7

The Advanced Control System (ACS)

7.1

The main parts of the Joystick Box

1) Battery Charge Display

7) Status Display

2) Driving and Adjustment

Mode Display

8) Drive Away Interlock

9)Shift Down Driving Mode

3) Shift Up Driving Mode

10) ON/OFF
4) Hazard Flasher Button
11) Light
5) Left Flasher
12) Right Flasher
6) Joystick
13) Horn

28

The Pilot Lights on theJoystick Box:

Left and Right Flashers (14+17)

Hazard Flashers (15)

Vehicle Lighting (16)

Pilot lights

On the bottom of the joystick box you will find:

Socket for Programmer (18)

the Charging Socket (19)

Connection Socket for Supply Cable (20)

29

7.2

Main components of the Joystick Box

7.2.1

Battery Charge Display

The battery charge display (1) shows you the current charge status
of the batteries.
It is subdivided into 10 different-coloured LEDs:
2 x red, 4 x yellow and 4 x green.
The decreasing battery charge, and thus the Powerchair's
decreasing travelling range, is indicated by the individual diodes
going out.
Meaning of the Display:
All diodes illuminated: full travelling range = batteries fully
charged
Only the red diodes illuminated: Diminished travelling range =
charge batteries at end of trip
Both of the red diodes flash: very low travelling range = charge
batteries as soon as possible
Only one red diode flashes: Battery reserve = charge batteries
immediately!
The travelling range on battery reserve is very low. After a certain
travelling time, the electronics will switch off the drive automatically
and bring the Powerchair to a standstill = full discharge protection.

30

Battery Charge Display

7.2.2

Status Display
The ON/OFF LED (7) also functions as a Status Display or Error
Display. Flashing of the display indicates a malfunction of the
electrical equipment.
The cause of the malfunction is indicated by a flash code.
(Error codes see Chap. "Error Codes" on page 49.)
The ACS Joystick Box monitors the following functions:

Status Display

Monitoring the electronics

Monitoring the electrical components
Monitoring the power supply

7.2.3

Multi-Purpose Display
Using the Joystick Box, you can select a range of different electrical
adjustment options.
The symbols shown on the Multi-Purpose Display (2) indicate which
adjustment option (mode) is active at the moment.

Multi-Purpose Display

31

7.2.4

Symbols shown on the Multi-Purpose Display and their meanings

= Driving Mode (select Driving Modes 1 - 5)

= Adjustment of Electric Options*

= Reduces driving speed when Lifter is raised or when the seat is not in an
upright position
*

These symbols only appear if your wheelchair is equipped with the

corresponding electrical adjustment options.

NOTE
For more information on the individual symbols see chapter 7.4.2 on page 45.

32

7.2.5

Joystick
With the Joystick (6) you can:

Joystick

Drive and steer

Select and adjust electric actuators (like powered legrests).
Driving speed and steering movement depend on the movement of
the joystick. The regulation of speed and steering direction is
continuous.
Move Joystick to its furthest position in any direction = Maximum
of selected top forward and cornering speed.

7.2.6

Socket for Programmer

This socket (18) is located on the bottom of the joystick box and
serves to connect the programmer.18
The ACS programming can be modified using a programmer.

Socket for Programmer

33

7.2.7

Charging Socket
This socket (19) is also located on the bottom of the joystick box and Charging Socket
serves to connect the battery charger.

7.2.8

Connection Socket for Supply Cable (Bus Cable)

The connection cable serves the power supply of the joystick box
and the data transfer from the joystick box to the main module.
The plug of the connection cable is secured against detachment of
the plug connection by a safety catch (20).

34

Bus Cable

7.3

Operating the Joystick Box

7.3.1

Switching the Joystick Box ON/OFF

Switching ON:

Switching ON/OFF

Press the ON/OFF Button (10) once.

Displays:
The Status Display in the Key-Symbol lights up.
The battery charge display showing the current charge status.
The Driving Mode Display showes the selected Driving Mode.
Switching OFF:

Press the ON/OFF Button (10) once again.

All displays will be extinguished.

NOTE
If the wheelchair is not ready to go when switched on, please check:
the drive-away lock. 7.3.2).
the Status Display (Chap. 7.2.2); Error codes (Chap. 7.5.1).
NOTE
A separate, independent switch for switching on the Joystick Box is also available as an option.

35

7.3.2

Drive Away Interlock

The ACS is protected against unauthorised use by an electronic
Drive Away Interlock
drive-away interlock. A sensor is located under the Key-Symbol. The
Drive Away Interlock is activated and deactivated by touching the
sensor area (8) with the magnetic key.
Activating the drive-away lock:

Switch the Joystick ON.

Touch the sensor area (8) with the end of the magnetic key (A).
The signal horn will sound once briefly. The drive-away lock is
activated.

Deactivating the Drive Away Interlock:

36

Switch the Joystick ON.

Touch the sensor area (8) with the end of the magnetic key (A).

Magnetic Key

7.3.3

Lighting / Flashers
Switching the lights on:

Press the Lights Button (11) on the remote once. The LightingLED (16) on the display lights up.

Switching the lights ON

and OFF

Switching the lights off:

Press the Lights Button on the remote once again. The LightingLED (16) on the display goes out.

Activating the flashers:

Press either the right or left Flasher Button (5 / 12) once briefly.
The Flasher-LED (14 / 17) on the display lights up for the
selected direction.

Activating and
deactivating the flashers

Deactivating the flashers:

Press the Flasher Button (5 / 12) briefly once again. The

Flasher-LED (14 / 17) on the display goes out.

37

7.3.4

Horn

7.3.5

Press the Horn Button (13). the horn sounds for as long as the
button is pressed.

Hazard Flashers
Activating and
deactivating the Hazard
Press the Hazard Warning Flasher Button (4) once briefly. The
Hazard Flasher is activated. The Hazard Flaher-LED (15) on the Flasher
display lights up.

Activating the Hazard Warning Flasher:

Deactivating the flashers:

38

Horn

Press the Hazard Warning Flasher Button once again. The

Hazard Flasher is deactivated. The Hazard Flaher-LED (15) on
the display goes out.

7.3.6

Selecting a Driving Mode

"Driving Mode" means more than just "how fast". The Driving
Mode encompasses:

Driving Mode Buttons

Acceleration
Forward speed
Backward speed
Cornering speed

The Multi-Purpose Display (2) indicates which mode the wheelchair

is currently in.
Different Driving Modes can be selected using the buttons (3 + 9) to
the right and left of the display.
The Driving Mode has 5 levels:
Level 1 = very slow driving characteristics, reduced end-velocity

to

Level 5 = dynamic driving characteristics, highest end-velocity

39

Shifting up from Driving Mode 1 - 5:

Switching Driving Modes

Press the left button (3) as many times as necessary, until the
desired Driving Mode is reached. The display (2) shows the
selected Driving Mode.

Switching down from Driving Mode 5 - 1:

Press the right button as many times as necessary, until the

desired Driving Mode is reached. The display (9) shows the
selected Driving Mode.

NOTE
The electronics of the ACS has been programmed at the factory with default values. Individual
programming, tailored to your specific requirements, can be performed by your authorised
Invacare Dealer.

40

7.3.7

Driving and Steering

Driving forwards

Forward and Backwards

Move joystick forward. The movement of the joystick determines

the driving speed.

Driving backwards

Move joystick backwards. The movement of the joystick

determines the driving speed.

Braking

Braking

Move joystick back to centre position.

NOTE
In dangerous situations it is sufficient to release the joystick. It will automatically return to its
centre position. The wheelchair will brake.
41

Cornering

Move the joystick in the desired direction whilst driving forward

or backwards. The movement of the joystick determines the
cornering speed.

Turning on the spot

42

Cornering

Move the joystick in the desired direction (left/right) WITHOUT

forward or reverse speed.

Turning on the spot

7.4

Adjusting electric options using the Joystick

Electric seat tilt, backrest angle, lifter and legrests can be adjusted
Joystick and Multiusing the Joystick (6).
Purpose Display
To be able to adjust the individual electric options, the Joystick Box
must be switched from driving mode to adjustment mode.
The Adjustment Symbols are displayed on the Multi-Purpose Display
(2) of the Joystick Box.

NOTE
Electric adjustment options can also be controlled independently from the Joystick Box using a
separately available control device.

43

7.4.1

44

Select Adjustment Mode

Press the right or left buttons (3+9) repeatedly until

the symbol shown at right appears on the display
(L).

Symbol

Select symbols

Push Joystick (6) to the right or left (1+2) until the

Adjustment Mode Symbol appears on the left
display (L).

Symbol

Select Adjustment Mode

By pushing the Joystick forward (3) the adjustment

is activated.

7.4.2

Symbols of the Adjustment Options

The symbol depicted on the right display (R) shows which option be can adjusted.
The individual options are designated by the following symbols:
seat tilt

backrest
angle

both
Legrests

right legrest

left
legrest

lifter

45

7.4.3

Select the option that needs to be adjusted

Select option that needs
Push Joystick (6) once to the right or left. The flashing bar () in be adjusted
the symbol on the right display (R) shows which option can be
adjusted.

Select:

By pushing the Joystick once again in the same direction, the next
symbol can be selected. Repeat the procedure until the symbol of
the option that you would like to adjust appears on the display.

46

7.4.4

7.4.5

Adjust option

Raise option (H) by pushing the Joystick forward.

Lower option (S) by pulling the Joystick backward.

Adjust option

Deselect Adjustment Mode

Press the right or left buttons (3+9) repeatedly until

the Driving Mode Symbol appears on the left
display (L).

Symbol

Symbol on the MultiPurpose Display

47

7.5

Troubleshooting on the ACS Control System

Wheelchair slows down or doesn't move
Check:
Possible cause:
Status display on
Power supply
joystick box
interrupted.
extinguished?
Battery fully
discharged.

Status display on
joystick box flashing?

Direct remedy:
Check plug
connection at
joystick box.
Charge battery.

Further action (s):

Contact authorised
dealer.

Battery defective.

Replace battery.

Various causes.

Check error code.

See operating
instructions of
charger.
Contact authorised
dealer.
See Chapter 7.5.1

Red LED in battery charge display and status display flashing, driving mode display
showing a horizontal bar.
Check:
Possible cause:
Direct remedy:
Further action (s):
Battery
Charge battery.
See operating
discharged.
instructions of
charger.

48

7.5.1

Error Codes
The ACS electronics are capable to clear some faults automatically. In this case, the flashing of the
status display will extinguish. To achieve this, switch the joystick box off and on again several
times. Wait each time for about 5 seconds before switching the joystick box on again. If that does
not eliminate the fault, identify the error by means of the flash codes listed below.
Flash codes of status display on joystick box:
Flash code:
1 x flash

Meaning:
Module defective.

Direct remedy:
-

2 x flashes

Error in accessories.

Lifter is elevated.

Right motor error.

Connection
loose/defective.
Left motor error.
Connection
loose/defective.

3 x flashes

4 x flashes

Lower lifter
completely.
Check plug-andsocket
connections.
Check plug-andsocket
connections.

Further action (s):

Contact authorised
dealer.
Contact authorised
dealer.

Contact authorised
dealer.

Contact authorised
dealer.

49

Flash code:
5 x flashes

6 x flashes

7 x flashes
8 x flashes
9 or 10 x flashes
11 x flashes
12 x flashes

50

Meaning:
Error/brake error in
right motor.
Connection
loose/defective or
motor defective.
Motors disengaged.

Error/brake error in left

motor. Connection
loose/defective or
motor defective.
Battery fully
discharged.
Battery potential too
high.
Error in data transfer
between modules.
Motors overloaded.

Direct remedy:
Check plug-andsocket
connections.

Further action (s):

Contact authorised
dealer.

Engage motors.
Switch joystick box
off and on again.
Check plug-and
socket
connections.

Re-charge battery.

Switch joystick box off and on again.

Compatibility problems between modules.

Contact authorised
dealer.

Contact authorised
dealer.
Contact authorised
dealer.
Contact authorised
dealer.

Contact authorised
dealer.