CAN Control System

Functional Specification

1.4 Overview
This document includes all specifications of the control system. Base of the
description is the system architecture. The basic elements of this description are
functional components of the system, independent of their HW location.
Often in this document short names of the functional components (controllers) can
be found which are written as ‘P10-name / P20-name’ (e.g. MAS / MCU), if the
names are different for both projects.
In the Project 10 several functional components may be integrated on one
controller. The controller is named according to the main function.
In the Project 20 every functional component is located the on a separate
controller.
Functional components, which are located on the same controller use the same
CAN interface. If the transmitting and receiving functional component of a CAN
command is located on the same controller, the command information is
exchanged by memory because the CAN interface is not able to send and receive
a command at the same time. Although the command is put on the CAN-Bus, so
the communication is transparent independantly to the HW architecture.
The description is made in several steps:

State Diagram
Starting with the state diagram, the activities are described. The state diagram is
the basic concept. All controllers are synchronized by the MAS/MCU to follow this
diagram. The ICS is unable to bring one controller into an asychroneous state. If
an error brings the machine into an asychroneous state, synchronization is
possible by RESET (from STOP) with a HW reset for all controllers (see STOP
circuit description).

Activities
The description of the activities are written on a standard form in words and in a
flowchart (appendix A). All participants of the communication on the CAN bus are
marked with vertical lines. Each command is signed with an arrow. A black point
shows the source of the command, the arrow-head the target.
A continous line is a command on the communication, a dotted line symbolises a
HW signal in the system. Time flow is in the up - down direction. If mechanical
activities (i.e. rotation on, tube collimator) are started, the sequence of commands
depends on the time, needed for the mechanical movement. The machine state at
the beginning is in the upper right, the state at the end in the lower right.
A square marks an action on the controller. Every command and activity is
described on the right side. If more than one condition starts an activity, they are
separated by 'OR'.

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 CAN Control System
Functional Specification

Commands, Tables and Messages

All commands are written on a form. Every command is defined by two letters in
the upper right. A detailed description follows. The states, where this command is
used (and allowed), are signed and the parameters are listend.
Tables are used to send fixed data (e.g. adjust parameters a.o.) or load all mode
parameters into the control system.
Messages created by the system are sent to the ICS in 4 priorities
The sign ( Ðxy) means a link to other chapters in this document.

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CAN Control System
Functional Specification

Order in this document:

machine state in
the beginning
participants of communication

ICS MCU GPC RTC PTH PTV XRS DLP ZCO DOM ACU

MODE LOADED
command
source of command destination load scan #

SL#
load scan #
rotation /
position ok

tube slice ok
det. slice ok

scan loaded
comment to
command or SCAN LOADED
action action

machine state in
the end

actual state HW-signal

IS
List of commands
HOST - MCU -
Controller

detailed description
of all commands
down to bit-level

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last change: 29.01.1998 Heidinger / CTE 6, Grottel / CTE 7

Copyright © SIEMENS AG. All rights reserved. For internal use only. Nur für internen Gebrauch. Alle Rechte vorbehalten.