Curtiss-Wright R-NET Technical Manual
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Curtiss-Wright R-NET Technical Manual

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PG DRIVES TECHNOLOGY
R-NET- TECHNICAL MANUAL
SK77981/14

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Summary of Contents for Curtiss-Wright R-NET

  • Page 1 PG DRIVES TECHNOLOGY R-NET- TECHNICAL MANUAL SK77981/14...
  • Page 2 Except as permitted by such terms, no part of this manual may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means electronic, mechanical, recording, or otherwise - without the prior written permission of Curtiss - Wright. +44.1425.271444 SK77981-14 2 | R-net Technical Manual | Table Of Contents...

  • Page 3: Table Of Contents

    Driving - General ............30 Joystick Module Wiring ......... 42 Driving Technique ............30 Charger Connector............43 Slow or sluggish movement ........31 Power Module & ISM Wiring ......43 SK77981-14 3 | R-net Technical Manual | Table Of Contents...
  • Page 4 Change Profile while Driving - (Chge Prf in Drv) ..78 Navigating the OBP Screens ........60 Change Speed while Driving - (Spd Adj in Drv) ..78 Making an Adjustment..........61 Speed Adjust - (Speed Adjust) ........79 SK77981-14 4 | R-net Technical Manual | Table Of Contents...
  • Page 5 Latched Ac tuators - (Acts) ........... 91 12.3 Compensation ............. 104 Latched Timeout - (Time) ..........92 12.4 Invert M1 Direction ............ 105 Latched Timeout Beep - (Bleep)......... 92 12.5 Invert M2 Direction ............ 105 SK77981-14 5 | R-net Technical Manual | Table Of Contents...
  • Page 6 OEM Factory ..........120 Axis x – Down Assign (x = 1 to 12)......136 7.10 Axis x – Down: Inhibit in Bands (x = 1 to 6) .... 136 SK77981-14 6 | R-net Technical Manual | Table Of Contents...
  • Page 7 13.1 Disable Inhibit 8 in Drive..........147 Seating ................161 13.2 Disable Inhibit 9 in Drive..........147 Inhibits ................165 3.11 Lower Level Threshold ..........148 3.12 Middle Level Threshold..........148 SK77981-14 7 | R-net Technical Manual | Table Of Contents...
  • Page 8 3.16 Memory Error .............. 187 2.14 Wire Gauge and Types ..........198 3.17 PM Memory Error ............187 2.15 Battery Connections ........... 198 3.18 Bad Cable..............187 2.16 Battery Charging ............198 SK77981-14 8 | R-net Technical Manual | Table Of Contents...
  • Page 9 2.42 PM Memory Error ............203 2.43 Basic Tests ..............204 2.44 Servicing of Defective Units ........204 2.45 Introduction ..............204 CHAPTER 12 – SPECIFICATIONS ......205 Electrical Specifications....... 205 SK77981-14 9 | R-net Technical Manual | Table Of Contents...
  • Page 10 WARNING: A point of safety which if ignored could cause injury to the individual. Curtiss-Wright accepts no liability for any losses of any kind if the points are not followed. SK77981-14 10 | R-net Technical Manual | Table Of Contents...

  • Page 11: Chapter 1 - Operation

    Wright. The operation of the R-net 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.

  • Page 12: Operating Conditions

    When the control system is first switched on after a connection, or system component change the Timer will be displayed whilst the system checks itself and then the Re-start icon will be displayed. Switch the control system off and on again to operate. SK77981-14 12 | R-net Technical Manual | Chapter 1 - Operation...

  • Page 13: Controls

    CONTROLS The R-net control system has two versions of Joystick Module – with and without lighting control. Most of the controls are common to both however, the lighting buttons are only included on the Joystick Module with lighting control. Each of the controls is explained within this section.

  • Page 14: Buttons

    Depending on the way the control system has been programmed a momentary screen may be displayed when the button is pressed. Refer to section 5 for details of the momentary screen. Refer to Chapter 3 - Programming for details. SK77981-14 14 | R-net Technical Manual | Chapter 1 - Operation...
  • Page 15 When activated the right indicator LED will flash in sync with the wheelchair’s indicator(s). 4.2.11 EXTERNAL ON/OFF SWITCH JACK This allows the user to turn the control system on and off using an external device, such as a buddy butto n. SK77981-14 15 | R-net Technical Manual | Chapter 1 - Operation...

  • Page 16: Lcd Screen

    WARNING: The control system’s warranty will be voided if any device other than a battery charger supplied, with the wheelchair, or the lock key is connected into this socket. SK77981-14 16 | R-net Technical Manual | Chapter 1 - Operation...

  • Page 17: Lcd Screen - Monochrome

    The status of the control system can be understood by observing the LCD screen. SCREEN SYMBOLS The Drive screen for the R-net has common components, which will always appear, and components that will only appear under certain conditions. Below is a view of a typical Drive screen in Profile 1.
  • Page 18 5.1.10 CONTROL SYSTEM TEMPERATURE This symbol is displayed when the control system has intentionally reduced its own power, in order to protect itself against heat damage. SK77981-14 18 | R-net Technical Manual | Chapter 1 - Operation...

  • Page 19: Momentary Screens

    This indicates a system trip, i.e. the R-net has detected a problem somewhere in the wheelchair’s electrical system. If the error is in a non-active module, for example in the ISM but with a drive Profile is selected, then drive will still be possible, however, the diagnostic screen will appear intermittently.
  • Page 20 This means the battery needs charging or there is a bad connection to the battery.  Check the connections to the battery. If the connections are good, try charging the battery. SK77981-14 20 | R-net Technical Manual | Chapter 1 - Operation...

  • Page 21: Locking The Control System

    5.4.2 KEY LOCKING To lock the wheelchair with a key;  With the Control System switched on, insert and remove a Curtiss-Wright supplied key into the Charger Socket on the Joystick Module. A short beep will be heard.  The wheelchair is now locked.

  • Page 22: Actuator Selection Screen

     If the control system has switched off, press the On/Off button.  Insert and remove a Curtiss-Wright supplied key into the Charger Socket on the Joystick Module. A short beep will be heard.  The wheelchair is now unlocked.

  • Page 23: Lcd Screen - Color

    Joystick Module or a Dual Attendant Module, then the Module that has control of the wheelchair will display the In Focus symbol. BASE BAR 6.2.1 CURRENT PROFILE The currently selected Profile is shown in numeric form. SK77981-14 23 | R-net Technical Manual | Chapter 1 - Operation...

  • Page 24: Main Screen Area

    This gives a proportional display of the wheelchairs speed. The Arc begins at 0% and has a programmable maximum. The programmable parameter is Max Displayed Speed. Refer to the Programming Chapter. SK77981-14 24 | R-net Technical Manual | Chapter 1 - Operation...
  • Page 25 6.3.9 BLUETOOTH MODE When Bluetooth Mode is entered the fol lowing screen will be displayed. SK77981-14 25 | R-net Technical Manual | Chapter 1 - Operation...

  • Page 26: Message Window

    Programming Mode. The symbol is animated to show the sands falling. 6.4.3 SLEEP This symbol will be displayed for a short time before the R-net enters into a sleep state. 6.4.4 CROSS & TICK These symbols will be displayed during configuration procedures.
  • Page 27 This indicates a system trip, i.e. the R-net has detected a problem somewhere in the wheelchair’s electrical system. Refer to section 5 for a detailed description of Diagnostic screen and procedure. Refer to Chapter 5 Diagnostics for a complete description of the Trip Texts.

  • Page 28: Getting Ready To Drive

    You can reset this condition by switching the control system off and on again. If you do not push the joystick as you switch the wheelchair on and the diagnostic screen is displayed, as in the following diagram, then the R-net has detected a problem s omewhere in the wheelchair’s electrical system. SK77981-14...

  • Page 29: Settings Menu

    This is a value held in the CJSM and relates to the total distance driven since the last reset. Display Distance Sets whether Total Distance or Trip Distance appears as the odometer display on the CJSM. SK77981-14 29 | R-net Technical Manual | Chapter 1 - Operation...

  • Page 30: Backlight

    IR SETUP IR Set up allows the user access the Omni IR (Infra Red) menus. For full details on how to learn, delete and use the IR functions available please refer to the R-net Omni Technical Manual SK78813. EXIT Exits the Settings Menu back to normal operation.

  • Page 31: Slow Or Sluggish Movement

    Curtiss-Wright accepts no liability for losses of any kind arising from the unexpected stopping of the wheelchair, or arising from the improper use of the wheelchair or control system.

  • Page 32: Safety Checks

    Curtiss-Wright | PG Drives Technology It is the responsibility of the chair manufacturer to ensure that the wheelchair complies with appropriate National and International EMC legislation. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 33: Battery Gauge

    Do not operate the control system if the battery is nearly discharged. Failure to comply with this condition may leave the user stranded in an unsafe position, such as in the middle of a road. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 34: Battery Charging

    To connect the charger plug, ensure the single pin is at the bottom, as shown in the following illustration, then offer the c harger plug to the R-net in a horizontal orientation. The molded guide on the R-net will help you to locate the plug. Ensure the plug is pushed fully in position.

  • Page 35: Programming

    WARNING: The warranty will be void if the R-net has not been used in accordance with Technical Manual SK77981, the R-net has been subject to misuse or abuse, or if the R-net has been modified or repaired by unauthorized persons.

  • Page 36: Joystick Knobs

    - it may cause hazardous operation. WARNING: Do not replace the joystick knob with any unauthorized item It may cause hazardous operation. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 37: Chapter 2 - Installation

    Curtiss-Wright accepts no liability for losses of any kind due to failure to, or incorrect programming of the R-net Control System. Refer to Chapter 3 for programming details.

  • Page 38: Soft-Stop

    SOFT-STOP The R-net has a programmable value called Soft Stop Rate that sets the emergency stopping distance. You must ensure that the emergency stopping distance is within the distance specified for the country in which the wheelchair will be used. TÜV Product Services (Germany) specify the distance to be as stated in EN12184.

  • Page 39: Connections

    Consists of a Power Module, a Communication Cable and a Joystick Module. 3.1.2 JOYSTICK & ISM CONFIGURATION Consists of a Power Module, an Intelligent Seating/Lighting Module (ISM), 2 Communication Cables and a Joystick Module. SK77981-14 39 | R-net Technical Manual | Chapter 2 - Installation...

  • Page 40: Mounting

    4.1.2 ORIENTATION The Joystick Module must be mounted with the joystick shaft pointing vertically upwards. If you want to use any other mounting alternatives then contact Curtiss-Wright. POWER MODULE MOUNTING SK77981-14 40 | R-net Technical Manual | Chapter 2 - Installation...

  • Page 41: Ism Mounting

    ISO7176/9. The Power Module is designed to withstand levels of shock and vibration experienced when mounted to the chassis of a wheelchair. Direct impacts onto the unit should be avoided. ISM MOUNTING SK77981-14 41 | R-net Technical Manual | Chapter 2 - Installation...

  • Page 42: Cables

    To disconnect the Communication Cables:  Holding the connector housing firmly, pull the connectors apart. NOTE: Do not hold or pull on the cable. Always grip the connector when connecting and disconnecting. SK77981-14 42 | R-net Technical Manual | Chapter 2 - Installation...

  • Page 43: Charger Connector

    Curtiss-Wright can make general recommendations for wiring for R- net control systems, but Curtiss-Wright accepts no responsibility for, and accepts no liability for losses of any kind arising from, the actual wiring arrangement used.
  • Page 44 The chair manufacturer is responsible for ensuring that only the mating connectors specified by Curtiss-Wright on the control system’s specific data sheet are used to connect to the control system. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.
  • Page 45 Curtiss-Wright | PG Drives Technology 6.1.2 ISM WIRING The following diagram gives details of the ISM connections. SK77981-14 45 | R-net Technical Manual | Chapter 2 - Installation...
  • Page 46 Curtiss-Wright | PG Drives Technology 6.1.3 CRIMPING SK77981-14 46 | R-net Technical Manual | Chapter 2 - Installation...

  • Page 47: Wire Gauge And Types

    IEC-60352-2 1990. WARNING: Defective or poor quality crimps may affect the warranty of the control system. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 48: Battery Connections

    The chair manufacturer is responsible for establishing the suitability of the particular wiring arrangements used on the wheelchair. Curtiss-Wright can make general recommendations for wiring for R-net control systems, but Curtiss-Wright accepts no responsibility for, and accepts no liability for losses of any kind arising from, the actual wiring arrangement used.

  • Page 49: Motor Connec Tions

    The chair manufacturer must install a suitable circuit breaker to provide protection against short circuits in the battery wiring, power loom or the control system. Failure to comply with this could result in a fire hazard. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 50: Batteries

    Do not disconnect batteries or open-circuit the circuit breaker while charging is in progress. Failure to observe this condition could result in a burns hazard or fire hazard. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 51: Solenoid Brakes

    Failure to observe this warning could result in an unsafe setup for t he wheelchair user and may create a fire hazard depending on the motors, wiring, connectors and circuit breakers installed on the unauthorized chair. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.
  • Page 52 If the keycode method is set, then it may be possible for a wheelchair user to gain entry to the OBP function. Curtiss-Wright accepts no liability for losses of any kind if this method of OBP is set. Curtiss-Wright also accepts no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle.

  • Page 53: Pc Programming

    To utilize the R-net PC Programming Suite the R-net Dongle must first be connected in the communications system as shown in section 10.1. A USB cable can then be connected between the Dongle and a PC with the R-Net PC Programmer installed. For further details on programming refer to Chapter 3.

  • Page 54: Dtt Programming

    Curtiss-Wright | PG Drives Technology 10.3 DTT PROGRAMMING The Curtiss-Wright Diagnostic Test Tool may be used to program the Control System. To utilize a DTT:  Switch off the Control System.  Insert DTT into the communications system using the R-net Cable supplied.

  • Page 55: Test Drive

    ELECTROMAGNETIC COMPATIBILITY (E.M.C. ) The R-net family has been tested for compliance with EC directive 89/336/EEC, and the E.M.C. requirements of EN12184, the FDA and the FCC. The guidelines in this section will help you to make sure that your wheelchair in stallation will easily meet these requirements.

  • Page 56: Emissions

    Curtiss-Wright | PG Drives Technology 12.1 EMISSIONS A typical wheelchair and R-net installation have been type tested and have passed the requirements of CISPR 22 and FCC CFR47 part 15. Observe the following recommendations to minimize radio frequency emissions: 12.1.1 MOTOR SUPPRESSION For the drive motors solder a suitable suppression capacitor between the brush holders, inside the motor cases.

  • Page 57: Battery Gauge

    These values will be chosen at the time the control system is being specified by the wheelchair manufacturer. Like the preset acceleration rates, once the values for the battery are decided, they are programmed into control systems during manufacture and should never need changing. If you need advice, contact Curtiss-Wright. SK77981-14...
  • Page 58 Curtiss-Wright | PG Drives Technology SK77981-14 58 | R-net Technical Manual | Chapter 2 - Installation...

  • Page 59: Chapter 3 - Programming

    NOTE: OBP is not possible using an LED Joystick Module. If the hardware dongle method is set, then a Curtiss-Wright OBP Dongle needs to be connected to allow access to OBP. To use the dongle, follow the sequence below: ...

  • Page 60: Navigating The Obp Screens

    If the keycode method is set, then it may be possible for a wheelchair user to gain entry to the OBP function. Curtiss-Wright accepts no liability for losses of any kind if this method of OBP is set. Curtiss-Wright also accepts no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle.

  • Page 61: Making An Adjustment

    *Change Speed while Driving Sets if the speed buttons are active whilst driving *Speed Adjust Sets if the Joystick speed buttons are active Profile Button Sets the functionality of the profile button SK77981-14 61 | R-net Technical Manual | Chapter 3 – Programming...
  • Page 62 For parameter information - Refer to the Chapter – ISM8 Actuator Mode Entry Axis For parameter information - Refer to the Chapter – ISM8 Axis Setup Axis Channels For parameter information - Refer to the Chapter – ISM8 SK77981-14 62 | R-net Technical Manual | Chapter 3 – Programming...
  • Page 63 Brake Voltage Sets the voltage output from the Power Module to the wheelchair’s electrical brakes Soft Stop Rate Sets the deceleration rate that is used while the wheelchair is “soft-stopping” SK77981-14 63 | R-net Technical Manual | Chapter 3 – Programming...
  • Page 64 For parameter information - Refer to the Chapter – ISM8 Upper Level Threshold For parameter information - Refer to the Chapter – ISM8 Debounce Time For parameter information - Refer to the Chapter – ISM8 SK77981-14 64 | R-net Technical Manual | Chapter 3 – Programming...
  • Page 65 Sets the minimum programmable value Absolute Maximum Turning Speed Sets the maximum programmable value Absolute Minimum Turning Speed Sets the minimum programmable value Absolute Maximum Forward Acceleration Sets the maximum programmable value SK77981-14 65 | R-net Technical Manual | Chapter 3 – Programming...
  • Page 66 Low Speed Integral Gain For parameter information - Refer to the Chapter – Gyro Module. Profiles Gyro Profile Select For parameter information - Refer to the Chapter – Gyro Module. SK77981-14 66 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 67: Profile Management

    PROFILE MANAGEMENT The R-net system can have up to 8 Profiles. Conventionally, Profile 8 is reserved for Dual Attendant Control (but can be re- assigned), meaning there are 7 possible user Profiles; but normally just 5 are used. The parameter, Profile Enable, sets whet her a particular Profile is available to the user.
  • Page 68 It may sometimes be required to use just one button or switch to select Profiles and Modes. A typical example would be the us e of a Buddy Button connected into the External Profile Switch jack socket. The R-net system has been designed to allow this by applying the following rule.

  • Page 69: Profile Name

    Alternatively, it is sometimes (but rarely) required, to connect two Input Devices of the same type. The parameters Input Device Type, Input Device Subtype and Allow Grab, allow you to manage th e priorities of control of the two connected Input Devices. SK77981-14 69 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 70: Input Device Type - (Id Type)

    If set to 2, then only the younger of the two Input Devices will be able to control the Profile. The relative ages of the two Input Devices will be determined automatically by the R-net system. However, it will also be necessary for the Input Devices to be manually aged, in order to identify which is actually which.

  • Page 71: Allow Grab

    Allow Grab is set to Yes for Profile 8 meaning that other Input Devices can grab focus from the Attendant. NOTE: It is not possible to set Allow Grab if the Input Device Type is Universal or IOM 1 - 3. SK77981-14 71 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 72: Configuration

    CONFIGURATION EXPLA INED The R-net system supports 8 Modes of operation. A Mode is the output action that the system is undertaking, for example, driving, seat adjustment or Mouse control. In other words, each Mode requires a piece of output hardware. For Drive it would be the Power Module, for Seat adjustment it would be the Seating Module and for Mouse control it would be a Bluetooth Mouse Module.

  • Page 73: Mode Name

    This sets the Output Device that is active for the Mode. See Configuration Explained for more details. The programmable options are in the form of a drop-down menu, as shown in the following diagram SK77981-14 73 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 74: Speeds

    Programmable range is 0 to Maximum Reverse Speed in steps of 1%. NOTE: It is not possible to set the value of Minimum Reverse Speed higher than the value of Max. Reverse Speed. SK77981-14 74 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 75: Maximum Turning Speed - (Turn Speed Max)

    Sets the deceleration rate of the wheelchair in the forward direction when the speed setting is at maximum (all 5 bars illuminated). Programmable range is 0 to 100% in steps of 1%. 6.10 MINIMUM FORWARD DECELERATION - (FWD DECEL MIN) SK77981-14 75 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 76: Maximum Reverse Acceleration - (Rev Accel Max)

    Sets the acceleration rate of the wheelchair into a turn when the speed setting is at maximum (all 5 bars illuminated). Programmable range is 0 to 100% in steps of 1%. SK77981-14 76 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 77: Minimum Turn Acceleration - (Turn Accel Min)

    If the value is set to less than 100%, then the Boost Current function is automatically disabled. i.e. the reduction is applied to the Current Limit Max. value. Example: R-net is programmed to: Maximum Current Limit = 80 Amps Boost Drive Current = 120 Amps Boost Drive Time = 5 Seconds...

  • Page 78: Tremor Damping - (Trmor)

    CHANGE SPEED WHI LE DRIVING - (SPD ADJ IN DRV) This sets whether the Speed Down and Speed Up buttons are active while the wheelchair is driving. The programmable options are Yes and No. SK77981-14 78 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 79: Speed Adjust - (Speed Adjust)

    If set to 0, there will be no sound given. Higher values will give progressively louder sounds. LOCK FUNCTION EN ABLED – (LOCK FN ENA BLE) This sets if and how the R-net may be locked to prevent the wheelchair being used by unauthorised persons. The programmable options are as follows:...

  • Page 80: Emergency Stop Switch - (Emergency Stop)

    WARNING: If this parameter is set to Yes, then it may be possible for a wheelchair user to gain entry to the OBP function. Curtiss-Wright accepts no liability for losses of any kind if this method of OBP is set. Curtiss-Wright also accept no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle.

  • Page 81: External Profile Jack Function

    In total, 16 commands Axis 1 to 8, Up and Down, are supported, as well as an Emergency Stop function. This functionality is only available on specific CJSMs. Details of the external input circuit is as follows. SK77981-14 81 | R-net Technical Manual | Chapter 3 – Programming...
  • Page 82 It is the responsibility of the wheelchair OEM to undertake a risk assessment to determine if hazardous conditions can re sult from defects in the switch/resistor array or its wiring. Curtiss-Wright accept no liability for losses of any kind arising from the control of actuators from a switch/resistor array.

  • Page 83: Actuator Switches While Driving

    Curtiss-Wright recommend that if seat actuators are driven using this input and a single switch, then the switch must be fitted with a resistor as described above. Curtiss-Wright accept no liability for losses of any kind arising from the use of any other switch.

  • Page 84: Joystick Forward Throw - (Forward Throw)

    To maximise the error-checking capability, the resistor must be fitted as physically close as possible to the switch contacts. WARNING: Curtiss-Wright recommend the switch must be fitted with a resistor as described above. Curtiss-Wright accept no liability for losses of any kind arising from the use of any other switch.

  • Page 85: Joystick Right Throw - (Right Throw)

     Follow the on-screen instructions  After the Right direction has been set the R-net will go through a configuration process, an hourglass will be displayed during this time.  Once the configuration is complete a large tick will be displayed on the screen for a short time and then the Joystick Menu will be displayed.

  • Page 86: Invert Fwd Rev Js Axis , Invert Left Right Js

    While in Standby Mode, the operation of the joystick is set by the parameters, Mode Selection in Standby, Standby Forward, Standby Reverse, Standby Left, Standby Right and Remote Selection. Each is explained below. SK77981-14 86 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 87: Standby Time - (Sbytm)

    When the drop down menu is closed the selected Modes are expressed as numbers a nd the parameter appears on the screen as below. The numbers 1 to 8 refer to the Modes listed in the menu. SK77981-14 87 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 88: Standby Forward

    Select in Standby must be set to Yes for this functi on to be active. The programmable options are a list of Modes in a drop-down menu. Only one Mode can be selected from the menu. SK77981-14 88 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 89: Remote Selection - (Remsl)

    Auto. If set to Blue or White, then those settings will always occur, but if set to Auto then the setting as determined b y this parameter will occur. SK77981-14 89 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 90: Speed Paddle Operation

    7.41 SPEED WRAP BEEP This sets whether there is an audible beep when the CJSM2’s speed setting wraps from maximum to minimum. The programmable options are Yes and No. SK77981-14 90 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 91: Latched

    Emergency Stop Switch. WARNING: Curtiss-Wright accepts no liability for losses of any kind resulting from the use of a wheelchair with latched drive or actuator operation and with no normally closed Emergency Stop Switch fitted. LATCHED ACTUATORS - (ACTS) This sets whether the seating functions are latched in operation.

  • Page 92: Latched Timeout - (Time)

    Emergency Stop Switch. WARNING: Curtiss-Wright accepts no liability for losses of any kind resulting from the use of a wheelchair with latched drive or actuator operation and with no normally closed Emergency Stop Switch fitted. LATCHED TIMEOUT - (TIME) This sets the time-out period for latched drive and actuator control.

  • Page 93: Actuator Mode Entry Axis - (Act. Entry Axis)

    There are 6 actuator motor channels on the ISM and an axis can combine any number of these channels. The R-net system can support up to 12 actuator axes. Each is programmable to define which actuator motors move and also how the user display appears.

  • Page 94: Axis Name

    This parameter sets what text will be displayed on the LCD when the associated Actuator Axis is selected. NOTE: This is only applicable on Color Joystick Modules and the Omni. SK77981-14 94 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 95: Acceleration - (Acc)

    The maximum current the ISM can deliver is 15A. However, this can only be achieved if the channel’s Up Speed is less than 100%. At a setting of 100% speed, the maximum current is 12A. The actual speed setting that is required is dependent on the SK77981-14 95 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 96: Down Current Limit

    NOTE: Automatic endstop can only be used with actuator Acceleration and Deceleration values of 100%. Automatic endstop may not work well if the actuator takes a very low current. SK77981-14 96 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 97: Actuator Endstop Timeout

    Drive will then be permitted to resume when the battery voltage rises above the value of Low Voltage Cut-out. The programmable range for Low Voltage Cut-out is 16V to 22V in steps of 0.5V. SK77981-14 97 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 98: General

    It is the wheelchair manufacturer’s responsibility to ensure that the wheelchair complies with the correct legislation for braking distances for the country in which the wheelchair is to be sold. Curtiss-Wright accepts no liability for losses of any kind resulting from incorrect programming of this parameter.

  • Page 99: Charger Inhibit 3 Enable

    Curtiss-Wright | PG Drives Technology This can be used to set the R-net to function with wheelchairs that have a seat reversal function, i.e. the seat can be rotated to exchange the wheelchair configuration between front wheel drive and rear wheel drive. It is typical on such wheelchairs to ha ve a micro-switch that signals which configuration the wheelchair is actually in.

  • Page 100: Charger Inhibit 3 Latching

    This sets whether an alarm sounds if there is a charge inhibit present on Inhibit 3. A charge inhibit is invoked if an On-Board Charger is connected to the OBC connector on the Power Module and Charger Inhibit 3 Enable is set to Yes. SK77981-14 100 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 101: 11.11 Front Wheel Drive Type

    If set Off, then the function is disabled. SK77981-14 101 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 102: 11.15 Aes Rate

    Boost Drive Time sets the period of time that the level of current set by Boost Drive Current is available. The programmable range is from 0 Seconds to 10 Seconds in steps of 1 Second. The following graph shows the relationship between the parameters. SK77981-14 102 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 103: Current Foldback Threshold, Current Foldback Time, Current Foldback Level

    After the reduction has occurred, the maximum current output will remain at the reduced level for a period of 5 times Current Foldback Time. This is a typical period that is sufficient to allow motors to cool. The graph following shows the relationship between the parameters. SK77981-14 103 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 104: Compensation

    The programmable range is 0mOhms to 500mOhms in steps of 5mOhms. Curtiss-Wright recommend this value is initially set to 70% of the total resistance of the motor’s armature, and all the connectors and cables between the motor and the Power Module motor output. Motor manufacturers should be able to supply a figure for the motor’s armature resistance and typical connector and cables may be around 40mOhm.

  • Page 105: Invert M1 Direction

    A control system must not be moved from one wheelchair type to another without first ensuring that the system is correctly programmed for the wheelchair it is intended to fit it to. Even if control systems have the same Curtiss-Wright part number, they may not be programmed the same.

  • Page 106: Display Speed - (Display Speed)

    Ordinarily, the powerchair will be dispatched so that the graphical speed display reaches its maximum point at the maximum rated speed of the powerchair. This means that, if the powerchair is later programmed to a lower speed, to sui t a particular user SK77981-14 106 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 107: 12.12 Joystick Stati Onary Time

    Do not adjust these values with consulting the wheelchair manufacturer. Curtiss-Wright accept no liability for losses of any kind resulting from the adjustment of the Joystick Stationary Time and Joystick Stationary Range parameters.

  • Page 108: 12.14 Compensation Factor

    Compensation Factor. WARNING: Inappropriate values of Compensation and Compensation Factor could make the wheelchair uncontrollable and potentially unsafe. Curtiss-Wright accepts no liability for losses of any kind resulting from inappropriate setting of either or both of these parameters. INHIBITS INHIBITS EXPLAINED Both the Power Module and the Intelligent Seating/light Module (ISM) each have two Inhibit Inputs.
  • Page 109 As the seat raises, SW1 opens giving 2.2KOhms, then SW2 opens giving 4.4KOhms and at full height SW3 opens giving a complete open-circuit. Programming would be as follows: Inputs PM - Threshold Levels: Upper Level Threshold Middle Level Threshold SK77981-14 109 | R-net Technical Manual | Chapter 3 – Programming...
  • Page 110 ACTUATOR INHIBIT EX AMPLES Application 1: A wheelchair is fitted with a reclining backrest that has endstop switches connected to the R-net’s Inhibit inputs 4 and 5 on the ISM. In this example the switches are installed to be normally closed and the Backrest has been programmed to use Actuator Channel 2.
  • Page 111 Application 2: A wheelchair is fitted with a reclining seat. It is required to offer a programmable angle of recline to suit different users. A potentiometer of maximum value 10KOhm is fitted to the recline mechanism and is connected to the R-net’s Inhibit 4 input sited on the ISM.

  • Page 112: Disable Inhibit 2 In Drive

    This sets the level of the threshold between Band 2 and band 3 for a particular Inhibit Input (Inhibit 2 o r Inhibit 3) on the Power Module. See Inhibits Explained for more details on Power Module inhibits and bands. SK77981-14 112 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 113: Debounce Time

    13.11 ASSIGN The R-net Power Module has five drive separate s oftware Drive Inhibits. These are referred to as A, B, C, D and E; and each of these can be initiated by any actual hardware inhibit input in the system. This functionality means that speed limits or driv e inhibits can be triggered from 5 individual sources.

  • Page 114: Speed Limit In Band 0

    Inhibit Inputs 2 and 3 are on the Power Module, Inhibits 4 and 5 are on the Intelligent Seating/Lighting Module, and Inhibits 6 to 33 will be on other Curtiss-Wright or third party modules. 13.12 SPEED LIMIT IN BAND 0 This sets the maximum speed of the wheelchair when the Inhibit input, which is assigned to th e Drive Inhibit, is in Band 0.

  • Page 115: Operation

    13.18 CHANNEL X – UP: ASSIGN (X = 1 TO 6) The R-net Intelligent Seating/Lighting Module has three separate software inhibits for the up direction of each of its output channels, 1 to 6. Up is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward and Invert Axi s Direction is not set.

  • Page 116: 13.20 Channel X - Up: Alarm

    13.21 CHANNEL X – DOWN: ASSIGN (X = 1 TO 6) The R-net Intelligent Seating/Lighting Module has three separate software inhibits for the down direction of each of its output channels, 1 to 6. Down is defined as pin 1 positive with respect to pin 2 when the joystick is displaced in reverse and Inv ert Axis Direction is not set.

  • Page 117: 13.23 Channel X - Down: Alarm

    The programmable options are 12V and 24V. The wheelchair’s light and indicators should be fitted with lamps of the corresponding value. If set to 12V, then the lights and indicators will remain a constant brightness, whilst the battery voltage is above this level. SK77981-14 117 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 118: Indicator Fault Detection

    To accurately detect led indicator failures for a particular led cluster the failure threshold across the complete voltage ra nge should be defined. This is done by setting five fault current thresholds SK77981-14 118 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 119: Indicator Fault Current 15V, Indicator Fault Current 20V, Indicator Fault Current 25V, Indicator Fault Current 30V & Indicator Fault Current 35V

    The front and rear LED clusters are of different types and have voltage/current relationships as shown in the table below. Th e values of Indicator XV Fault Current are calculated using: Higher LED current + (Lower LED current / 2) SK77981-14 119 | R-net Technical Manual | Chapter 3 – Programming...

  • Page 120: Oem Factory

    It is the responsibility of the vehicle manufacturer, to ensure that adequate testing of the vehicle is carried out, to ensur e that the values set will maintain vehicle stability and user safety. Curtiss-Wright accepts no liability for losses of any kind resulting from this parameter being incorrectly programmed.

  • Page 121: Chapter 4 - Elpm 90, Jsm-Led & Sm

    Seating Module NOTE: The EL PM90 can actually be used with any R-net JSM, including LCD based versions, as well as an Omni or any other Input Device. The LED JSMs can actually be used with any R-net PM, ISM or any other Output Device.

  • Page 122: Controls - Jsm-Led And Jsm-Led-L

    CONTROLS – JSM-LED AND JSM-LED-L There are common controls between the R-net and R-net LED control systems that operate as previously described in Chapter 1. Where a control has been moved this will be noted, however where a control has changed, a description of its new functionality and use will be given.

  • Page 123: Buttons

    Do not operate the control system if the battery is nearly discharged. Failure to comply with this condition may leave the user stranded in an unsafe position, such as in the middle of a road. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 124: Actuator Indicator

    Actuator selection and operation is achieved using the Joystick. Motions to the Left or Right select different actuator channels. Motions Forward and Backwards move the actuator(s) selected. SK77981-14 124 | R-net Technical Manual | Chapter 4 – ELPM 90, JSM-LED &...

  • Page 125: Control System Status Indication

    The control system safety circuits have operated and the control system has been prevented from moving the wheelchair. This indicates a system trip, i.e. the R-net has detected a problem somewhere in the wheelchair’s electrical system. Please follow this procedure: ...

  • Page 126: Self-Help Guide

    An excessive voltage has been applied to the control system. This is usually caused by a poor battery connection. Check the battery connections. A communication fault is indicated. Make sure that the joystick cable is securely connected and not damaged. SK77981-14 126 | R-net Technical Manual | Chapter 4 – ELPM 90, JSM-LED &...

  • Page 127: Slow Or Sluggish Movement

    This indicates the speed of the wheelchair is being limited for safety reasons. The exact reason will depend on the type of wheelchair, however, the most common cause is that the seat is in the elevated position. SK77981-14 127 | R-net Technical Manual | Chapter 4 – ELPM 90, JSM-LED &...

  • Page 128: Getting Ready To Drive

    You can reset this condition by switching the control system off and on again. Refer to section 3. If the battery gauge flashes rapidly, then the R-net has detected a problem somewhere in the wheelchair’s electrical system. Refer to section 3 for details.

  • Page 129: Power Module & Sm Wiring

    The chair manufacturer is responsible for ensuring that only the mating connectors specified by Curtiss-Wright on the control systems’ specific data sheet are used to connect to the control system. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.
  • Page 130 Curtiss-Wright | PG Drives Technology 6.1.1 POWER MODULE WIRING The following diagram gives details of the LED Power Module connections SK77981-14 130 | R-net Technical Manual | Chapter 4 – ELPM 90, JSM-LED &...

  • Page 131: 6.1.3 Crimping

    EL PM TO SEATING MODULE CONNECTIONS Use only a Curtiss-Wright supplied Seating Module Cable to connect between the EL PM and the Seating Module. The 4-way connector on this cable carries Actuator and Inhibit 2 connections, while the two 2 -way connectors on the other end should be connected to the EL PM’s Actuator and Inhibit 2 connections.

  • Page 132: Inhibit Connections

    For an axis to be available to the user, it must be enabled. The relevant programmable parameter is Axis Enabled. The R-net SM can support up to 12 actuator axes with a maximum current of 12A across any combination of actuator channels.

  • Page 133: Seating Module Enabled

    Up is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward. Programmable range is 25% to 100% in steps of 1%. SK77981-14 133 | R-net Technical Manual | Chapter 4 – ELPM 90, JSM-LED &...

  • Page 134: Down Speed - (Dnspd)

    In the case of the JSM-LED, the programmable options relate to the wheelchair symbol as below. In the case of an LCD based Joystick Module, the programmable options relate to the wheelchair symbol as below. SK77981-14 134 | R-net Technical Manual | Chapter 4 – ELPM 90, JSM-LED &...

  • Page 135: Axis X - Up Assign (X = 1 To 12)

    Curtiss-Wright | PG Drives Technology Example To configure the R-net to control actuator motors connected to the left and right footrests simultaneously, the previously described parameters should be set as follows. Axis 6 Enabled – Yes Axis 6 Display – 4,5 (Left Footrest, Right Footrest) In this instance, selecting Axis 6 on the Joystick Module wi ll illuminate both Footrest LEDs, and movement of the joystick either forward or backwards will activate the actuator motors connected to channels 4 and 5.

  • Page 136: Axis X - Up Inhibit In Bands (X = 1 To 6)

    For example, if the inhibit is required for Band 3 only, then that option should be selected, as shown. When the drop down menu is closed, a 3 will be shown in the cell. SK77981-14 136 | R-net Technical Manual | Chapter 4 – ELPM 90, JSM-LED &...

  • Page 137: Chapter 5 - Encoder Module

    NOTE: The Curtiss-Wright Encoder Module should only be used with 24V Encoders, with a current rating of 75mA per channel. INSTALLATION The Encoder Module can connect into the R-net serial bus at any convenient point.

  • Page 138: Mounting

    Encoder B M1 and M2 pin-out are viewing rear of mating connector. For Encoder A and Encoder B signal details, refer to the sections Invert M1 and Invert M2. SK77981-14 138 | R-net Technical Manual | Chapter 5 – Encoder Module...

  • Page 139: Programming

    The programmable options are Yes and No. The table below shows the effect of each option. Motor Direction Invert M1 Polarity of Encoder B on a rising edge of Encoder A Forward Reverse High Forward High Reverse SK77981-14 139 | R-net Technical Manual | Chapter 5 – Encoder Module...

  • Page 140: Invert M2

    MOTOR RATED SPEED This should be set to the motor manufacturer’s stated speed for the motor at 24V. The R-net’s speed control loop will then give a full forward motor speed as expressed below, assuming the parameter, Forward Speed, is set to 100% and no speed limits are active.

  • Page 141: Chapter 6 - Advanced Stability & Tilt Module141

    D51508.01 = ASM only It is not possible for two Modules of the same type to be connected into an R-net system. However, if two tilt related functions are required, then an ASM (programmed to Tilt) and a TM can be used.

  • Page 142: Asm Mounting

    ASM/TM is sensitive to mounting orientation, therefore once mounted refer to the Programming section of the Chapter. The module has an IPX4 dust and water rating. SK77981-14 142 | R-net Technical Manual | Chapter 6 – Advanced Stability & Tilt Module...

  • Page 143: Position

    Contact Curtiss-Wright if you need further advice. CONNECTIONS There are two ReBus connectors within the ASM/ TM used for connection to the R-net system. PROGRAMMING The ASM and TM parameters are held within their own programming group and the main Inhi bts Group.

  • Page 144: Function

    (in the forward-reverse plane). The offset can be read in the ASM status window of the PC programmer. A minus reading in the status window can be offset by entering the opposite value for his parameter. E.g. SK77981-14 144 | R-net Technical Manual | Chapter 6 – Advanced Stability & Tilt Module...

  • Page 145: Accelerometer Module Fitted

    Sets the acceleration above which the forward speed will start to be scaled (reduced). This parameter is programmable between 0.0m/s and 10m/s in steps of 0.1m/s SK77981-14 145 | R-net Technical Manual | Chapter 6 – Advanced Stability & Tilt Module...

  • Page 146: Anti-Spin

    FORWARD TILT INPUT The R-net ASM measures the real angle of tilt using the forward Tilt Input. This information is transferred onto the R-net bus as standard inhibit messages, which can be interpreted by other modules to effect seat movement inhibits or drive speed limits.

  • Page 147: Forward Tilt Input

    FORWARD TILT INPUT The R-net TM measures the real angle of tilt using the forward Tilt Input. This information is transferred onto the R-net bus as standard inhibit messages, which can be interpreted by other modules to effect seat movement inhibits or drive speed limits.

  • Page 148: Lower Level Threshold

    After the input bands have been defined, then each input can be linked to a speed limit or full drive inhibit via the paramet ers: Assign, Speed Limit in Band 0, Speed Limit in Band 1, Speed Limit in Band 2 and Speed Limit in Band 3. SK77981-14 148 | R-net Technical Manual | Chapter 6 – Advanced Stability & Tilt Module...
  • Page 149 As these inputs are connected to the TM the threshold levels must be set in the parameter Inputs – ASM/TM. The Inhibit 8 thresholds are set in degrees as follows This gives a band arrangement as follows SK77981-14 149 | R-net Technical Manual | Chapter 6 – Advanced Stability & Tilt Module...
  • Page 150 78° in band 3, a reduced speed in bands 2 and 1 when the seat is tilted between 77 ° and 20° and no speed restriction in band 0 when the angle is less than 19°. SK77981-14 150 | R-net Technical Manual | Chapter 6 – Advanced Stability & Tilt Module...

  • Page 151: Chapter 7 - Gyro Module

    Gyro control enabled so that the chair is always safe and stable to drive without Gyro. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 152: Position

    IPX4 dust and water rating. CONNECTIONS There is one ReBus connector within the Gyro Module used for connection to the R-net system. PROGRAMMING The Gyro module gives the most comfortable results on a wheelchair tha t has already been set up to provide optimal performance and steering stability without Gyro control.

  • Page 153: Gyro Module Fitted

    If set to No and the Gyro Module is not fitted then no speed limit will be present ORIENTATION Orientation sets the expected mounting of the Gyro Module viewed from above the wheelchair. There are 4 programmable options. SK77981-14 153 | R-net Technical Manual | Chapter 7 – GYRO Module...

  • Page 154: Gyro Error Speed Limit

    The programmable range is 0 to 255 where 0 is a very slow response rate and 255 is a very fast response rate. Example: SK77981-14 154 | R-net Technical Manual | Chapter 7 – GYRO Module...

  • Page 155: Gyro Profile Select

    Emergency Stop button be fitted to the system and that drive testing commences at slow speeds. CAUTION: A standalone Gyro set up procedure for gyro set up is available from Curtiss-Wright applications department on request. Name Range...

  • Page 156: Verification Of Set-Up

    Attach the wheelchair to a PC programmer via the R-net dongle. Run the R-net Programmer application and view the Angular Speed Scalar reference in the Gyro Status window. Sit in the wheelchair and apply full turn demand for at least 5s, then remove the demand to stop the turn.

  • Page 157: Chapter 8 - Ism-8

    It is possible to set up a Control System so that it is unsuitable for some users or even some vehicles. For all of the above reasons it is important that you contact Curtiss-Wright if you have the slightest doubts or if you need any advice on programming.

  • Page 158: Mounting

    ISO7176/9. The LM is designed to withstand levels of shock and vibration experienced when mounted to the chassis of a wheelchair. Direct impacts onto the unit should be avoided. SK77981-14 158 | R-net Technical Manual | Chapter 8 – ISM-8...

  • Page 159: Connections

    R-NET REBUS WARNING: The Bus connections can only be used to connect the ISM-8 to an R-net Control System using Curtiss-Wright supplied R-net Communication Cables. Curtiss-Wright accept no liability for any losses of any kind if an incorrect cable is used.

  • Page 160: Actuators

    Sets whether an audible alarm will sound when an actuator channel is inhibited in the up direction Up: Inhibit Active in Axis Sets the Axes in which the Inhibit is active Down: Assign Links the software inhibits to an actual hardware inhibit SK77981-14 160 | R-net Technical Manual | Chapter 8 – ISM-8...

  • Page 161: Seating

    Simply select the required axis. If Last used is selected, this means the axis that was selected on the last occasion Seating Mode was used will be the selected axis when Seating Mode is re-entered. SK77981-14 161 | R-net Technical Manual | Chapter 8 – ISM-8...
  • Page 162 However, if the arrow symbols are not defined in red, they will not appear on the display. When the dialogue box is closed, the programming is expressed as follows: SK77981-14 162 | R-net Technical Manual | Chapter 8 – ISM-8...
  • Page 163 Up is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward and Invert Axis Direction is not set. Programmable range is 25% to 100% in steps of 1%. SK77981-14 163 | R-net Technical Manual | Chapter 8 – ISM-8...
  • Page 164 The value must not be set so low that it cannot move the maximum rated load for the actuator mechanism, or does not account for wear and increased friction in the mechanism. SK77981-14 164 | R-net Technical Manual | Chapter 8 – ISM-8...

  • Page 165: Inhibits

    This is the branch designated for customer specific programming parameters. This branch will be used where the ISM-8 has been customized by a wheelchair OEM to offer specific functionality that is different to what is delivered as standard by PG. These parameters will need to be defined i n conjunction with Curtiss-Wright. INHIBITS INHIBITS EXPLAINED The ISM-8 as 16 Inhibit Inputs, these are number 18-33.
  • Page 166 When the seat is in the fully lowered position, all switches are closed and the electrical resistance is a short-circuit or 0 Ohms. As the seat raises, SW1 opens giving 2.2KOhms, then SW2 opens giving 4.4KOhms and at full height SW3 opens giving a complete open-circuit SK77981-14 166 | R-net Technical Manual | Chapter 8 – ISM-8...
  • Page 167 Actuator Inhibit Examples Application 1: A wheelchair is fitted with a reclining backrest that has endstop switches connected to the R-net’s Inhibit inputs 20 and 21 on the ISM-8. In this example the switches are installed to be normally closed and the Backrest has been programmed to use Actuator Channel 2.
  • Page 168 Application 2: A wheelchair is fitted with a reclining seat. It is required to offer a programmable angle of recline to suit different users. A potentiometer of maximum value 10KOhm is fitted to the recline mechanism and is connected to the R-net’s Inhibit 20 input sited on the ISM-8.
  • Page 169 If set to Active, then a voltage signal in the range 0-3.3V will be expected, where 0V equates to 0% and 3.3V equates to 100%. If set to Passive then a 10kOhm variable resistor will be expected, where 0Ohm equates to 0% and 10kOhm equates to 100%. SK77981-14 169 | R-net Technical Manual | Chapter 8 – ISM-8...
  • Page 170 5.3.6 CHANNEL X – UP: ASSIGN The R-net ISM-8 has 3 separate software inhibits for the up direction of each of its output channels, 1 to 8. Up is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward and Invert Channel Direction is not set. These inhibits are referred to as A, B and C;...
  • Page 171 5.3.10 CHANNEL X – DOWN: ASSIGN The R-net ISM-8 has 3 separate software inhibits for the up direction of each of its output channels, 1 to 8. Up is defined as pin 2 positive with respect to pin 1 when the joystick is displaced forward and Invert Channel Direction is not set. These inhibits are referred to as A, B and C;...
  • Page 172 This sets whether an audible alarm will sound when a channel’s down direction in inhibited. Down is defined as pin 1 positive with respect to pin 2 when the joystick is displaced in reverse and Invert Channel Direction is not set. The programmable options are On and Off. SK77981-14 172 | R-net Technical Manual | Chapter 8 – ISM-8...
  • Page 173 In the example below, Channel 1 Down direction is inhibited (using software Inhibit A) when Inhibit 18 input is in Band 3. However, this Inhibit function is only required in Axes 1 and 2, so Channel 1 Up: Inhibit Activ e in Axis (A) is set to 1,2. SK77981-14 173 | R-net Technical Manual | Chapter 8 – ISM-8...
  • Page 174 Curtiss-Wright | PG Drives Technology SK77981-14 174 | R-net Technical Manual | Chapter 8 – ISM-8...

  • Page 175: Chapter 9 - Lighting Module (Lm)

    The R-net Lighting Module (LM) provides control of lights, turn indicators and hazard lamps. INSTALLATION An LM can be fitted at any point within the R-net Control System. See following diagram for a typical example. CAUTION: It is possible to set up a Control System so that it is unsuitable for some users or even some vehicles. For all of the above reasons it is important that you contact Curtiss-Wright if you have the slightest doubts or if you need any advice on programming.

  • Page 176: Mounting

    ISO7176/9. The LM is designed to withstand levels of shock and vibration experienced when mounted to the chassis of a wheelchair. Direct impacts onto the unit should be avoided. SK77981-14 176 | R-net Technical Manual | Chapter 9 – Lighting Module (LM)

  • Page 177: Connections

    POWER MANAGEMENT EXPLAINED Because the module will be used in conjunction with other R-net system modules such as the ISM-8 or CxSM it is required to ensure that a total maximum R-net bus current is never exceeded. It is necessary to announce the current consumption of th e lighting functions on the R-net bus.

  • Page 178: Light Power

    The parameter Indicator Fault Power is programmable from 0.5W to 50W in steps of 0.25W. For example, if 2 x 21W bulbs are fitted to each channel it is recommended to set this power threshold at approximately 30W. SK77981-14 178 | R-net Technical Manual | Chapter 9 – Lighting Module (LM)

  • Page 179: Chapter 10 - Diagnostics

    Diagnostics should only be conducted by healthcare professionals with in-depth knowledge of Curtiss-Wright electronic control systems. An incorrect or badly effected repair could result in an unsafe set -up of a wheelchair. Curtiss-Wright accepts no liability for losses of any kind arising from an incorrect or badly effected repair.

  • Page 180: System Log Screen

    All trips are stored in the system log, whether they have been resolved or are still active. The system log stores the Trip Text and the number of occurrences. The trips are stored in their respective Modules within the system. The system log can be accessed using OBP, a Diagnostic Test Tool or the R-net PC Programmer. Entering the System Log using OBP.

  • Page 181: Connections

    CONNECTIONS The R-net has various connections that are referred to by the diagnostic text. These connections can be on the Power Modules (PM + ELPM), Joystick Modules(JSM + JSM LED) and the Seating Modules(LM, SM + ISM). The following diagram shows the connections on these Modules.
  • Page 182 Curtiss-Wright | PG Drives Technology WARNING: The R-net has 5 Inhibit connections within these 3 Modules, but programming allows for multiple inhibit connections to be added in further Curtiss-Wright and 3rd party Modules. For details of these inhibit connections refer to the Wheelchair Manufacturers documentation.

  • Page 183: Diagnostic Text Definitions

    Refer to section 3.28 ASM Disconnected Refer to section 3.29 Gyro Disconnected Refer to section 3.30 Gyro Prf Active Refer to section 3.31 Switch Short Refer to section 3.33 SK77981-14 183 | R-net Technical Manual | Chapter 10 – Diagnostics...

  • Page 184: Center Joystick

    Check the motors, cables and connections to the control system. If the trip is still present after the above checks have been made, then the Power Module may be defective. Refer to Section 6. SK77981-14 184 | R-net Technical Manual | Chapter 10 – Diagnostics...

  • Page 185: Inhibit Active

    Check the indicators, cables and connections to the control system. If the trip is still present after the above checks have been made, then the ISM may be defective. Refer to Section 5. SK77981-14 185 | R-net Technical Manual | Chapter 10 – Diagnostics...

  • Page 186: Indicator Lamp Failed

    If no trip is present connect the new module to the system and cycle the power.  If the trip reappears then the new module must be the cause of the problem. SK77981-14 186 | R-net Technical Manual | Chapter 10 – Diagnostics...

  • Page 187: Memory Error

    Programming should only be conducted by healthcare professionals with in-depth knowledge of Curtiss-Wright control systems. Incorrect programming could result in an unsafe set-up of a wheelchair for a user. Curtiss-Wright accepts no responsibility for losses of any kind if the programming of the control system is altered from the factory pre -set values.

  • Page 188: Bad Settings

    If the trip reappears after one of the power cycles then the last module to have been added to the system must be defective. If the trip is still present after the above checks have been made, then the Curtiss-Wright control system may be defective. Refer to Section 5.

  • Page 189: Sid Disconnected

    Because a disconnected User Switch means there is no emergency stop function, Curtiss-Wright recommend that Switch Detect for this option is always set to On. Curtiss-Wright will accept no liability for any losses resulting from any other setting of this parameter.

  • Page 190: Encoder Error

    Turning the control system Off and On again will clear this error message. If the trip is still present after the power has been cycled, then the Curtiss-Wright control system may be defective. Refer to Section 5.

  • Page 191: Switch Short

    Refer to the wheelchair’s Technical Manual for exact information of other tests. Curtiss-Wright accepts no liability for losses of any kind arising from the carrying out of the described tests, or from not carrying out additional relevant tests.

  • Page 192: Drive Test

    Insert an appropriate battery charger, or equivalent inhibit connection, into the Charger Connector on the JSM and ensure that drive is inhibited. If Inhibits 2, 3, 4 and 5 are used for inhibit or speed limiting purposes, suitable tests should be devised to ensure correct operation. SK77981-14 192 | R-net Technical Manual | Chapter 10 – Diagnostics...

  • Page 193: Servicing Of Defective Units

    Excluding specific OEM approved replacement parts (for details of these contact the wheelchair manufacturer), there are no serviceable parts in the R-net control system. Consequently, any defective units must be returned to Curtiss-Wright or a Curtiss- Wright approved service organization for repair.
  • Page 194 Curtiss-Wright | PG Drives Technology SK77981-14 194 | R-net Technical Manual | Chapter 10 – Diagnostics...

  • Page 195: Chapter 11 - Warning Summary

    Curtiss-Wright accept no liability for losses of any kind arising from the unexpected stopping of the wheelchair, or arising from the improper use of the wheelchair or control system.

  • Page 196: Battery Charging

    Do not operate the control system if the battery is nearly discharged. Failure to comply with this condition may leave the user stranded in an unsafe position, such as in the middle of a road. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 197: Joystick Knobs

    WARNING: The warranty will be void if the R-Net has not been used in accordance with R-Net Technical Manual SK77981, the R-Net has been subject to misuse or abuse, or if the R-Net has been modified or repaired by unauthorized persons. Chapter 1 Section 2.10...

  • Page 198: Power Module Wiring - General

    The chair manufacturer must install a suitable circuit breaker to provide protection against short circuits in the battery wiring, power loom or the control system. Failure to comply with this could result in a fire hazard. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition. Chapter 2 Section 6.3.

  • Page 199: Drive Motors

    Do not disconnect batteries or open-circuit the circuit breaker while charging is in progress. Failure to observe this condition could result in a burns hazard or fire hazard. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 200: How To Enter Obp Mode

    If the keycode method is set, then it may be possible for a wheelchair user to gain entry to the OBP function. Curtiss-Wright accept no liability for losses of any kind if this method of OBP is set. Curtiss-Wright also accept no liability for losses of any kind if OBP access is gained by unauthorised personnel obtaining a dongle.

  • Page 201: Latched Timeout

    It is the wheelchair manufacturer’s responsibility to ensure that the wheelchair complies with the correct legislation for braking distances for the country in which the wheelchair is to be sold. Curtiss-Wright accept no liability for losses of any kind resulting from incorrect programming of this parameter. Chapter 3 Section 11.4.

  • Page 202: Compensation

    A control system must not be moved from one wheelchair type to another without first ensuring that the system is correctly programmed for the wheelchair it is intended to fit it to. Even if control systems have the same Curtiss-Wright part number, they may not be programmed the same.

  • Page 203: Battery Gauge

    Do not operate the control system if the battery is nearly discharged. Failure to comply with this condition may leave the user stranded in an unsafe position, such as in the middle of a road. Curtiss-Wright accepts no liability for losses of any kind arising from failure to comply with this condition.

  • Page 204: Basic Tests

    Refer to the wheelchair’s Technical Manual for exact information of other tests. Curtiss-Wright accept no liability for losses of any kind arising from the carrying out of the described tests, or from not carrying out additional relevant tests.

  • Page 205: Chapter 12 - Specifications

    -40°C to +65°C -20°C to +65°C EMC tested on sample wheelchair: Susceptibility: Tested at 30V/m to EN12184 and ANSI/ RESNA requirements Emissions: To EN55022 Class B ESD: IEC801 part 2 SK77981-14 205 | R-net Technical Manual | Chapter 12 – Specifications...
  • Page 206 Curtiss-Wright | PG Drives Technology SK77981-14 206 | R-net Technical Manual | Chapter 12 – Specifications...

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