Forte Jetstream

Camera
Overview

9202-0171 Rev B

Sec 1: Introduction ......................1-1

Sec 2: Motion Mechanisms .........2-1
Sec 3: Motor Control ...................3-1
Sec 4: AC/DC Power ..................4-1
Sec 5: Collision Detection ...........5-1
Sec 6: Collimator Latching ..........6-1

Philips Medical Systems

540 Alder Dr.
Milpitas, CA 95035
Proprietary Notice
This document and the information contained in it is proprietary and confidential information of
Philips Medical Systems ("Philips") and may not be reproduced, copied in whole or in part,
adapted, modified, disclosed to others, or disseminated without the prior written permission of the
Philips Legal Department. Use of this document and the information contained in it is strictly
reserved for current Philips personnel and Philips customers who have a current and valid license
from Philips for use by the customer s designated in-house service employee on equipment
located at the customer s designated site. Use of this document by unauthorized persons is strictly
prohibited. Report violations of these requirements to the Philips Legal Department at 22100
Bothell Everett Highway, Bothell, WA 98021. This document must be returned to Philips when
the user is no longer licensed and in any event upon Philips first written request.

Copyright Notice
© February 6, 2004 Koninklijke Philips Electronics N.V. All Rights Reserved.

Warranty Disclaimer
Philips provides this document without warranty of any kind, either implied or expressed,
including, but not limited to, the implied warranties of merchantability and fitness for a particular
purpose.

Limitation Of Liability
Philips has taken care to ensure the accuracy of this document. However, Philips assumes no
liability for errors or omissions and reserves the right to make changes without further notice to
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changes in the product(s) or program(s) described in this document at any time.

About This Manual

This manual describes the field installation of the Forte “Jetstream“ Gantry, Collimator Exchanger
and Patient Table.

ii 9202-0171, Rev B
 SECTION 1
INTRODUCTION

Scope For operational and diagnostic purposes,

operators will interact with the system through
This manual describes Philip’s Forte Jetstream these devices:
gamma camera system. The Forte Jetstream
system (Figure 1-1) consists of these major • Acquisition Terminal (on a mobile cart
components: or wall mounted) containing a monitor,
keyboard and mouse for initiating image
• Gantry supporting and moving two acquisition and performing system
Detectors in circular and radial diagnostic functions;
directions,
• Handcontroller for moving the Gantry
• Collimator Exchanger with storage for and Patient Table;
up to eight Collimators,
• Touch Screen for observing system
• Patient Table with lateral, vertical and position readouts, initiating software
longitudinal motion capability, diagnostics, and initiating
preprogrammed Gantry, Collimator
• Data acquisition control subsystems Exchanger and Table motions; and
which reside in the “Power Pack”
enclosure behind the Forte Jetstream • PegBlade Image Processing Workstation
Gantry, and for performing image processing tasks,
software load functions and diagnostic
• PegBlade Image Processing system for tests.
image processing tasks.

9202-0171, Rev B 1-1

SECTION 1 INTRODUCTION

Gantry Collimator
Exchanger
Touch Screen

Detectors

Handcontroller

Patient Table

Figure 1-1. Forte Jetstream Camera

1-2 9202-0171, Rev B

INTRODUCTION SECTION 1

Imaging System • PegBlade -- the Sun workstation on

which physicians review and interpret
As shown in Figure 1-2, the major patient image data.
components of the Forte Jetstream imaging
system are the following:
Ethernet Nodes
• Detectors -- the photomultiplier tubes
that detect gamma rays, the electronics All of the above components are Ethernet
that create gamma event data (X and Y nodes.
location information with corrections for
energy, linearity and uniformity The Single Board Computer in each Detector,
distortions), and the circuitry that the Gantry PC, the Acquisition PC and the
transmits these data via a “Hotlink” to AX1105 connect to a DSL Cable Router in the
the TIC (Tag Injection Circuit) board. Skylight system. That router serves as an
externally addressable node on the Department
• Gantry PC -- the processor that drives Network. The PegBlade will also be a node on
the hand controller and controls all the Department Network.
gantry motions via a CANbus motor
control system. The DSL Cable Router serves as a filtering
device. The detectors, the Gantry PC, the
• Acquisition PC -- the processor that Acquisition PC and the AX1105 are behind
provides the graphical user interface on the filtering; they are immune to interference
the Acquisition Terminal from which from extraneous department network traffic.
technologists initiate image collection Image data only becomes visible to the
and control Gantry movements. department ethernet when the AX1105
commits image data to the database host on a
• AX1105 Processor -- the Sun processor PegBlade.
that drives the touch screen display
panel, receives corrected X and Y data
from the TIC board and performs image Processor Functions
binning functions to produce an image
matrix. As shown in the following table, the AX1105
is the server and the other processors are
clients with the functions shown.

Table 1-1. Forte Jetstream Processor Functions

AX1105 Acquisition PC Gantry PC Single Board CPU (2)

Type Server Client Client Client

Location Power Pack Power Pack Power Pack Detector ACE PCB

Operating Solaris Windows VX Works VX Works

System (no hard disk; (no hard disk;
boot files on boot files on
AX1105) AX1105)

User Touch Screen Acquisition Handcontroller None

Interface Terminal

Primary Image “binning” Acquisition Gantry motion Detector Control

Function control (start, control via CANbus (gain, energy, linearity,
stop, etc.) uniformity correction)

9202-0171, Rev B 1-3

 EKG
1-4

SECTION 1
Forte Jetstream Gantry
AX1105 Processor
(image binner)
[Link]
X,Y,Z (corrected image data) "Hotlink" camera

Parallel Cable (carrying gantry motion data)

TIC
Det #1Twisted Pair
Det #2Twisted Pair
Dector #1 PCI-Bus
[Link]
Gantry PC
cameradet1 (gantry motion)
[Link]
cameragantry 6 7
DSL Cable Serial Serial
Parallel Port E-Net
Gantry PC, Twisted Pair
5 Router 3
E-net A B
10/100
PC Bus Acquisition PC 2 8MDI
(graphical user interface) Video

Twisted Pair

Twisted Pair
CPU Module
CANbus
[Link]
Floppy cameraclient
Mtr Cntrl
Twisted Pair

AX5240 10 Base T Ethernet

Module Board & Transceiver Floppy
Drive
Detector #2 Hard Disk COM1
[Link]
cameradet2

Department Ethernet
PC Bus

Hard CDRW
Disk Drive
VGA Floppy CPU CDROM

INTRODUCTION
9202-0171, Rev B

Gantry
PC Hand- Image/Text Pegasys Ethernet Bus Touch
Mouse Keyboard Screen
controller Monitor
Acquisition Terminal PegBlade
AX1105
Processor Acquisition
PC

Figure 1-2. Forte Jetstream Imaging Sub-System Diagram

INTRODUCTION SECTION 1

Host Names and IP Addresses Table 1-2 and in Figure 1-3.

The internal host names and IP address of In a non-networked system, the IP address of
each node behind the DSL Cable Router is the the external WAN port of the DSL Cable
same in every Forte Jetstream system (e.g., the Router will be [Link]; the IP address
Gantry PC is always [Link]); you must of the PegBlade will be [Link].
never change these addresses. However, the
DSL Cable Router External WAN port will In a networked system, the external WAN port
have a hospital-assigned IP address and subnet of the DSL Cable Router and the PegBlade
mask value. must be assigned unique IP addresses in the
same Department Ethernet Subnet.
The host names and IP addresses are shown in

Table 1-2. Hostnames and IP Addresses

Hostnames IP Addresses Function
adac [Link] (site specific for networked Forte) PegBlade
[Link] (for non-networked Forte)

camera@[Link] [Link] (site specific for networked Forte) AX1105

(camera@[Link]) ([Link]) (for non-networked Forte) external WAN IP address

[Link] (site specific for networked Forte) Subnet Mask

([Link]) (for non-networked Forte) (external)

[Link] Router Internal

camera [Link] AX1105 internal IP address

cameraclient [Link] Acquisition PC

cameradet1 [Link] Detector 1 single board CPU

cameradet2 [Link] Detector 2 single board CPU

cameragantry [Link] Gantry PC

[Link] Subnet Mask (internal)

Department Ethernet (Cat5 10/100baseT)

10/100 BaseT Switch
To another Atlas, PegX, To another Atlas, PegX
Forte or Skylight system Forte or Skylight system

RJ-45 RJ-45
Panel Det #1 Panel
10/100bT

10/100bT
Straight

cameradet1 Straight
[Link]
x:x:xx:xx:xx:xx

3 WAN
Det #2 WAN
Sun Blade 10/100bT 4 [Link]
cameradet2 Straight ([Link])
adac
[Link]
[Link]
x:x:xx:xx:xx:xx DSL Cable Figure 1-3.
([Link]) Router
x:x:xx:xx:xx:xx 5
LAN
Forte IP Addresses
2 [Link]
1
PegBlade
10/100bT

10/100bT

10/100bT
Straight

Straight

Straight

Master

Gantry PC Acq PC AX1105

Forte cameragantry camera
cameraclient
Jetstream [Link] [Link] [Link]
Camera x:x:xx:xx:xx:xx x:x:xx:xx:xx:xx x:x:xx:xx:xx:xx

9202-0171, Rev B 1-5

SECTION 1 INTRODUCTION

DSL Cable Router 2. If you are on a networked system and

you do not know the AX1105’s external
If you press the reset button on the DSL Cable IP address, type: ypcat hosts
Router, you will load the manufacturer’s
default settings. If that occurs, you must Look for entries in this form:
manually reconfigure the router using the [Link] camera@[Link]
Installation and Configuration Guide.
3. Type: telnet [Link]
We program the DSL Cable Router to allow where [Link] will be
the Acquisition PC to “ping” the database [Link] for a non-networked
host, but the PegBlade database host cannot system or the IP address you found in
ping the AX1105. In this way, the DSL Cable step 2 for a networked system.1
Router provides security by “obscurity”; if
someone cannot see the router via ping, they The system will present a login prompt.
will be less likely to attempt a break-in.
4. To login, type: atlas
You can accomplish diagnostic connections
from the database host to the AX1105 via 5. For the password, type: atlas
telnet, echo, or ftp protocols. “Ping”
commands cannot be used; ping commands 6. Type: cd /etc
are not allowed to pass through the DSL
Cable Router. If you need to access the 7. Type: cat hosts
AX1105, you must telnet to the external
WAN port which will provide you with the The system will respond with a report
login prompt. Once inside the AX1105, you like this:
may access the other internal components. [Link] localhost
[Link] cameraclient (Acquisition PC)
If you want to connect a PegBlade [Link] camera loghost (Ultra AXi)
workstation directly to an RJ-45 port on a [Link] cameragantry (Gantry PC)
panel, you must use a Cat-5 crossover cable. [Link] cameradet1 (detector # 1)
More typically, however, you will use [Link] cameradet2 (detector # 2)
straight-thru Cat-5 cables to connect to an
external 10/100 switch. 8. To terminate the telnet session, type:
logout

Telnet Access 9. To close the UNIX window, do a right

mouse click on the top bar of the
By telnetting through the DSL Cable Router, window and select quit.
you can access the Detectors, Gantry PC and
AX1105. Because the Acquisition PC uses the See the Jetstream Imaging Diagnostic Manual
Windows operating system, you cannot telnet (9202-0187) for more telnet instructions.
into the Acquisition PC.
See the Networking Manual (9202-0148) for
An example of a telnet session to log onto an more networking information.
AX1105 follows:

1. On a PegBlade workstation, open a

UNIX window by doing a right mouse ____________
click on the desktop, then click on 1 If there are more than one Forte Jetstream or
System Maintenance > Skylight in a network, ensure you have the
System Utilities > UNIX Window correct IP address.

1-6 9202-0171, Rev B

 SECTION 2
MOTION MECHANISMS

Scope Table Motions

This section describes the mechanical motion The Table has three motor controlled motions:
components of the Forte Gantry, Table and
Exchanger. • Horizontal (X),

• Vertical (Y), and

Gantry Motions
• Longitudinal (Z) for moving the patient
The Gantry has five main motions: in and out of the Gantry Ring.

• Gantry Roll,
Exchanger Motions
• 90° - 180° Transition Lock/Unlock,
The Exchanger (which may be installed on
• Detector #1 Radius (in and out), either the left or right side of the Gantry) has
one motor controlled motion:
• Detector #2 Roll, and
• Translation along a 110° arc (pivoting
• Detector #2 Radius (in and out). around a corner of the Gantry) between a
“park” and a “exchange” position.
Two of these motions (Gantry Roll and
Transition Lock/Unlock) involve the motion of In the “exchange” position, the Exchanger
the large Gantry Rings which will be described allows the operator to move collimators
below. between the Exchanger and the Detectors.

Exchanger
Control
X, Y, Z Board
(pivot)

Table Exchanger

Gantry Det #1 Det #2 Det #2

Roll Radius Roll Radius

Gantry
Gantry

9202-0171, Rev B 2-1

SECTION 2 MOTION MECHANISMS

Gantry Rings

The rotating part of the Gantry consists of two During normal clinical operation, the system
very large, concentric ball bearing rings: Ring usually locks Rings #1 and #2 together so
#1 and Ring #2. 1 they are 180° apart.

The circumference of the large Gantry Ring With the two rings locked, the two detectors
(Ring #1) contains gear teeth from which a will rotate together around the rings.
motor (the Gantry Roll Motor) turns the ring.
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Detector #1
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Mount ;;;;;;;;;;;;;;;;;;;;
As viewed from the front, the small Gantry ;;;;;;;;;;;;;;;;;;;;
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Ring (Ring #2) is in the middle of the large ;;;;;;;;;;;;;;;;;;;;
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Gantry Ring (Ring #1). ;;;;;;;;;;;;;;;;;;;;
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Ring #1 ;;;;;;;;;;;;;;;;;;;;
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(gear teeth not shown) ;;;;;;;;;;;;;;;;;;;;
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Detector #2
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When Detector #2 is at the bottom of the ring,
;;;;;;;;;;;;;;;;;;; the system can unlock the two rings. When
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;;;;;;;;;;;;;;;;;;; unlocked, gravity will cause Ring #2 and
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;;;;;;;;;;;;;;;;;;; Detector #2 to remain at the bottom.
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;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;; In this position, the system can move Ring #1
;;;;;;;;;;;;;;;;;;;
Ring #2
(in middle)
so Detector #1 is 90° from Detector #2.

Front View of Gantry Rings ;;;;;;;;;;;;;;;;;;;;

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Ring #1 is the driven ring. Ring #2 only rotates ;;;;;;;;;;;;;;;;;;;;
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when locked to Ring #1. Detector #1 ;;;;;;;;;;;;;;;;;;;;
Mount ;;;;;;;;;;;;;;;;;;;;
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Detector #1 mounts on Ring #1. ;;;;;;;;;;;;;;;;;;;;
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Detector #2 Mount
Detector #2 mounts on Ring #2.

Detector #1 Mounting Plate The system can re-lock Rings #1 and #2 so the
(note 8 screws attach plate to
both sides of Ring #1)
detectors are 90° apart. They will then rotate
together while being 90° apart.
;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;; The below subsection entitled, “90° - 180°
;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;
Transition Lock/Unlock” describes the locking
;;;;;;;;;;;;;;;;;;; mechanism in more detail.
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Detector #2 Mounting Plate

(note 6 screws attach plate to Ring #2) 1 There are actually three rings, but two rings
always move together and comprise Ring #1.

2-2 9202-0171, Rev B

MOTION MECHANISMS SECTION 2

Gantry Roll

Gantry Roll is the movement of the Ring #1 Gantry Roll Limit PCB. One of the boards,
and Detector #1. With the Ring #2 locked to the Gantry Roll Limit PCB, is accessible from
the Ring #1, the Gantry Roll motion will also the rear of the gantry.
move Detector #2.

Detector #1
Gantry
Roll
Motion Gantry Roll
Encoder

Ganty Roll
Limit PCB
2155-5005

View from Gantry Rear

Detector #2
The Gantry Roll Limit board contains four
optical sensors on its solder side. The sensors
Front View of Gantry detect a single slot in a Gantry Roll Encoder
behind the PCB.
A large AC Gantry Roll motor in the base of
SW6
the Gantry moves Ring #1 via a 90° Coupling Slot on
and Drive Gear. Gantry Roll
Encoder

SW5, SW2, SW3

(Optical Sensors)

90° Coupling
Rear View of Gantry Roll Limit PCB

Gantry Roll Motor The Gantry Roll Encoder is on the output shaft
of a worm gear in the gantry roll gear train.

Rear View of Gantry

SW1/SW4 PCB. The other board, the
To track the location of the Gantry Roll SW1/SW4 board, is accessible by removing a
motion, the system uses optical sensors on two small cover on the right front of the gantry.
boards: the Gantry Roll Limit PCB and the
SW1SW4 PCB. Sensors on those boards sense
flags on the gear train.

9202-0171, Rev B 2-3

SECTION 2 MOTION MECHANISMS

That board contains two optical sensors on its Detector #2 Roll

solder side; they detect an Optical Flag Sud on
an intermediate gear in the gantry roll gear train. Detector #2 Roll is the movement of Detector
#2 about its own axis. Detector #2 Roll permits
SW1-SW4 PCB the imaging of patients in wheel chairs by
2155-5006
facing Detector #2 in an “outer room” position.

Optical Flag Stud Detector #2

Roll Motion
Optical Sensors
(back side) Detector #2

View from Gantry Front

The Gantry Roll Encoder gear has 17 teeth and The Detector #2 Roll Motor mounts on Ring
drives the SW1-SW4 board gear which has 35 #2 at the rear of the Gantry. It is coupled to
teeth. Thus the SW1-SW4 board gear moves Detector #2 through a 17:1 cyclo-gear reducer.
0.4587 turns for each revolution of the encoder A drive shaft from the cyclo-gear passes
wheel. The SW1/SW4 board senses the 17 tooth through the gantry rings and drives a rotate
gear twice per 1.03 revolutions of the encoder gear in the rear of Detector #2.
wheel gear, creating a small phase shift. Logic
uses the small phase shift to multiply the
discrete position coincidences between the two
gear sensors.

Outputs from the SW1/SW4 and Gantry Roll

Limit sensors tell the system whenever the
Gantry Roll mechanism is at one of twelve
specific positions that are 30° apart. Detector #2
Roll Motor &
Cyclo Gear
Zero Adjust. At installation and any time the
relative positions of the SW1/SW4 and Gantry The system determines the rotational position
Roll Encoders change, you must adjust the of Detector #2 with two code wheels which
Gantry Roll mechanism at its zero position. FS mount on the rotational axis of the detector.
Manual 9202-0177 describes this procedure.
Detector #2
Rotational Axis
Inner Code Wheel
(171:1)
Calibration. At power up, the Forte system Outer Code Wheel
automatically calibrates the Gantry Roll (1:1)
Spline Hub
mechanism by moving the Gantry to one of the
twelve known positions.

You can recalibrate the Gantry Roll mechanism

using the motdiag commands CTRLC and C.
The 9202-0177 manuals describes this.

2-4 9202-0171, Rev B

MOTION MECHANISMS SECTION 2

The Outer Code Wheel attaches directly to Calibration. At power up, the Forte system
Detector #2 through a Spline Hub and rotates automatically calibrates the Detector #2 Roll
at the same speed as the detector. position by moving Detector #2 to the zero
position.
The Inner Code Wheel attaches to the output
of the Detector #2 Roll Motor before the 171:1 You can also recalibrate the Detector #2 Roll
cyclo gear. Hence, the Inner Code Wheel mechanism using the motdiag commands
rotates 171 times faster than the Outer Code CTRLC and C. The 9202-0177 manuals
Wheel and Detector #2. describes this procedure in more detail.

Two optical sensors on the Ring Limit &

Rotate Limit board (2155-5054) detect the Maximum Detector #2 Roll Limits. Another
presence of slots on the code wheels. One function of the Outer Code Wheel is to
sensor detects the slot in the Outer Code indicate the maximum rotational limits of
Wheel; the other sensor detects the slot in the Detector #2. A knob on the Outer Code Wheel
Inner Code Wheel. trips one of two microswitches on the Ring
Limit & Rotate Limit board.

"Knob"

Ring Limit &

Rotate Limit
PCB
2155-5054

Optical -170° Limit +170° Limit

Optical Sensor Detector #2 Rotate Detector #2 Rotate
Sensor (inner) (microswitch, S13) (microswitch, S12)
(outer)

One switch indicates when Detector #2

reaches +170°; the other switches indicates
Zero Adjust. There is only one detector rotate -170°. (Software limits are -165° and -165°.)
position where both optical sensors
simultaneously detect both code wheel slots. If the detector knob continues past the first
This detector position is the Detector #2 Roll = stop to the second stop, you will hit an
0 position (detector facing into ring). ultimate limit. That limit resets the roll
detector relay. The roll detector relay can only
Field Service Manual 9202-0177 describes this be reset by shorting out the reset terminals (the
procedure. unused jumper connection pins on the Ring
Limit & Rotate Limit board).

9202-0171, Rev B 2-5

SECTION 2 MOTION MECHANISMS

90° - 180° Transition Lock/Unlock

The Transition Lock mechanism locks and The Transition Lock Disk is part of the
unlocks the gantry rings so the detectors can Detector #2 mounting mechanism. The
move between relative 90° and 180° positions. Transition Lock Disk mounts directly behind,
and always moves with, Detector #2.
(D

Tr cto
et
e
an r #
si 1
tio m
n ov
Lo em
ck e
nt
)

Transition
Lock Disk
(flipped to Det #2
Detector #2 show detail)
Exploded View from Rear
Front View of Gantry (Gantry not shown)

The principle piece of the 90° - 180° Transition The system can move Ring #1 so the
mechanism is the Transition Lock Disk. As Transition Lock Disk will reside in either of
described below, an important part of the the two large circular openings in Ring #1, or
Transition Lock Disk is the Rectangular Part move along the Transition Slot between the
and the four Cam Followers. two large circular openings.
Disk Part
When the system rotates Ring #1 so the
Cam Follower Transition Lock Disk is in the large circular
(1 of 4)
opening near the cable groove (the 180°
Rectangular Part Opening), the two detectors will be 180° apart.
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Transition Lock Disk ;;;;;;;;;;;;;;;;;;;;
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Another important part of the 90° - 180°
Transition Lock Disk Cable
Transition Lock/Unlock mechanism is Ring #1.
in 180° Opening Groove

As viewed from the rear, Ring #1 contains a When the system rotates Ring #1 so the
Transition Slot with two large circular Transition Lock Disk is in the upper large
openings at each end. circular opening (the 90° Opening), the two
detectors will be 90° apart.
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Circular Opening
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(90° Opening)
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Transition Slot
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Circular Opening Transition Lock Disk
(180° Opening) in 90° Opening
Rear View of Gantry Rings
2-6 9202-0171, Rev B
MOTION MECHANISMS SECTION 2

In the large circular openings at either end of 5. Sets the Transition Lock Motor direction
the Transition Slot, the system can rotate the to “Unlock”.
Transition Lock Disk ±90° about its own axis.

When the system rotates the Transition Lock

Disk so the disk is perpendicular to the Transition
Transition Slot, the Locking Disk will not Lock
move along the Transition Slot. This locks the Motor
two rings, and hence the two detectors,
together.

When the Rectangular Part of the Transition

Locking Disk is parallel to the Transition Slot, 6. Activates the Transition Lock Motor:
the Locking Disk with its four Cam Followers which turns the Transition Lock Disk,
can move along the Transition Slot. This which moves a Cam Follower down,
allows the system to move the two gantry rings which moves the Locking Pin down.
relative to each other and move the detectors Cam Follower (attached to
between the relative 180° and relative 90° locking pin) rides in eccentric
positions. Transition Lock Disk "slot" and
moves Locking Pin down
Transition Unlock. To move the detectors
from the 180° to the 90° position, the system
first unlocks the rings with these steps:

1. Rotates Detector #2 to 0° and moves "slot"

both Detector Radii to maximum.

2. Rotates the Gantry to 2° from zero Transition

(Detector #1 at top, #2 at bottom). Lock Disk Locking
Pin
rectangular
3. Rotates the Gantry slowly until the S2 part vertical
Sensor on the small Transition Limit
board senses the “At Bottom” flag on the 7. Rotates the Transition Lock Disk 90°
strip at the bottom of the gantry casting. (from locked to unlocked) and moves the
Locking Pin (from locked to unlocked).

Cam Follower
moved down as
eccentric "slot"
rotated

Transition Limit PCB

"At Bottom" 2155-5008 "slot"
S2

Transition
Lock Disk
4. Moves to the opposite edge of the “At
(rotated 90°)
Bottom” flag, calculates the mid point Locking
rectangular Pin
and moves the Gantry to the mid point.
part horizontal (down)
Ending with Rings Unlocked

9202-0171, Rev B 2-7

SECTION 2 MOTION MECHANISMS

The Locking Pin now extends into a slot at the 3. Rotates Ring #1 until S2 and S3 are both
base of the casting. Thus, while Detector #2 over the “Trans at 90" flag on the strip at
and Gantry Ring #2 are now free, they cannot the bottom of the gantry casting.
rotate more that ± 8°.

Transition Limit PCB

S3
Locking Pin S2

Slot in "Trans at 90"

casting

Note: If all three sensors detect the

The rectangular part of the Transition Lock “Trans at 90" flag, the system disables
Disk is parallel to the Transition Slot and the power to the Gantry Roll Motor. A Field
gantry rings are unlocked. Service Engineer must then manually
rotate the Gantry Roll Motor to back
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
away from the “Trans at 90" flag.
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;; 4. Checks that the “90° knob” on Gantry
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;; Ring #1 triggers the S9 “Near 90"
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
microswitch on the Ring Limit & Rotate
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
Limit board.
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
Transition Lock Disk
rotated so Rectangular Part
is parallel to Transition Slot

When the rings are unlocked, the system

moves Ring #1 with these steps:
S9 "Near 90" 90° Knob
1. Rotates Ring #1 counterclockwise Ring Limit & Rotate Limit PCB
(viewed from rear). During rotation, the
Transition Lock Disk glides in the 5. Sets the Transition Lock Motor direction
Transition Slot. to “Lock”, activates the Transition Lock
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
Motor, turns the Transition Lock Disk to
;;;;;;;;;;;;;;;;;;;; “Lock” and moves the Locking Pin up.
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
Gantry ;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;; ;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
Ring #1 motion ;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;
Transition Lock Disk
Transition Lock Disk
in Transition Slot
rotated so Rectangular Part
is perpendicular to Transition Slot
2. Slows the rotation speed when Ring #1
reaches 85°. Figures 2-1 and 2-2 summarize the above steps
and the schematic and motdiag sensor names.

2-8 9202-0171, Rev B

 MOTION MECHANISMS SECTION 2

Transition Lock Transition Unlock

Transition Lock Disk Transition Lock Disk

in Locked Position in Unlocked Position

Microswitch Motdiag Sensor

Schematic Sensor Name Name
S5, "Ring Lock Open" "VG Open"

Mech Limit Name

"Lock Open Pin"

Microswitch
Schematic Sensor Name
S4, "Ring Lock Close"

Motdiag
Sensor Name Movement of Locking Pin
Locking Pin
"VG Closed" between Lock
& Unlock Locking Pin restrains Detector #2
positions and Ring #2 motion to ± 8° during
Mech Limit Name transitions between 90° and 180°
"Lock Closed Pin"

Figure 2-1. Sensor names associated with Transition Lock (left), and Unlocked (right).

9202-0171, Rev B 2-9

 SECTION 2 MOTION MECHANISMS

Sensors that confirm the 90° and 180° position of the rings.

Microswitch
Ring Limit &
Rotate Limit PCB
(2155-5007)
Schematic Motdiag Mech
Sensor Sensor Limit
name name* name "Knobs" on Ring #1

S9, "Near 90" "LockedAt90Sensor" 90

S8, "Near 180" "LockedAt180Sensor" 180

* Motdiag incorrectly uses the word "Locked" instead of "Near"

Sensors that identify the location of Detector #2 with respect to the gantry casting.

Transition Limit PCB

(2155-5008)

S1 S2 S3

Flag for Flag for

"Trans at 180" Flag for "Trans at 90"
"At Buttom"

Figure 2-2. Sensors identifying Det #2 postion (top), and 90°/180° position (bottom).

2-10 9202-0171, Rev B

 SECTION 3
MOTOR CONTROL

Scope Layout

This section describes the Forte Jetstream The Gantry PC, the AX1105 processor and the
motor control system for moving these Gantry, Acquisition PC reside in the Power Pack
Collimator Exchanger and Patient Table enclosure behind the Gantry.
motions:

• Gantry Roll (Ring 1)

• Detector #2 Roll

• Detector #1 Radius
Gantry
PC
• Detector #2 Radius

• Exchanger Pivot

• Table X, Y and Z.
AX1105
Processor Acquisition
PC
Gantry Control

A personal computer in the Gantry (the Gantry

PC) coordinates all Gantry, Table and
Exchanger motions.

In comparison with Philips Vertex systems,

the Gantry PC provides the functions of the
Gantry MPU board.

9202-0171, Rev B 3-1

SECTION 3 MOTOR CONTROL SYSTEMS

Motor Control System Exchanger. The exchanger contains an

Exchanger Control board and a pivot motor. In
Forte Gantry motion is controlled by a response to enable and direction signals from
distributed motor control system. All motions the Gantry PC, the Collimator Tower board
are commanded centrally, and then controlled causes the exchanger pivot motor to move.
locally. Each major moveable component The exchanger pivot motor runs until it
(Detector, Gantry, etc.) contains a separate: reaches a limit switch.

• CANbus motor controller, More exchanger information appears later in

this section.
• amplifier, and
Input/Output Lines. Each CANbus Motor
• motor-encoder. Controller PCB contains 24 lines of I/O, which
includes individual addresses. Forte detector
Each CANbus motor controller contains its and gantry sensor signals (related to any
own power supply and is in a separate box. motion) are also present on these I/O lines.
The amplifier is also in a separate box. The
Gantry PC issues motion control commands to Each I/O point has a corresponding LED
the CANbus motor controller, which feeds the indicator.
movement instructions, via an additional
amplifier, to a corresponding motor. Encoders. Forte systems have an encoder
associated with each motion. Each encoder is
Encoder attached to the motor shaft as part of the motor
assembly. Since the encoders do not include
Motor Controller:
gears, they are very reliable.
Can-Bus Servo System Amplifier Motor
and Power Supply
Because encoders loose their values when the
system is powered down, the associated motor
The Gantry PC issues control commands on a controllers encoder values are saved in CMOS.
communications bus (thinnet) to the CANbus
motor controllers using a serial protocol. Each To avoid problems when you power down a
CANbus controller has its own separate Forte system and then move the motion or
address, so that it will respond only when replace its motor controller, each motion
properly addressed. includes a movement sensor board
(2155-5003) with two bi-stable relays. The
Gantry. Each gantry CANbus motor controller system saves the state of those relays in
can control three motions. However,our gantry non-volatile RAM on the local motor
controllers control only one motion each. controller. Upon power up, the motor
controller checks the state of those relays. If
Table. There is one CANbus motor controller the system detects a change in those relays, it
in the table. That controller controls all three will display a message on the Display Panel
table motions (X, Y and Z). asking you to initiate automatic recalibration
by pressing the ENABLE key.

3-2 9202-0171, Rev B

 TABLE GANTRY CANbus Motor Controller is 5200-3544
Motor-Encoder
Communication is via
GANTRY PC Thinnet, terminated by
121-ohm resister
X-Y-Z

9202-0171, Rev B
Motor 1 2
Controller CANbus CANbus Gantry
Amplifier

121
Controller Motor Roll
Interface Controller

PC BUS DETECTOR 1
MOTOR CONTROL SYSTEMS

3-
Channel
Amp Motor-Encoder
Ethernet
5200-3558 CANbus
Amplifier Detector
Motor 5200-3445 1
Controller Radius
AX1105
PROCESSOR

TIC Parallel DETECTOR 2

Board Port
Motor-Encoder

PC BUS CANbus Detector

Amplifier

Figure 3-1. Overall Motor Control

Motor 2
5200-3445 Roll
Controller

CPU

EXCHANGER Motor-Encoder

CANbus Detector
Exchanger Motor Amplifier 2
Control Parallel I/O 5200-3445 Radius
Controller
121

Board 2155-5009 2
(Pivot Motor)

3-3
SECTION 3
SECTION 3 MOTOR CONTROL SYSTEMS

Motion Calibration Detector #2 Roll. The Detector #2 Roll

mechanism includes two Encoder Wheels rotating
When you power up a Forte system after at different synchronized speeds. Each Encoder
manually changing a Gantry motion, a Wheel contains a slot from which the Ring Limit
diagnostic program senses the need for & Rotate Limit board obtains detector #2 roll
recalibration. A message will appear on the position information. (See Section 2.)
Touch Screen asking you to press ENABLE to
recalibrate the motion. When you press ENABLE to automatically
recalibrate the Detector #2 Roll, the system
Detector Radius. When you press ENABLE to automatically drives the motion until both sensors
automatically recalibrate Detector #1 Radius or on the Ring Limit & Rotate Limit board see the
Detector #2 Radius, the system will slots on their respective Encoder Wheels. When
automatically drive the motion to a hardware that occurs, the system knows Detector #2 is at the
limit. When the system reaches the limit, it will 0° position.
know its location, reset its calibration and store
calibration information in the motor controller. Table Motions. The table does not have the
motor-magnetic-field sensors that the gantry has.
Each radius has to reach only one of its limits Therefore, every time you power cycle the table,
for recalibration purposes. (The outer limit is the system will display a message on the Display
the only calibration point used for the radius Panel. The message will ask you to initiate
motions.) automatic recalibration by pressing ENABLE.

Gantry Rotation. The Gantry Roll mechanism When you initiate table recalibration, the system
includes a Roll Encoder on the gantry roll gear will move each of the three table motions to one
train from which four optical sensors on the of their limits.
Gantry Roll Limit PCB obtain positional
information.
Motion Limits
Additionally, the Gantry Roll mechanism
includes a stud on another part of the roll gear Table 3-1 shows software, nominal (first hard-
train from which two sensors on the SW1/SW4 ware) and ultimate (last hardware) motion limits.
PCB also obtain positional information.
The Gantry Rotate limit sensors sense slots on the
The information from the Gantry Roll Limit Gantry Roll Encoder.
and the SW1/SW4 PCB allows the system to SW6
Slot on

know the position of the gantry at twelve Gantry Roll

Encoder

specific roll positions that are 30° apart. (See

Section 2.)

When you press ENABLE to automatically SW5, SW2, SW3

(Optical Sensors)
recalibrate the Gantry Roll motion, the system
automatically drives the motion until an optical The Detector #2 Rotate limit sensors sense the
sensor senses one of the twelve roll positions. “knob” on one of the code wheels.
At that point, the system knows the motion "Knob"

location, resets its calibration and stores

Ring Limit &
calibration information in the motor controller. Rotate Limit
PCB
2155-5054

-170° Limit +170° Limit

Detector #2 Rotate Detector #2 Rotate
(microswitch, S13) (microswitch, S12)

3-4 9202-0171, Rev B

 SECTION 3
9202-0171, Rev B

TABLE 3-1. GANTRY AND TABLE MOTION LIMITS

Nominal Ultimate

Software Hardware Hardware Hardware Hardware

Motion Limits Limits Stops Limits Stops
Gantry Rotate -270° to -282° to SW3 & SW4 on Gantry Roll Limit PCB -300° to SW1 & SW2 on Gantry Roll Limit PCB
+270° +282° SW4 & SW5 on Gantry Roll Limit PCB +300° SW1 & SW2 on Gantry Roll Limit PCB

Radius 12.2 to 11.7 to SW2 on Radius Limit PCB SW2 on Radius Limit PCB
40.2cm* 40.5cm SW3 on Radius Limit PCB SW3 on Radius Limit PCB

Detector #2 Rotate -165° to -170° to S13 µswitch on Ring Limit & Rotate Limit PCB -175° to S13 & S12 µswitch on Ring Limit & Rotate Limit PCB
+165° +170° S12 µswitch on Ring Limit & Rotate Limit PCB +175° S13 & S12 µswitch on Ring Limit & Rotate Limit PCB

Detector 2 is the only detector that rotates Detector 2 is the only detector that rotates

Table (Up/Down) -48.5cm to -49.0cm to Microswitch on table

MOTOR CONTROL SYSTEMS

+7.5cm +8.0cm

Table (Extend) 0 to -2.5cm to Microswitch on table

+202cm +202.5cm

Table (Right/Left) -12.5cm to -13.0cm to Microswitch on table

+12.5cm** +13.0cm**

* In MOTDIAG, Radius is 122 to 402.

** In MOTDIAG, -125mm to +125mm, where - is right side; + is left side.

3-5
SECTION 3 MOTOR CONTROL SYSTEMS

Exchanger

The Exchanger has two types of movements: The exchanger motor runs until it reaches hard
stops at either the Park or Exchange position.
• motor-controlled movement between the
Park and Exchange positions, and There are two sensor switches associated with
the Park and Exchange hard stops.
• operator-controlled movement of the
eight collimator drawers. The Exchanger Control board drives the pivot
motor for three seconds after it hits the Park
Sensor switches track these movements. sensor switch, and continues to provide
current to the motor while in the exchange
Park and Exchange Movements. As stated position. You want to have the Park hard stops
earlier, the Exchanger contains a Exchanger and the Park sensor switches both at the point
Control board and a pivot motor. The where you want the motion to stop. The tower
Exchanger Control board, although not a board continues to provide current to the
motor controller, performs current limiting motor while in exchange position; voltage will
functions. read about -4.9 to -5.1volts. (On the drive out,
voltage is about -15volts.)
When the operator selects a preprogrammed
option to perform collimator exchanges, the Note: If the hard stop is beyond the sensor
Gantry PC issues appropriate commands. switch, the motor will drive beyond the
Those commands go through the CANbus switch. Thus, when the motion stops against
Controller Interface board to the CANbus the hard limit, the switch may no longer be
Motion Controller for Gantry Roll. That board closed. If that happens, the system will not
issues enable and direction commands to the know that the Exchanger reached the stop.
Collimator Tower board.
The motor will stop if it hits an opposing force
greater than 35 lbs (16 kg).
Gantry Exchanger

Can-Bus Motion Controller enable &

(Gantry Roll) direction
(2155-5469) Exchanger
Control
Board
(2155-5477)
Gantry Roll Limit Board
(2155-5005)
Pivot Motor
(2155-3246)
Park Exchange
Sensor Data

Locks out power to Gantry

Roll Motor if Exchanger
CANbus Parallel I/O is not in Park position
Controller (2155-5009)
Interface #2
(5200-3544)
Bus Allows Drawer release
only if Exchanger is
in Exchange position
Gantry PC
(2155-5476)
3-6 9202-0171, Rev B
MOTOR CONTROL SYSTEMS SECTION 3

Manual Drawer Movement. There is an Safety Interlocks. The Gantry and Exchanger
operator-controlled switch on top of the have two safety interlocks:
Exchanger which activates a solenoid that
electrically releases all eight drawers. • The Gantry will not rotate unless the
However, the Exchanger mechanical interlock Exchanger is in the “Park” position
allows the operator to only pull out one drawer (there will be no power to the Gantry
at a time. Roll Amplifier), and

The Exchanger has sensor switches for: • You can only release an Exchanger
Drawer when the Exchanger is in the
• drawer in-use (eight switches), “Exchange” position.

• drawer fully in, (eight switches), and Additionally, if a drawer “fully out” sensor
opens during an exchange operation, the
• drawer fully open (one switch). system will move the affected detector radius
away from the collimator.
Once the operator pulls any one drawer out,
the system knows which drawer is not fully in. The Park and Exchange sensor switch position
data signals use separate wiring from that of
During installation, installers use options on the Exchanger umbilical cable.
the Touch Screen to specify what collimator is
in what drawer, and what collimator exchange Other sensor switch signals (drawer fully open
radius position applies to that drawer. and each drawer fully in) go directly to the
Gantry PC through the Parallel I/O board.
When operators initiate a collimator exchange,
the system moves the detectors to the correct
radius value to load or unload a given
collimator.

9202-0171, Rev B 3-7

SECTION 3 MOTOR CONTROL SYSTEMS

3-8 9202-0171, Rev B

 SECTION 4
AC & DC POWER DISTRIBUTION

Scope Power Switches

This section describes the scheme for AC and Forte Jetstream cameras have four switches on
DC Power Distribution in Forte Jetstream the side of the Power Pack opposite to the
camera. Exchanger.

0 1
Stdy On
Warning Labels
Camera Power Motors Roll Motor
115 115 230
In the Forte Gantry a “lightening” bolt label
indicates 240 VAC or 110 VAC. 0
_
0
_

1 1

Side Switches (Forte Power Pack)

On the High Voltage Distribution board in the Table 4-1 shows the functions controlled by
Detector, the same label indicates 1,000 VDC. each of those switches

WARNING: This label indicates dangerous Figure 4-1 shows the AC and DC power
voltage levels. If the equipment is powered up, distribution to the Forte Jetstream.
you must exercise extreme caution in the
vicinity of this label.

However, in no place in the Forte does the

lightening bolt label indicate (as it does in
European countries) voltages greater than
1,000 VAC or greater 1,500 VDC.

Power Disconnect Warning

The power switches on the rear of Forte

camera do not completely disable all power
within the Forte camera.

When working in the Power Pack area behind

the Forte gantry, disconnect the power cord
from the wall receptacle or UPS before
working on the gantry.

9202-0171, Rev B 4-1

4-2

SECTION 4
Table 4-1. FUNCTIONS CONTROLLED BY GANTRY AC SWITCHES

Gantry AC Power Switches Components Receiving AC Power

Camera Roll AX1105 Acquisition Gantry 48 Volt 24 Volt 60 Volt ACS (240 Volt)
Standby Power Motors Motor Processor PC PC Power Supply Power Supply Power Supply Amplifier
Power 115 115 230
(Table Motor)
(Table Controller) (Exchanger Motor)
(C/B4) (C/B1) (C/B2) (C/B3) (Det 2 Roll Motor) (E-Stop) (Radius 1 & 2 Mtr)
(Det 1 & 2 PCBs) (Det 1 & 2 HV) (Transition Lock) (Gantry Roll Mtr)

- - - - - - - - - - -

AC & DC POWER DISTRIBUTION

On - - - Yes Yes - - - - -

On On - - Yes Yes Yes Yes Yes - -

On On On - Yes Yes Yes Yes Yes Yes -

9202-0171, Rev B

On On On On Yes Yes Yes Yes Yes Yes Yes

- On - - - - - - Yes - -
 Forte Jetstream Gantry Exchanger

Power Distribution Unit

(PDU) Motors Exchanger
115 V Motor
CB2 LED2 K2
2
120V Filter 60V Radius 1
3
P/S Amp

9202-0171, Rev B
E-Stop Loop Radius 2 Patient
Amp
6
LED3 Table
240V Filter Trans Lock
Power 9 PCB
(Rear) Roll FAN K3
CB Motor
Motor ACS Amp
AC & DC POWER DISTRIBUTION

230 V
CB3 E-Stop Loop Gantry Motor
Roll Controller

208-240VAC
DC Motor
Camera Power Gantry Gantry
LED 115 PC P/S PC
CB1 LED1 K1
4
Filter 48V Detector 2
120V P/S Roll Controller
5

E-Stop Loop Det 1 Switching Det 1

Outlets ±5, ±12 P/S Electronics
AC outlet 24V +
for Gate Standby P/S - Det 2 Switching Det 2
CB4 LED4 ±5, ±12 P/S Electronics
AC Acq PC Acquisition PC
P/S Det 1 High Det 1
Accessory Voltage P/S PM Tubes
CB DSL Cable Router
AC outlet for AX P/S AX1105
Acquisition 24 v Det 2 High Det 2
Cart Voltage P/S PM Tubes

4-3
SECTION 4

Figure 4-1. Forte Jetstream AC/DC Diagram.

SECTION 4 AC & DC POWER DISTRIBUTION

4-4 9202-0171, Rev B

 SECTION 5
COLLISION DETECTION & E-STOP

Scope Collision Detection

This section describes the Forte Collision The Forte system uses collision detection to
Detection and Emergency Stop (E-Stop) prevent personal injury. Collision membrane
subsystem. sensors are on the both Detector Bonnets, all
Collimator Surfaces and the inside the Gantry
The two are necessarily related. In the event of Bore.
a collision, the E-stop loop opens. That action
disables a Global Enable signal which does When something touches one of the outside
two things simultaneously: coverings of any one of the collision sensors, a
collision state occurs.
• removes power to all Gantry, Table and
Exchanger motors, and The collision membrane sensors are essentially
large surface area electrical switches. The
• activates permanent magnet brakes on switch consists of two layers of thin polyester
Gantry Rotate, Detector Radius (1 and 2) film sandwiched together. The inside surfaces
and Detector #2 Rotate motions. of the film contain a cross hatch pattern of
conductive material with a gap between the
This Global Enable disable state continues to two layers. The sensors will detect a collision
exist after the impact to the sensor disappears. if a force presses the two surfaces together.
After the impact disappears, however, an
operator can reset the E-stop by asserting an The collision membrane sensors are fail safe.
override logic high (reset) from the Touch Each membrane circuit element must be intact
Screen. and isolated to satisfy a no fault condition. If a
circuit opens due to a cabling fault or damaged
membrane, the circuit will indicate a failure.
E-Stop Switches

The Forte system includes E-Stop switches at

places for quick operator access. E-Stop
switches are on:

• both side of the Gantry Base,

• the top of the Collimator Exchanger,

• the Acquisition Cart and the optional

Wall-Mounted Acquisition Terminal,

• the Table, and

• the Handcontrol.

9202-0171, Rev B 5-1

SECTION 5 COLLISION DETECTION

E-Stop Loop Collision Boards

The E-Stop circuit (Figure 5-1) consists of a 24 Figure 5-3 illustrates one of the two identical
volt chain which serially passes through all of Detector Collision Boards.
the normally closed E-Stop switches, the two
Detector Collision Boards and the E-Stop When a collision membrane detects a collision,
Relay (Kestop). the Collision Board unlatches the collision
condition of relay K1 or K2.
When any switch in the E-Stop loop opens, the
Kestop Relay will relax. When that relay When the user activates a manual override
relaxes, it will disable: (override high) on the Touch Screen, the
Gantry PC will send a “reset” signal.
• the 220 VAC power to the ACS
Amplifier for the Gantry Roll Motor, On the Collision Board, a reset signal will
momentarily energize the affected relay coil
• the 60 VDC power supply for the (K1 or K2). Once the relay closes its contacts,
Exchanger Motor, both Detector Radius the membrane signal keeps the coil energized.
Motors, the Detector #2 Roll Motor, the
90-180 Transition Lock and the Patient The absence of a membrane signal will cause
Table Motor, and the coil to relax and open the E-stop loop.

• the Global Enable signal which will In the unlikely event that a relay contact fuses
activate the permanent magnet brakes on closed, the E-Stop loop will remain closed and
the Gantry Rotate, Detector Radius (1 could cause damage. However, the membrane
and 2) and Detector #2 Rotate motions. signal is also monitored via the Gantry PC.
The Gantry PC will detect a fused relay when
In the bottom of Figure 5-1, the the membrane signal and the relay status are in
“E-Stop_Rly_Status” and the same “true” state prior to a collision reset.
“E-Stop_Button_Status” signals are inputs on
the Roll Motor Controller that the software
monitors. Table X, Y and Z
The Kebs (e-stop button-loop status) Relay, Figure 5-4 illustrates the Table X, Y and Z
also shown in Figure 5-1, allows the system to motor control system.
determine whether an E-stop event is caused
by a collision or a E-stop button. It also The Table motors do not have permanent mag-
converts a positive voltage to a negative netic brakes like the Gantry Rotate, Detector
voltage for the Roll Motor Controller. Radius (1& 2) and Detector #2 Rotate motors.

Gantry Motors and Brakes 220 VAC and 60 VDC

Figure 5-2 illustrates the motors and associated Figure 5-5 illustrates:
magnetic brakes for Gantry Roll, Detector 1 &
2 Radius and the Detector #2 Roll. • the 220 VAC power system to the ACS
Amplifier for the Gantry Roll Motor, and

• the 60 VDC power supply system for the

Exchanger Motor, both Detector Radius
Motors and the Patient Table Motor
Amplifier.

5-2 9202-0171, Rev B

COLLISION DETECTION SECTION 5

SYSTEM
SYSTEM +24 V 24VDC SYSTEM 24 RET

Standby
(on Power Pack Drive Tower)

Collision 1 BD Collision 2 BD
Kebs
Cart Exchanger Handcontrol Table Gantry K1 K2 K1 K2 Kestop S/W E-STOP
OUT 2

ROLL MC
TB1_12

TB1_11

TB1_10

TB1_9

TB1_8

TB1_7

TB1_6

TB1_5
See Fig 5-3

ROLL 220VAC
K1 K2 K1 K2 Kestop
K3
See Fig 5-5
TB1_4

TB1_3

TB1_2

TB1_1
RING LOCK ROLL LIMIT

60VDC PS
Kestop
K2
See Fig 5-5
Kestop
GLOBAL ENABLE DET RAD1
K1
BRK_E_STOP BD

See Fig 5-2

DET RAD 2
K1
BRK_E_STOP BD

See Fig 5-2

DET2 ROT
K1
BRK_E_STOP BD

See Fig 5-2

GANT ROT
K1
BRK_E_STOP BD

See Fig 5-2

TABLE X,Y&Z

TABLE E-STOP/ENABLE BD

Kestop See Fig 5-4

E-STOP_RLY_STATUS
IN00
Roll Motor Control
Kebs
E-STOP_BUTTON_STATUS
IN02

Roll Motor Control 2.4K

Figure 5-1. E-Stop Loop

9202-0171, Rev B 5-3

SECTION 5 COLLISION DETECTION

Gantry Rotate (Roll) Motor

220VAC

AC MOTOR
OUTPUT K1 THERM SW
ENABLE
ENA ACS
ROLL MC
BRK_E_STOP_BD

ROLL MC 24VDC_COM
220VAC

Detector Radius 1 & 2 Motor

60VDC

DC MOTOR
OUTPUT K1 THERM SW
ENABLE
ENA COPLEY
RAD MC
BRK_E_STOP_BD

RAD MC 24VDC_COM

Detector 2 Rotate Motor

RING LOCK 60VDC
K1
ROTATE BD

DC MOTOR
OUTPUT K1 THERM SW
ENABLE
ENA COPLEY
ROTATE MC
BRK_E_STOP_BD

24VDC_COM_LOCAL

Brake Controls

24VDC_LOCAL 24VDC_COM_LOCAL
GANT ROLL BRK
K1
BRKA
GANT ROLL MC
BRK_E_STOP BD
24VDC_LOCAL 24VDC_COM_LOCAL
RAD 1 BRK
K1
BRKA
RAD1 MC
BRK_E_STOP BD
24VDC_LOCAL 24VDC_COM_LOCAL
RAD 2 BRK
K1
BRKA
RAD2 MC
BRK_E_STOP BD
24VDC_LOCAL 24VDC_COM_LOCAL
DET2 ROT BRK
K1
BRKA
RAD2 ROT MC
BRK_E_STOP BD

Figure 5-2. Gantry Motors and Brakes

5-4 9202-0171, Rev B

COLLISION DETECTION SECTION 5

15VDC_LOCAL
24VDC_LOCAL 24VDC_COM_LOCAL
DET FACE
MEMBRANE

K1

K1

MAN OVERIDE
OUT08
RAD MC
STATUS
IN14
RING BONNET
RAD MC
BORE MEMBRANE

K2

K2

MAN OVERIDE
OUT11
RAD MC
STATUS
IN15
RAD MC

Figure 5-3. Detector #1 and #2 Collision Boards

See Figure 5-1

60VDC

TABLE X
DC MOTOR
OUTPUT

ENA 1 COPLEY

TABLE MC
60VDC

TABLE Y
DC MOTOR
OUTPUT

ENA 2 COPLEY

TABLE MC

60VDC

TABLE Z
DC MOTOR
OUTPUT

ENA 3 COPLEY

TABLE MC
TABLE E-STOP/ENABLE BD

24VDC_COM_LOCAL

Figure 5-4. Table X, Y and Z Motors.

9202-0171, Rev B 5-5

SECTION 5 COLLISION DETECTION

220VAC

110VAC

K2 K2
60VDC PS

K3 K3
ACS SERVO

Figure 5-5. 220 VAC and 60 VDC Power

5-6 9202-0171, Rev B

 SECTION 6
COLLIMATOR LATCHING

Scope Collimator Exchanges

This section describes the scheme for latching When operators want to change Collimators on
Collimators onto the Forte Detectors. the Detectors, they select a preprogrammed
option to perform collimator exchanges. The
Gantry PC issues appropriate commands to
Exchanger Drawers place the detectors in the 0° and 180° position.

The Collimators reside on specifically Detector

Detectors shown
assigned drawers in the Exchanger. Drawer in position for
Collimator
assignments depend on thickness of the exchange
Collimators and whether the Exchanger is on
the right or left side of the Gantry.

For right-hand Exchangers, the upper drawers

(drawers #5 to 8) must contain the Collimators
for Detector 1.
Detector
For left-hand Exchangers, the upper drawers
(drawers #5 to 8) must contain the Collimators
for Detector 2.
The Gantry PC commands go through the
CANbus Controller Interface board to the
CANbus Motor Controller for Gantry Roll.
During collimator exchanges, Detector 1 must
Drawer 8
Drawer 7 be on top (right-hand exchanger) or Detector 2
Drawer 6 must be on top (left-hand exchanger).
Drawer 5

Drawer 4 The CANbus Controller Interface board also

Drawer 3 issues enable and direction commands to the
Drawer 2
Drawer 1 Exchanger Control Board in the Exchanger.

The Exchanger Pivot Motor gets enable and

direction commands from the Exchanger
Control Board in the Exchanger. The Pivot
Operators can only release an Exchanger Motor moves the Exchanger forward on its
drawer when the Exchanger is in the exchange tracks until it reaches a hard stop at the
position. exchange position in front of the Gantry.

When the Exchanger is in the exchange The exchange and park sensor switch signals
position, an operator-controlled switch on top go to the Exchanger Control board through
of the Exchanger activates a solenoid that wiring visible in the bottom of the Exchanger.
electrically releases all eight drawers;
however, the mechanical interlock at the back When the Exchanger is in the exchange
of the Exchanger prevents an operator from position, the operator can pull one of the eight
pulling out more than one drawer at a time. drawers out of the Exchanger, in readiness for
latching it to a Detector.

9202-0171, Rev B 6-1

SECTION 6 COLLIMATOR LATCHING

Collimator Locking

Collimators are secured to the Detectors by Front and Rear Actuators move the Lock Bars.
Lock Bars on the Detectors that engage They are controlled by signals from Dual
Eccentrics on the Collimators. Motor Driver Boards (mounted below the
Radius Motor in each detector enclosure). The
Dual Motor Driver Boards receive commands
from Radius Motor Controller which receives
Lock Bar r commands from the Gantry PC.
ato
(locked) llim
Co
Radius
Motor Controller
I/O

De Dual Motor
tec
tor Collimator Eccentrics Driver Board

Collimator locking and unlocking happens as Front Rear

the Detector Lock Bars move under software Actuator Actuator
control to hook or unhook the Collimator Detector
Eccentrics.
The Front Actuator is mounted above the front
The Lock Bars are mounted on the front and Lock Bar on the Detector Base Plate.
rear of each detector and the Lock Bars move
left and right (as viewed from the table) to lock Front Actuator
and unlock the Collimator Eccentrics.

Lock Bar ato

r
(unlocked) llim
Co

Front Lock Bar

De
tec
tor Collimator Eccentrics
The Rear Actuator is mounted near the Rear
Lock Bar on the rear side of the Detector.

Rear
Actuator

Rear
Lock
Bar

6-2 9202-0171, Rev B