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If your powerchair controller starts beeping, it's a sign that there is something wrong with your chair. BUT, before you you call a repair service, try this. It may work and you'd be saving hundreds of dollars. This video is specific to the PG Drive VR2 Joystick BUT a similar technique would work for other joysticks as well.
TORX screwdriver: NO NOT BUY ONE with a wide body. You’ll need a torx that is slim like this:
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TIP #2 for the joystick: • QUICK FIX! Powerchair ...