives Technology.
E cept as permitted by such terms, no part of this manual may be reproduced,
stored in a retrieval system, or transmitted, in any form or be any means electronic,
mechanical, recording, or otherwise - without the prior written permission of PG Drives
Technology. [phone]
The VR2 Control System is covered By Patent os.:
UK: 2 381 675 B
2 390 493 B
US: 6, 593, 711, B2

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TABLE OF CONTENTS
Abo t this man al ............................................................................................................................ xii
ICONS........................................................................................................................................................... xii
Chapter 1 - Operation ..................................................................................................... 1
1 Introd ction .............................................................................................................................. 3
2 General .......................................................................................................................................... 3
2.1 Handling ................................................................................................ 3
2.2 Operating Conditions ............................................................................ 3
2.3 Cleaning................................................................................................ 3
3 Controls ....................................................................................................................................... 4
3.1 On/Off Button and Battery Gauge ......................................................... 5
3.2 Locking / Unlocking the Wheelchair ....................................................... 6
3.3 Joystick .................................................................................................. 6
3.4 Ma imum Speed / Profile Indicator ....................................................... 6
3.4.1 Ma imum Speed Indicator.......................................................................... 6
3.4.2 Profile Indicator ............................................................................................ 6
3.5 Horn Button ............................................................................................ 7
3.6 Speed / Profile Decrease Button ............................................................ 7
3.7 Speed / Profile Increase Button .............................................................. 7
3.8 Actuator Buttons and LEDs ..................................................................... 7
3.8.1 Wheelchairs with One Actuator ................................................................... 7
3.8.2 Wheelchairs with Two Actuators ................................................................... 7
3.9 Charger and Programmer Socket .......................................................... 8
4 Getting Ready to Drive ................................................................................................... 9
5 Tips for Using Yo r Control System .................................................................. 9
5.1 Driving - General .................................................................................... 9
5.2 Driving Technique .................................................................................. 9
6 Preca tions for Use .......................................................................................................... 10
6.1 Hazards.................................................................................................. 10
7 Safety Checks ........................................................................................................................ 12
7.1 Daily Checks .......................................................................................... 12
7.2 Weekly Checks ...................................................................................... 12
7.3 Servicing ................................................................................................ 12
8 Control System Stat s indication ........................................................................ 13
8.1 Battery Gauge is Steady ........................................................................ 13
8.2 Battery Gauge Flashes Slowly ................................................................ 13

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8.3 Battery Gauge Steps Up ........................................................................ 13
8.4 Battery Gauge Flashes Rapidly (even with the joystick released) .......... 13
8.5 Self-Help Guide ..................................................................................... 13
8.6 Slow or sluggish movement ................................................................... 15
8.7 Speed / Profile Indicator is Steady ......................................................... 15
8.7.1 Speed Indication ......................................................................................... 15
8.7.2 Profile Indication .......................................................................................... 15
8.8 Speed / Profile Indicator Ripples Up and Down ..................................... 15
8.9 Speed / Profile Indicator Flashes ............................................................ 15
8.10 Actuator LED Flashes .............................................................................. 15
9 Battery Ga ge ........................................................................................................................ 16
9.1 How to Read a TruCharge Battery Gauge ............................................. 16
10 Battery Charging ................................................................................................................. 17
11 Programming ........................................................................................................................... 18
12 Joystick Knobs ...................................................................................................................... 19
13 Servicing ..................................................................................................................................... 19
14 Warranty .................................................................................................................................... 20
Chapter 2 - Installation................................................................................................ 21
1 Doc mentation ....................................................................................................................... 23
1.1 VR2 Operation ....................................................................................... 23
1.2 Program Settings .................................................................................... 23
1.3 Soft-Stop................................................................................................. 24
1.4 Other Information .................................................................................. 24
1.5 Control System Make-up ....................................................................... 24
2 Immobilizing the Wheelchair ...................................................................................... 25
2.1 Prevention of Unauthorized Use ............................................................. 25
2.2 Charger Interlock ................................................................................... 25
3 Mo nting ..................................................................................................................................... 26
3.1 Joystick Module ..................................................................................... 26
3.1.1 Orientation .................................................................................................. 26
3.1.2 Position ........................................................................................................ 26
3.2 Power Module Mounting ........................................................................ 26
3.2.1 Orientation .................................................................................................. 26
3.2.2 Position ........................................................................................................ 27
3.2.3 Cables ......................................................................................................... 27
4 Connections .............................................................................................................................. 28
4.1 Crimping ................................................................................................ 28

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4.2 Connector Kits ....................................................................................... 28
5 Wiring ............................................................................................................................................ 31
5.1 General ................................................................................................. 31
5.2 Wire Gauge and Types .......................................................................... 31
5.3 Battery Wiring ......................................................................................... 32
5.4 Motor Wiring ........................................................................................... 32
5.5 Solenoid Brake Wiring ............................................................................. 33
6 Drive Motors ........................................................................................................................... 34
7 Batteries...................................................................................................................................... 35
8 Battery Charging ................................................................................................................. 36
8.1 Off-board Charging ............................................................................... 36
8.2 On-board Charging ............................................................................... 37
9 Inhibits .......................................................................................................................................... 37
10 Act ator Control .................................................................................................................. 38
10.1 Actuator End-stop Detection ................................................................. 38
10.2 Actuator Inhibits ..................................................................................... 38
10.3 Actuator Motors ..................................................................................... 38
11 Prod ction Tests .................................................................................................................. 40
11.1 Mounting ............................................................................................... 40
11.2 Cables and Connectors ........................................................................ 40
11.3 Joystick and Gaiter ................................................................................ 40
11.4 Preset Settings ........................................................................................ 40
11.5 Operational Test .................................................................................... 40
11.6 Test Drive ................................................................................................ 41
11.7 Soft-Stop Test .......................................................................................... 41
12 Electromagnetic Compatibility (E.M.C.) ............................................................ 42
12.1 Emissions ............................................................................................... 42
12.1.1 Motor Suppression ..................................................................................... 42
12.1.2 Cables ...................................................................................................... 42
12.2 Immunity................................................................................................ 42
13 Battery Ga ge ........................................................................................................................ 43
Chapter 3 - Programming .......................................................................................... 45
1 Introd ction .............................................................................................................................. 47
1.1 PP1a Programmer .................................................................................. 47
1.2 PC Programmer ..................................................................................... 47
1.3 Parameters ............................................................................................ 48
1.4 Safety Fences ........................................................................................ 49

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1.5 Drive Profiles ........................................................................................... 49
2 Speed Parameters .............................................................................................................. 51
2.1 Acceleration .......................................................................................... 51
2.2 Deceleration .......................................................................................... 51
2.3 Turn Acceleration ................................................................................... 51
2.4 Turn Deceleration................................................................................... 51
2.5 Forward Speed ...................................................................................... 51
2.6 Reverse Speed ...................................................................................... 51
2.7 Turning Speed ........................................................................................ 51
2.8 Power ..................................................................................................... 52
2.9 Number of Drive Profiles ......................................................................... 52
2.10 Minimum Acceleration .......................................................................... 52
2.11 Minimum Deceleration .......................................................................... 52
2.12 Minimum Turn Acceleration ................................................................... 53
2.13 Minimum Turn Deceleration ................................................................... 53
3 Act ator Parameters ....................................................................................................... 55
3.1 Number of Actuators ............................................................................. 55
3.2 Actuator 1 End Force ............................................................................. 55
3.3 Actuator 1 Current Limit Time Out .......................................................... 55
3.4 Actuator 2 End Force ............................................................................. 55
3.5 Actuator 2 Current Limit Time Out .......................................................... 55
3.6 Actuator Selection with Joystick ............................................................. 55
3.7 Actuator End Stop Detection ................................................................. 56
3.8 Actuator End Stop Bleep ........................................................................ 56
4 Operation Parameters .................................................................................................... 57
4.1 Sleep Timer ............................................................................................ 57
4.2 Joystick Throw ........................................................................................ 57
4.3 Invert Joystick ......................................................................................... 57
4.4 Steer Correct .......................................................................................... 57
4.5 Switch Bleep Volume ............................................................................. 57
4.6 Speed Adjustment while Driving ............................................................. 57
5 Battery Parameters .......................................................................................................... 59
5.1 Low Battery Flash Level .......................................................................... 59
5.2 Cable Resistance .................................................................................. 59
5.3 Calibration Factor .................................................................................. 59
5.4 Low Battery Alarm .................................................................................. 59
5.5 Low Voltage Cut Out. ............................................................................. 59
5.6 Low Voltage Time................................................................................... 59

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6 Inhibit Parameters .............................................................................................................. 61
6.1 Inhibit 2 Threshold Level ......................................................................... 61
6.2 Inhibit 2 Speed Limit in Band ............................................................... 61
6.3 Inhibit 2 Operation ................................................................................. 62
6.4 Inhibit 2 Debounce................................................................................ 62
6.5 Seat Reversal ......................................................................................... 62
6.6 Inhibit 3 Threshold Level ......................................................................... 62
6.7 Inhibit 3 Speed Limit in Band ............................................................... 63
6.8 Inhibit 3 Operation ................................................................................. 63
6.9 Inhibit 3 Debounce................................................................................ 63
6.10 Inhibit 1: Alarm ....................................................................................... 64
6.11 Inhibit 2: Alarm ....................................................................................... 64
6.12 Inhibit 3: Alarm ....................................................................................... 64
6.13 Actuator Channel 1 Up Inhibit and Actuator Channel 1 Down Inhibit.... 64
6.14 Actuator Channel 2 Up Inhibit and Actuator Channel 2 Down Inhibit.... 65
6.15 Inhibit E amples .................................................................................... 65
6.15.1 Speed Inhibit E amples ............................................................................. 65
6.15.2 Actuator Inhibit E amples .......................................................................... 66
7 General Parameters .......................................................................................................... 69
7.1 Fast Brake Rate ...................................................................................... 69
7.2 Soft Stop Rate ........................................................................................ 69
7.3 Front Wheel Drive Rate ........................................................................... 69
7.4 Soft Reverse Deceleration ...................................................................... 69
7.5 Reverse Driving Alarm ............................................................................ 69
7.6 Brake Disconnected Alarm .................................................................... 69
7.7 K10 Programming Restriction ................................................................. 70
7.8 Lock Function Enabled .......................................................................... 70
7.9 Brake Fault Detect ................................................................................. 70
7.10 Brake Voltage ........................................................................................ 70
8 Motor Parameters .............................................................................................................. 71
8.1 Current Limit Ma ., Current Limit Min., Current Foldback - Threshold, .....
Time, Level, & Temperature .................................................................. 71
8.2 Motor Compensation ............................................................................ 73
8.3 Invert M1 Direction ................................................................................. 74
8.4 Invert M2 Direction ................................................................................. 74
8.5 Motor Swap ........................................................................................... 74
8.6 Torque.................................................................................................... 75
8.7 Tremor Damping .................................................................................... 75

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9 Memory F nctions .............................................................................................................. 76
9.1 Read Timer ............................................................................................ 76
9.2 Clear Timer ............................................................................................ 76
9.3 Read System Log ................................................................................... 76
9.4 Erase System Log ................................................................................... 76
Chapter 4 - Lighting........................................................................................................ 77
1 Introd ction .............................................................................................................................. 79
2 Controls ....................................................................................................................................... 79
2.1 Actuator Button and LEDs ...................................................................... 79
2.1.1 Wheelchairs with One Actuator ................................................................... 79
2.1.2 Wheelchairs with Two Actuators ................................................................... 79
2.2 Light Button Indicator ............................................................................. 82
2.3 Left Turn Indicator Button and LED .......................................................... 82
2.4 Right Turn Indicator Button and LED ....................................................... 82
2.5 Hazard Warning Button and LED ............................................................ 82
3 Lighting Mod le Installation ....................................................................................... 83
3.1 Mounting ............................................................................................... 83
3.2 Connection ........................................................................................... 84
3.2.1 Socket 1 ...................................................................................................... 84
3.2.2 Socket 2 ...................................................................................................... 84
3.2.3 Socket 3 ...................................................................................................... 84
3.3 Output ................................................................................................... 84
3.4 Wiring ..................................................................................................... 84
4 Programming ........................................................................................................................... 87
4.1 Lamp Voltage ........................................................................................ 87
4.2 Lamp Wattage ....................................................................................... 87
4.3 Indicator Fault Detect ............................................................................ 87
Chapter 5 - D al Attendant System ................................................................. 89
1. Introd ction .............................................................................................................................. 91
2. Controls ....................................................................................................................................... 92
2.1 Joystick .................................................................................................. 92
2.2 Control Button and Indicator ................................................................. 93
2.2.1 Control Indicator ......................................................................................... 93
2.2.1 Control Button .............................................................................................. 93
2.3 Actuator Button and LEDs ...................................................................... 93
2.3.1 Wheelchairs with One Actuator ................................................................... 93

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2.3.2 Wheelchairs with Two Actuators ................................................................... 93
2.4 Ma imum Speed Button and Indicator ................................................. 94
2.4.1 Ma imum Speed Indicator.......................................................................... 94
2.4.2 Ma imum Speed Button .............................................................................. 94
3 Installation ................................................................................................................................ 95
4 Connection ................................................................................................................................. 96
4.1 Connetion to the VR2 Dual Attendant ................................................... 96
5 Joystick Orientation ......................................................................................................... 98
6 Diagnostics ............................................................................................................................... 99
Chapter 6 - SERVICING & DIAGNOSTICS ................................................... 101
1 Servicing ..................................................................................................................................... 103
1.1 Introduction ........................................................................................... 103
1.2 Joystick Replacement ........................................................................... 104
1.2.1 Joystick Removal ......................................................................................... 104
1.2.2 Fitting a Joystick ........................................................................................... 106
1.3 Joystick Cable Replacement ................................................................ 107
1.3.1 Joystick Cable Removal .............................................................................. 107
1.3.2 Fitting a Joystick Cable ................................................................................ 108
1.4 Keypad Replacement ........................................................................... 109
2 Diagnostics ............................................................................................................................... 110
2.1 Introduction ........................................................................................... 110
2.2 Diagnostics Process ............................................................................... 110
2.3 Detecting a Trip has Occurred .............................................................. 111
2.3.1 Flashing rapidly ........................................................................................... 111
2.3.2 Flashing slowly ............................................................................................. 111
2.3.3 Display is steady .......................................................................................... 111
2.3.4 Display does not illuminate.......................................................................... 111
2.3.5 Actuators do not respond ............................................................................ 111
2.4 Other Conditions ................................................................................... 111
2.4.1 Control system will not switch on .................................................................. 112
2.4.2 Wheelchair drives slowly .............................................................................. 112
2.4.3 Wheelchair will not drive in a straight line ..................................................... 112
2.4.4 One motor or brake becomes very warm ................................................... 112
2.4.5 Batteries discharge very quickly ............................................................. 112
2.5 Trip Diagnosis ......................................................................................... 112
2.5.1 Trip diagnosis with the TruCharge ................................................................. 112
2.5.2 Using a programmer to read the trip code ................................................. 113
3 Trip Types and Their Possible Ca ses .............................................................. 114

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3.1 Trip Type 1 - Low Battery Voltage ............................................................ 115
3.2 Trip Type 2  Left Motor Disconnected ................................................... 115
3.3 Trip Type 3  Left Motor Wiring Trip .......................................................... 115
3.4 Trip Type 4  Right Motor Disconnected ................................................. 115
3.5 Trip Type 5 - Right Motor Wiring Trip ......................................................... 115
3.6 Trip Type 6  Charger Connected.......................................................... 116
3.7 Trip Type 7  Possible Joystick Trip .......................................................... 116
3.8 Trip Type 8 - Possible Control System Trip ................................................ 116
3.9 Trip Type 9 - Solenoid Brake Trip ............................................................. 116
3.10 Trip Type 10 - High Battery Voltage ......................................................... 117
3.11 Joystick Displaced at Power-up ............................................................. 117
3.12 Communications Error ........................................................................... 117
3.13 Inhibit 2 Active ....................................................................................... 117
3.14 Inhibit 3 Active ....................................................................................... 117
3.15 Actuator Motor Wiring Trip ...................................................................... 117
3.16 Current Limit Active ................................................................................ 118
3.17 High Temperature .................................................................................. 118
4 Basic Tests ................................................................................................................................ 119
4.1 General Inspection ................................................................................ 119
4.2 Brake Test ............................................................................................... 119
4.3 Drive Test ................................................................................................ 119
4.4 Gradient Test ......................................................................................... 120
5 Servicing of Defective Units ...................................................................................... 121
Chapter 7 - Warning S mmary ............................................................................ 123
1 Introd ction .............................................................................................................................. 125
2 Warnings .................................................................................................................................... 125
2.1 Driving Technique .................................................................................. 125
2.2 Hazards.................................................................................................. 125
2.3 How to Read a TruCharge Battery Gauge ............................................. 126
2.4 Battery Charging .................................................................................... 126
2.5 Programming ......................................................................................... 127
2.6 Joystick Knobs ....................................................................................... 127
2.7 Servicing ................................................................................................ 127
2.8 Warranty ................................................................................................. 128
2.9 Program Settings .................................................................................... 128
2.10 Charger Interlock ................................................................................... 128

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2.11 Crimping................................................................................................ 129
2.12 Wiring  General .................................................................................... 129
2.13 Battery Wiring ......................................................................................... 129
2.14 Drive Motors ........................................................................................... 130
2.15 Off-board Charging ............................................................................... 130
2.16 On-board Charging ............................................................................... 131
2.17 Production Test....................................................................................... 131
2.18 Programming  Introduction .................................................................. 132
2.19 Safety Fences ........................................................................................ 132
2.20 Brake Fault Detect ................................................................................. 132
2.21 Current Limits ......................................................................................... 132
2.22 Motor Compensation ............................................................................ 132
2.23 Torque.................................................................................................... 133
2.24 Tremor Damping.................................................................................... 133
2.25 Mounting ............................................................................................... 134
2.26 Wiring ..................................................................................................... 134
2.27 Lamp Wattage ....................................................................................... 134
2.28 Servicing - Introduction .......................................................................... 134
2.29 Diagnostics - Introduction ...................................................................... 134
2.30 Batteries Discharge Very Quickly ............................................................ 135
2.31 Basic Tests .............................................................................................. 135
2.32 Gradient Test ......................................................................................... 135
2.33 Servicing of Defective Units .................................................................... 135
Chapter 8 - Specifications ........................................................................................ 137
1 Electrical Specifications ................................................................................................. 139

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Abo t this man al
This manual is split into 6 chapters which are in turn split into separate sections. Each
chapter deals with a specific issue.
Chapter 1 - Operation
This chapter deals with the controls and functionality of the VR2 Control System.
Chapter 2 - Installation
This chapter deals with the mounting, connection, wiring and setup procedures for
the VR2 Control System.
Chapter 3 - Programming
This chapter gives an overview of the programmable parameters within the VR2
Control System.
Chapter 4 - Lighting
This chapter deals with the operation, installation and programming changes created
with the VR2-L Control System.
Chapter 5 - Dual Attendant Module
This chapter deals with the operation and installation changes created with the
VR2-D Control System.
Chapter 6 - ervicing & Diagnostics
This chapter deals with the servicable sections of the VR2 control system.
Chapter 7 - Warning ummary
Lists all the Warnings used within the manual.
Chapter 8 - pecifications
Lists all the Electrical Specifications of the VR2 Control System.
ICONS
PG Drives Technology will be abbreviated to PGDT throughout the manual.
Throughout the manual icons are used to draw the readers attention.
The icons used are:
Note - A general point for best practice.
Ca tion - A point of safety which if ignored co ld res lt in
damage to the control system or the vehicle.
Warning - A point of safety which if ignored co ld ca se
inj ry to the individ al.

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CHAPTER 1 - OPERATION
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CHAPTER 1
OPERATION

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CHAPTER 1 - OPERATION
SK77898/2
1 Introd ction
The relevant contents of this chapter should be included in the wheelchair operating
guide. Further copies are available from PGDT in either written or disk (Adobe PDF)
format. Copies should not be made without the e press permission of PG Drives
Technology.
The operation of the VR2 varies dependent on programming. This chapter covers all
types of operation. It is the responsibility of the wheelchair manufacturer to ensure
that only the relevant sections of this chapter are included in the wheelchairs
operating manual.
The operation of the VR2 wheelchair control system is simple and easy to understand.
The control system incorporates state-of-the-art electronics, the result of many years
of research, to provide you with ease of use and a very high level of safety. In
common with other electronic equipment, correct handling and operation of the
unit will ensure ma imum reliability.
Please read this chapter carefully - it will help you to keep your wheelchair reliable
and safe.
2 General
2.1 Handling
Avoid knocking your control system and especially the joystick. Be careful not to
strike obstacles with the control system or joystick when you drive. Never drop the
control system.
When transporting your wheelchair, make sure that the control system is well protected.
Avoid damage to cables.
2.2 Operating Conditions
Your control system uses industrial-grade components throughout, ensuring reliable
operation in a wide range of conditions. However, you will improve the reliability of
the control system if you keep e posure to e treme conditions to a minimum.
Do not e pose your control system or its components to damp for prolonged periods.
If the control system becomes contaminated with food or drink clean it off as soon
as possible.
2.3 Cleaning
Clean the control system and the joystick with a cloth dampened with diluted
detergent. Be careful when cleaning the joystick.
Never use abrasive or spirit-based cleaners.

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3 Controls
The VR2 control system has four versions of the front control panel  with and without
actuator control. Most of the controls are common to both versions, however, the
actuator buttons are only included on VR2 control systems with seat actuator control.
Each of the controls is e plained within this section.
Charger and
Programmer Socket
Front Control Panel Details
Control Panel
VR2 USER CONTROLS
Joystick
With ActuatorsNo Actuators

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CHAPTER 1 - OPERATION
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3.1 On/Off B tton and Battery Ga ge
The on/off button applies power to the control system electronics, which in turn supply
power to the wheelchair s motors. Do not use the on/off button to stop the wheelchair
unless there is an emergency. (If you do, you may shorten the life of the wheelchair
drive components).
The battery gauge shows you that the wheelchair is switched on. It also indicates the
operating status of the wheelchair. Details are given in section 8.0.
On/Off Button
VR2 CONTROL BUTTONS
Maximum Speed / Profile Indicator
Battery Gauge
Horn Button
Speed / Profile Decrease Button
Actuator Buttons
Speed / Profile Increase Button

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3.2 Locking / Unlocking the Wheelchair
The VR2 control system can be locked to prevent unauthorized use. The locking
method is via a sequence of key presses and joystick movements, as detailed
below.
To lock the wheelchair.
•While the control system is switched on, depress and hold the on/off button.
•After 1 second the control system will beep. ow release the on/off button
•Deflect the joystick forwards until the control system beeps.
•Deflect the joystick in reverse until the control system beeps.
•Release the joystick, there will be a long beep.
•The wheelchair is now locked.
To unlock the wheelchair
•Use the on/off button to switch the control system on. The maximum speed /
profile indicator will be rippling up and down.
•Deflect the joystick forwards until the control system beeps.
•Deflect the joystick in reverse until the control system beeps.
•Release the joystick, there will be a long beep.
•The wheelchair is now unlocked.
3.3 Joystick
The primary function of the joystick is to control the speed and direction of the
wheelchair. The further you push the joystick from the center position the faster the
wheelchair will move. When you release the joystick the brakes are automatically
applied.
If the wheelchair is fitted with actuators, the joystick can also be used to select and
move actuators, refer to section 3.8 for more details.
3.4 Maxim m Speed / Profile Indicator
This is a gauge which shows the ma imum speed setting for the wheelchair or, if the
control system is programmed for drive profile operation, the selected drive profile.
For more information on drive profiles, refer to Chapter 3.
This gauge also indicates if the speed of the wheelchair is being limited or if the
control system is locked, refer to sections 8.8 and 8.9.
3.4.1 Maxim m Speed Indicator
This is a gauge that shows the ma imum speed setting of the wheelchair. There are
five speed settings  step 1 is the lowest speed and step 5 is the highest speed. For
details of how to change the ma imum speed setting, see sections 3.6 and 3.7.
3.4.2 Profile Indicator

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This is an indicator that shows the selected drive profile. There may be up to 5 drive
profiles available, this depends on the programming of the control system (refer to
Chapter 3). For details of how to select drive profiles, see sections 3.6 and 3.7.
3.5 Horn B tton
The horn will sound while this button is depressed.
3.6 Speed / Profile Decrease B tton
This button decreases the ma imum speed setting or, if the control system is
programmed for drive profile operation, selects a lower drive profile.
It is possible to program the control system so this button has no effect while the
wheelchair is being driven, refer to Chapter 3.
3.7 Speed / Profile Increase B tton
This button increases the ma imum speed setting or, if the control system is
programmed for drive profile operation, selects a higher drive profile.
It is possible to program the control system so this button has no effect while the
wheelchair is being driven, refer to Chapter 3.
3.8 Act ator B ttons and LEDs
Depending on whether the wheelchair is fitted with one or two actuators, the operation
of these buttons will differ. Refer to the relevant section below.
3.8.1 Wheelchairs with One Act ator
Depressing either actuator button will enter actuator adjustment mode. This will be
indicated by the illumination of both actuator LEDs. Actuator adjustment can then
be made by deflecting the joystick. To re-enter drive mode, depress either actuator
button.
3.8.2 Wheelchairs with Two Act ators
Depressing either actuator button will enter actuator adjustment mode. If the left
button was depressed the associated LED will be illuminated, and deflection of the
joystick will adjust the actuator motor connected to that channel. If the right button
was depressed the associated LED will be illuminated and deflection of the joystick
will adjust the actuator connected to the other channel.
To re-enter drive mode depress the selected actuator button, as indicated by the
associated LED.
To select the other actuator, depress the opposite actuator button. It is also possible
to select the other actuator by left or right movements of the joystick. This alternative

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selection method is dependent on the programming of the control system, see
Chapter 3.
3.9 Charger and Programmer Socket
This socket should only be used for programming and charging the wheelchair.
Refer to section 10 for more details.
This socket should not be used as a power supply for any other electrical device.
Connection of other electrical devices may damage the control system or affect
the E.M.C. performance of the wheelchair.
The control systems warranty will be voided if any device
other than a PG Drives Technology Programmer, or the
battery charger s pplied with the wheelchair, is connected
into this socket.
VR2 JOYSTICK ACTUATOR ADJUSTMENT
UP
DOWN
SELECTSELECT