UU Motor Technology Co.

, Limited

ESWCV2 ES_V2.2(2020.07.27)

Chartper one: Introduction

1.1 electric wheelchair controller

1.2 Rated value and specification

Controller MX ES WCDCSPV2.2
R Max continuous（A）(for each motor) 20A
A Working voltage（V） 18-60V
primary
T
circuit Max output current（A） 40A
E
D
Drive method SVPWM: sine wave
Hall sensors/without hall
Signal Feedback
sensors
S temperature 0～＋50℃ / -25～＋55℃
P
E Operation humidity <90%RH）
C Condition vibration/lash resistance 4.9m/s² / 19.6m/s²
IP Code IP67
Over current,over load,
Protection
under-voltage

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1.3 Operation interface

Increase speed gear Power on/off

Decrease speed gear Horn switch

Speed gear indicator Battery power indicator

1.4 system functions

Rotation and speed control Power on/off
Horn switch button Speed gear adjust and display
Battery capacity display Joystick default value calibration
Auto shut off power Error display
Smart phone charging USB port Parameter setting

1.5 operation buttons

1.5.1 power on/off: press to power on，press once motor to power off.

1.5.2 horn: press to activate horn alarm, release horn stopping alarm.

1.5.3 add speed gear: press to add gear, max value 5,speed is faster when value is
bigger.

1.5.4 reduce speed gear: press to reduce gear, mini value 1, speed is slower when
value is smaller.

1.5.5 joystick calibration: keep the joystick at center position, press and at the
same time, the board LED flashing,do not release them until horn alarms once, release
buttons and calibration completed

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1.6 LED display

1. when battery capacity is empty, last LED flashing.
2. When “UART”or“joystick”errors，LED board light flashing（ref: errors list）
3. when“controller”,“motors”，“EMB braking” errors, LED board flashing（ref: errors
lis）,at this situation there will be alarms when joystick is moved.

Errors checking list:

Joystick control board

Gear display LED(left） Battery power indicator LED（right）
L_LED5(top） R_LED5（top）
L_LED4 R_LED4
L_LED3 R_LED3
L_LED2 R_LED2
L_LED1（bottom） R_LED1（bottom）
When error happens, only indicator LED flashing, other LED does not work
Left EMB error L_LED4 flashing
Right EMB error R_LED4 flashing
Left and right EMB error L_LED4，R_LED4 both flashing
Left motor error L_LED3 flashing
Right motor error R_LED3 flashing
Left and right motor error L_LED3，R_LED3 both flashing
Controller error L_LED2 flashing
overheating（optional） R_LED2 flashing
UART error L_LED1 flashing
Joystick error R_LED1 flashing

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Charpter two: Size and Install
2.1 Joystick size

2.2 controller size

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2.3 controller cables

A: Right side motor cable (right hand side when sitting in the wheelchair)
B: Joystick cable
C: Battery power cable
D: Left side motor cable (left hand side when sitting in the wheelchair)

The motor cable wires diagram

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Charpter three: Software and USB driver
3.1 install programming software driver
3.1.1 Double click MX ES DriverInstaller.exe

3.1.2 Connect programming USB to computer

3.1.3 Check whether driver is ok installed

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Open “computer” ,“Device Manager”，check the port number and it is successful,this
demo installation driver power is COM3

3.2 install programming software

Double click setup.exe

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When finished, there will be an icon

Close all your anitvirus and saftyguard software before you download and install sofetware and driver

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3.3 software introduction
Open the software icon, you will see the following window
Note：this（COM3）is demo installation port should be the same as MXES driver
portnumber. Different computer, this port number may be different, you need to
choose the correct port number for software.

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Choose the right COM port and click the “open” button and then the “setting” button,
then you will see the programming window as follows:

1. Command buttons

Open: import parameter data files to controller.

Save As: export controller current data to be a file.

Setting: set parameters

Optimization: not avaiable now.

Connect: connect software and controller.

GetConfig: get controller configuration.
Factory: Recover factory default setting.
DownLoad: Save parameter to controller.

Exit: Exit the programming software

The data transmission sometimes is slow, please pay attention to the botton of the
“operation status”.

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2. Parameter settings

Maxvol: Max input Voltage MaxVolR： Max reversing voltage

Maxcur_Bus: max Bus current MaxcurR： Max reversing current
Maxcur_P: Max phase current Speedlimit: speed limit for downslope
S_Accel: Acceleration S_Decel: Deceleration
B_Accel: Turn Acceleration B_Decel: Turn Deceleration
F_max_Speed: Max forward speed, including 5 gears: 1,2,3,4,5.(5 is 100%，4 is 97.5%，
3 is 95%，2 is 92.5%，1 is 90%).

R_max_Speed: Max reverse speed, including 5 gears: 1,2,3,4,5.(5 is 100%，4 is 97.5%，

3 is 95%，2 is 92.5%，1 is 90%).

Forward: Adjust motor’s rotation to forward

Reversal: Adjust motor’s rotation to reverse
Speed Bias : Speed deviation（correct motor speed）is Proportion value, max value is 100.
For example, If value is 100, speed after correction = original speed - original
speed*50/1000）

Enable: Enable EMB braking function Disable: Disable EMB braking function
Dealy: Braking delay. The time for E,B braking close/brake after the joystick back to zero
position.
Rated_vol: EMB braking rated voltage, the EMB braking working rated voltage
Keep_vol: EMB braking voltage open/release when the motor is running

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Enable: enable reversing alarm sound Disable: To disable reversing alarm sound

Shutdown Time: to set auto cut off power time when the wheelchair is not operated.

Battery Parameter :
Undervoltage : the mini voltage that controller can work.
When displaying：the display shows full when the voltage >80% value
When charging：the display shows full when voltage reach Full value

Motor Parameter:
Lsd_H: motor inductance value（the value of Lsq_H and Lsd_H must be the same）
Lsq_H: motor inductance value（the value of Lsq_H and Lsd_H must be the same）
Rs_Ohm: motor resistance
Flux_VpHz: motor EMF Pair: motor pairs
WheelD: motor wheel size（inch） SpeedRatio:motor gear ratio

When using “MotorID”, AutoPi_i, Kp_Idq and Ki_Idq will be auto filled by controller.
When do not use “MotorID”, AutoPi_i, Kp_Idq and Ki_Idq can be input manually.
When using “MotorID”, AutoPi_spd, Kp_spd and Ki_spd will be auto filled by controller
When do not use “MotorID”,AutoPi_spd, Kp_spd and Ki_spd can be input manually.

Current_resEst: the resistance current for reading motor data

Current_indEST: the inductive current for reading motor data
fluxEstFreq: the frequency for reading motor data
Current_resEst, Current_indEST and fluxEstFreqa: the default value does not need to
change for most motors

Status at the bottom of the software window

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Charpter four: simple guide for pragramming

4.1 Brief
When new motors connected to our joysitck controller, the controller may not work with
the motors due to the phase angle and hall sensors issues. So we need to use the
program software to read the motor data and can make controller work with motors.

4.2 To set controller with motor

1.Connect the joystick, co ntroller,motor,battery together. Press the joystickpower

on/off button to turn on the system.

2. connect the programming USB cable to computer and joystick.

3. Open the software from the ico

and choose the correct COM port

4. click the “open” button

5. click the “Setting” button , then programmign software window

as follows:

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6. Click the “connect” button , connecting the software and

controller.(each time re-boot the controller(power on/off), you need to re-click the
“connect” button)

7. Click the “GetConfig” button , to get the controller data.

8. Modify the data as you like and then click the “download” button

, to save the data to controllers.

9. If you need to recover the controller default data, please click the “Factory Setting”

button .

4.3 to make motors and controllers working together

Repeat the “4.2 set controller with motor ” step 1 to step 5.

6. click the “Connect” button , connecting the software and controller.

7. Click the “GetConfig” button , get the controller data.

8. Click the “Motor ID” button , controller starts to read motor data, at
current time, one of the motors will make small noise first, and then for a while , the
motor will auto running. If the motor shaking and big noise, please click the “Stop Motor

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ID” button to stop the motor data reading. And check the all the wires

connections and power supply, then re-start the “Motor ID”

(Do make sure the motor’s EMB is on or released, or you can not get the motor run. You
need to switch the EMB on motor according to the software setting, Disable or Disable. )

9. After the motor data is read, the motor will auto stopped, at current time, to click the

“Data Updata” button to save the motor data to the controller.

10. To read hall sensors data. Click the “Hall ID” button , When the bottom

“Operation Status” appears HALL ID, push the joystick forward, the motor will run and
stop in a very short period. At this moment, the motor hall sensors data is read and saved.
The controller will be ok to drivw motors after all these set.

11. If the motors running direction are not correct, for example one is forware and one is
backward, or both backward. It needs to re-click the “Connect” button

to communicate with controller again. Click the “GetConfig” button

to get controller saved date and then adjust the motor running

direction from ”Forward” and “Reversal” button , then Click

“DownLoad” button to save the changed parameter.

Note:
1. Each time click the control button on the software , the bottom will shows the status.
2. To operate the software, you need to Click the “Connect” button each time after you
used joystick when setting data. Because when you push joystick, the USB cable
communication will be closed. That is why you need to re-click the “Connection” button
re-communicate the software with controller.

UU Motor Technology Co., Limited

Website: https://www.uumotor.com/
Email: [email protected]
Whatsapp: +86-13813689325

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