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AUTOMATIC CALIBRATION MODE

Manual

EVO Altus

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ACM version 3-2017

Index

1. Wiring of each actuator of EvO Altus. ............................................................................................................ 3

1.1 Motor connections .................................................................................................................................... 3

2. Wiring of the support wheel switches ............................................................................................................ 5

3. Programming the EvO Altus V01.0.1 ............................................................................................................. 6

4. Uploading R-net Default files ......................................................................................................................... 9

5. Automatically calibration for EvO Altus V01.02 ........................................................................................... 10

5.1 Key to enter automatic calibration mode (ACM) .................................................................................... 10

5.2 Prepare the chair for automatic calibration mode. (ACM) ..................................................................... 10

5.3 Enter automatic calibration mode (ACM). .............................................................................................. 11

6. Error codes for EvO Altus: ........................................................................................................................... 12

6.1. failure calibration procedure .................................................................................................................. 12

6.2. 968.. series fault codes: ........................................................................................................................ 12

7. Fine tune adjustments EvO Altus

7.1. To set the maximum standing angle: .................................................................................................... 13

7.2. To set the standing height: ................................................................................................................... 13

7.3. To set the default backrest angle: ......................................................................................................... 13

7.4. To set the default legrest angle: ........................................................................................................... 13

7.5. To avoid crashing the legrest at low seat height: ................................................................................. 14

8. Axis names .................................................................................................................................................. 14

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1. Wiring of each actuator of EvO Altus.

EvO Altus uses theses actuators:

1 negative tilt actuator REAC RE 3005 150mm throw 6000N 0 – 10 Kohm potentiometer

2 tilting actuator REAC RE 3005 150mm throw 6000N 0 – 10 Kohm potentiometer

3 backrest actuator REAC RE25 150mm throw 3500N 0 – 10 Kohm potentiometer

4 legrest actuator REAC RE25 150mm throw 3500N 0 – 10 Kohm potentiometer

5 support wheels actuator REAC RE25 50mm throw 3500N 2 micro micro switches

1.1 Motor connections

1. standing actuator (RE 3005)

inhibbit connection

2. tilting actuator (RE3005)

inhibbit connection

3. Backrest actuator (RE25)

inhibbit connection

GND

Inh.18 Inh.19

motor connection

GND

Inh.20 Inh.21 motor connection

GND

Inh.22 Inh.23 motor connection

ACM version 4-2020

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4. legrest actuator (RE25)

inhibbit connection

5. Support wheels actuator (RE25)

motor connection inhibbit connection

6. Tape switch backrest

GND

Inh.24 Inh.25 motor connection

Inh.32

GND

Inh.26 Inh.27

GND

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2. Wiring of the support wheel switches

2.1. Version V01.01 (first batch 05-2017)

2.2. Version V01.02 (from 30-08-2017)

This support wheel switches now have two different inhibits:

1. one for releasing the standing position

2. one for the ramp position of the support wheels.

3K

2 K

GND

Inh.26 Inh.27

5 K

3 K

inh.26 inh.27 GND

switch 1 switch 2

switch 2 switch 1

ramp position situation shown

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3. Programming the EvO Altus V01.0.1

To prepare the EvO Altus for delivery the next steps have to be executed:

1. Programming the flash of the CSXM 2. Uploading the Default files of R-net EvO Altus 3. Calibrating each actuator

Programming the flash of R-net CJXM

Step 1: open folder

Step 2: Open the program

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Step 3: load configuration

Step 4: if successfully loaded, click “Go!”

Step 5: confirm Re-programming

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Step 6: programming in action

Step 7: programming flash finished!!

don’t switch off the chairs whilst programming the flash.

WARNING

Sometimes an error code will appear on the screen. The USB connection did not connect with the dongle, cannot initialize CAN interface or another error message. Depending on the version of Windows, you either need to restart the PC or Laptop and try again. Sometime disconnecting the dongle and reconnecting it to the PC or laptop will also solve the issue. Just repeat the operation until it connects.

NOTE

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4. Uploading R-net Default files

Upload the R-net OEM files to the wheelchair using R-net OEM software and dongle.

Therefore we now need to open the CxSM developer software and open and write the R-net file once more.

Now all R-net parameters are programmed.

before you open CxSM developer software, first close the OEM R-net software. The dongle can only handle one program software at a time.

WARNING

By uploading this file, not all parameters are properly set!

WARNING

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5. Automatically calibration for EvO Altus V01.02

This version has an upgrade where the support wheels have two positions:

1. anti tipper functionality (the wheels are closer to the ground so they work as anti tipper as well) 2. support wheels up for driving up a ramp. (wheels are max. up to make driving on a ramp possible)

5.1 Key to enter automatic calibration mode (ACM)

To enter the automatic calibration mode you need to use the Calibration key tool. This tool is only available from Karma Directly and is only to be used by trained and authorized persons.

this special key need to connected to the CxSM module, using Inhibit 7 port.

inhibit port 7 to connect Key to.

5.2 Prepare the chair for automatic calibration mode. (ACM)

Before we put the wheelchair in to automatic calibration mode (ACM), the seat needs to be positioned into the right starting position. To do so, we use the single powered functions of each powered seat actuator.

step 1: negative tilt in flat (horizontal) position step 2: tilt in flat (horizontal) position step 3: backrest in vertical position (90°) step 4: legrest in vertical position (90°)

if the wheels are in “maximum up” position to drive on a ramp, the driving speed will be automatically reduced by 50%. for normal driving the user is forced to lower the support wheels into “anti tipper“ position. In this position it is possible to drive at maximum speed.

NOTE

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5.3 Enter automatic calibration mode (ACM).

To get into the auto calibration mode, the switch of the key needs to be pushed when switching on the electronics of the wheelchair. Keep it pushed until you see the normal screen in the joystick module display. Then let go of the key switch. The wheelchair is now is auto calibration mode.

Make sure you have an elastic rubber band with you. You need this for the automatic calibration of the Wheelchair. Now push the mode button to go to the seat function mode. If in the seat function mode, select “sit > stand ‘.

Now push the joystick forward and secure it with the rubber band. The system will now automatically run through a certain sequence, calibrating each seat actuator at a time. When the automatic calibration is successfully finished a long beep tone will sound. If there is a failure during calibration, two short beeps will sound

make sure you push the switch until the normal driving screen has been shown. letting go too early or holding too long after the normal screen is shown , will get you out of automatic calibration mode again. This time windows is there to avoid unintended entering in to the automatic calibration mode.

NOTE

make sure you push the switch until the normal driving screen has been shown. letting go too early or holding too long after the normal screen is shown , will get you out of automatic calibration mode again. This time windows is there to avoid unintended entering in to the automatic calibration mode.

WARNING

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6. Error codes for EvO Altus: The R-net system has been equipped with additional Altus error codes.

6.1. failure calibration procedure Error code problem solution 0x96A0 Calibration procedure failed Check Debug settings to detect communication/feedback

NOTE:

If during calibration this error occurs, first bring back the seat into the seating position using the 4 first basic seat functions (negative tilt, tilt, backrest, legrest and support wheels.

6.2. 968.. series fault codes:

9680 feedback position failure Error on channel 1 (negative tilt actuator) 9681 feedback position failure Error on channel 2 (tilt actuator) 9682 feedback position failure Error on channel 3 (backrest actuator) 9683 feedback position failure Error on channel 4 (legrest actuator) 9684 feedback position failure Error on channel 5 9685 feedback position failure Error on channel 6 9686 feedback position failure Error on channel 7 9687 feedback position failure Error on channel 8

6.3. 969..series fault codes:

9690 feedback calibration data failure Error on channel 1 (negative tilt actuator) 9691 feedback calibration data failure Error on channel 2 (tilt actuator) 9692 feedback calibration data failure Error on channel 3 (backrest actuator) 9693 feedback calibration data failure Error on channel 4 (legrest actuator) 9694 feedback calibration data failure Error on channel 5 9695 feedback calibration data failure Error on channel 6 9696 feedback calibration data failure Error on channel 7 9697 feedback calibration data failure Error on channel 8

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Do not to reduce the angle over 80%. At this value the legrest might collide with the support wheels actuator when standing. If you want to reduce more than 80%, you shall reduce the standing angle first.

WARNING

7. Fine tune adjustments EvO Altus

To set the standing height and standing angle we can use:

7.1. To set the maximum standing angle:

Inhibit 18 >> upper threshold (default 95%, maximum standing angle)

To decrease the standing angle, reduce the value of the upper threshold in small steps

7.2. To set the standing height:

Inhibit 20 >> middle threshold (default 40%) approx. 605 mm seat pan to floor.

To increase the standing height, increase the value in small steps (max5%) (1% increase is 4mm in height).

To decrease the standing height, decrease the value in small steps (max 5%)

7.3. To set the default backrest angle:

when standing, backrest angle:

Inhibit 22 >> lower threshold (default 6%) (equals approx. 14 degrees to vertical plane).

to decrease the backrest angle change the value between 6% and 10% (approx. 1% equals 1 degree angle).

when sitting, backrest angle: Inhibit 22 >> upper threshold (default 75%) ( equals approx. 18 degrees to vertical plane).

to put the backrest more upright, increase the value. (approx. 1% equals 1 degree angle).

7.4. To set the default legrest angle:

when standing, legrest angle: Inhibit 24 >> upper threshold (default 95%) (equals: 19 degrees to vertical plane).

Higher value >> more extension of the legrest (approx. 1% equals 1 degree angle).

when sitting, legrest angle: Inhibit 24 >> lower threshold (default 15%) (equals: approx. 21 degrees to the vertical plane).

lower value >> closer to 90° knee angle of the legrest (approx. 1% equals 1 degree angle).

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7.5. To avoid crashing the legrest at low seat height:

To avoid crashing the legrest into the ground at low seat height and 90 degrees legrest, one could activate a drive inhibit/ low drive speed at the tilt inhibit.

Drive inhibit 20, band 0 is on default 100% speed, but can be changed to 0% (drive inhibit) or 10% (very low speed)

setting of the speed inhibit on low seat height and flat seat angle.

8. Axis names

Axis number Dutch German English French

1 negatief kantel negativ kantel negative tilt proclive 2 kantel kantel tilt bascule d'assise 3 rugleuning rückenlehne backrest dossier 4 beensteun beinstütze legrest repose-jambe 5 support wheels stützräder support wheels anti-bascules 6 zit lift sitzlift seat lift lift d’assise 7 relax relax relax couche 8 zitten > staan sitzen > stehen sit > stand assis>debout 9 liggen > staan liegen > stehen lay > stand coushé>debout

10 45 liggen > staan 45 liegen > stehen 45 lay > stand 45° couché>debout

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