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Operator´s Manual
1000-095-071-EN Rev. 1.1
OMNERA®
2020-09-14
Page 43
The first is the CAN bus itself. The CAN bus is a highly reliable bus, which take care of trans-
mission errors and retransmissions on corrupted messages. If a message is sent and no er-
rors are reported it is presumed to be guaranteed that the message is transferred and
received correctly in all receiving nodes.
The other design is the watchdog handling between nodes. As soon as two nodes start to
communicate with each other, each node must send a watchdog message to the other node
within a defined time. If the message is not received within the time frame, the state for the
node is then considered as disconnected.
With help of the above described constructions it is guaranteed, with a reasonable safety,
that every message is transferred and received by the receiving node. If a message is not re-
ceived or a node is removed it will be detected and measures will be taken.
A transmission error on the CAN bus will put the system in an ERROR state.
A missing watchdog message from a node on the internal bus will put the system in an ER-
ROR state.
A missing watchdog from a node will stop all motors.
The watchdog mechanism is also used for inhibiting uncommanded movements in case of
software failure in the master node. The master node continuously sends a watchdog com-
mand (signal) to a trig relay (time relay). If the relay does not receive the signal within a de-
fined time, the power (36 V) to the drivers will be cut.
Note!
It is only the 36 V that is blocked, i.e. the logic (24 V) is still live, hence the system as such is
still active.
2.12.1.5 PID controller
The control loop is implemented as a PID-controller with both acceleration and velocity feed
forward. The function of the anti-windup is to prevent any increase of the integration part
when the driver board limits the output voltage to a value less than the desired output
voltage.
Содержание Omnera 500A
Страница 1: ...Technical Publication Operator s Manual 1000 095 071 EN Rev 1 1 ...
Страница 3: ...Revision history Chapter Pages Rev Date New Release 1 1 2020 09 ...
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Страница 62: ...OMNERA 1000 095 071 EN Rev 1 1 Operator s Manual Page 54 2020 09 14 Safety Electromagnetic compatibility EMC ...
Страница 120: ...OMNERA 1000 095 071 EN Rev 1 1 Operator s Manual Page 112 2020 09 14 Fig 4 16 Operating the System Perform examination ...
Страница 152: ...OMNERA 1000 095 071 EN Rev 1 1 Operator s Manual Page 144 2020 09 14 Operating the System Portable detector table ...
Страница 158: ...OMNERA 1000 095 071 EN Rev 1 1 Operator s Manual Page 150 2020 09 14 Error Handling Diagnostic ...
Страница 162: ...OMNERA 1000 095 071 EN Rev 1 1 Operator s Manual Page 154 2020 09 14 Cleaning Wall stand Table OTC and X ray Tube ...
Страница 164: ...OMNERA 1000 095 071 EN Rev 1 1 Operator s Manual Page 156 2020 09 14 Function and safety checks Monthly Checks ...
Страница 172: ...OMNERA 1000 095 071 EN Rev 1 1 Operator s Manual Page 164 2020 09 14 Technical specification Wall stand ...
Страница 174: ...OMNERA 1000 095 071 EN Rev 1 1 Operator s Manual Page 166 2020 09 14 Waste Disposal ...
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