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OMNERA®
1000-095-071-EN Rev. 1.1
Operator´s Manual
Page 44
2020-09-14
2.12.1.6 Two column table
Table top guard (option)
The table has a collision detection system that protects the table. It activates if a collision is
detected and all movement is stopped.
Sensors are placed in each corner of the table frame. The sensors register vertical pressure
on the frame, for instance a vertical impact. When the pressure exceeds the trig level in any
direction all movements are stopped and the motors are short circuited (the short circuiting of
the motors provides a quick and solid stop). To be able to release the pressure, a movement
in the opposite direction is allowed. When the pressure has returned to normal, see Fig. 2-21
, the movement is allowed again. The guard is active during downward
and upward movement. A command is sent from the master node when the movement is ac-
tivated and deactivated. During this period the response on changes of the pressure is re-
ceived from the sensors. The reason for this design is that by only allowing the guard to be
active during movements the temperature deviation is inhibited.
A
B
B
C
D
Fig. 2-21 Collision detection
A Zero force level
B Hysteresis
C Upper trig level
D Lower trig level
Table top crash guard
The table top crash guard shall only be primarily used as a safety precaution for the system,
but will as well limit the risk of personal injury, although the crash guard does not guarantee
patient protection.
To be able to detect a collision, four micro switches are placed between the table and the ta-
ble top. If the table crashes into an object, the micro switches will stop the movement in the
on-going direction, but it will allow the movement in the opposite direction. When the object
is removed, the table can move in both directions again.
At power-up, the table will detect if a button is activated, and then disable all movements. If
that is the case, switch off the power and remove the obstacle/replace the broken switch.
Ramp generation
The set point speed of the ramp is generated as an integration of the ramp acceleration (de-
celeration); the set point position of the ramp is generated as an integration of the ramp
speed. The acceleration, deceleration and the maximum speed of the ramp are set as
parameters.