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Summary of Contents for Dynamic DX2-GYRO
- Page 1 GYRO DX2-GYRO DX2-PMA90LG ULTIMATE POWERCHAIR CONTROL SOLUTION DX2-PMA90LG INSTALLATION MANUAL ADDENDUM...
- Page 3 YNAMIC It describes the general principles, but it gives no guidelines for specific applications. If there is a specific requirement for your application, please contact Dynamic Controls or one of the sales and service agents to assist you. The product is part of the DX System. This manual must be read together with the DX System Manual and all other relevant DX and DX2 component manuals.
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Page 4: Table Of Contents
Mechanical Specifications ............7 The DX2-GYRO Module ............. 8 Installation ............... 9 Connect to the DX System ............9 Connect to the DX2-GYRO module ........9 Setup procedure for the Gyro..........10 3.3.1 Preparation ..............10 3.3.2 Gyro set-up procedure ..........10 Gyro Tuning Plug-in .............. -
Page 5: Introduction To The Dx2-Pma90Lg
1 Introduction to the DX2-PMA90LG The DX2-PMA90LG is a DX2-PMA Power Module variant that can connect to a DX2-GYRO Module. The Gyro module can help to keep the chair straight on challenging terrain by measuring the physical movement of the chair. If the chair does not go in the intended direction, the Gyro power module makes small corrections until the chair does go in the intended direction. -
Page 6: Specifications
2 Specifications 2.1 Electrical Specifications Parameter Units Battery Voltage Battery Saver High threshold Low threshold Quiescent Power (relay de-energised) Standby Power Thermal limit ˚C DX BUS CANH and CANL tolerated Voltage DX BUS supply current @ 40˚C 14.9 Motor Outputs Motor Type Maximum output voltage 23.5... -
Page 7: Mechanical Specifications
2.2 Mechanical Specifications All dimensions ± 0.5 mm. Parameter Units Installed depth including connectors 5.51 inch Mounting torque (M5 bolts) Weight 1040 Operating Temperature Range °C (-13) (122) (°F) Storage Temperature Range °C (-40) (149) (°F) Operating Humidity Range Battery Connector Cycles cycles cycles Motor Connector Cycles... -
Page 8: The Dx2-Gyro Module
The cable length is 600 mm. For connector information see section 3.2. Note: Mount the DX2-GYRO module so that the cable is located on the top side of the unit, with the cable rising vertically upwards. The module will not function in any other position. -
Page 9: Installation
To avoid confusion with the DX BUS socket, the GYRO socket is clearly marked with a white rectangle. The DX2-GYRO module has a cable with a white connector that can help to recognise the correct connection: the white connector goes into the socket with the white rectangle. -
Page 10: Setup Procedure For The Gyro
3.3 Setup procedure for the Gyro 3.3.1 Preparation The Gyro module gives the most comfortable results on a chair that has already been set up to provide optimal performance and steering stability without the Gyro control. If the chair has not been set up for steering stability, the Gyro will still correct the direction of the chair and keep the chair straight, but it has to make bigger corrections which results in jerky and uncomfortable driving. - Page 11 Proportional (Kp) gain affects the rate at which the Gyro will respond to fast changes in wheelchair direction to provide angular velocity stability. Integral (Ki) gain processes Gyro information over a longer period of time and this value influences the straight tracking of a wheelchair to provide directional stability.
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Page 12: Gyro Tuning Plug-In
3.4 Gyro Tuning Plug-in The Wizard 'Gyro Tuning Plug-in' provides a convenient tool for OEMs to determine the best value for the Gyro Angular Speed Scalar parameter (4.2.2.5). The Gyro Angular Speed Scalar parameter determines the way that the signals coming from the Gyro module are interpreted, and as such affects all other Gyro operational parameters. -
Page 13: Programming
4 Programming Warning: Read the programming chapter of the DX2-PMA installation manual, and the DX System Manual programming chapter (DSM chapter 7) including all its warnings and notes before reading this chapter. The programming chapter of this manual only describes Gyro specific programming. -
Page 14: Parameter Descriptions
Profile G4 This parameter is only used in the DX2-PMA90LG Power Module in combination with a DX2-GYRO stabilisation module. Gyro stabilisation will only occur when a DX2-GYRO module is connected to the Power Module. The Power Module has 4 Gyro Profiles (G1 - G4) that can be used to adapt the Gyro behaviour to different circumstances, for example smooth or rough terrain. -
Page 15: Gyro Profiles
4.2.2 Gyro Profiles The Power Module has 4 Gyro Profiles that can be used to adapt the Gyro behaviour to different circumstances, for example smooth or rough terrain. Each of the parameters below can be set for each Gyro Profile separately. 4.2.2.1 Gyro Profile Name Parameter Possible Values Default... -
Page 16: Gyro Ki Gain (Integral Gain)
4.2.2.3 Gyro Ki Gain (Integral Gain) Parameter Possible Values Default Lite Gyro Ki Gain 0 - 255 Gyro Ki Gain determines how much the Gyro reacts to slow changes in direction. When this parameter is set correctly, the wheelchair will drive in a straight line over significant distances and it will not veer when it drives on sloping terrain. -
Page 17: Gyro Angular Speed Scalar
10 % If a Drive Profile is selected that is configured for Gyro operation, and the DX2-GYRO module is not connected or gives faulty signals, the maximum speed of the chair is limited to Gyro Fault Speed Limit. -
Page 18: Troubleshooting
OONAPU in general, see section 9.3 of the DX System Manual. 5.2 Gyro Faults If a Drive Profile is selected that is configured for Gyro operation, and the DX2-GYRO module is not connected or gives faulty signals, Gyro operation is disabled, and The maximum speed of the chair is limited to the Gyro Fault Speed Limit (4.2.2.6) -
Page 19: Appendices
Intended Use The DX2-PMA90LG variant of the DX2 Power Module family is intended to allow the DX2-Gyro module interact with the DX2 System, to improve directional control of wheelchairs - particularly front wheel drive chairs - under both normal driving and adverse traction conditions.
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