• When the emergency stop is pushed (reversed by pressing on/off)
• When the system switches to energy save mode (reversed by pressing a button or the pushbar)
• When the system is connected to a charger (reverssed by disconnecting the charger)
• When the immoblizer is activated (reversed by de-activation of the immobilizer)

While the system is connected to USB the relais is not switched for energy save mode, immobilizer or charging, thus maintaining functionality for testing and troubleshooting.

Vmotion status 0: circuit switched off (Drive functionality off)

Vmotion status 1: circuit switched on

5V

The 5V power circuit is used to power the User Interface and force sensors. Typical value is stable on approx. 5V.

12V

The 12V power circuit is used to power the emergency switch circuit and additional inputs and outputs like LED’s and switches. typical value is stable on approx. 12V.

24V

This value shows the voltage of the 24V power circuit on the main controller. Typical value is approx. 0.5V below Vmotion.

Vmotion

This is the power circuit  for the drive controller. See also Vmotion status. The value is highly dependent on battery voltage. On a full esense battery, the value is typically in range of 26V, on a low battery the value is typically slightly below 24V. When the Drivewheel or additional actuators are moving and draw high currents the voltage typically drops by up to 2 – 2.5 Volts.

NOTE: When Vmotion drops below 21V the system becomes unstable and switches to service mode. This is typically logged as ‘BLDC undervoltage’ in the system log file.

Status

The number shows the status of the sensor.

0: disabled

1: initializing (calibrating, defining its signal at rest)

2: released

3: pushed

4: error (service mode)

For standard esense systems the status for S1 and S2 is always equal. Therefore, the disabled state is only showed when both sensors are switched off.

Init value

This value shows the sensor value registered at calibration. For standard esense systems this value must be between 400 and 550. In case calibration was unsuccessful this is shown by a “-“.

Raw value

This value represents the real-time sensor value.

Delta

This value represents the difference between the Init and Raw value. Delta is used to calculate the level of drive support; a higher value leads to a higher torque and speed of the drive wheel. This value can only be calculated when an Init value is available (after successful calibration).

STD

This value is a measure for the stability of the sensor signal.

A high STD is an indication of a sensor being pushed manually.

A very low (close to zero) STD is an indication of a sensor being in rest, broken or mechanically clamped.

The value is constantly monitored for safety reasons and plays an important role in detection of sensor offset and cable break faults.

NOTE: For additional information see “SETTINGS – Pushbar” below.

Status

This value shows the status of the emergency switch.

0: emergency switch inactive

1: emergency switch pushed

The status remains pushed until the system is activated again. The system is unlocked by turning the emergency switch back to its original position and shortly pushing the on/off button.

Button status

This value shows a 16-digit binary code. Each position represents a button on the interface foil. For standard (5 button) esense systems only the left 5 positions are used. A ‘1’ is displayed when a button is pushed, a ‘0’ is displayed when the button is released.

0: button released

1: button pressed

NOTE: This information can be used for troubleshooting. When none of the digits jump from 0 to 1 if a button is pushed, it most likely concerns a user interface foil fault, requiring foil replacement.

LED status

This value shows a 16-digit binary code. Each position represents a LED on the interface foil. Orange/green 2-colour LED’s have two positions. For standard esense systems only the left 12 positions are used.

0: LED switched off

1: LED intended to be lit

NOTE: This information can be used for troubleshooting by comparing the number of 1 digits in the binary code with the number of LED’s lit. If the number of digits is higher than the number of LED’s actually lit, it most likely concerns a user interface foil fault, requiring foil replacement.

Magnet status

The keylock can be triggered by placing a magnet on the lock icon (left to the on/off button on the esense interface). This value shows the status of the magnet sensor.

0: no magnet detected

1: magnet detected

NOTE: When no magnet is detected, this can either be caused by magnet not being strong enoughor by the magnet detection sensor inside the interface. For troubleshooting always try to activate the function with a strong and trusted magnet first.

Lock status

This value shows the status of the system lock. The lock can be deactivated with a magnet or by pushing a button on the user interface.

0: lock inactive

1: lock active

NOTE: Lock functionality can be switched on in the “Settings” tab: “Interface > Keylock > Lock activation”.

0: immobilizer switched off

1: immobilizer switched on

NOTE: Activation of the immobilizer can be toggled in the “Settings” tab: “Interface > Immobilizer > Polarity”.

Status

This value shows the status of the emergency switch. The status remains pushed until the system is activated again by unlocking the emergency switch and shortly pushing the on/off button.

0: emergency switch inactive

1: emergency switch pushed (active)

Toggle switch

This value shows the status of the toggle switch for sideways driving on PA-S 360 and E1409-9060 systems. Values have the following meaning:

0: neutral

1: right

2: left

NOTE: This information can be used for troubleshooting by checking the value shown when the switch is pushed in right or left direction. If the number does not change when the switch is pushed, it most likely concerns a user interface panel fault, requiring panel replacement. The panel may be returned to the manufacturer for repair.

Indication LED

This value shows a 16-digit binary code. Each position represents a LED on the interface foil. Orange/green 2-colour LED’s have two positions. For standard esense systems only the left 12 positions are used.

0: LED switched off

1: LED intended to be lit

NOTE: This information can be used for troubleshooting by comparing the number with the number of LED’s actually lit. If there is a deviation from the actual status, it most likely concerns a user interface fault, requiring panel replacement. The panel may be returned to the manufacturer for repair.

0: immobilizer switched off

1: immobilizer switched on

NOTE: Activation of the immobilizer can be toggled in the “Settings” tab: “Interface > Immobilizer > Polarity”.

Current torque

This value shows the real-time torque of the Drivewheel on a scale of 0 (0 torque) to 4000 (max torque).

NOTE: Torque in forward direction is negative (-), torque in backwards direction is positive.

Vehicle speed

This value shows the real-time speed of the Drivewheel on a scale of 0 (0 speed) to 6000 (max assisted speed).

NOTE: Speed in forward direction is negative (-), speed in backwards direction is positive.

Example: To calculate the speed in m/h the displayed value shall be multiplied by 1.2. For instance, a speed value of 3000 translates to 3600 m/h (3.6 km/h).

Status

This value shows the status of the steer mechanism in a number, with following meaning:

0: disabled

1: initializing

2: off

3: standing still

4: rotating to the right

5: rotating to the left

6: mechanism error

Rotation PWM

This value shows the power to the steer motor. It is generally not used for troubleshooting or analysis.

Position

This value shows the real-time direction of the Drivewheel. Both the left and right side 90-degree segment are divided in 63 positions.

NOTE: A positive value indicates a position in the left segment, a negative value indicates a position in the right side segment.

Position switch

The steer mechanism has three magnets that define the forward and both (left and right) 90-degree sideways directions. This value shows when the magnets are detected:

0: magnet not detected

1: magnet detected

NOTE: Both in the 90 degree sideways positions and the forwards direction the value must be “1”.

Last 10 cutoff reasons

This value functions as a log for cut-off of the battery. In these situations, power from the battery is temporarily switched off by the battery electronics due to an unusual and potentially harmful event. The log fills from right to left; so the most right number is the latest event. Values have the following meaning:

1: battery voltage too low

2: discharge current too high

3: battery temperature too high

4: charge voltage too high

5: charge current too high

Typically, the battery power remains switched off until the cause of cutoff is solved. For example, this solution may be recharging the battery (cause 1), cooling the battery over time (cause 3) or disconnecting the charger (cause 4 and 5).

Battery current

This value shows the current to and from the battery. Due to slow communication between the battery and the esense main controller the value is displayed with delay and is not refreshed in a fast rate.

NOTE: A positive value indicates charging of the battery, a negative value indicates discharging.

Absolute remaining capacity

This value shows the capacity in mAh that is still available in the battery.

Relative remaining capacity

This value shows the capacity that is still available in the battery as a percentage of the full battery capacity.

NOTE: The temperature in degrees Celsius is the displayed value minus 273 (300 degrees Kelvin equals 27 degrees Celsius).

Firmware build date

The time and date that the system software for the main controller was created. This parameter is set by the software engineer at Indes.

Service ID

Identification ID of the esense system. The parameter is set during production at Indes. A removable sticker with this number is available on the esense Controller box.

NOTE: It is advised to place this sticker in a logical place on the outside of the product the esense system is integrated on. This makes linking of PowerTalk reports to products in the field easy.

Product type [L3]

A description of the type of product that the esense system is integrated on (e.g. “Line+ patient lift” or “M3050-R Equipment trolley”).

NOTE: This parameter can be set by the system integrator during installation.

Product serial [L3]

The serial number of the product that the esense system is integrated on. This parameter can be set by the system integrator during installation. Registering this number makes linking of PowerTalk reports to products in the field easier.

Service date [L2]

A date can be set for the next periodic check of the system. Currently there is no functionality added to this setting.

Production date [L3]

The date that the esense system was integrated on a product. This parameter can be set by the system integrator during installation.

Facility [L2]

A description of the facility (client) where the product is placed (e.g. “Southgate Hospital”).

NOTE: This parameter can be set at delivery of the product to make it easier to link a PowerTalk report to a specific system remotely.

Location [L2]

A description of the home location of the product (e.g. “Kitchen 7” or “Emergency Room 9”).

NOTE: This parameter can be set at delivery of the product to make it easier to link a PowerTalk report to a specific system remotely.

Energy save mode [L3]

This parameter defines timing of the energy save mode. After set minutes of inactivity (no driving, no sensors or buttons pushed) the relais on the main controller switches off the Vmotion circuit and deactivates all controllers and actuators connected.

NOTE: It is advised not to change the default setting of 1 minute.

Automatic switch off [L2]

This parameter defines timing of the automatic switch off. After set minutes of inactivity (no driving, no sensors or buttons pushed) the system switches off.

NOTE: The default setting is dependent on system type. For standard esense systems this default is 30 minutes.

Automatic pushbar switch off [L3]

This parameter defines timing of the pushbar switch off. The automatic pushbar switch off is a safety measure that prevents unattended use of the esense system. After set minutes of inactivity of the force sensor(s) the pushbar is switched off. The pushbar can be re-activated by a short push on the on/off button.

NOTE: The functionality is only active when the Automatic pushbar switch off is set on a shorter time than the Automatic switch off. For standard esense systems the default is 60 minutes, which makes the functionality inactive.

Sensor S1 [L2]

This parameter enables (1) or disables (0) force sensor channel S1.

Sensor S2 [L2]

As sensor S1.

NOTE: For a system with only one sensor either S1 or S2 must be disabled.

STD threshold [L3]

The pushbar STD is a measure for the stability of the sensor signal. The STD can be monitored real-time on the “Values” tab.

NOTE: A high STD is an indication of a sensor being pushed manually, a very low STD is an indication of a sensor being in rest, broken or mechanically clamped.

In case there is an input on the sensor and the real-time STD is below the STD threshold for set Detection period, the system will switch to service mode and register a “Pushbar offset fault” in the log.

NOTE: The optimal setting is partly dependent on the used sensor type (sensor handle, central force sensor or 360 sensor). Defaults are based on extensive testing and must not be changed unless advised by product specialists at Indes. Change of this setting may lead to increased risk of self-driving or pushbar errors.

Detection period [L3]

See STD threshold.

NOTE: Do not change the Detection period setting unless it is directly advised by product specialists at Indes. Change of this setting may lead to increased risk of self-driving or pushbar errors.

Offset detection torque limit [L3]

Monitoring of the STD threshold is only active when the Drivewheel torque is above this parameter. This prevents the system to switch to service mode when a trolley is held still by hand on a slope.

NOTE: Do not change the Offset detection torque limit setting unless it is directly advised by product specialists at Indes. Change of this setting may lead to increased risk of self-driving or pushbar errors.

Offset detection speed limit [L3]

Monitoring of the STD threshold is active only when Drivewheel speed is above this parameter. This prevents the system to switch to service mode when a trolley is held still by hand.

NOTE: Do not change the Offset detection speed limit setting unless it is directly advised by product specialists at Indes. Change of this setting may lead to increased risk of self-driving or pushbar errors.

Multiply factor [L3]

This setting influences the translation of manual push force to Drivewheel torque.

NOTE: A higher setting translates to a higher Drivewheel torque and less need for additional manual push force.

The optimal setting relies on the type of sensor used and the weight of the product. Advised values for regular products are:

8 (esense default) for E1107-2035 Sensor handle

20 for E1409-2620 360 Force sensor

14 for E1409-2630 Central force sensor

NOTE:Selecting a higher value than advised may lead to less control during driving, increased risk of slipping and instability of the system. The risk of “BLDC undervoltage” faults increases. Changes to levels above the advised setting shall only be made after extensive testing of the product, specifically on its most critical slopes. Please contact a product specialist at Indes for specific advice.

Lock activation [L2]

This setting switches lock activation on (1) and off (0). When the function is activated the drive functionality is locked directly after start-up. It can be unlocked with use of a key-magnet or by pushing the upper hidden button 3 times in a row.

Keylock timer [L2]

The keylock is reactivated after a set period of system inactivity.

NOTE:This setting only has value when the Lock activation setting has the value “1” (active).

Polarity [L2]

The immobilizer is a switch that enables and disables drive functionality. This setting toggles polarity of the switch. Please refer to the installation instructions for further information.

NOTE: By default, no immobilizer switch is connected and the setting is “0”.

Polarity [L2]

The immobilizer is a switch that enables and disables drive functionality. This setting toggles polarity of the switch. Please refer to the installation instructions for further information.

NOTE: By default, no immobilizer switch is connected and the setting is “0”.

Max torque forward [L3]

This setting defines the maximum torque of the Drivewheel in forwards direction on a scale of 0 to -4000 (system maximum).

NOTE: Torque in forwards direction is negative (-). The default torque setting is -4000 (the system maximum).

NOTE: It is advised not to change the standard setting, unless specified by product specialists at Indes.

Max torque backwards [L3]

This setting defines the maximum torque of the Drivewheel in backwards direction on a scale of 0 to 4000 (system maximum).

NOTE: Torque in backwards direction is positive (+). The default torque is 1000. Higher levels increase the power assist in backwards direction, but also increase the risk of slipping of the wheel.

NOTE: It is advised not to change the standard setting, unless specified by product specialists at Indes.

Max assisted speed [L3]

This setting defines the maximum powered speed on a scale of 0 to 6000 (maximum assisted speed).

Example: To calculate the speed in meter/h the value must be multiplied by 1.2. For instance, a speed value of 3000 translates to 3600 m/h aka 3.6 km/h.

Unpowered speed limit [L3]

This setting triggers a safety mechanism for automatic braking. When the pushbar is released while the trolley is still moving, the trolley always brakes to standstill. As soon as the trolley stands still, the automatic brake is released; in case it starts moving again by it selves (which will typically happen when the trolley is on a slope) the automatic brake will trigger again the moment the unpowered speed limit is met.

NOTE: Only when the unpowered speed limit has not been met for 15 seconds, the brake is fully released and the Drivewheel switches to freewheel mode.

This form of braking, when a speed limit is met, is also activated during calibration and in service mode.
A low setting limits maneuverability of the trolley in the first 15 seconds after automatic braking. This effect must be evaluated during system integration.

NOTE: The default setting is 6000 (over 7 km/h), which practically switches the functionality off. When a trolley is used in an environment with slopes a setting of 1000 or lower is advised.

As part of the system integration process a risk analysis shall be made by the integrator. Dependent on the conclusions of this analysis a suitable unpowered speed limit must be selected.
For situations in which trolleys are used for patient transport or when heavy trolleys are used in an environment with slopes, it is strongly advised to use an unpowered speed limit setting of 1000 or lower.

Example: To calculate the speed in meter/h the value must be multiplied by 1.2. For instance, a speed value of 1000 translates to 1200 m/h aka 1.2 km/h.

Speed ramp down [L3]

This setting defines the speed of automatic braking; a higher level decreases the braking distance but also makes the braking experience less fluent. The default setting is 22, which creates a smooth braking experience. The braking distance is dependent on speed and product weight.

Example: On a 400 kg trolley at a speed of 2.5 km/h this default setting translates to a stopping distance of approx. 1.6 m.

NOTE: It is advised not to change the speed ramp down setting to a level higher than 50. This may influence stability of the system electronics. Please contact a product specialist at Indes to discuss the best strategy to optimize and validate a setting above this level.

NOTE: It is advised not to change the default setting, unless specified by a product specialist at Indes.

NOTE: All battery info parameters are set in factory.

Manufacture date / Manufacturer name / BMS serial number / BMS device name

Battery management electronics ID information.

NOTE: All battery current parameters are set in factory.

Design capacity

The full capacity of the batterypack.

Full charge capacity

This setting is equal to the design capacity.

Charge overcurrent cutoff

Safety threshold.

Discharge overcurrent cutoff

Safety threshold.

Discharge overcurrent cutoff reset

Reset threshold.

NOTE: All battery voltage parameters are set in factory.

Battery full voltage

Battery full voltage level. Only used as backup capacity calculation.

Battery empty voltage

Battery empty voltage level. Only used as backup capacity calculation.

Battery low voltage cutoff

Safety threshold.

Battery low voltage cutoff reset

Reset threshold.

Charge overvoltage cutoff

Safety threshold.

Charge overvoltage cutoff reset

Reset threshold.

NOTE: All battery temperature parameters are set in factory.

Overtemperature cutoff

Safety threshold.

Overtemperature cutoff reset

Reset threshold.

Total time the Drivewheel has been active in its lifetime.

NOTE: For correct information this counter must be reset when the Drivewheel or a complete Driveunit is replaced.

Total time the steer mechanism of Driveunit 360 has been active in its lifetime.

NOTE: For correct information, this counter must be reset when Driveunit 360 is replaced.

Number of times the battery has been fully charged. A charge cycle is defined as “charging the battery with the total of the design capacity of the battery pack” (see settings).  Therefore the count of one single charge cycle (counter in PowerTalk) can comprise multiple charge events.

Example: A batterypack with a design capacity of 9Ah is charged on day 1 with 4 Ah, on day 2 with 2 Ah and on day 3 with 3 Ah. The total of all 3 days equals the design capacity and is counted as 1 charge cycle.