Philips CARDIOMD, Service Manual

Page: 36 / 466

Gantry
3-12
„
CardioMD Service Manual
1MAN0158-H11 04-2005 CSIP Level 1
Motor
Control
Output
Port
Encoder
Input Port
Amplifier Motor
Motor Power
(interruptible)
Resolver
Control voltage
Incremental
encoder ticks
Amp Fault
Digital
Input Port
(Rotate
Controller)
Ultimate
Limit
Switches
Motion C
o
ntr
o
ller
Absolute
position
encoder
Absolute position
Amp Enable
Motor
current
Safety
circuit
Figure 3.9 Drive block diagram
The horizontal drive differs only in the respect that the motor delivers an incremental encoder
output directly instead of a resolver output.
One controller, the linear controller (the slave controller), handles the X- and Y-axis drives; the
other, the rotate controller (the master controller), handles the rotate drive and the CANbus
interface and thus the communication with the acquisition PC. All three absolute encoders are
connected to the Rotate Controller (via the safety board), using the extraneous incremental
encoder input port. The table drive uses only digital input/outputs.
The two controllers communicate via a dedicated high-speed serial interface (HSSI).
Figure 3.10 on page 3-13 shows the connections to the two controllers. The RS-232 ports are only
used for debug and programming.