MK6 Technical Education
Power Wheelchair Alternative Drives 4 Simple Rules for Adding Components (Applies to MKIV, MK5 & MK6i Systems)
1. Only ONE device with an On/Off Switch (display or joystick) is allowed. 2. Only ONE device with a Display (LED lights or full LCD screen) on the chair is allowed. 3. Only Rehab Systems (Expandable) allow additional components or alternative driver controls into the system. 4. All Digital Driver Controls require an interface box (either ASL or Sip-n-Puff/DI) to plug into the controller.
1 MK6i Controllers
No need to replace the controller MK660 ACC: 2-Pole Motors with when upgrading from a Consumer Power seating to an Rehab system. MK675 ACC: 2-Pole Motors with Simply exchange the driver Power seating control. MK690: 4-Pole Motors without Power Seating
MK690 ACC: 4-Pole Motors with Power Seating
MK6i True Track Controllers
MK6 G-Trac: 4-Pole Motors with or without Power Seating
MK6TT: True Track GB Motors with Power seating MK6 Controllers MK6i Controller (Same connections for MK6i & MK5 NX)
2 This indicates that this controller is “w/ACC”. A connector can be added to power an actuator directly from this port.
MK6i Controller (Same connections for MK6i MK5 NX)
Joysticks & Displays
Single Drive Basic Driver Control
SPJ + Push Button On/Off & SPJ + Speed Select
Bright LED’s
Interchangeable with Basic Power Chairs with
MK5 Electronics
Two Separate Versions for chairs with powered seating (Not Compatible with Memory Card)
3 TWO SPJ+ Joysticks for Powered Seating MK6i SPJ+ w/ PSS Standard on Single Actuator SPJ + w/PSS Systems with SPJ+ SPJ+ with PSS (Powered Seating Switch) MK6i SPJ+ w/ ACC Upgrade for Operating Single Actuator Systems through the Joystick – Adds Mode Switch
Both include a Mono Port for the Actuator Control Switch SPJ +
SPJ+ with ACC Any Switch with 1/8 Mono plug (Actuator Control may be used Through Joystick)
Standard Rehab Driver Control
MPJ + Four Drive Modes Larger - Brighter LCD Display
Icons to indicate programmed options
Standard Drive Program Displayed
Speed Pot. & Toggle On/Off–Drive Select
Remote On/Off Port
Remote Mode Switch / Drive Select Port
Built in Mode Button
Memory Card Slot for Advanced Programming
MK6i Y-Cable
Provides 2 additional mono port for MPJ+, PSR+, PSF+ joysticks to carry out 2 of 3 available programmable functions:
• Mode Select • Drive Select • Actuator Activation
4 New MK6i Display
Larger - Brighter LCD Screen
Icon Based Graphics
View All Drives At Once
View All Options Active in each drive
Scanning Options for access to all modes
Insert an SD Card, and the Display becomes the MK6 Programmer
Standard / Custom Program name displayed for each drive
New Display
•View one drive at a time with enlarged icons
“Enhanced View”
Sequential Scanning
5 New Display
•System Name
•Standard Program Assigned to highlighted drive
•Active Drive Mode ECU •Additional Programmed Active Modes
•Arrow Indicates Additional Modes Available
•Message Status Area
•Battery Level “Standard View”
Alternative Driver Devices
Two Families of Alternative Driver Controls
Proportional • The farther the joystick is displaced from neutral, the faster the chair will drive • Return the joystick or take your hand off the joystick…The chair stops
&
Digital • Acts like a momentary switch with 1 speed • Either ON or OFF • Different speeds obtained through programming
6 Alternative Proportional Driver Controls
MK6i PSR+, PSF+ Compact Joystick
RIM Head Control
PS Joysticks PSR + •Same features as MPJ+
•Toggle On/Off can be positioned on left or right
•3 switch option choices
•Toggle on/off—drive select and speed pot standard
•Push button on/off and push button drive select
•Push button on/off and speed pot
•Invacare Memory Card Reader
PS Joysticks PSF +
•No Mono Port for Remote On/Off
•Otherwise Same Features as MPJ+
•Toggle On/Off—Drive Select and Speed Pot Standard
•No switch or left-right on/off options
•Invacare Memory Card Reader
7 Alternative Proportional Driver Controls
ASL Mini
ASL Micro Extremity control
ASL Stealth Mushroom Joystick
Alternative Digital Controls
Sip n’ Puff Controls
Tash Wafer Board
Tash Mini
Alternative Digital Controls
ASL Head Array Fiber Optic
ASL Sip n’ Puff Head Array
8 Driver Control “Input Types” Input Types will not show if corresponding device is not connected
Driver Control Input Type MK6i MPJ+ MPJ MK6i PSR+ PSR MK6i PSF+ PSF Compact Joystick COMP Micro Extremity/Mini Proportional MEC Peachtree Peachtree Proportional ANALOG Invacare RIM Control 1500 Sip-N-Puff SNP Non-Proportional DIGITAL ASL Systems ONLY ASL DIG
Attendant Controls
Proportional Attendant Control PAC M6: • Universal Connector • Plug and Play • Independently programmable • On/Off override switch, Speed Potentiometer
Digital Attendant Control: • 9-Pin Connector • Plugs into D.I. Box • On/Off Override Switch
MK6i Auxiliary Modules
• Allows driver control to operate alternative environmental devices (mouse simulation, remote control devices) • Each module provides two 9-pin ECU outputs w/ 4 switch closures each • AUX34 adds a mono port to add an additional 5th switch & allow 5 switch closures through the output
9 Power Seating
MK6i Power Seating Components
4 Way Switch
QPB Quad Push Button
Actuator Activation Switch
MK6i Power Seating Limit Switches
Mercury Switch
Magnetic Switch
Micro Switch
10 Operating Powered Seating Systems:
Single v/s Multiple Actuators
Power Seating Function Single Actuator Systems
Any Mono Switch w/ 1/8” plug will operate Egg Switch is Standard
For single drive systems, a mono port has For multiple drive systems, a mono port can been added to the Single Purpose Joystick be programmed to control a single powered (SPJ+) seating function
TWO SPJ+ Joysticks for Powered Seating MK6i SPJ+ w/ PSS
SPJ + w/PSS Standard on Single Actuator Systems with SPJ+ SPJ+ with PSS (Powered Seating Switch) MK6i SPJ+ w/ ACC Upgrade for Operating Single Actuator Systems through the Joystick – Adds Mode Switch
Both include a Mono Port for the
SPJ + Actuator Control Switch
SPJ+ with ACC (Actuator Control Any Switch with 1/8 Mono plug Through Joystick) may be used
11 Power Seating Function Through the Driver Control Operation Single Actuator Systems
Replace SPJ+ with SPJ+ w/ ACC
Operation through Driver Control Single Actuator Systems Multiple Drive Joysticks
Simply plug a SANODE into the system. Single Actuator NODE
This allows communication between the driver controls and the actuator
SANODE
Single Actuator Node (Sanode)
• Allow Through the Joystick power seating operation for Single actuators systems
• Plug & Program
Sanode
12 Multiple Actuator Systems Always include a “4 Way Switch Box” Always include either a 4 way toggle or quad push buttons – No Charge. Not compatible with SPJ+ Joysticks Always require Multiple Drive Joysticks or MK6i Display
4 Way Switch Box 4 Way Toggle Quad Push Buttons
Power Seating Function Multiple Actuator Systems
+
4-Way Switch Box MPJ+
4 Way Switch Box (4WSB)
• Does NOT allow Through the Joystick power seating operation for multiple actuators systems
• 9 pin port for 4 Way Switch connection
4-Way Switch Box (4WSB)
13 Multiple Actuator Systems: Operating through the Driver Control
Simply replace the “4 Way Switch Box” with a “Multiple Actuator Interface Box” (“Smart” 4 Way Switch Box)
The “Multiple Actuator Interface Box” includes a D-9 port for an attendant switch, and accessory ports for additional switch input
Smart 4 Way Switch Box (S4WSB)
• Allow Through the Joystick power seating operation for multiple actuators systems “B” “A” • 9 pin port for 4 Way Switch connection
• Provides 2 addition ports for actuator activation
Port A selects power seating Smart 4-Way Switch Box function (S4WSB)
Port B activates selected power seating function
Power Seating Function Through the Driver Control Operation Multiple Actuator Systems
With multiple drive systems a device called a Smart 4-Way Switch Box replaces the 4-Way Switch Box to allow operation of multiple power seating functions through the driver control. The “Smart 4 Way Switch Box” includes a D-9 port for an Smart 4-Way attendant switch, and Switch box accessory ports for additional switch input.
14 NO TTDC YES TTDC
4-Way Switch Box Multiple Actuator Interface Box Multiple Actuator Systems:
Powered Seating
Single Actuator Systems Multiple Actuator Systems ALL FORMULA TRE
Basic Rehab Rehab
SPJ+ w/ PSS MPJ+ MPJ+
Egg Switch Egg Switch 4 Way Switch Box 4 Way Toggle / Push Buttons
Powered Seating Through the Driver Control
REPLACE SPJ+ MK6i Add a Sanode to REPLACE 4WSB SPJ+ w/ ACC the System with S4WSB (Multiple Actuator Interface Box)
Smart Actuators
• Available on Formula TRE & CG
• Built in sensors
• Eliminates need for Mercury Switches and Potentiometers
• Attached mono port activates actuator for remote activation and troubleshooting
• Always requires multiple drive systems
• Allows “AUTOMATIC POSITION” (AP)
Available Smart Actuators Tilt / Recline / Center Mount Legrest Only
15 Automatic Positioning (AP)
• Positioning Sensor & Micro Processor for programming in the Smart Actuators
• Available on Formula TRE & CG systems
• Only Tilt, Recline and Center Mount Legs are available with Smart Actuators
• Sequence can have up to 6 steps with Display+
• Sequence can have up to 4 steps with MPJ+
• A different program can be set for each drive
Actuator Modules
Integrated Actuation Modules (IAM)
Allows recognition between the actuator and the driver control Provides power to each actuator Logic board identifies actuator condition through internal sensors and switches Provides 1 or 2 additional mono ports for extra power seating switches Can be part of the actuator or a separate box located by the actuator
Actuator Modules
Tilt Recline Actuator Module (TRAM) Generic Tilt Actuator Module (GTAM)
Supplies power to standard actuators Recognizes Drive Lockout Controls max angle Provides 2 additional mono ports for accessory power seating switches 1 for each actuator
16 MPJ+ MK6i Power Seating Systems
Receives & sends all commands & conditions. Stores all Communicates actuator activation programs & Enable through the to drive control & receives actuator S4WSB adjustments joystick actuator control condition from drive control
Communicates with controller: drive commands, battery condition, ect. 4 Way Switch Communicates actuator conditions to drive control & receives actuator Applies power to the actuator IAM activation signal from drive control and receives condition from the actuator
Motor Motor Mercury Switch
Actuator
MK6i Controller
What’s New in MK6i in 2009?
New G-Trac Controller New IR & Mouse Emulators
Infrared Module with Mouse Emulation
17 What does it do? • Infrared Control Allows Power Chair users to control and operate Infra-red enabled devices with their Driver Control (Television, DVD, Stereo, IR Phone, X-10 devices, etc)
• Computer Mouse Control Allows Driver Control access to a wireless Computer Mouse Infrared Module
Computer Input for Mouse Control
Infra-Red (IR) Module •Separate “Add-On” Module •An option on the price sheet •Retrofittable •Simply upgrade software to version 1.8.0 •Compatible with MK6i Display or MPJ+ (PSF/R+) •Requires Expandable electronics •Programmable using Remote Programmer •No Computer Required for set-up •Controls up to 6 IR devices TV’s, VCR’s, DVD’s X-10 Switches Tash IR Telephone
Simplicity is the Key!
Simple operation for the User! Basic IR Control Functions Supports 4-Quadrant (Joystick) and 3 Quadrant (Head Control users. Head Array users can tilt back and still have access to all IR Features Simple programming set-up for the Provider No Computer required for set-up / programming Use Remote Programmer (MK5 or MK6i) or Pro SD Card Even Basic SD card will allow IR Set-up Enable IR devices by entering device codes or learn commands Limited to 6 IR devices Easy access to many important IR devices
18 Choose up to Six IR Devices TV Enhanced 1. Pre-program 3 favorite Channels to select Key pad to enter channel number Channel up / down Volume up / down Select Input (Cable, DVD, etc…)
TV Basic 2. Volume up / down Channel up / down
Choose up to Six IR Devices DVD/VCR 3. Play / Stop Fast Forward / Rewind
Cable / Satellite 4. Channel up / down Volume up / down
Audio (Stereo) 5. Channel up / down Volume up / down
Choose up to Six IR Devices X-10 6. Technology that allows user to turn on / off any device / appliance that plugs into a standard wall outlet Control up to eight X-10 Modules
Tash IR Phone There are seven IR devices on the list. 7. Choose up to six to control
19 How does Mouse Emulation work? Plug in the Dongle to the USB Port Looks like a simple Flash Drive
Program “Mouse On” in
To operate mouse with the driver control, simply choose the Mouse Icon on the Display
The Driver Control will now move the cursor
Mouse Emulation 4-Quadrant Mode
Proportional Joystick will move the mouse in any direction.
Mouse Click can be done using: Stereo switch - Left & Right click function Mono Switch – Left click only Dwell “Software” installed on PC (users with no switch access)
Stereo Switch Mono Switch
G-Trac
20 G-Trac What is it ?
An “Electronic Gyroscope”. G-Trac Module
When added to the wheelchair controller Improves Tracking Improves Traction Uses standard 2-pole or 4-pole motors
ELIMINATES need to add expensive GB motors.
What is Improved Tracking?
Makes it possible for the power wheelchair user to drive straight on an intended path with fewer veer corrections Regardless of the terrain / obstacles / forces that can cause the chair to turn toward one side or the other.
G-Trac
Who benefits from Improved Tracking?
Joystick users with marginal hand control Those using head controls Digital / Switch driver control users Sip-n-puff drivers Chin control Drivers Alternative and short throw joystick users Drivers using latched driving modes for mobility
21 Competitive Advantages
v/s GB Motors Less Costly Uses Reliable Standard 2-Pole & 4 Pole Motors Easier Trouble-shooting Able to disable in specific drives for training purposes Available for Pediatric and Adult chairs
Programming MK6
Programmer & SD Memory Cards
22 4 Options for MK6i Programming: MK5 Programmer, MK6i Programmer, SD Card Through the Joystick/Display Programming, Invacare Virtual Service (IVS)
SD Card Compatible MK5 Remote with MPJ+, PSR+, Programmer MK6i Programmer PSF+, and MK6i Display for Programming.
IVS Invacare Virtual Service
MK5 Programmer
• Can program all driving and power seating parameters of MK6i programming
• Program Attendant Controls
• Can not be used to Upgrade MK6i electronics
• Can not be used in conjunction with SD Memory Cards
• No Help/Info key
MK6i programmer will program MK5 power base!
MK6i “Basic” Memory Card
• Standard on delivery with ALL power chairs with multiple drive systems
• Only used to back up/restore programmed settings/adjustments for only one chair
• Does not contain advanced diagnostics/help screens/ software updates/file structure
• Not compatible with SPJ+ joysticks
23 MK6i “Professional” Memory Card
• Standard with all MK6i Programmers • Also available separately with a USB card reader • Use with MK6i programmer, display, MPJ+, PSR+, PSF+ • Contains advanced diagnostics, help/info library, software updates, file storage/retrieval & IVS (and more) in the palm of your hand! • Create libraries of ready to install custom programs • Not compatible with SPJ+ joysticks
MK6i Memory Card USB Reader
• Will allow software updates to be downloaded from the web to SD card—SD card can then be used to update software on PWC
• Allows viewing of file information and file name changes
• Coming soon will work in conjunction with a IVS system
Invacare Virtual Service
• Available on Professional SD Card • View, edit, print configuration & parameters • Create new system file • E-mail compatible • Help menu takes advanced diagnostics further by providing possible reason for errors, solutions, and pictures.
24 MK6i Programmer
• Programming is based on MK5 foundation, rules and menu structure
•View/Program 1 drive at a time or all 4 drives at once
• Program driving and power seating parameters from same location
• Advanced diagnostics provides error code details and solutions with Info Key
• Save to chair or save to SD cards & Can be Upgraded
MK6i programmer will program MK5 power base!
First Programming Screen
Scroll down to “Performance Adjust”, then “Select”
SPJ+ MPJ+ / DISPLAY ONE DRIVE FOUR DRIVES DRIVE 1-2-3-4 Speed ___% Response ___% Advanced Menu Performance Adjust Performance Adjust Programs └►Standard Programs Other └►Memory Card └►Powered Seating └►Calibrations └►Diagnostics
▼Performance Adjust▼ ▼Performance Adjust▼
FORWARD SPD FORWARD SPD TURNING SPD TURNING SPD ACCELERATION FWD FWD ACCELERATION ACCELERATION REV REV ACCELERATION REVERSE SPD REVERSE SPD TURN ACCELERATION TURN ACCELERATION TURN DECELERATION TURN DECELERATION TORQUE TORQUE BRAKING FWD FWD BRAKING BRAKING REV REV BRAKING TREMOR DAMPENING TREMOR DAMPENING JOYSTICK THROW POWER LEVEL TRACTION
MK6 PROGRAMMING SLEEP MODE** STANDBY SEL* RIM CONTROL (*) AXES SELECTION DRIVE SEL* + G-Track (on/off) NO DRIVING + IR/Mouse Emulator MOM/LATCH
25 Programming MK6
DRIVE 1 Speed ___% Response ___% Advanced Menu
Performance Adjust Performance Adjust Standard Programs Programs Powered Seating Other Memory Card Calibrations MK6 CONTROLLER w/ SPJ+ Diagnostics
MK6 CONTROLLER w/ MPJ+ or Better
Programming MK6
Forward Speed Turning Speed FWD - Acceleration REV - Acceleration Turn Acceleration Turn Deceleration FWD - Braking REV – Braking Forward Speed 50% Reverse Speed Tremor Dampening Performance Adjust Torque
Programming MK6
FORWARD BRAKING – how quickly chair will decelerate when the joystick is returned to neutral from a forward direction.
REVERSE BRAKING – how quickly chair will decelerate when the joystick is returned to neutral from a reverse direction.
TREMOR DAMPENING – a higher value will soften the transitions of acceleration/deceleration to achieve desired speeds. Used to reduce drive sensitivity for hand Performance Adjust tremors.
26 Programming MK6
DRIVE 1 Speed ___% Response ___% Advanced Menu
Performance Adjust Standard Programs Performance Adjust Powered Seating Programs Memory Card Other Calibrations Diagnostics
MK6 CONTROLLER w/ SPJ+ MK6 CONTROLLER w/ MPJ+ or Better
Programming MK6
TDX 4P RWD 4P CWD M91/SP CWD M91 HD Programs
Programming MK6
DRIVE 1 Speed ___% Response ___% Advanced Menu
Performance Adjust Standard Programs Performance Adjust Powered Seating Programs Memory Card Other Calibrations Diagnostics
MK6 CONTROLLER w/ SPJ+ MK6 CONTROLLER w/ MPJ+ or Better
27 Programming MK6
Motor Balance Joystick Throw Fault Log
Other Usage Statistics
Programming MK6
DRIVE 1 Speed ___% Response ___% Advanced Menu
Performance Adjust Performance Adjust Standard Programs Programs Powered Seating Other Memory Card Calibrations MK6 CONTROLLER w/ SPJ+ Diagnostics
MK6 CONTROLLER w/ MPJ+ or Better
Performance Adjustments Performance Adjustments are specific value settings that can be changed or altered to provide improved performance of a power wheelchair. These values varies from percentages, ohms, time and on/off settings.
Standard Programs Standard Programs are “Pre-Set” Performance settings that provide a starting or reference point. These values are based on most common settings and can be further altered through Performance Adjustments.
28 Memory Card Memory Card is only seen when the a Professional SD Card is used. This option provides the ability to download previously set- up values and/or save programmed values into the professional memory card.
Calibrations
Calibrations are parameters that the effect the wheelchair GLOBALLY or the entire system.
Power Seating Power Seating allows access to programming the power seating either through the joystick control or not.
Diagnostics Diagnostics provides help in the diagnosis of the power wheelchair through error codes. It also allow visual access to joystick and actuator conditions.
MK6 PROGRAMMING
PERFORMANCE ADJUST
Power Level – Max. power (current) available to motors / drive wheels.
TORQUE – How quickly the motors have access to the available power (in Power Level setting).
29 Programming MK6
TORQUE
In MK6 controllers, Torque is a function of Time & Power. •How quickly programmed Power Level is reached. •ALL FOUR quadrants are affected by the programmed torque level. •High = immediate ramping up to programmed power level. Recommended for Slow Speeds, Switch drivers, rough terrains, curbs, significant obstacles. •Low = slower ramping up to programmed power level. Recommended for faster speeds, level terrains, new drivers - even at some slower speeds. Performance Adjust •MK6i Torque levels are noted in Ohms. •Small changes to torque have a significant impact.
MK6 PROGRAMMING
PERFORMANCE ADJUST
JOYSTICK THROW –Used to calibrate the joystick displacement (from neutral) to achieve full speed.
MPJ MK6I MPJ+ PSR MK6I PSR+ PSF MK6I PSF+ COMP COMPACT JOYSTICK INPUT TYPE –Used to MEC PROP MICRO EXTREMITY / MINI PROP. PEACHTREE PEACHTREE add/change driver controls. ANALOG PROPORTIONAL 1500 INVACARE RIM CONTROL (will only show what is connected currently) SNP SIP-N-PUFF DIGITAL NON-PROPORTIONAL ASL DIG ASL SYSTEMS ONLY
MK6 PROGRAMMING
PERFORMANCE ADJUST
RIM CONTROL – Allows for 3 drive directions to drive 4 directions with the help of a mode switch. Switch now moves among the available modes. Not just toggling between forward/reverse.
AXES SELECTION – Allows for axes to be changed. i.e.. Forward becomes Reverse.
30 Programming MK6
DRIVE 1 Speed ___% Response ___% Advanced Menu
Performance Adjust Standard Programs Performance Adjust Powered Seating Programs Memory Card Other Calibrations Diagnostics
MK6 CONTROLLER w/ SPJ+ MK6 CONTROLLER w/ MPJ+ or Better
Programming MK6: Standard Programs
STANDARD PROGRAM DESCRIPTION
INDOOR JOYSTICK AVE Average joystick user – an Indoor program. (FACTORY SETTING DRIVE 1)
MODERATE OUTDOOR Medium speed for rougher terrain. (FACTORY SETTING DRIVE 2)
SPEED/LEVEL TERRAIN High speed program for flat level surfaces. (FACTORY SETTING DRIVE 3)
RAMPS & CURBS MODE Medium Speed w/ High Power & High Torque. (FACTORY SETTING DRIVE 4)
Programming MK6: Standard Programs
STANDARD PROGRAM DESCRIPTION
INDOOR LEARNER Slow settings for Indoor learning.
VERY SLOW DRIVING Slowest driving standard program.
LEARNER 3 SPD MOM A Momentary switch (non-proportional) program with 3 forward & 1 reverse speed.
MEC A Program with Sensitivity & Acceleration settings already softened. Ideal for Micro extremity & Mini Proportional Joysticks.
31 Programming MK6: Standard Programs
STANDARD PROGRAM DESCRIPTION
ASL OUTDOOR/FASTER A Momentary switch program ideal for drivers experienced with ASL systems.
LEARNER SIP & PUFF A Learning Program for SIP N Puff in Momentary Mode.
VERY SLOW 1SPD S&P A Slow Program for SIP N Puff with 1 latched forward speed.
ASL INDOOR / LEARNER A Momentary switch (non-proportional) program ideal for new ASL drivers.
LEARNER 1500 RIM A Learning Program for the RIM Head Control.
Programming MK6
DRIVE 1 Speed ___% Response ___% Advanced Menu
Performance Adjust Standard Programs Performance Adjust Powered Seating Programs Memory Card Other Calibrations Diagnostics MK6 w/ an SPJ+ MK6 CONTROLLER w/ MPJ+ or Better
CALIBRATIONS MENU Advanced Menu
Performance Adjust Standard Programs Powered Seating DRIVE CONFIG Memory Card MOTOR BALANCE Calibrations MONO PORT 1 4P–CWD Diagnostics MONO PORT 2 4P–RWD VIEW/SCAN (DISPLAY ONLY) 2P–RWD INIT TIME REPEAT TIME 2P–CWD AUDIBLE INDICATOR 4P–CWD–HD START IN DRIVE 4P–CWD-TDX PR RELIEF TIME DISPLAY ORIENT SPEED POT MAX ERASE ALL S/P CAL (w/ DI Box Only) TILT CALIBRATE RECLINE CALIBRATE CM LEGS CAL Mouse Emulator IR Control
32 Thank you for your time. I have been your presenter, Rick Alves
33