Analog & Epic Vertex Gantry Overview

Analog & Epic Vertex
Classic
Gantry Overview
9202-0103 Rev C
Table of Contents
Sec 1: Introduction ....................1-1

Sec 2: Gantry Calibration ..........2-1
Sec 3: Motor Controller Cal .......3-1
Sec 4: MPU Voltage Checks .....4-1
Sec 5: AC/DC Power & E-Stop .5-1
Sec 6: Gantry Sensor Test ........6-1
Apx A: GANTCAL (backup) .......A-1
Apx B: GANTSNAP (analysis) ...B-1
ADAC Laboratories
540 Alder Dr.
Milpitas, CA 95035
Disclaimer
The information and drawings set forth in this document and all rights in and to
inventions disclosed herein and patents which might be granted thereon dis-
closing or employing the materials, methods, techniques or apparatus described
herein are the exclusive property of ADAC Laboratories.
Further, ADAC Laboratories reserves the right to revise this publication and to
make changes from time to time in the content hereof without obligation of
ADAC Laboratories to notify any person or organization of such revision or
changes.
No copies of this information or drawings shall be made without the prior con-
sent of ADAC Laboratories.
About This Manual
This manual describes the Vertex “Classic” gamma camera with either Analog
or Epic Detector Electronics.
SECTION 1
INTRODUCTION
Scope Vertex Cameras interface to ADAC’s Sun-
based Pegasys Image Processing System.
This manual is part of a field service kit de- Manuals in the following kit describe the in-
scribing ADAC’s Vertex "Classic" camera terface between a Vertex and a Pegasys:
with either analog or Epic Detector Electron-
ics. Specifically it covers: • Pegasys FS Man Kit (9202-0020).
• an overview (Section 1), General Description

• procedures for calibrating gantry motions A Vertex Classic camera consists of:
(Section 2),
• a gantry for supporting and moving two
• procedures for calibrating motor gamma radiation detectors in circular,
controllers (Section 3), radial and longitudinal directions (Figure
1-1),
• voltage checks and diagnostic test
procedures for the Gantry MPU board, • mechanisms within the gantry for moving
(Section 4), the two detectors with respect to each
other (i.e., detectors can be 180, 90 or a
• AC/DC power distribution, emergency variable number of degrees apart),
stop and collision detection systems
(Section 5), • two end stands which support a patient
table which will move in vertical and
• diagnostic tests that can be run from the horizontal directions,
Display Panel (Section 6), and
• a collimator exchanger (described in the
• procedures for backing up gantry 9202-0082 manual),
calibration data (Appendix A), and
• a Display Box (Figure 1-1) mounted on the
• procedures for analyzing gantry motion left gantry ring which contains gantry
failures once the system detects an error position readouts, a vacuum florescent
condition (Appendix B). screen on which messages and options will
appear, and push buttons for controlling
The manual does not cover detector electron- gantry/detector positions,
ics. That information is contained in the fol-
lowing manuals: • a H andcontroller which allows the
operator to manually move the gantry,
• Epic Detector Overview (9202-0104), detectors and table, and
• Epic Detector Calibration (9202-0101), and • associated electronics in each detector

head and in the gantry base.
• Analog Detector Calibration (T960-1760).
1-1
SECTION 1 INTRODUCTION
Figure 1-1. Vertex "Classic" Gamma Camera.
1-2
INTRODU CTION SECTION 1
Epic Vertex Interfaces In Pegasys, the Maui-Maui board sends data

to one of the two AC Processors boards ac-
Figure 1-2 shows the interface of an Epic Ver- cording to flags indicating which detector
tex camera to a Personal Computer (PC) and originated the data.
the Pegasys Image Processing System. The
Epic Correction Electronics, the PC and the The Pegasys Field Service Manual, Volume 1:
Pegasys are located in the Pegasys "tower" Overview (9202-0021) covers storage and dis-
electronics rack. play of image data within Pegasys.
The PC directs gantry movements through an Analog Vertex Interfaces

RS232 link as shown in the lower left part of
Figure 1-2. The PC also controls the Collima-
Figure 1-3 shows the interface of an Analog
tor Exchanger through the Gantry MPU via
Vertex camera to a Personal Computer (PC)
an RS232 link.
and the Pegasys Image Processing System.
The PC and the Pegasys are both located in
Detector electronics consist of (1) PM tubes the Pegasus electronics rack.
and associated high voltage control and dis-
tribution circuitry, (2) pre-amplifiers for am-
U nder software direction, separate Pre-Win-
plifying PM tube outputs and creating a
dow/Pre-Inspection (PW/PI) boards in the
digital trigger for starting subsequent digitiza-
PC control the imaging windows of the Vertex
tion of the amplified PM tube signals, (3) dig-
detectors.
itizer circuity, (4) position calculation
circuitry and (5) a single board controller in
each detector head for intefacing to the rest Two Image Correction Processors (ICPs) are
of the system and handling specific detector part of the Vertex but are located in the
funcitons (e.g., table download, diagnostics Pegasys rack. The ICPs perform analog to
and automatic gain adjustments). digital conversion and linearity/uniformity cor-
rection of the data from the two detectors.
The Madator Correction Electronics board
receives uncorrected event data from both de- A PC XYZ Digital Interface board performs,
tectors and corrects that data for spatial posi- left/right and top/bottom orientation and
tion and energy variations. passes data to the AT Serializer board.
The H ybrid 16-Bit Parallel I/F board provides The AT Serializer board converts parallel
parallel control and data interface to the data to serial data and transfers the data to
Matador Correction Electronics board. The the Pegasys system via an Image Ethernet
H ybrid 16-Bit Parallel I/O board also does link. That link uses Ethernet H ardware but
Matador Correction Electronics diagnostics not Ethernet Protocols.
and controls high voltage to the PM tubes.
In Pegasys, the Maui-Maui board sends data
A PC XYZ Digital Interface board performs, to one of the two AC Processors boards ac-
left/right and top/bottom orientation and cording to flags indicating which detector
passes data to the AT Serializer board. originated the data.
The AT Serializer board converts parallel The Pegasys Field Service Manual, Volume 1:
data to serial data and transfers the data to Overview (9202-0021) covers storage and dis-
the Pegasys system via an Image Ethernet play of image data within Pegasys.
link. That link uses Ethernet H ardware but
not Ethernet Protocols.
1-3
EPIC VERTEX CLASSIC / PEGASYS
SECTION 1
TOWER
MATADOR PERSONAL COMPUTER PEGASYS
FILM
DEPARTMENT FORMATTER
ETHERNET
ETHERNET
BOARD E-NET
XCVR
&
TRANSCVR HOST-BUS HOST BUS
EPIC VERTEX S-BUS I/F
ETHERNET TWISTED PAIR
HV S-BUS
FORMATTER
CTRL HYBRID AC
16-BIT PROCESSOR SUN
PARALLEL (ACP) SYSTEM SYSTEM
I/F #1 CONTROLLER
DETECTOR #1 X,Y Graphics
ELECTRONICS ZE I/F
MATADOR MAUI-MAUI IMAGE

1-4
CORRECTION X,Y,Zcor PC XYZ AT IMAGE -stack only-

MEMORY
GANTRY MPU ELECTRONICS Image E-net
DIG I/F SERIALIZER ETHERNET in non-stack BUS
(MCE)
DISPLAY
DETECTOR #2 X,Y CONTROL VIDEO
ELECTRONICS ZE SWITCH I/O
BUS
AC
PROCESSOR
HV (ACP)
KEY-
I/O DISPLAY
CTRL #2 BOARD
BOARD PIPELINE
MOUSE
AT-BUS
MONITOR
IPX DISPLAY IMAGE
INTRODUCTION
MATROX FLOPPY VGA CPU
RS 232
RS 232
BUFFER MEMORY
IMAGE TEXT KEYBOARD

PC/STACK
MONITOR MONITOR
RS 232 to Controller in
Collimator Exchanger
RS 232 GANTRY
Figure 1-2. Epic Vertex Classic / Pegasys Block Diagram.

ANALOG VERTEX CLASSIC / PEGASYS
PC COMPUTER PEGASYS
INTRODUCTION
DEPARTMENT FILM
ETHERNET FORMATTER
ETHERNET
BOARD E-NET
XCVR
&
TRANSCVR HOST-BUS HOST BUS
S-BUS I/F
ANALOG VERTEX
S-BUS
AC FORMATTER
PRE-WINDOW H.V. CTRL PW/PI PROCESSOR

SUN
#1 (ACP) SYSTEM SYSTEM
X,Y #1 CONTROLLER
DETECTOR ICP RS 232 Graphics
#1 #1 I/F
ZE,ZP
MAUI-MAUI IMAGE
IMAGE X,Y,Zcor PC XYZ AT IMAGE -stack only-
MEMORY
GANTRY MPU
1-5
DIG I/F Image E-net

MUX SERIALIZER ETHERNET in non-stack BUS
DISPLAY
X,Y CONTROL VIDEO
DETECTOR ICP RS 232
PORT 4
PORT 3
#2 SWITCH I/O
ZE,ZP #2 BUS
PW/PI DIGICOM AC
#2 PROCESSOR
PRE-WINDOW H.V. CTRL PORT 1 (ACP) KEY-
DISPLAY
RS 232
PORT 2 #2 BOARD
PIPELINE
AT-BUS MOUSE
MONITOR
CPU DISPLAY IMAGE
MATROX VGA
BUFFER MEMORY
IMAGE TEXT KEYBOARD
SECTION 1
PC/STACK
MONITOR MONITOR
to Controller in
Collimator Exchanger
GANTRY
Figure 1-3. Analog Vertex Classic / Pegasys Block Diagram.

SECTION 2
GANTRY CALIBRATION
Scope Overview
This section describes the mechanisms for Each moving gantry mechanism includes a po-
moving gantry components. Topics include: tentiometer and an optical encoder (Figure 2-
1).
• overview,
The wiper of each potentiometer connects to
• error condition reporting, a moving gantry mechanism. The resistor in
the potentiometer connects to a reference
structure. Electrically, the voltage drop across
• potentiometer replacement,
the potentiometer passes through an A/D con-
verter.
• calibration procedure,
Similarly, the optical disk in each encoder
• position verification, and connects to a moving gantry mechanism. The
optical sensor in the encoder connects to a
• speed verification. reference structure. Electrically, the encoder
outputs pulses. The optical sensing of tick
The mechanisms (motions) that require cali- marks on the encoder optical disk generates
bration are: pulses during motion of the disk and associ-
ated gantry structure. Each revolution of the
disk produces 500 square wave pulses which
• gantry # 1 rotation,
produces 2000 ticks.
• gantry # 2 rotation,
The potentiometer provides absolute position
information that is available even after power
• detector # 1 rotation, cycling. The encoder, however, loses informa-
tion during power cycling. When power
• detector # 1 radius, comes on, the power-up procedure:
• detector # 2 radius, 1. reads the potentiometer,
• table foot horizontal motion, 2. fetches a calibration factor from a bat-

tery-backup memory device, and
• table foot vertical motion,
3. calculates an encoder position value.
• table head horizontal motion,
After initialization, the encoder provides
• table head vertical motion, and movement information from which the system
calculates relative and absolute position,
speed and direction.
• gantry translate.
2-1
SECTION 2 GANTRY CALIBRATION
HD1 Radius Drive
HD1 Radius Encoder

HD1 Radius Pot
HD2
Radius
Encoder
HD2
Radius
Pot
HD1 Gantry Rotate Encoder

HD2 Gantry Rotate Pot
Translate Pot & Encoder
HD2 Gantry Rotate Encoder
HD1 Gantry Rotate Pot
Figure 2-1. Pot and Encoder Locations
2-2
GANTRY CALIBRATION SECTION 2
The system does not directly rely on potenti- • drive chains falling off,
ometers for position information after power-
up. However, the system compares • gears slipping relative to potentiometers,
potentiometer and encoder-determined posi-
tions to detect mechanical slip problems.
• potentiometers slipping relative to
When slips occur, the system reports an error
encoders,
condition to the equipment operator.
• encoders slipping relative to mechanisms,

To provide direction sensing, encoders output
two signals, an A signal and a B signal. The B
signal either lags or leads the A signal by 90 • mechanisms slipping relative to
degrees depending of the direction of motion. potentiometers.
Reverse, Negative Direction: B leads A

Additionally, an E3 error will occur if you in-
correctly perform the potentiometer/encoder
A
calibration. For example, if you calibrate gan-
B try rotation at -180 and 0 (instead of -180 and
+ 180), potentiometer position changes will
Forward, Positive Direction: B lags A
be twice as large as encoder position changes.
A This is because you calibrated the encoder
over 180 instead of 360 degrees.
B
Error Condition Reporting Potentiometer Replacement
When the system detects an out-of-tolerance To replace the potentiometer for any motion,
difference between encoder-determined and follow these steps:
potentiometer-determined positions, the sys-
tem generates an E3 error code. The error 1. position the associated mechanism (gan-
code will appear in the appropriate field of try, detector, etc.) near its center of
the display box shown (Fig 2-2). Thus an error movement;
in detector # 1 radius motion will appear in
the upper left corner of the display box.
2. before installing a new 10 turn potenti-
ometer, center the wiper by turning it
Table 2-1 shows all Display Box error codes, fully to one end and then turning it 5
their cause and suggested corrective action. turns in the other direction 1;
Tables 2-2 and 2-3 show the same information
for information codes and limit codes.
3. install the potentiometer; and
Encoder and potentiometer position discrep-

4. perform the calibration procedure de-
ancies may occur when any these mechanical
scribed at the end of this section 2 .
linkage problems occur:
1 The mid point can also be checked with a voltmeter.
2 When entering the Cal Mode in the calibration procedure, the potentiometer value should be
near its mid range value of 2000 if you correctly center the wiper.
2-3
CM CM
DETECTOR 1 RADIUS DETECTOR 2 RADIUS
CM
GANTRY TRANSLATE
DEG DEG
E/STOP
GANTRY 1 ROTATE GANTRY 2 ROTATE
DETECTOR #1 DETECTOR #2
RADIUS RADIUS
IN OUT IN OUT
DEG
DETECTOR 1 ROTATE
GANTRY
TRANSLATE ROTATE
CM CM
TABLE HEIGHT Z TABLE LATERAL X
MOTION MANUAL MOTION
HEIGHT
TABLE LATERAL
Z X
HALT 1 HALT 2
OVERRIDE
SELECT
DETECTOR #1
P-SCOPE
GENESYS VERTEX ROTATE
ERASE
Version _____ ENABLE
FAST ENABLE
SLOW ENABLE
Vacuum Florescent Readout IMAGING

START PAUSE RESUME STOP
MARK
ADAC ADAC LABORATORIES
Figure 2-2. Display Box and Handcontroller.
2-4
TABLE 2-1
ERROR (E) CODES
Code Meaning Cause Action
E-1 Communication error. DUART parity, framing or Reset gantry.

overrun error. Check DUART.
E-2 Emergency stop. E-stop button pressed. Release E-stop button.
E-3 Pot encoder mismatch. Bad pot, bad encoder or bad Check pot & encoder.
calibration. Recalibrate motion.
E-4 Exchanger trays not parked. No communication. Check communication.

Bridge up sensor (#14) not Check bridge location and
set. adjust sensor.
E-5 Pot reading out of range Pot reading less than 350, Check pot and wiring.
or greater than 3900. Recalibrate motion.
E-6 Table Endstand mismatch Negligence after calibra- Check Endstand

tion. position in Cal Mode.
Correct mismatch with
system in manual override,
pressing both direction
buttons with Fast Enable
until table stops moving.
E-10 Unwanted, spurious inter- HW noise or SW internal Reset gantry.

rupt occurs. bug.
E-12 Detector head has improper Bad collimator ID tag or Make sure collimator is
collimator type and parity. improperly setup. secure (adjust eccentric &
check tag).
E-13 Interrupt level out of range. HW noise. Reset gantry.
E-14 Software limit hit. Out of calibration. Recalibrate.
E-16 Detector head collision. Physical collision. Remove collision in over-

Wiring issue. ride mode.
Check wiring.
E-18 Manual override active. Override exists in pre- Press override button to
program mode. exit.
E-20 Pot is slipping. Bad pot. Check pot.

Max and min calibrate val- Bad calibration. Recalibrate motion.
ues are too close to each
other.
2-5
TABLE 2-1 (continued)

ERROR (E) CODES
E-21 Cannot update calibration Cal switch is off. Check Cal switch.
RAM. Bad DUART. Check DUART.
Bad Cal RAM. Check Cal RAM.
E-22 Parameter error. PC received command with Check communication

incorrect parameter. cable. Use terminal (e.g.
Falco) to monitor incoming
and outgoing information.
E-23 Bad checksum in Cal Bad DUART. Check DUART.

RAM. Bad Cal RAM. Check Cal RAM.
E-25 Position sensor not found. Sensor is not working or Recalibrate.

motion is not calibrated Check and adjust sensor.
properly with respect to
sensor.
E-31 ECT rings are not locked Ring lock device does not Check ring lock device.
together. work.
E-32 ECT are locked together. Ring lock device does not Check ring lock device.
work.
E-39 Unexpected position sensor Sensor malfunction. Check sensor.

state in preprogrammed
mode.
E-100 Preprogrammed motion Reset gantry.

internal error. Contact Vertex HW/SW de-
sign group.
E-101 Collimator exchanger Collimator exchanger Check sensor values
motion failure. motion did not reach (may have to move
destination. mechanism slightly).
Use PCCOLLEX program-
to back mechanism off a
few millimeters.
E-102 Collimator exchanger latch Latch sensor in unexpected Check/adjust latch sensor.
sensor error. state. Insure Detector Head Lock
Plate and collimator eccen
trics are correctly adjusted.
E-103 Collimator exchanger lock Lock sensor in unexpected Check/adjust lock sensor.
sensor error. state. Insure Detector Head Lock
2-6
TABLE 2-1 (continued)

ERROR (E) CODES
E-104 Collimator exchanger Unlock sensor in unexpect- Check/adjust unlock sensor.

unlock sensor error. ed state. Insure Detector Head Lock
E-105 Collimator exchanger Locking Plate Lock & Un-

locking plate sensor lock Sensors are both off.
not as expected. One Locking Plate is
in lock and other Locking
Plate is in unlock position.
E-106 No collimator ID. After collimator mounted Ensure (1) tag properly
on detector, ID cannot be positioned and making
read from tag. good contact, and (2) col-
limator mounted correctly.
E-107 Collimator exchanger Collimator map incorrect. Correct map or fix/adjust

map error. Elevator or Carriage sensor hardware.
not working.
E-108 Collimator exchanger Probable noise in Ensure “PC/Stack/Gantry

communication error. communication or switch in “Gantry” position.
not connected. If not, reset switch & press
STOP on Handcontrol.
E-109 Collimator exchanger Elevator position out of Check all Exchanger sen-
is not ready. range. sors - one probably not in
Cannot read the 2nd pot. “home”position.
May have old software. Redo Stand-Alone Cal.
E-110 Collimator exchanger A position or sensor Check all Exchanger sen-

is not safe to move. indicates not safe to sors - at least one sensor is
make requested motion. probably not “home”.
Redo Stand-Alone Cal.
E-111 Collimator exchanger Carriage position by pot #1 Look at Carriage position

carriage position failure. differs from position by pot with PCCOLLEX program.
#2. Recalibrate or repair pot.
E-112 Collimator exchanger Motion is not at exchange Put Gantry Translate at

cannot be parked. position so preprogrammed Exch position, Table Z at
command cannot park -9.5, Table X at 9.0, Gan-
exchanger. try Rotate between -45°and
5° if Carriage in or between
-5° and 5° if Carriage out,
and Gan Rotate 2 at 180°.
2-7
TABLE 2-2
INFORMATION (I) CODES
I-50 Too far from max position. The first calibration Redo first calibration point.
point is more than 10 units
from where it should be.
I-51 Too far from min point. The second calibration

point is more than 10 units
from where it should be.
I-52 Preprogrammed motion is Override active. Press manual override

prohibited by manual button to exit override
override. mode.
I-53 Head rotate 1 is out of Rotate head 1 back into

range for preprogrammed range (±15°).
motion.
I-54 Preprogrammed motion is System is not in normal Change system state to

not allowed in current state. normal mode.
system state.
I-55 Manual override is enabled. Press manual override but-

ton to exit override mode.
I-56 Preprogrammed motion is Press STOP on handcontrol

aborted. and Exit on Display Panel.
Scrutinize error messages
for cause of problem.
I-60 Motion final position is not Press STOP on handcontrol

reached. and Exit on Display Panel.
Check motor power switch.
Check fuse.
Check motion speed.
Check motor controller.
2-8
TABLE 2-3
LIMIT (L) CODES
L-76 Detector Head Lock Plate Collimator is on detector Check and adjust sensor,
Latch sensor in unexpected and Latch Pin sensor is off. Detector Head Lock Plate
state. and collimator eccentrics.
Press STOP on Handcon-
trol to acknowledge.
L-78 Detector Head Lock Plate Collimator is on detector Check and adjust sensor,
Lock sensor is unexpected and Lock Pin sensor is off. Detector Head Lock Plate
state. and collimator eccentrics.
Press STOP on Handcon-
trol to acknowledge.
L-89 Gantry Rotate Clutch Either Gantry Rotate Clutch Check Gantry Rotate
Error, Motion Halted. disconnnected or Clutch Clutch.
slipped so Gantry
Rotate 2 position with
respect to Gantry Rotate
changed by more than 2°.
L-90 Gantry motion internal HW direction disagrees Reset gantry.

error. with software setting. Check motor.
L-91 Command length error. Gantry received a command Check communication

with unexpected length. cable.
Use terminal (e.g. Falco) to
monitor incoming and out
going information.
L-92 Gantry moved in opposite Wiring issue. Check motor wiring.

direction to Handcontrol.
L-94 Gantry motor belt broken. Replace motor belt.
L-96 Calibration sensor Sensor not working or Recalibrate motion.

mismatch. motion not calibrated Check & adjust sensor.
with respect to the sensor.
L-97 Rings are locked when Ring lock device is bad. Check & adjust the ring
trying to calibrate ECT2. lock device.
L-98 Ring lock device is not in Ring lock device is slipping Check & adjust the ring
correct position. lock device.
L-99 Hardware limit reached. Negligence in Cal Mode. Move to safe rnage.
Bad calibration. Recalibrate the motion.
Bad limit sensor Check limit sensor.
2-9
Calibration Procedure For calibration procedures, the "Imaging"

keys on the upper row of the handcontroller
When to Calibrate. You should recalibrate a (START, PAU SE/ENABLE, RESU ME,
given motion: STOP and SLOW ENABLE) take on mean-
ings that do not correspond to their labels.
For example, pressing PAU SE/MARK tells
• after replacing the potentiometer for that the system that the gantry is at a prescribed
motion, or calibration point. Later instructions describe
these keys.
• when an E3 error message occurs for that
motion. Detailed instructions for calibrating each gan-
try motion appear at the end of this section.
Calibration Order. You can perform Gantry
calibrations in any order and it is seldom nec-
essary to recalibrate all motions. But if it is Feedback Test
necessary to calibrate both gantry and detec-
tor rotations, you should recalibrate those mo- Following potentiometer calibration you
tions in the following order: should verify that the calibrated mechanism is
working properly.
1. gantry rotation, then
Detailed instructions for verifying each gantry
2. detector rotation. motion appear at the end of this section.
General Calibration Procedure. The calibra- Motion Limits

tion procedure sets a scale factor. The scale
factor relates voltage drops across each poten- For reference purposes, Table 2-4 shows the
tiometer to the position of each gantry mecha- hardware and software limits for each motion.
nism. The system calculates and stores the
scale factor for each motion after you "tell"
the system when the mechanism is at specified
positions. The specified positions are usually
near the minimum and maximum limits.
To perform calibrations, you will communi-

cate with the system through the handcontrol-
ler and receive system information from the
display panel. (Figure 2-2).
2-10
Cal Mode MPU PCB

Rocker Switch
(3rd from left)
Limit Override
Rocker Switch
(2nd from left)
Rear View
Figure 2-3. Location of "Cal" Rocker Switch and Limit Override Rocker Switch
on MPU Board (with right rear door opened).
Detector Radius #1
Linear Controller
5200-3051
Detector Radius #2
Linear Controller
5200-3051
Table Foot Horizontal

Linear Controller Gantry Rotate
5200-3051
Linear Controller
5200-3052
Table Head Horizontal
Linear Controller
5200-3051 Gantry Translate
Linear Controller
Table Head Z1 Lower Vertical
5200-3051
Linear Controller
5200-3051 Table Head Z2 Upper Vertical
Linear Controller
Table Foot Vertical
Rear View 5200-3051
Linear Controller
5200-3051
Figure 2-4. Location of Linear Controller Boards and

Speed Control Pots (with left rear door open).
2-18
TABLE 2-4
HARDWARE AND SOFTWARE MOTION LIMITS and
MAXIMUM SPEED SPECIFICATION
Minium Limit Maximum Limit Max Speed

Motion HW SW SW HW (Range)
Gantry Rotate # 1 -187 deg -185 deg 185 deg 187 deg 486 deg/min
(437-535)
Gantry Rotate # 2 -187 deg* 90 deg 185 deg 187 deg** 486 deg/min
(relative to Det # 1) (437-535)
Gantry Translate na -45 cm 168 cm na 270 cm/min

(243-297)
Detector Rotate # 1 na -60 deg 200 deg na 243 deg/min

(219-267)
Detector Radius 14.0 cm 15.0 cm 41.0 cm 42.0 cm 108 cm/min

(97-118)
Table X na -9.5 cm 9.5 cm na 81 cm/min

(73-89)
Table Z na -23.0 cm 13.0 cm na 81 cm/min

(73-89)
Notes:
* Gantry Rotate # 2 Minimun Limit is with Gantry Rotate 1 at -187 deg and Gantry Rotate # 2 at
90 degrees relative to Gantry Rotate # 1.
** Gantry Rotate # 2 Maximum Limit is with Gantry Rotate 1 at 187 deg and Gantry Rotate # 2 at
185 degrees relative to Gantry Rotate # 1.
2-12
TABLE 2-5
SUMMARY OF DISPLAY PANEL CONTROLS
USED IN GANTRY CALIBRATION
FUNCTION BUTTON(s) OPTIONS EACH

TIME BUTTON PRESSED
Enter Calibrate Mode START, STOP, SLOW ENABLE
Increment Test STOP Pot Calibrate (Pot Cal)

Feedback Test (Fedbk Cal)
Voltage Measurement (Volt
Cal)
Speed (Spd Cal)
Motion Control Gain (MC
Gain)
Pot Value (not used)
Increment Motion RESU ME Gantry Rotation (G ROT)

Detector Radius 1 (RAD)
Detector Radius 2 (RAD)
Detector Rotation 1 (ROT)
Translate (TRANS)
Table Foot Vertical (TB Z
FT)
Table H ead Vertical (TB Z
H D)
Table Foot Lateral (TB X FT)
Table H ead Lateral (TB X
H D)
Save Calibration Point PAU SE/MARK
Reset MPU SLOW ENABLE, START, P-SCOPE ERASE
Exit Calibration Mode ENABLE

or
START, STOP
Separate Rings Pause/Mark (in Calibrate Mode)

_________
Note: To look at pot and encoder values for Gantry Rotate 2, enter Calibrate Mode and press
SELECT. Each time you press SELECT, the third line of the display will toggle between pot and
2-13
Insert pages 14-24 from Mac (VertSec2CalPgs14-27)
2-14
Gantry #1 & 2 Rotate Calibration
1. Theory and importance: d. Hold a small level horizontally below

• If 0° and 180° positions are not level, these detector #1 Radius Base Plate.1
problems will occur: Brush
- detector rotation calibration will be ,,,,,,,,,,,,,,,,
invalid, and
- clinical studies will not be obtained #1 Radius Base Plate
from true positions.
Place Level Here
• The 0° and 180° Sensors (page 2-18),
rather than Gantry Rotate Calibration, View of Radius Base Plate #1 from Foot
determine the Gantry 0° position for
collimator exchanges. e. Using SLOW key and Gantry Rotate keys
2. For initial setup: on handcontroller, adjust gantry rotate
a. If detectors are not 180° apart, press until Radius Base Plate is horizontal;
SELECT on Display Box until you see, check both left and right Radius Base
"General 180"; press ENABLE twice. Plates.
b. Remove patient table. f. Press PAUSE/MARK to store first cal
c. Translate Gantry away from Exchanger. point. Target will change to 90 and
d. Using handcontroller, rotate gantry until G ROT 2 will replace G ROT 1.
Gantry 1 Rotate is -90° (detector #1 in Pot Cal - G ROT 2[0]
front). Tg = 90.0 Deg
e. Rotate detector #1 to 0° (detector facing POT2: 17xx ENC: 90.0
in). EXIT-->
3. For first cal point (Gantry #1 Rotate at -90°):
4. For second cal point (Gantry #2 Rotate 90°):
a. Hold START, STOP and SLOW keys to
a. Locate Detector #2 Radius Base Plate.
enter Diagnostic mode. Press ENABLE on
Display Box to enter Cal Mode. (LED
displays will be disabled.) ,,,,,
b. The letters "Pot Cal" and "G ROT 1" ,,,,,
should appear on Display Box. Pot #1 will
be near 2600. Target will be -90.0. HD
#2
Pot Cal - G ROT 1[0] ,,,,
Tg = -90.0 Deg
POT1: 26xx ENC: -90.0 #2 Radius Base Plate
POT2: 17xx EXIT--> View of Gantry from Foot
c. Locate Detector #1 Radius Base Plate. b. Hold a level on top of the detector #2
#1 Radius Base Plate Radius Base Plate.
Place Level Here
,,,,,, #2 Radius Base Plate
HD
#1
,,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,,,
Brush
,,,,, View of Radius Base Plate #2 from Foot
View of Gantry from Foot
1 When using a level, you must always observe the level twice: (1) in the normal fashion, and (2) after
doing an end-for-end swap of the level, i.e., with the level rotated 180° about an axis perpendicular to
the length of the level. After doing the 180° rotation correctly, the same edge of the level will be
against the surface being checked.
2-14
c. Using SLOW and Gantry Rotate keys on 7. For fourth cal point (Gantry #2 Rotate 270°):
handcontroller, adjust gantry #2 rotate a. Hold level under Detector #2 Radius Base
until Radius Base Plate is horizontal. Plate.
d. Press PAUSE/MARK to store second cal #2 Radius Base Plate
point. G ROT 1 will reappear.
Pot Cal - G ROT 1[0]
Tg = 90.0 Deg HD ,,,,,,
POT1: 26xx ENC: -90.0 #2
POT2: 17xx EXIT-->
5. To enable cal storage:
a. Open right rear door (Fig 2-3). ,,,,,
b. Press the "Cal" rocker switch (3rd switch
from left on MPU board). Cal Status
(Display Box upper right) will become [1].
6. For third cal point (Gantry #1 Rotate 90°): b. Using SLOW and Gantry Rotate keys on
a. Using SLOW key and CW Gantry Rotate handcontroller, adjust gantry #2 rotate until
key, rotate gantry 180° CW (view from #2 Radius Base Plate is horizontal.
foot) until Detector #1 is at 90° (Detector
Brush
#1 in back). Keep pot within 350 - 3900
,,,,,,,,,,,,,,,,
range.1
#2 Radius Base Plate
Place Level Here
,,,,,
,,,,,
View of Radius Base Plate #2 from Foot
HD
#1 c. Press PAUSE/MARK to store fourth cal
,,,, point.
. Reset "Cal" rocker switch.
8. To conclude:
View of Gantry from Foot a. Do the feedback tests on the next two
pages, or terminate this procedure and do a
b. Hold small level horizontally on top #1 backup (Appendix A).
Radius Base Plate.
Place Level Here
,,,,,,,,,,,,,,,,,
,,,,,,,,,,,,,,,,,
Brush
c. Using SLOW and Gantry Rotate keys on

handcontroller, adjust gantry #1 rotate until
#1 Radius Base Plate is horizontal.
d. Press PAUSE/MARK to store third cal
point.
1 If you accidentally hit "hardware" limit: (1) press "limit ovr" switch (2nd rocker switch from left
on MPU board), (2) press OVERRRIDE on display, (3) carefully select the direction of
movement switch on the handcontroller, and (4) back away using SLOW enable switch. In some
cases you may need to adjust hardware limit pot.
2-15
Gantry Rotate Feedback Check
1. For +90° position: 2. For -90° position:

a. Rotate gantry #1 until Gantry Rotate = 90° a. Using SLOW key and CCW Gantry
(Detector #1 in back). Rotate key, rotate gantry
b. If Detector #1 is not already at 0°, rotate counter-clockwise 180° as viewed from
detector until it is facing in. foot (both pot & encoder decreasing); stop
c. If not already in Cal Mode from previous when detector #1 is in front.
test, hold START, STOP and SLOW keys b. Pot and encoder values should agree by
to enter Diagnostic Mode. Press ENABLE 1.5° or less.
on Display Box to enter Cal mode.
d. Press STOP until letters "Fdbk Cal" Fedbk Cal - G ROT1[0]
appear on Display Box. Pot 1 = -90.000
e. Press RESUME until letters "G ROT1" Enc 1 = -90.195
appear on Display Box. Pot and encoder EXIT-->
should be about equal. Push SELECT to view GROT2 values
relative to GROT1.
Fedbk Cal - G ROT 1[0] 3. Action:
Pot 1 = 90.210 a. If disagreement is more than 1.5,
Enc 1 = 90.141
determine and repair cause of slippage.
EXIT-->
b. If disagreement is less than 1.5, proceed to
Detector Rotate Feedback Test on the next
f. Press Pause/Mark to set Encoder to
page.
Potentiometer value.
2-16
Detector Rotation Feedback Check
1. For 0° position: 3. Action:

a. Press RESUME (usually twice) until a. If pot and encoder disagree by more than
letters "ROT 1" (not "RAD 1") appear on 1.5, determine and repair cause of
Display Box next to "Fedbk Cal". slippage.
b. If disagreement is less than 1.5, proceed to
Fedbk Cal - ROT 1[0]
Pot = 0.000 Detector Radius Calibration on the next
Enc = - 0.196 page, or press ENABLE to end calibration
EXIT--> and do a backup (Appendix A).
4. To conclude:
b. Pot and encoder values should agree by a. Go to “0° & 180° Sensor Calibration &
1.5° or less; if disagreement is more than Clocking Check” on next page, or
1.5, find and repair cause of slippage. terminate this procedure and do a backup
2. For 180° position: (Appendix A).
a. Rotate Detector clockwise 180° (as
viewed from foot) until detector is vertical
and facing to the front. Pot and encoder
should both be more positive.
Fedbk Cal - ROT 1[0]
Pot = 180.131
Enc = 180.255
EXIT-->
2-17
0° and 180° Sensor Calibrations & Clocking Check
1. Theory and importance: 3. For Head 1 (0° Sensor):

• The 0° and 180° sensors, rather than a. Hold a level vertically on both of the
Gantry Rotation Calibration, determine the Detector #1 Radius Base Plates (head and
0° Gantry position for collimator foot).1
exchanges; if the 0° gantry rotation point
is incorrect the detectors will not be level
(front to rear), the detectors will not be
aligned with the Collimator Exchanger
Place Level Here ,,
Carriage, and collimator latching and ,,
,,
,,
unlatching will be difficult. ,,
,,
,,
• If detector clocking errors exist (the ,,
,,
,,
angular position of the head & foot radius ,,
,,
,,
,,
arms differ), the detector will be twisted ,,
#1 Radius Base Plate ,,
(head to foot); because the clearance ,,
Brush
between the detectors and Collimator
Exchanger Carriage is small (1/8") it will
be difficult to align, in the translate b. If the Base Plates are parallel and vertical,
direction, a gantry with a twisted detector skip to step #4 for Head #2 on next page.
to an Exchanger. c. If the Base Plates are not parallel within ±
2. For initial setup: 0.5 mm over a 25 cm length, you may
a. If detectors are not 180° apart, press have a “clocking” problem with Head #1.
SELECT on Display Box until you see, To verify clocking:
"General 180 & Lock"; press ENABLE i. remove the radius #1 cover, and
twice. ii. measure parallelism with a 55 cm level
b. Remove patient table. over the full length of the Detector #1
c. Translate Gantry away from Exchanger. Radius Base Plates (head and foot).
d. Hold START, STOP and SLOW keys to iii. If the Base Plates are not parallel
enter Diagnostic mode. within ± 1.5 mm over the full length of
e. Press SELECT until the message, “Gantry the radius arms, you must correct the
Rotate to 0 and Gan Rot 2 to 180" appears. problem. See Procedure 9355-0062.
f. Press ENABLE twice. d. If the Base Plates are parallel but not
The system will position Gantry Rotate at vertical, follow these steps:
the 0° and 180° positions. i. Remove Cable and Ring Covers on the
g. Identify the Detector #1 Radius Base Plate. foot end of the gantry.
ii. Locate the ECT#1 sensor.
HD Ring Gear
#1 #1 Radius
Base Plate (foot end)
ECT1
Magnet
,
,
,
ECT#1 Sensor
View of Gantry from Foot End
View of ECT Sensor from Foot
1 When using a level, you must always observe the level twice: (1) in the normal fashion, and (2) after
doing an end-for-end swap of the level, i.e., with the level rotated 180° about an axis perpendicular to
the length of the level. After doing the 180° rotation correctly, the same edge of the level will be
against the surface being checked.
2-18
iii. Move sensor in the same direction as d. If the Base Plates are not parallel within ±
Gantry #1 must move to make the 0.5 mm over a 25 cm length, you may
gantry vertical. have a “clocking” problem with Head #2.
iv. Select again the “Gantry Rotate to 0 To verify clocking:
and Rotate 2 to 180" option; recheck. i. remove the radius #2 cover, and
v. Repeat the above steps until the Head ii. measure parallelism with a 55 cm level
#1 Radius Base Plates are vertical. over the full length of the Detector #2
4. For Head #2 (180° Sensor): Radius Base Plates (head and foot).
a. Only after ensuring that Head #1 ECT iii. If the Base Plates are not parallel
Sensor is set correctly, check the ECT#2 within ± 1.5 mm over the full length of
Sensor by holding a level on both Head #2 the radius arms, you must correct the
Radius Base Plates. problem. See Procedure 9355-0062.
e. If the Base Plates are parallel but not
vertical, follow these steps:
#2 Radius Base Plate i. Remove the Head #1 Radius Drive
Cover.
ii. Locate the ECT#2 Sensor on the
,, Radius Drive Base Plate (foot end).
, ,,
,,
,
, #1 Radius
Base Plate
(foot end) Brush
HD
#2
b. Check the verticalness of both Head #2

Radius Base Plates by placing a level as
indicated below.
Brush ,,
,,
,, #2 Radius Base Plate
,, ECT#2
,,
,, Sensor
,,
,,
,,
,,
,, View of Radius Base Plate #1 from Head
,,
,,
,,
,,
,,
,, Place Level Here iii. Move the ECT#2 Sensor in the same
direction as Gantry Rotate #2 must
move to make the Gantry vertical.
iv. Select again the “Gantry Rotate to 0
and Rotate 2 to 180" option; recheck.
c. If the Base Plates are parallel and vertical, v. Repeat until the Head #2 Radius Base
skip to step #5. Plate is vertical.
vi. Reinstall Head #1 Radius Drive Cover.
5. To conclude:
a. Recalibrate Gantry #1 Rotate if you reset
either the 0° or 180° Sensor.
b. Perform the Detector 1 over Detector 2
check on the next page.
2-19
Detector #1 Over Detector #2 Check (Front to Back)
1. Theory and importance: 4. Vertical alignment correction:

• if the detectors are not aligned vertically a. If the heads are not aligned within ± 2mm,
in the front to back direction, it will be readjust either the 0° sensor (for Head #1)
difficult to get both detectors aligned with or the 180° sensor (for Head #2) as
the Exchanger Carriage. described on the two previous pages.
2. Initial setup: 5. To conclude:
a. If detectors are not 180° apart, press a. Perform the Max Limit adjustment on the
SELECT until Display Panel reads, next page, if applicable.
"General 180"; press ENABLE twice.
b. Hold START, STOP and SLOW keys to
enter Diagnostic mode.
c. Press SELECT until the message, “Gantry
Rotate to 0 and Gan Rot 2 to 180"
appears.
d. Press ENABLE twice.
The system will position Gantry Rotate at
the 0° and 180° positions.
3. Detector #1 over Detector #2 check:
a. Adjust both Detector Radii inward so
detectors are close that your level will
fully contact both Detectors.
b. Place a level vertically between Head #1
and Head #2 front of the Detectors.
± 2 mm
View from Foot End
c. Check to see that Head #1 is vertically

over Head #2 within ±2 mm.
2-20
Gantry Rotate Maximum Limit Calibration
1. Theory and importance: h. Adjust the Min Pot on the Head 2 Max
• If Gantry Rotate maximum limits are too Limit Board until its LED just turns off.
tight, software may hit the limits, or i. If needed, rotate gantry clockwise back to
• If limits are too loose, damage to ring -180° setting Limit Overrride on MPU.
cables or other hardware may occur. j. Check settings by moving gantry CCW:
2. Initial setup: • to -187 and verify that LEDs are off.
a. Remove the Gantry Base Cover. • to -188 and verify that LEDs are on.
b. Translate Gantry away from Exchanger. k. Set Limit Overrride on MPU, if not on.
c. Locate the Max Limit boards for Head 1 l. Rotate gantry clockwise back to -180°.
and Head 2 in the Gantry Base. m.Reset Limit Override switch on MPU.
n. Press ENABLE to exit Cal Mode.
HD #1 Max Limit PCB 4. For Detector #2 at 185° relative to Detector #1:
a. With SELECT key, select option for
“General 180”; press ENABLE twice.
HD #2 Max Limit PCB b. Select Preprogrammed option for “Det 2
Indep Motion”; press ENABLE.
c. Using slow enable, rotate Gantry #2
View of Gantry Base from Front clockwise to 185°; use Display readout.
d. Press ENABLE to disable “Indep Motion”.
d. Locate the Max limit and Min limit pots.
e. Hold START, STOP and SLOW keys to
LED Display Box to enter Cal Mode.
f. Rotate Gantry clockwise to +185°; use the
R7 Max Pot R5 Min Pot
ENC field to determine position.
View of Max Limit PCB from Front g. Set Limit Override switch on MPU board.
h. Using slow enable, carefully rotate Gantry
3. For Detector #2 at 90° relative to Detector #1: CW to +187.5°; use ENC readout.
a. With SELECT key, select the Pre- i. Reset the Limit Overrride switch on MPU.
programmed option for “Cardiac 90”; j. Adjust the Min Pot on the Head 1 Max
press ENABLE twice. Limit Board until its LED just turns off.
b. Hold START, STOP and SLOW keys to k. Adjust the Max Pot on the Head 2 Max
enter Diagnostic mode. Press ENABLE on Limit Board until its LED just turns off.
Display Box to enter Cal Mode. l. Rotate gantry CCW back to +180° setting
c. Rotate Gantry counterclockwise to -185°; Limit Overrride on MPU, if needed.
use the ENC field to determine position. m.Check settings by moving gantry CW:
Pot Cal - G ROT 1[0] • to +187° and verify that LEDs are off.
Tg = -90.0 Deg • to +188° and verify that LEDs are on.
POT1: 20xx ENC: - 0.0 n. Set Limit Overrride on MPU, if not on.
POT2: 17xx EXIT--> o. Move gantry counterclockwise to +180°.
d. Press Limit Override switch (2nd rocker p. Reset Limit Overrride on MPU.
switch from left on MPU board). q. Press ENABLE to exit Cal Mode.
e. Carefully move Gantry CCW to -187.5°. 5. Verify limits by:
f. On MPU, reset the Limit Overrride switch. a. Rotating the gantry to +185°, and then to
g. Adjust the Max Pot on the Head 1 Max -185° while still in “General 180”.
Limit Board until its LED just turns off b. Selecting “Cardiac 90” and rotating the
(turn pots CW to turn LED off.) gantry to -185°, and then to +185°.
Sumary of Gantry Rotate Maximum Limit Calibration Steps

For Det #2 at 90° Relative Det #1 For Det #2 at +185° Relative Det #1
Gantry to -187.5; set HD#1 Max pot Gantry to +187.5; set HD#1 Min pot
While at -187.5, set HD#2 Min pot While at +187.5, set HD#2 Max pot
2-21
Detector #1 Rotate Pot & Encloder Backlash Check
1. Theory and importance: 4. Correcting Pot Backlash:

• Excessive backlash between the Detector a. Record the Pot and Encoder values so you
#1 Rotate Pot Gear, the Idler Gear and the can reset the Pot and Encoder correctly.
Radius Gear mechanism (or the Encoder b. Remove the Pot Support Bracket which
mechanism) will cause: includes both the Pot and Idler Gears.
- the detector to stop at imprecisely ,, Head Rotate Gear
,,
,,
determined points (e.g. the detector ,,
,,
,,
,,
may not be level at the 0° detector ,,
,,
,,
,,
,,
rotation position during collimator ,,
,,
,,
,, Idler Gear
exchanges), and ,,
,,
,,
,,
,,
- unreliable and out-of-specification ,,
,,
,,
,,
values for Center of Rotation ,,
,,
,, Pot Gear
,,
Correction. ,,
,,
,,
,,
,,
2. For initial setup: ,,
,,
,,
,,
a. Remove the Harmonic Drive Cover (cover
on the head-side near the center of
Detector #1).
b. Hold START, STOP and SLOW keys to c. By moving the Idler Gear with your finger,
enter Diagnostic mode. Press ENABLE on check the backlash between the Idler and
Display Box to enter Cal Mode. Pot Gears; adjust the Idler Gear position as
c. Press RESUME until the letters "ROT 1" necessary to minimize backlash, but make
(not "RAD 1", "RAD 2" or "G ROT"), sure the Pot and Idler Gear still turn easily.
appear next to "Pot Cal" on Display Box. (Side loading the pot will reduce Pot life.)
d. Set the Pot back to the value you recorded
in step 4a.
Pot Cal - ROT 1 [1]
Tg = 180.0 Deg e. Replace the Pot Support Bracket and
POT:12xx ENC: 0.0 adjust the position of that Bracket so that
EXIT--> zero backlash exists between the Idler
Gear and the Head Rotate Gear.
d. Press STOP once so that the Pot and f. Recheck the total backlash by rocking the
Encoder values appear on the Display Pot Gear back and forth while checking
Panel. the Display Panel readings.
3. Pot Gear Backlash Check: g. Repeat steps b through f if the Pot value
a. Place your finger on the Pot Gear, and changes by more than 0.25°.
rock that gear back and forth while reading 5. Encoder Backlash Check:
the pot value in degrees on the Display a. Repeat steps 3 and 4 for the Encoder.
Panel. 6. To conclude:
b. If the Pot value changes by more than a. Proceed to the Detector #1 Rotation
0.25°, reduce the backlash as described in Calibration procedure on the next page.
paragraph #4 below.
c. If the Pot change is less than 0.25°, check
the Encoder as described in paragraph #5
below.
2-22
Detector #1 Rotate Calibration
1. Theory and importance: 3. For first cal point (180°):

• Detector Rotate calibration errors will a. Using SLOW key and CW Detector Rotate
cause : #1 key, rotate detector #1 180° clockwise
- the detector to stop at imprecisely (view from foot) until detector is facing
determined points (e.g. the detector upward. Pot will increase to about 3400.
may not be level at the 0° detector b. Place level under Detector Support Plate.
rotation position during collimator Detector Support Plate
exchanges), and
- unreliable and out-of-specification
values for Center of Rotation
Correction.
2. For initial setup:
a. Check 0 and 180° Sensors (pp 2-18, 2-19).
b. Place Gantry Rotate at 0° and verify, with
a level placed vertically on the Radius Place level here
Base Plate, that the gantry is horizontal. View from front, foot end
HD #1 Radius
#1 Base Plate c. With handcontroller, adjust detector rotate
until detector is horizontal.
,, d. Press PAUSE/MARK to store first cal
,
point. Target will become 0.0.
Pot Cal - ROT 1 [1]

Tg = 0.0 Deg
POT: 34xx ENC: 180.0
EXIT-->
Place
Level ,,
,,
,,
,,
Here ,,
,,
,,
,,
,,
,,
,,
,,
,,
#1 Radius ,,
,,
,,
Base Plate ,,
Brush
c. Hold START, STOP and SLOW keys to

Display Box to enter Cal Mode.
d. Turn on "Cal" rocker switch so Cal Status
on Display Box will be [1].
e. Press RESUME until the letters "ROT 1"
(not "RAD 1", "RAD 2" or "G ROT"),
appear next to "Pot Cal" on Display Box.
Pot Cal - ROT 1 [1]

Tg = 180.0 Deg
POT:12xx ENC: 0.0
EXIT-->
2-23
4. For second cal point (0°): 5. To conclude calibration:

a. Using SLOW key and CCW Detector a. Reset "Cal" rocker switch (3rd switch
Rotate key, rotate detector #1 180° from left on MPU board -- Fig 2-3). Cal
counter-clockwise (as viewed from foot) Ram Status on Display Box will be [0].
until detector faces down and pot b. Go to Feedback Test for Gantry and
decreases to about 1200. Detector on next page, or terminate this
procedure by pressing ENABLE to end
Pot Cal - ROT 1 [1] calibration and doing a backup (Appendix
Tg = 0.0 Deg A).
POT: 12xx ENC: 0.0
EXIT-->
b. Put level on top of the Detector Support
Plate.
c. With handcontroller, adjust detector rotate
until crystal is horizontal.
Place level here
Detector Support Plate

View from front, foot end
d. Press PAUSE/MARK to store second

point.# Target will become 180°again.
Pot Cal - ROT 1 [1]

Tg = 180.0 Deg
POT:12xx ENC: 0.0
EXIT-->
2-24
Detector #1 and #2 Radius Calibration
Calibration d. Press "Cal" rocker switch (3rd switch

1. Theory and importance: from left on MPU board).
• If radius calibration is incorrect, these 5. For Detector #1 second cal point (41.0 cm):
problems may occur: a. Ensure 2nd Target (Tg) number is 41.0.
- a detector may hit the table, or Pot Cal - RAD 1[1]
- the detectors may collide when the Tg = 41.0 CM 16.1 IN
operator selects the “Cardiac 90” POT: ____ ENC: ___
preprogram option to bring the EXIT-->
detectors into close, perpendicular b. With handcontrol, raise detector until
positions. Encoder readout on Display Panel is 41.0.
2. For initial setup: c. Press PAUSE/MARK to store second cal
a. Translate Gantry away from Exchanger. point. Target will revert to 1st target.
b. Remove both Radius Arm Covers, rotating 6. For Detector #2 first cal point (15 cm):
the gantry as necessary. a. Press RESUME until "RAD 2" appears.
c. In Normal mode, place Gantry Rotate at 0° b. Ensure target (Tg) on Display is 15.
and Detector at 0°.
d. With level and handcontrol, ensure Pot Cal - RAD 2 [1]
detector #1 is level. Tg = 15.0 CM 5.9 IN
e. Hold START, STOP and SLOW. Press POT: ___ ENC: ___
ENABLE on Display Box for Cal Mode. EXIT-->
f. Press RESUME until letters “RAD 1" c. With handcontrol, raise detector #2 until,
appear to right of “Pot Cal” on Display. on the right side, the brass Leadscrew
4. For Detector #1 first cal point (15.0 cm): Support Nut is 3.2 cm (1.25") above the
a. Ensure target (Tg) on Display is 15. black Thrust Support Block. Pot: 350-3900
(value will be near 500.)1
Pot Cal - RAD 1 [0]
Tg = 15.0 CM 5.9 IN d. Press PAUSE/MARK to store first cal
POT: ___ ENC: ___ point. Target will change to 41.0 cm.
EXIT--> 7. For Detector #2 second cal point (41.0 cm):
a. Ensure 2nd Target (Tg) number is 41.0.
b. With handcontrol, lower detector #1 until,
Pot Cal - RAD 2[1]
on the right side, the brass Leadscrew
Tg = 41.0 CM 16.1 IN
Support Nut is 3.2 cm (1.25") above the
POT: ____ ENC: ___
black Thrust Support Block. Keep pot in EXIT-->
range of 350-3900 (value will be near
b. With handcontrol, lower detector #2 until
500.)1
Encoder readout on Display Panel is 41.0.
c. Press PAUSE/MARK to store second cal
point. Target will revert to 1st target.
8. To conclude radius calibration:
Leadscrew Support Nut a. Reset "Cal" rocker switch on MPU.
(brass)
3.2 cm b. Press ENABLE to exit Cal Mode.
Thrust Support Block c. Perform Radius check and Radius Sensors
(black) Setting procedures on the next two pages.
Note: Failure to perform the Radius

Leadscrew Assembly
Sensor Setting procedure (pg 2-25) may
c. Press PAUSE/MARK to store first cal nullify radius calibration and cause
point. Target will change to 41.0 cm. collimator exchange problems!
1 If you accidentally hit "hardware" limit: (1) press "limit ovr" switch (2nd rocker switch from left on
MPU board), (2) press OVERRRIDE on display, (3) carefully select the direction of movement
switch on the handcontroller, and (4) back away using SLOW enable switch.
2-25
Radius Calibration Check
1. Theory and importance: c. In a similar manner, measure the distance

• If Radius Calibration (previous page) is between the center of the T-square and the
done incorrectly, the detectors may collide edge of Detector #2 bucket (distance Y).
when the operator selects the “Cardiac 90” d. If x and y are equal (±1/16"), proceed to set
preprogram option. Radius Sensors on next page. If x and y
• This check gives an independent check on are not ±1/16", redo the Radius Calibration
Radius Calibration. steps on the previous page.
2. Initial setup: 4. To conclude radius calibration check:
a. Ensure collimators are loaded on both a. Press SELECT for General 180; press
detectors. ENABLE twice.
b. Translate Gantry away from Exchanger. b. Perform Radius Sensors Setting
3. To check radius calibration: procedures on the next page.
a. Press SELECT until Cardiac 90 appears on
Display; press ENABLE twice. Note: Failure to perform the Radius
b. With a carpenter’s T-square, measure the Sensor Setting procedure on next page
distance between the center of the may nullify radius calibration and cause
T-square (in space) and the edge of collimator exchange problems!
Detector #1 bucket (distance X in the
below diagram).
Detector #1
Carpenter’s T-square
X Detector #2
Side View of Detector #1, Detector #2 and T-square
2-26
Radius Sensors Setting
1. Theory and importance: 3. For Radius #1 Sensor:

• To “set” the Radius Sensors, the system a. Press SELECT until message, “Set
moves the Detectors in the radial direction Position Sensor Locations” appears.
until the Radius Sensors on the Radius Drive b. Press ENABLE until message, “Set
detect the locations of magnets on the Radius Position Sensor, Gantry Translate”
Base Plate; the software then stores the appears.
magnet locations in RAM. c. Press SELECT until message, “Set
• The system uses Radius Sensors to more Position, Gantry Radius Head #0" appears.
accurately determine Head #1 and Head #2 d. Press the "Cal" rocker switch (3rd from
positions during collimator exchanges. left), and close the door.
• Failure to accurately store Radius Sensor e. Press ENABLE; the message, “Insure
locations may cause collimator exchange Objects Are Clear” will appear.
problems. f. Press ENABLE again; system will
• Software cannot distinguish between the translate gantry to -39.8, move the
Radius 1, Radius 2 and Translate sensors; to Detector #1 radius to find the magnet
preclude confusion, the following steps must location and store the position in RAM.
be exactly followed. 4. For Radius #2 Sensor:
2. For initial setup: a. Press SELECT until message, “Set
a. If not already, put Gantry in General 180°. Position Sensor Locations” appears.
b. Translate Gantry away from Exchanger. b. Press ENABLE until message, “Set
c. Hold START, STOP and SLOW keys. Position Sensor, Gantry Translate”
appears.
Note: Gantry Translate and Radius move c. Press SELECT until message, “Set
under robotic motion during this procedure. Position , Gantry Radius Head1" appears.
Ensure objects are clear and rear doors are d. Press ENABLE; the message, “Ensure
closed. Objects are Clear” will appear.
e. Press ENABLE again; system will move
Detector #2 Radius to magnet.
f. Before taking the Exit option, translate the
Gantry away from the Exchanger.1
g. Reset "Cal" rocker switch.
h. Simultaneously press START & STOP to
return to normal operating mode.
i. Proceed to next page,
or
terminate the calibration procedure and do
a backup (Appendix A).
1 If you accidently do an exit before you translate the Gantry away from the Exchanger, you must
press START, STOP and SLow to enter the diagnostic mode, press Resume to get to “Translate”,
press Manual Override and move the Gantry away from the Exchanger.
2-27
Detector Lock Plate Sensor Adjustment
1. Theory and importance: i. Starting at foot-end, rear corner Head #1:

• The Lock Plate Sensors on the Detector • move foot-end Lock Plate as far to the
sense the position of magnets on the rear as it will go (about 1 cm); the tone
Detector Lock Plate. should not stop during this movement,
• Detectors #1 and #2 each contain two • repeat for head-end Lock Plate; the tone
Lock Plate Sensors. should not stop during this movement.
• The system uses the Lock Plate Sensors to
determine when a Collimator is locked
onto a Detector during Collimator
Exchanges.
2. Initial setup:
Tone in Unlock Notch
Note: If a problem arises with a Collimator
Foot-End View of Head #1 Rear Corner
Eccentric, refer to pg 4-22 of the 9202-0082
manual. j. If the tone stops, skip to step #5.
a. If detectors are not 180° apart, press k. Starting on foot-end, rear corner Head #1:
SELECT on Display Box until panel • pull the Lock Plate slightly to the rear
reads, "General 180"; press ENABLE and, simultaneously,
twice. • hold the Latch Pin down with one hand,
3. Detector #1 Lock Plate Sensors: • return the Detector #1 Lock Plate to the
a. Rotate Gantry 1 CW to 180° (detector #1 lock position, and
on bottom, facing up). • release the Latch Pin.
b. Hold START, STOP and SLOW keys.
c. Press SELECT about six times until Detector #1 Lock
message, “Adjust Sensors with Audible Plate Movement
Feedback” appears.
d. Press ENABLE.
e. Press SELECT about seven times until
message, “Det 0 Lockbar Unlock” Lock Notch
appears. Latch Pin Movement
f. Press ENABLE. Foot-End View of Head #1 Rear Corner
g. Starting at the foot-end rear corner of l. Repeat for the head-end Lock Plate.
Head #1: Note: you must return both Lock Plates to
• hold the Latch Pin down with one hand, their locked positions!
• move the Detector #1 Lock Plate far m.Press SELECT about 11 times until the
enough to the rear so the Unlock notch message, “Det 0 Lockbar Lock” appears.
is over the Latch Pin, and n. Press ENABLE; tone will sound.
• release the Latch Pin. o. Starting on the foot-end of Head #1:
• move the Detector #1 Lock Plate to the
Detector #1 Lock rear; the tone should stay on during
Plate Movement
Lock Plate travel.
Latch Pin
Unlock Notch Movement
h. Repeat for the head-end Lock Plate; when
both Lock Plates are unlocked you will p. Repeat for the head-side Lock Plate.
hear a tone. q. If the tone stops in less than 3 mm of
Note: Don’t rotate gantry with collimator travel, skip to step #5.
in this unlocked position!
2-28
4. Detector #2 Lock Plate Sensors: m.Repeat for the head-end Lock Plate.
a. Hold START and STOP keys to return to Note: you must return both Lock Plates to
normal mode. their locked positions!
b. Rotate Gantry #1 CCW to 0° (Detector #2
Detector #1 Lock
on bottom, facing up). Plate Movement
c. Hold START, STOP and SLOW keys.
d. Press SELECT about six times until
message, “Adjust Sensors with Audible
Feedback” appears.
e. Press ENABLE. Lock Notch
Latch Pin Movement
f. Press SELECT about ten times until
message, “Det 1 Lockbar Unlock” Foot-End View of Front Corner Head #2
appears.
n. Press SELECT about 11 times until the
g. Press ENABLE.
message, “Det 1 Lockbar Lock” appears.
h. Starting at foot-end, front corner Head #2: o. Press ENABLE; tone will sound.
• hold the Latch Pin down with one hand, p. Starting on the foot end of Head #2:
• move the Detector #2 Lock Plate far • move the Detector #2 Lock Plate to the
enough to the front so the Unlock notch front; the tone should be on during
is over the Latch Pin, and Lock Plate travel.
• release the Latch Pin.
Detector #2 Lock
Plate Movement
Tone in Lock Notch

Latch Pin Foot-End View of Front Corner Head #2
Movement
Unlock Notch
q. Repeat for the head-end Lock Plate.
Foot-End View of Front Corner Head #2
r. If the tone stops in less than 3 mm of trav-
i. Repeat for head-end Lock Plate; when el, skip to step #5.
both Lock Plates lock you will hear a tone. s. Hold Start and Stop to return to normal.
Note: don’t rotate gantry with collimator
in this unlocked position! 5. Adjustments: If any one of the above tests
j. Starting at foot-end front corner Head #2: fail, one of the applicable magnet must be off
• move foot-end Lock Plate as far to the center. To recenter a magnet:
front as it will go (about 1 cm); tone a. identify which magnet is off-center (front
should not stop during this movement, or back),
• repeat for head-end Lock Plate; the tone a. loosen pair of screws holding lock magnet,
should not stop during this movement. b. reposition the magnet,
c. retighten the screws, and
d. repeat the applicable test.

Foot-End View of Front Corner Head #2
k. If the tone stops, skip to step #5.
l. Starting on foot-end front corner Head #2:
• pull the Lock Plate slightly to the front
and, simultaneously, Magnet Lock Plate Sensor
• hold the Latch Pin down with one hand, (plastic cover)
• return the Detector #2 Lock Plate to the View of a Magnet and Sensor
lock position, and (other views may be flipped)
• release the Latch Pin.
2-29
Detector Latch Sensor Adjustment
1. Theory and importance: f. With your finger, raise the Latch Pin on
• The Detector Latch Sensors senses when the foot-end, front corner of Detector #1;
a collimator is latched to a detector. the tone should stop just as the bottom of
• If the Latch Sensor in incorrectly set, the the latch pin passes half way up the Lock
system might continue with an collimator Notch in the Detector #1 Lock Plate.
exchange when a collimator is not
Latch Pin
securely latched to a detector. Latch Pin half way; Latch Pin
2. Initial setup: at bottom; tone switches at top;
tone on on/off tone off
a. If detectors are not 180° apart, press
SELECT on Display Box until panel
reads, "General 180"; press ENABLE
twice.
b. Rotate Gantry 1 to 0° (detector #1 on top).
c. Rotate Detector #1 to 0° (detector facing
down).
e. Translate Gantry away from Exhanger.
3. Detector #1 Latch Sensors:
Foot-end View of Detector #1 Lock Plate
a. Hold START, STOP and SLOW keys to
enter Diagnostic Mode. g. Press DISABLE.
b. Press SELECT until the Display Panel h. If the tone doesn’t switch on and off half
reads, “Adjust Sensors with Audible way up the Lock Notch, remove the
Feedback”. Corner Block Cover, and move the sensor
c. Press ENABLE. up or down to correct the problem. When
d. Press SELECT until the Display Panel the tone switches correctly, go to next
reads, “Det 0 Lockbar Latch”. step.
e. Press ENABLE. Adjust this sensor
You should hear a tone.
Magnet
Latch Pin
Front View of Detector #1 Corner Block
i. Repeat for the head-end, front corner of

Detector #1.
2-30
4. Detector #2 Latch Sensors: e. If the tone doesn’t switch on and off half
a. Press START and STOP for normal. way down the Lock Notch, remove the
b. Rotate Gantry 1 to 180° (detector #2 on Corner Block Cover, and adjust the Latch
top). Pin mechanism. When the tone switches
c. Radius Head #2 in. correctly, go to the next step.
d. Hold START, STOP and SLOW keys to
Adjust this sensor
enter Diagnostic Mode. Magnet
e. Press SELECT until the Display Panel Latch Pin
reads, “Adjust Sensors with Audible
Feedback”.
f. Press ENABLE.
g. Press SELECT until the Display Panel
reads, “Det 1 Lockbar Latch”.
h. Press ENABLE.
You should hear a tone.
i. Walk to the rear of the Gantry. Rear View of Detector #2 Corner Block
j. With your finger, raise the Latch Pin on
the foot-end, rear corner of Detector #2; f. Repeat for the head-end, rear corner of
the tone should stop just as the top of the Detector #2.
latch pin passes half way down the Lock 5. To conclude:
Notch in the Detector #2 Lock Plate. a. Simultaneously press Start and Stop to
k. Press DISABLE. return to the normal operating mode.
b. Move Radius #2 back out.
Latch Pin c. Rotate Gantry back to 0°.
Latch Pin half way; Latch Pin
at top; tone switches at bottom;
tone off on/off tone on
Foot-end View of Detector #2 Lock Plate
2-31
Detector #1 Over Detector #2 Check (Head to Foot)
1. Theory and importance: e. Check to see that Head #1 is vertically

• if the detectors are not aligned vertically over Head #2 within ±3 mm.
in the head-to-foot direction, you must
make unacceptable compromises to set
the gantry translate position for collimator
exchanges, and
• it will be difficult to get both detectors
aligned with the Exchanger Carriage.
2. Initial setup: Level
a. If detectors are not 180° apart, press
SELECT until Display Panel reads,
b. Rotate Gantry 1 to 0° (detector #1 on top).
±3 mm
c. Rotate Detector #1 to 0° (facing down).
3. Detector #1 over Detector #2 check: Front View of Detector 1 & 2
a. Adjust both Detector Radii inward so
detectors are as close as possible. f. If Head #1 is vertically over Head #2
b. Rotate Detector #1 so crystal is facing within ±3 mm, proceed to the next test. If
slightly to front (about 20°). not, correct the problem as described
below.
4. Vertical alignment correction:
a. On the foot side of Head #1,completely
remove the four screws holding the
Detector Nut.
Detector Nut
Foot-end View of Detector 1 & 2
c. Remove foot-end Radius Arm Cover for

Head #1. Foot-end View of Detector 1 Detector Nut
d. Place a level vertically between Head #1
and Head #2 in the rear on the foot side. b. To move Head #1 in head direction, turn
the Detector Nut counter-clockwise;
tighten the four screws to 75 in-lbs torque
and recheck detector vertical alignment.
c. To move Head #1 in foot direction, use a
lever from the head end to force the
detector in the foot direction, then turn the
Detector Nut clockwise until tight; tighten
Level
the four screws to 75 in-lbs torque and
recheck detector vertical alignment.
5. To conclude:
a. When the detector vertical alignment is
within specification, replace the Radius
Arm Cover, adjust both radii back out,
Foot-end View of Detector 1 & 2 and level Detector #1.
2-32
Gantry Translate Calibration
1. Locating Translate Sensor: c. Press RESUME until letters "TRANS"

a. Move both head radii in to 35.1 appear next to Pot Cal.
b. If not already in Cal mode, press START,
Pot Cal - TRANS [0]
STOP and SLOW ENABLE.
Tg = -45.0 CM 17.7 IN
c. Enter Position Sensor mode by pressing
POT: 6xx ENC: -40.0
SELECT until message Display reads,
EXIT-->
“Adjust Sensors With Audible Feedback.”
d. Press ENABLE; system will print 3. For first calibration point:
message, “Audible Sensors, Gantry a. With Handcontrol, slowly move Gantry 5
Rotate @ 0” on the Display Box. cm toward head. Do not hit the Head End
e. Press SELECT until second line of Stand. Do not exceed 350-3900 (value will
Display Box reads, “Gantry be near 500).2
Trans/Radius.” b. Press PAUSE/MARK to store first cal
f. Press ENABLE until word, “Disable” point. Target should change to second Tg.
appears on bottom line of Display Box. 4. For second calibration point:
g. With Handcontrol, translate Gantry a. With handcontrol, move Gantry toward
toward Translate Magnet (-40.0 cm) until foot until ENC value is same as Tg
tone is first heard; backup until tone stops (168.0). Do not hit Foot End Stand or
and then slowly translate Gantry toward exceed 350-3900 (value will be near
magnet again until tone is first heard. 3300).2
h. Push ENABLE to turn tone off.
Pot Cal - TRANS [1]
i. Press START and STOP to exit.
Tg = 168.0 CM 66.1IN
2. Initial setup:
POT:33xx ENC: 168.0
a. Press START, STOP and SLOW EXIT-->
ENABLE keys to enter Diagnostic mode.
Press ENABLE on Display Box to enter b. Press "Cal" rocker switch (3rd from left)
Cal Mode. on MPU.
c. Press PAUSE/MARK to store second
point. Target should return to first Tg.
5. To conclude calibration:
a. Reset "Cal" rocker switch on MPU.
b. Proceed to Position Verification Test and
the Translate Sensor Setting procedures on
the next two pages.
Note: Failure to do the Translate Sensor

Setting procedure on the next page may
nullify the translate calibration!
1 Software cannot distinguish between Radius 1, Radius 2 and Translate sensors; ensure radius
motions are not near their sensors by moving radii to less than 35.
2 If you accidentally hit "hardware" limit: (1) press "limit ovr" switch (2nd rocker switch from left on
MPU board), (2) carefully select the direction of movement switch on the handcontroller, and (3)
back away using slow enable switch.
2-33
Gantry Translate Position Verification
1. Theory and importance: 4. For second position:

• This position verification procedure tests a. With handcontrol, move Gantry until left
the Gantry translate pot and encoders.
2. For initial setup: side of Gantry is near Head End Stand. Both
a. If not already in Diagnostic Mode, hold pot and encoder should decrease.
START, STOP and SLOW ENABLE. b. Determine if pot and encoder agree by 0.5
b. Press ENABLE on Display Box to enter cm or less.
Cal Mode. Fdbk Cal - TRANS [0]
c. Press STOP until letters "Fdbk Cal" Pot = -45.000
appear on Display Panel. Enc = -45.195
d. If letters "TRANS" are not on Display EXIT-->
Panel, press RESUME until they appear. 5. Action:
a. If disagreement is more than 0.5 cm,
determine and repair cause of slippage.
Fdbk Cal - TRANS [0]
Pot = 168.998 b. If disagreement is less than 0.5 cm, move
Enc = 168.922 gantry about 6" away from the Head End
EXIT--> Stand, press ENABLE to exit Cal Mode,
and do Translate Sensor procedure (next
3. For the first position: page).
a. Verify right side of Gantry is near Foot
End Stand. Note: Failure to do the Translate Sensor
b. Verify pot & encoder agree by 0.5 cm or Setting procedure on the page may nullify
less; if disagreement exceeds 0.5 cm, make the translate calibration!
repairs.
2-34
Translate Sensor Setting
1. Theory and importance: 3. To set the Translate Sensor:

• To “set” the Translate Sensor, the system a. Press SELECT until message, “Set Position
translates the Gantry until the Translate Sensor” appears.
Sensor in the Gantry detects the magnet in b. Press ENABLE until message, “Set
the rail; the software then stores in RAM Position Sensor, Gantry Translate” appears.
the magnet location. c. Press the "Cal" rocker switch (3rd from
• The system uses the Translate Sensor to left on MPU), and close the door.
more acurately determine the Gantry d. Press ENABLE; the message, “Insure
Translate position during collimator Objects Are Clear” will appear.
exchanges. e. Press ENABLE again; system will translate
• Failure to accurately store the Translate gantry and store the position in RAM.
Sensor location may cause collimator f. Translate the Gantry away from the
exchange problems. Exchanger to access the MPU again.
• Software cannot distinquish between the g. Reset "Cal" rocker switch.
Radius 1, Radius 2 and Translate sensors; h. Simultaneously press START & STOP to
to preclude having the location of one return to normal operating mode.1
sensor stored with the identification of 4. To conclude:
another sensor, the following steps must a. Proceed to next page, or terminate the
be exactly followed. calibration procedure and do a backup
2. For initial setup: (Appendix A).
a. Translate Gantry away from Exchanger to
access MPU.
b. Hold START, STOP and SLOW ENABLE
keys.
1 If you accidently do an exit before you translate the Gantry away from the Exchanger, you must
press START, STOP and SLOW ENABLE to enter the diagnostic mode, press ENABLE to to get
into Cal Mode, press Resume to get to “Translate”, press Manual Override and move the Gantry
away from the Exchanger.
2-35
Table Height (z) Calibration
1. Theory and importance: d. Lower the Head End Stand until bottom of
• Unless you set both End Stands to the same Table Support is about 85 cm (33 1/4")
height, the system will halt and display above top of Baseplate. Pot: 350-3900.
error messages.
• Unless you calibrate the range of End
Stand movement, the system may attempt
to drive the End Stand beyond their limits.
2. If you have not already, do these steps:
a. If detectors are not 180° apart, press About
85 cm
SELECT on Display Box until you see,
(33 1/4")
b. Remove patient table.
c. Translate Gantry away from Exchanger to
access Gantry MPU.
3. For inital setup:
a. Hold START, STOP and SLOW Front View of Head End Stand
ENABLE. Press ENABLE on Display e. Reattach table.
Box. f. Place level on table and raise or lower just
b. Press RESUME until letters "TB Z FT" the Head End Stand until table is level.
appear.
4. For first cal point for both Foot & Head End
Stands:
a. Ensure Target (Tg) number is -23.0 cm.
Pot Cal - TB Z FT [0] Front View of Table and Level

Tg = -23.0 CM -9.1 IN
POT: ___ ENC: ___ g. Press RESUME about eight times until the
EXIT--> letters "TB Z FT" reappear.
Pot Cal - TB Z FT [0]
b. Lower Foot End Stand until bottom of Tg = -23.0 CM -9.1 IN
Table Support is 74.4 cm (29 5/16") above POT: 6xx ENC: -23.0
top of Baseplate (76.1 cm or 2915/16" on EXIT-->
earthquake systems). Pot: 350-3900.
h. Press PAUSE/MARK to store first foot
cal point. Target will change to 13.0 cm.
i. Remove patient table.
Normal: 5. For second cal point for both Foot and Head
74.4 cm End Stands:
(29 5/16") a. With handcontrol, raise Foot End Stand
Earthquake: until ENC readout on Display Panel is
76.1 cm 13.0.
(2915/16") b. Press "Cal" rocker switch (3rd switch
from left on MPU board).
c. Press PAUSE/MARK to store second foot
Front View of Foot End Stand cal point. Target will change to -23.0 cm.
d. Reset the "Cal" rocker switch
c. Press RESUME until letters "TB Z HD"
e. Press RESUME until letters "TB Z HD"
appear on Display Box. reappear on Display Box.
Pot Cal - TB Z HD [0]
Tg = -23.0 CM -9.1 IN Pot Cal - TB Z HD [0]
POT: ____ ENC: __ Tg = -23.0 CM -9.1 IN
EXIT--> POT: 6xx ENC: -23.0
EXIT-->
2-36
e. Press PAUSE/MARK to store first head i. Press "Cal" rocker switch (3rd switch
cal point. Target will change to 13.0 cm. from left on MPU board).
j. Press PAUSE/MARK to store second
Pot Cal - TB Z HD [0] head cal point. Target will change to -23.0
Tg = 13.0 CM 5.1 IN
cm.
POT: 6xx ENC: -23.0
k. Reset the "Cal" rocker switch to off.
l. In user mode, verify Table Z motion from
f. Raise Head End Stand until Encoder -23 cm to 13 cm.
readout on Display Panel is about 13.0. m.Proceed to instructions for calibrating
g. Reattach table. Table X , or terminate this procedure by
h. Place level on table and raise or lower just pressing ENABLE to end calibration and
the Head End Stand until table is level. doing a backup (Appendix A).
Front View of Table and Level
2-37
Table Lateral (x) Calibration
1. Theory and importance: l. Rotate Gantry 180° CW to verify center.

• Unless you set both End Stands to the same m. Mark position of End Stand moveable
horizontal position, the patient table will assembly with respect to its base (zero
not fit properly. point.)
• Unless you calibrate the range of End
Stand movement, the system may attempt
to drive the End Stand beyond their limits.
2. If not already done, do these steps:
a. Ensure you have the same type of
collimators mounted on both heads. 0
b. Calibrate all previously described motions Head View of Head End Stand
(Gantry Rotation, Detector Rotation,
4. For first cal point for Head End Stand:
Detector Radius, and Table Height).
a. Move heads to maximum radius.
c. Remove table.
b. Translate Gantry away from the Collimator
3. For initial setup:
Exchanger to access the Gantry MPU.
a. Move table height (z) to 0.0.
c. Hold START, STOP and SLOW
b. Translate gantry to head end.
ENABLE; press ENABLE on Display Box.
c. Rotate gantry CW so detector #1 is at +90°
d. Press RESUME until "TB X HD" appears.
(rear) and detector #2 is at 270° (front).
d. Rotate head #1 to 0°. Pot Cal - TB X HD [0]
Tg = -9.5 CM -3.7 IN
POT: ____ ENC: ___
EXIT-->
e. With a scale and handcontrol, move the
End Stand 9.5 cm behind the zero point.
Head View of Gantry
e. Adjust both detectors to same radius value.

f. With handcontrol, move End Stands (lat x)
approximately midway between detectors.
g. Hold level against detector #1 and adjust 9.5 cm
Detector #1 rotate until head is vertical. 0
h. Move Detector #1 radius so detector (not Head View of Head End Stand
collimator) is a known distance from End f. Press PAUSE/MARK to store first
Stand (e.g., 13 cm or 5"). calibration point; Tg will change to +9.5.
5. For second cal point for Head End Stand:
a. With handcontroller, move the End Stand
until ENC reads +9.5 cm.
13 cm
Head View of Head End Stand
0
i. Rotate gantry 180° CCW (view from foot) 9.5 cm
j. Hold level against detector #1 and adjust Head View of Head End Stand
Detector #1 rotate until head is vertical. b. Press "Cal" rocker switch (3rd switch)
k. If Detector #1 is not the same distance c. Press PAUSE/MARK to store second cal.
from the End Stand, move End Stand to 1/2 d. Return End Stand (lateral x) to zero (which
difference. may require pushing Manual Override).
e. Reset “Cal” rocker switch.
2-38
6. Initial steps for Foot End Stand: e. With a scale and handcontrol, move the
a. Press ENABLE for normal mode. End Stand 9.5 cm behind the zero point.
b. Translate gantry to foot end.
c. Adjust both detectors to same radius value.
d. With handcontrol, move End Stands (lat x)
approximately midway between detectors.
e. Hold level against detector #1 and adjust
Detector #1 rotate until head is vertical.
f. Move Detector #1 radius so detector (not
collimator) is a known distance from Foot 9.5 cm
End Stand (e.g., 13 cm or 5"). 0
Foot View of Foot End Stand
f. Press PAUSE/MARK to store first
calibration point; Tg will change to +9.5
cm.
8. For second cal point for Foot End Stand:
a. With handcontroller, move the End Stand
13 cm until ENC reads +9.5 cm.
g. Rotate gantry 180° CCW (view from foot)

h. Hold level against detector #1 and adjust
Detector #1 rotate until head is vertical.
i. If Detector #1 is not the same distance
from the End Stand, move End Stand to 1/2 0
difference. 9.5 cm
j. Rotate Gantry 180° CW to verify center. Foot View of Foot End Stand
k. Mark position of Foot End Stand b. Press PAUSE/MARK to store second cal.
moveable assembly with respect to its base c. Return End Stand (lateral x) to zero (which
(zero point). may require pushing Manual Override).
9. Conclusion.
a. Reset “Cal” rocker switch.
b. Press ENABLE and do a backup
(Appendix A).
0
7. For first cal point for Foot End Stand:

a. Move heads to maximum radius.
b. Hold START, STOP and SLOW
ENABLE. Press ENABLE on Display
Box.
c. Press RESUME until "TB X FT" appears.
d. Press "Cal" rocker switch (3rd switch
from left on MPU board). Cal Ram Status
on Display Box will change to [1].
Pot Cal - TB X FT [1]

Tg = -9.5 CM -3.7 IN
POT: ____ ENC: ___
EXIT-->
2-39
SECTION 3
MOTOR CONTROLLER CALIBRATION
Scope If the Max Speed or IR Comp is incorrect in one

extreme, the system will stall before reaching
This section describes how to calibrate the the target position.
motor controllers that control gantry motions.
System stalls before
Overview reaching target
Application software, and the software

associated with the preprogrammed buttons and
Speed
the handcontrol, control each gantry motion. At
a lower level, individual Motor Controller
boards assist the software.
The Motor Controller boards are mounted on Distance Target

Position
the Motor Controller Panel Assembly on the left
rear gantry door. Figure 3-1 shows the location
of each Motor Controller board.
If the Max Speed or IR Comp is incorrect in the
Although there are six pots on each controller, other extreme, the system will “Maytag” before
you only need to adjust two (Max Speed and IR reaching the target position.
Comp). You must set the other five pots to
specific positions, which will be specified later. System Maytags
You will want the system to use the slowest

Digital-to-Analog Converter-controlled speed
Speed
that will allow the system to move to a target

position.
Ideal Gain & IR Comp Distance Target

Position
slowest DAC
speed that
Speed
still permits
motion
Unfortunately, there are no rules to tell you
which pot (Max Speed or IR Comp) to change
to correct stalling or Maytagging. Instead, for
Distance Target each motion, it is best to:
Position
• adjust the IR Comp pot until the speeds in
opposite directions (e.g., CW and CCW)
If you have adjusted the speed correctly, the are the same, and then
system will always be able to “creep” to the
target position. • adjust the Max Speed pot until the speed
for that motion is close to a “target”
value.
3-1
SECTION 3 MOTOR CONTROLLER CAL
As the next few pages describe in detail, to Figure 3-1 illustrates the location of the Motor
calibrate each motion (Gantry Rotate, Translate, Controller boards on the left-rear gantry door
etc.) you will: assembly.
Use the MC Gain option in Cal Mode to The Max Speed and IR Comp pots, along with
report speeds while you adjust the Max five other pots, are clearly visible on the top of
Speed and IR Comp pots to achieve similar each Motor Controller board. You will need to
bidirec-tional speeds and desired target adjust the Max Speed and IR Comp pots.
speeds.
You can set the other five pots (DB, RevTQ,
Use the Speed Cal option (also in the Cal etc.) to predetermined limits. You do not need to
Mode) to see how well software tracks the adjust those pots.
velocities, and
There are also a pack of switches on each motor
Use the Exercise program to cycle test each controller (labeled SW 501). Those switches will
motion and ensure each motion will “creep” be set to the same predetermined positions on
correctly to target positions. each board, and do not require changes.
3-2
MOTOR CONTROLLER CAL SECTION 3
Detector Radius #1
5200-3051
Detector Radius #2
5200-3051
Table Foot Horizontal Gantry Rotate

5200-3051
5200-3052
Table Head Horizontal

5200-3051
Gantry Translate
Table Head Z Vertical 5200-3051
5200-3051
Detector Rotate
5200-3050
Table Foot Vertical Rear View
5200-3051
Figure 3-1. Location of Motor Controller Boards (with left rear door open).
3-3
Motor Controller Adjustments

for All Motions
1. Theory and importance: h. Locate the applicable motor controller

• Motor controller pots must be set so: board on the Rear Gantry Door (Fig 3-1).
- all motions will be smooth, not jerky, i. Locate the IR Comp and Max Speed pots
- when a motion stops, there will be no on the top of the applicable controller.
hunting (more than one overshoot), j. Set the Max Speed pot to mid range.
- there will be no motion errors, k. Adjust the IR Comp pot until the average
- when a motion slows to stop at a velocities in both directions are within 10 -
destination, it will take no more than 50% (with Gantry Rotate with heavy
one second to reach its destination, and collimators, get the velocities as close as
- speeds will be within specifications. possible -- which may be 200% at best),
and the movement is not jumpy.
2. Initial setup:
a. Translate Gantry to middle of rails. 4. Max Speed Testing and Adjusting:
b. If installing new controller, verify SW501 a. With Slow Enable, move the “motion” in
jumper and initial pot settings (Fig 3-2). both directions for 5 seconds.
c. Mount the heaviest Collimators on the b. Calculate the average of the velocity in
Detectors. one direction and the velocity in the other
d. Put the detectors in the 90° position. direction.
e. Rotate Gantry to 0°, with detectors facing c. If the average bidirectional velocity is
in. within 50% of the Target velocity (xxx)
(200% for Gantry Rotate), skip to step #5.
3. Bidirectional Testing & Adjusting IR Comp: d. If the average bidirectional velocity is not
a. Enter cal mode by holding the START, within 10 - 50% of target (200% for
STOP and SLOW keys, and then pressing Gantry Rotate), adjust the Max Speed pot
ENABLE. on the applicable controller board until the
b. Press STOP until the MC Gain option velocity is within that range (or as close as
appears. possible to that range for Gantry Rotate).
c. Press RESUME until the “motion” to be
set (G ROT, RAD 1, RAD 2, Table X, 5. Speed Cal Check.
Table Z) appears on the Display Panel. a. Press STOP until the SPD CAL option
appears.
MC GAIN - G ROT 1
Trgt = xxx Vel = zzz SPD CAL - G ROT 1
Avg = yyy Pos = __ Trgt = xxx Vel = zzz
DAC = 0x 0 EXIT--> Avg = yyy Pos = __
EXIT-->
d. With Slow Enable, move the “motion” in
one direction for 5 seconds, and note the b. With Fast Enable, move the “motion” in
average velocity (yyy). either direction.
e. Move the “motion” in the opposite c. If the average velocity is still within 200%
direction for 5 seconds and again note the of target, skip to step #6.
average velocity (yyy). d. If the average velocity is not within 200%,
f. If the average velocities are within a factor repeat steps 3 (except 3j) and 4.
of 50% (200% for Gantry Rotate) of each
other, skip to step #4. 6. Repeat steps 3 - 5 for each “motion”
g. If the average velocities are not within (G ROT, RAD 1, RAD 2, Table X, Table Z.)
50% (or 200% for GR), go to the next
step.
3-4
Only Max Speed and

IR Comp pots Direction away from
require adjustment. Printer Circuit Board
SCR3
SCR2
SCR1
LEN3
LEN2
LEN1
7:00 12:00 11:00 04:00 4:00 4:00
Table Foot X
(5200-3051) ACC-DEC MAX SPD IR COMP REV TQ FWD TQ SLO SPD SW 501
SCR3
SCR2
SCR1
LEN3
LEN2
LEN1
7:00 12:00 11:00 04:00 4:00 4:00
Table Head X
SCR3
SCR2
SCR1
LEN3
LEN2
LEN1
7:00 1:00 12:00 04:00 4:00 4:00
Table Head Z1
(lower) ACC-DEC MAX SPD IR COMP REV TQ FWD TQ SLO SPD SW 501
(5200-3051)
SCR3
SCR2
SCR1
LEN3
LEN2
LEN1
7:00 1:00 12:00 04:00 4:00 4:00
Table Foot Z
SCR3
SCR2
SCR1
LEN3
LEN2
LEN1
7:00 12:00 10:00 04:00 4:00 4:00
Det Radius 1
SCR3
SCR2
SCR1
LEN3
LEN2
LEN1
7:00 12:00 10:00 04:00 4:00 4:00
Det Radius 2
SCR3
SCR2
SCR1
LEN3
LEN2
7:00 11:00 12:00 04:00 4:00 4:00 LEN1
Translate
SCR3
SCR2
SCR1
LEN3
LEN2
LEN1
7:00 1:00 12:00 04:00 4:00 4:00
Detector #1 Rotate
SCR3
SCR2
SCR1
LEN3
LEN2
LEN1
7:00 12:00 9:00 04:00 4:00 4:00
Gantry Rotate
Note: On all systems, you can permanently set all pots, except Max Spd and IR Comp, to the
above positions. You will only need to adjust the Max Spd and IR Comp pots.
Figure 3-2. Initial pot and switch settings on Motor Control boards.
3-5
Motor Controller Cycle Testing
Testing for Stalls & Maytagging (all motions) 4. Translate Motion:

1. Initial Steps: a. Type: EXERCISE
a. Rotate Gantry to 0°, remove table and b. Press ENTER to continue
Translate Gantry away from Exchanger. c. To translate gantry, type: 5
b. On the PC, get to the DOS prompt. d. For minimum position, type: 70
c. Type: cd \diag e. For maximum position, type: 120
f. For number of movements, type: 10
2. Radius 1 Motion: g. For time delay, type: 4
a. Type: EXERCISE h. To display data, type: Y
b. Press ENTER to continue i. Observe the motion.
c. To move Radius 1, type: 1 j. If no error messages occur and the system
d. For minimum position, type: 15 does not Maytag, skip to step #5.
e. For maximum position, type: 35 k. If errors or Maytagging occur, redo the
f. For number of movements, type: 10 Motor Controller Adjustments for this
g. For time delay, type: 4 motion (page 3-4).
h. To display data, type: Y
i. Observe the motion.
j. If no error messages occur and the system 5. Table Height (z) Motion:
does not Maytag, skip to step #k. a. Type: EXERCISE
k. If errors or Maytagging occur, redo the b. Press ENTER to continue
Motor Controller Adjustments for this c. To move table vertically, type: 6
motion (page 3-4). d. For number of movements, type: 10
l. When motion is satisfactory, rotate gantry e. For time delay, type: 4
to 90° and then repeat steps 1a through 1h. f. To display data, type: Y
m.Rotate gantry back to 0°. g. If no error messages occur and the system
does not Maytag, skip to step #6.
h. If errors or Maytagging occur, redo the
3. Radius 2 Motion: Motor Controller Adjustments for this
a. Type: EXERCISE motion (page 3-4).
b. Press ENTER to continue
c. To move Radius 2, type: 2
d. For minimum position, type: 15 6. Table Lateral (x) Motion (Cardio/Vertex +):
e. For maximum position, type: 35 a. Type: EXERCISE
f. For number of movements, type: 10 b. Press ENTER to continue
g. For time delay, type: 4 c. To move table horizontally, type: 7
h. To display data, type: Y d. For number of movements, type: 10
i. Observe the motion. e. For time delay, type: 4
j. If no error messages occur and the system f. To display data, type: Y
does not Maytag, skip to step #k. g. If no error messages occur and the system
k. If errors or Maytagging occur, redo the does not Maytag, skip to step #7.
Motor Controller Adjustments for this h. If errors or Maytagging occur, redo the
motion (page 3-4). Motor Controller Adjustments for this
l. When motion is satisfactory, rotate gantry motion (page 3-4).
to 90° and then repeat steps 3a through 3i.
l. Rotate gantry back to 0°
3-6
Motor Controller Cycle Testing (continued)
7. Gantry Rotate Motion: k. If errors or Maytagging occur, redo the

a. Use SELECT to move gantry to “Cardiac Motor Controller Adjustments for this
90”: motion (page 3-4).
- Observe motion to the 90° position. l. To move to the gantry 1°, type:
- If no error messages occur and the - 10 (to move to absolute position),
system does not Maytag, skip to step - 0 (to rotate the Gantry)
#b. - 1 (to rotate Gantry to 1° absolute)
- If errors or Maytagging occur, redo the m.Observe the motion.
Motor Controller Adjustments for this n. If no error messages occur and the system
motion (page 3-4). does not Maytag, skip to step #p.
b. With the Handcontrol, put Gantry Rotate o. If errors or Maytagging occur, redo the
at 0°, if it isn’t already. Motor Controller Adjustments for this
c. Type: GDIAGNOS motion (page 3-4).
d. To move to the gantry 20°, type: p. To move to the gantry 0°, type:
- 10 (to move to absolute position), - 10 (to move to absolute position),
- 0 (to rotate the Gantry) - 0 (to rotate the Gantry)
- 20 (to rotate Gantry to 20° absolute) - 0 (to rotate Gantry to 0° absolute)
e. Observe the motion. q. Observe the motion.
f. If no error messages occur and the system r. If no error messages occur and the system
does not Maytag, skip to step #h. does not Maytag, skip to step #t.
g. If errors or Maytagging occur, redo the s. If errors or Maytagging occur, redo the
Motor Controller Adjustments for this Motor Controller Adjustments for this
motion (page 3-4). motion (page 3-4).
h. To move to the gantry 0°, type: t. Use SELECT on Display Panel to move
- 10 (to move to absolute position), gantry back to “General 180°”.
- 0 (to rotate the Gantry) u. Repeat steps 7d to 7r.
- 0 (to rotate Gantry to 0° absolute) v. Go to Motor Controller Clinical Testing
i. Observe the motion. below.
j. If no error messages occur and the system
does not Maytag, skip to step #l.
Motor Controller Clinical Testing
Total Body Scan ECT Scan

1. As a final check on the Translate motor 1. As a final check on the Gantry Rotate motor
controller, use the clinical software to acquire controller, use the clinical software to acquire
a Total Body Scan at a scan speed of 8 the following studies:
cm/min.
• ECT study with the heads at 180°, 32
steps, 1 second/step, for 360°, clockwise
rotation.
• same study with counterclockwise

rotation.
• the same two studies with the detectors at

the Cardiac 90 position.
3-7
SECTION 4
MPU VOLTAGE CHECKS
Scope When to Perform Voltage checks. Perform

check voltages when any of the following con-
This section covers diagnostic tests that are ditions occur:
available on the Gantry MPU board.
• E-stop error occurs that (1) doesn’t involve
Specifically, this section covers: a collision, (2) causes the red emergency
lights on the Display Panel to remain on,
and (3) can’t be cleared by pressing the
• Voltage checks by Gantry MPU PROM, manual override button.
and
• Gantry will not move under
• Gantry MPU PROM diagnostics for the H andcontroller commands.
MPU board
• Gantry MPU diagnostic tests, described
Voltage Checks later in this section, fail for unexplained
reasons.
A PROM diagnostic on the Gantry MPU uses
an A/D converter on the MPU to monitor • Spectrum problems occur making it
power supply and some down-stream voltages. desirable to monitor PM tube high voltages
during spectrum changes.
Procedure. Figure 4-1 illustrates the proce-

dure for performing voltage checks. Note that
you must toggle the RESU ME key on the
H andcontoller to change the Mux values that
change the voltage being checked and re-
ported on the Display Panel.
Table 4-1 shows the voltages that the diagnos-

tic monitors, the expected voltage values, and
corrective action for out-of-range voltages.
4-1
SECTION 4 MPU DIAGNOSTIC TESTS
Procedure: 4. Compare voltage values in the Display

1. Hold START, STOP and SLOW ENABLE on Panel with the values given in Table4-1.
the Handcontrol to enter Cal Mode; press 5. If voltages are out of range, adjust the
ENABLE.
2. Press STOP until letters "Volt Cal" appear on appropriate power supply (see Section 5);
the Display Panel. when adjusting power supply voltages:
Volt Cal - G ROT 1[0] • rely on digital voltmeter values rather
Voltage = 9.871 than the values reported on the Display
ADC Mux = 0 Panel, and
EXIT--> • always check for noise and ripple using
In the Display Panel, ignore the letters "G an oscilliscope.
ROT 1" and the fact that those letters change 6. Press RESUME to test other voltages.
if you press RESUME. 7. When all tests and adjustments are
3. Press RESUME until the ADC Mux value complete, exit Cal Mode by pressing
corresponds to the voltage you wish to ENABLE.
measure (see Table 4-1 below).
Figure 4-1. Procedure for testing voltages checked by A/D on MPU board.
TABLE 4-1. VOLTAGES CHECKED BY A/D ON MPU BOARD.
Mux Voltage Source Lower Nominal Upper Corrective Action

Value Limit Value Limit
0# +9.85 Reference 9.82 v 9.87 v 9.92 v Look for problems on MPU board.
1 Pot Reference (PREF) 9.7 v 9.8 v 9.9 v Look for bad MPU voltage follower.
2 Not used in Vertex
3 Not used in Vertex
4 Battery 3.5 v 4.2 v 5.0 v Replace if won't recharge overnight.
5# + 5v Power 4.8 v 5.0 v 5.2 v Adjust 5 v supply; see Section 5.
6 - 15v Power 2.9 v % 3.0 v% 3.1 v % Adjust - 15 v supplies; see Section 5.
7 + 15v Power 14.5 v 15.0 v 15.5 v Adjust +15 v supply; see Section 5.
8-11 Not used
# Of the voltages tested, these are the most critical.
% Nominal and limit values are scaled by minus 1/5; actual voltages are minus 5 times reported values.
4-2
SECTION 5
AC/DC POWER & E-STOPS
Scope "Analog Vertex"Classic AC Power. AC power
for the Classic gantry comes from the Pegasys
This section discusses: rack.
• AC and DC power, As shown in Fig 5-2, Pegasys includes a "Rear

C/B" circuit breaker to control all Pegasys and
Vertex power. That breaker mounts in a bot-
• emergency stop and collision detection, and tom rear Pegasys panel.
• collision overrides. Since camera PM tubes require a 24 hour

warm-up period, the Rear C/B mounts in an
AC and DC Power inaccessible location to discourage inadver-
tent customer shut downs.
Figure 5-1 shows AC and DC power distribu-
tion for a Pegasys and Epic Vertex camera. The Classic includes two additionally circuit
breakers, "Camera C/B" and "Motor C/B".
These breakers are on the left rear panel. Cus-
Figure 5-2 shows the same information for a
tomers will not normally use these switches.
Pegasys and Analog Vertex camera system.
The "Camera C/B" switch disconnects power

"Epic Vertex"AC Power. AC power for the
to the Vertex detectors, including the PM
Vertex gantry comes from the Pegasys tower.
tubes. It does not affect gantry motor power.
The components in the lower left corner of

The "Motor C/B" switch disconnects power to
Figure 5-1 (on/off switch, brown out circuit,
the Gantry MPU board and gantry motors. It
momentary start switch and fuses) are part of
does not affect detector power or power to
the Power Distribution U nit (PDU ) in the
the high voltage power supply for the PM
Pegasys Tower.
tubes. You will frequently use this switch.
The Epic Vertex gantry includes three addi-

Both Epic and Analog Vertex. To turn power
tional circuit breakers, "Camera C/B", "110 v
off, customers will normally use the "Front
Motor C/B" and "220v Motor C/B". These
C/B" breakers shown in Figures 5-1 and 5-2.
breakers are on the left rear panel. Customers
Those breakers mount on the Pegasys front
will not normally use these switches.
panel. They disables power to the Pegasys
electronics. Through a "SW + 24" line, those
The "Camera C/B" switch disconnects power switches also control contactors K1, K2 , K3,
to the Vertex detectors, including the PM K4 and K5. Those contactors disable power
tubes. It does not affect gantry motor power. to the gantry motor and detector electronics.
They do not disable the 24 volt power to the
The "110v Motor C/B" and "220v Motor C/B" high voltage power supply for the PM tubes.
switches disconnect power to gantry motors.
They do not affect detector power or power DC Power. Figure 5-3 shows the Pegasys and
to the high voltage power supplies for the PM Epic Vertex Classic DC power supplies.
tubes. You will frequently use these switches.
5-1
SECTION 5
Epic Pegasys Electronics Rack Epic Vertex Gantry
HV #2 Head
PM Tubes #2 #2
Supply -5v
+5v
Matador S2 Detector #2 AGND
Correction ±12v Electronics +5v
DGND2
Electronics Head
(MCE) HV #1
PM Tubes #1 #1
Supply +5v -5v
+5v S1 Detector #1 AGND
DGND1
±12v Electronics +5v
Personal Pegasys +24v
Computer System Switching Linear Linear
Gantry Electronics
(mother +5,±12 -5v -5v
(MPU Board)
+24v
board) +5v
DC PS DC PS DC PS
Hard ±12v
#8 #7 #9
Disk
±12v
±5v
SW +24
1
+5v F8 Linear Linear Linear Linear
+12v 2
+24v +5v,±15v +5v +5v
Switching Switching +24v DC PS DC PS DC PS DC PS
±5v, ±12v +5v, ±12v #3 #2 #4
5-2
5 #1
DC PS DC PS K4
5 8
K4
K2
Front C/B 8 K2
SW +24
K1
1 1 1 1 1 1
110v F1 F2 F7 F4 F9
2 2 2 2 2 2
Momentary 9 6
F3
Start Switch K2
Fuse Camera C/B 9 6 K4
2 1 7 4
220 Line
20 amps 110v
VAC On/ Brown Filter 9 6 110v 2 1
Out Fuse 110v Motor C/B K1 Linear
Off

2 1 7 4
Circuit F5
8 amps 110v 110v 110v Gantry 2 +28v
8 5
Linear F10 DC PS
+28v 1
Fuse E-Stop K3 Motor Control #5
2 1
Switching
15 amps 220v K3 K3 E-Stop Relay
SW +24 +24v Brake
DC PS Control
Brake Control PCB K5 E-Stop Relay
(not same relay) (NUAC) PCB
220v Motor C/B 2 F6 1
1 2
220v Gantry GROT #1
220v Linear & Translate
5 4
K5 Motor Control Brake/Clutch
Figure 5-1. Epic Vertex Classic/Pegasys AC/DC Diagram.
Pegasys Electronics Rack Vertex Classic Gantry
Head
HV #2 PM Tubes #2 #2
ICP #2 Supply
+5v
S2 Detector #2 ±15v
±15v +5v -5v Electronics
Head
ICP #1 HV #1
PM Tubes #1 #1
Supply
S1 +5v Detector #1 ±15v
OmniPro Pegasys -5v Electronics
System System +24v
Gantry Electronics
+24v
110v +5v 5 4
K4 (MPU Board)
Hard ±12v K4 5 4
Disk 8 7
K2
SW +24
+5v K2
8 7
+12v
Linear Switching Linear Linear Linear Linear Linear
±15v +5v, ±12v +5v ±5, +24v +5v,±15v ±15v ±15v
5-3
DC PS DC PS DC PS +24v DC PS DC PS DC PS DC PS
#1 #3 #2 #4
SW +24 K1 1 1 1 1
F1 F3 F2 F4
110v 2 2 2 2
9 6
Front C/B Camera C/B K1 K2

7 4 9 6 K4
220 Line
Rear 10 amps 110v 110v
VAC Filter 9 6
C/B
110v Motor C/B 7 4 Linear
20 amps 110v 110v 110v Gantry +28v
8 5
Linear DC PS
K3 Motor Control #5
E-Stop
7 amps 220v K3 E-Stop Relay
SW +24 Brake
Control
SECTION 5
K5 E-Stop Relay
PCB
220v Motor C/B 2 F6 1 220v Gantry
1 2 GROT #1
220v Linear
& Translate
3 4 Motor Control
Figure 5-2. Analog Vertex Classic/Pegasys AC/DC Power Diagram. K5 Brake/Clutch
SECTION 5 AC/DC POWER & E-STOPS
Figure 5-4 shows the Pegasys and Analog Ver- to the detector electronics through contactors
tex Classic DC power supplies. K2 and K4. Those switches interrupt power to
the detector, but do not interrupt the high
Pegasys power supplies provide power for the: voltage power to the PM tubes.
• Matador Correction Electronics PCB

(Epic Vertex) or ICP Electronics (Vertex
Classic),
• Personal Computer, and
• Pegasys electronics.
Both Epic and Analog Vertex Classic power

supplies provide power to:
• detector card cages,
• high voltage power supply for the PM

Tubes, and
• Gantry MPU board that controls gantry

movements.
Switches S1 and S2 in Figures 5-3 and 5-4 al-

lows field service engineers to disable power
5-4
#3
#5 (for Gantry MPU)

(for Gantry Rotate Brake/Clutch & Translate Clutch) ADAC #: 2146-3433
ADAC #: 2146-3432
Board
Board
Transformer
5
1
W2
W1
3
2
4
+OUT
-OUT
+OUT
-OUT
COM
4
2
3
1
5
Transformer
+S
+S
+S
-S
-S
-S
Figure 5-3. Epic Vertex Classic Gantry Power Supplies
+ 5 v (red)
+ 5 v Sense (red)
+ 5 v Return Sense (black)
+ 5 v Return (black)
- 15 v (brown)
-15 v Sense (brown)
- 15 v Return Sense (green)
+/- 15 v Return (green)
+ 15 v Return sense (green)
+15 v Sense (orange)
+ 15 v (orange)
-OUT
+26 v Return (green) Vantage
-S +26 v Return Sense (green)
Power
+S +26 v Sense (yellow)
Supply
+OUT
+26 v (yellow)
Board
#8
(for Detectors #1 & 2)
5-5
ADAC #: 2146-5117
GND
Det 1 ±12 v Ret N
Det 1 & 2 +12 v L
Det 2 ±12 v Ret
Det 1 & 2 -12 v
Det 1 & 2 DGND
Det 1 & 2 +5 v
#4 #2
+5 v Return Sense (gray)

+5 v Return Sense (gray)
(for Detector #2) (for Detector #1)
ADAC #: 2146-3430 ADAC #: 2146-3430
+5 v Sense (white)
+5 v Sense (white)
+5 v Return (gray)
+5 v Return (gray)
+5 v Return (gray)
+5 v Return (gray)
#1 #9 #7
(for Detectors #1 & 2) (for Detector #2) (for Detector #1)
+5 v (white)
+5 v (white)
+5 v (white)
+5 v (white)
ADAC #: 2146-3429 ADAC #: 2146-3431 ADAC #: 2146-3431
SECTION 5
Board Board Board
+24 v (yellow) +OUT
-5 v Return (white) -5 v Return (white)
+OUT +OUT
+24 v Sense (yellow) +S
-5 v Return Sense (white) -5 v Return Sense (white)
+S +S
+24 v Return Sense (green) -S
-5 v Sense (gray) -S -5 v Sense (gray) -S
-OUT
+24 v Return (green) -5 v (gray) -OUT -5 v (gray) -OUT
Transformer Transformer
-OUT
+S
+OUT
-OUT
+S
+OUT
-S
-S
Transformer 4 4
Transformer Transformer 2 2
1 1
3 3
5 5
4 2 3 1 5
4 2 3 1 5 4 2 3 1 5 Board Board
5-6
Figure 5-4. Analog Vertex Classic Gantry Power Supplies
5
1
3
2
4
(for Detector #1)

ADAC #: 5200-2618
Transformer
Gantry Power Supply #2

-OUT
-15 v (brown)
Board
-S -15 v Sense (brown)
CS -15 v Return Sense (green)
Transformer
COM
4
2
3
1
5
CS + 15 v Return Sense (green)
+OUT
+S
-OUT
-S
+S + 15 v Sense (orange)
+OUT
+ 15 v (orange)
Board
ADAC #: 5200-2620
+28 v (purple)
(for Gantry Rotate Brake/Clutch & Translate Clutch)
+28 v Return (green)
+28 v Sense (purple)

+28 v Return Sense (green)
5 1 3 2 4
Transformer
ADAC #: 5200-2619
(for Detectors #1 & 2)
+5VDC
+S - 5 v Return (black)
-S - 5 v (blue)
W2 W1
+5VRIN
-5VRIN
-12VRIN + 5 v (red)
-5VDC
-12VDC +5 v Return (black)
+24VDC + 24 v (yellow)
+S +24 v Sense (yellow)
-S + 24 v Return Sense (green)
Board 24VRIN +24 v Return (green)
Board
+OUT
+ 5 v (red)
5
+ 5 v Sense (red) +S
1
3 + 5 v Return Sense (black) -S
2 + 5 v Return (black)
4 -OUT
(for Detector #2)
ADAC #: 5200-2618
Transformer
Transformer
-OUT
-15 v(brown) 4
-S -15 v Sense (brown) 2
3
CS -15 v Return Sense (green) 1
5
COM
CS + 15 v Return Sense (green)
- 15 v (brown) -OUT Board
+S + 15 v Sense (orange)
-15 v Sense (brown) -S
(for Gantry MPU)
+ 15 v (orange) +S
+OUT - 15 v Return Sense (green) W2
ADAC #: 5200-2621
Board COM

+ 15 v Return sense (green) -S
+15 v Sense (orange) +S
+ 15 v (orange) +OUT W1
AC/DC POWER & E-STOPS SECTION 5

AC/DC POWER & E-STOPS SECTION 5
E-Stop and Collision Detection to keep K1 energized. If K1 is deenergized,

the K6 and K7 coils will loose power and con-
Emergency stop switches allow the operator tacts 9 and 13 of those relays will open; 110
to quickly stop gantry motion. These switches and 220 volt power will not reach the Gantry
are highly visible and accessible. E-Stop and Exchanger motors.
switches appear on:
Collision Overrides
• Acquisition Monitor Cart,
The next few paragraphs cover the collision
• Automatic Collimator Exchanger, override jumpers that the factory uses, and
the collision override button that customer
• Display Panel and sides of Gantry. and field service personnel use.
Collision detection switches appear under Collision Override Jumpers. Collision Over-
each collimator. ride jumpers H D1 and H D2 (Fig 5-5) on the
Gantry MPU board disable collision detec-
tion circuitry. The factory uses those jumpers
Figure 5-5 shows details of the E-Stop and col-
when testing cameras without collimators.
lision detection interfaces to the Gantry MPU
for both Epic and Analog Vertex Classic.
In the field, you would not normally disable
detection circuitry because you can temporar-
When you power up, K1 on the Collimator
ily achieve the same thing by using the Over-
Sensor board provides a 15 volt signal to Jll-
ride Button on the Display Panel.
30 and J7-30 on the MPU board.
In the rare circumstance that the jumpers are

At the end of power up, the operator must
in the wrong positions, you may need to locate
press the Manual Override button. That ac-
and change those jumpers.
tion provides a temporary 15 volt signal to K6
and K7 on the MPU board. The 15 volt signal
to those relay coils will short pins 4 and 8 To enable collision detection, the jumpers
maintain power to K6 and K7. must be between pins 1 and 2 of the three pin
connector W6 and W7. In the enabled posi-
tion, the red Motion H alt light on the Display
As long as the system provides power to K6
Panel will be off. If you remove the jumper, or
and K7, pins 9 and 13 of those relays will pro-
shift it to the disable position (between pins 2
vide a 24 volt signal to activate K3 and K5.
and 3), the red Motion H alt light will turn on.
While K3 and K5 receive the 24 volt signal,
contacts on those relays will provide 110 and
220 volt power to the Gantry and Collimator Collision Override Button. When switch sen-
Exchanger motors. sors on a collimator detect a collision, colli-
sion detection circuitry will disable all
motions and turn on the red Motion H alt light
If the operator opens one of the normally
on the Display Panel.
closed E-stop switches (top of Figure 5-5),
that will (1) interupt the 24 volt signal to K3
and K5, and (2) interupt the 110 and 220 volt To back away from a collision, you must press
power to the Gantry and Exchanger motors. the Override Button on the Display Panel.
When you press the Override Button, the red
Motion H alt light will flash, a beeping noise
Similarly, if the normally open Collimator Col-
will occur, and you will be able to move any
lision switches (bottom left of Figure 5-5) de-
part of the gantry.
tect a collision, the 15 volt signal to K1 will fail
5-7
SECTION 5
Hand Control E-Stop
Pegasys
Front Panel Rack
J2-7 J2-5 TB5-6
From Power Circuit Breaker Gantry
Supplies E-Stops
+5v -5v +24v TB5-3
J7-1 MPU Sensor and Driver
J11-1 Schematic Mobile
MPU PCB
Switch on Sheet 14 Cart
K4 Schematic
Head 2 MPU Sheet 11 TB6-3 K
J7-2 Schematic K
Power to
Sheet 9
Detector TB7-1
Head #2 Collimator
K4 TB7-2 Exchanger
From Power Head 2
Supplies Switch on Power U140 110 VAC to
+5v -5v 220 VAC to
Head 1 Motor Control
Motor Control
J11-2
Motor Motor
K2 TB6-1 Power Power
9 K2 K1
Crk Brk Crk Brk SW
K2 SW K1
K2 TB6-2 K7 A.C.
Power to A.C.
Head 1
Detector 13
Power U140 9
5-8
Head #1
J7-30 8
4 K6
16
K7 K2 K1
+15v 6 1 13
nc MANOVR J4-14
NOR K1 +15 J16-14 6 4 110 VAC to Gantry
Gate 1
& K1 J11-30 K6 16 9
Sensor
Motor Control
8 220 VAC to Gantry
Com K8 and Driver
no no no no no Motor Control
Emtr HD 2 HD 1 Collision Override PCB E-Stop Delayed
TB6-6
Relay 13
Jumpers, W6 / W7 Motor Motor
+ 15v E-Stop
2147-5009 TB4-1 Power Power
1 (ESTOPIN) K3 K5
Collimator TB4-2 +5v Crk Brk
Matador Transition Panel Crk Brk SW SW
Collision K8 K3 K5 A.C.
Logic U60 A.C.
Motor 16

TB5-1 On TB5-2
+15v nc R +15
NOR K1 K8
K3 K5
Gate TB8-4
& K1 J27-4
Com J26-4
no no no no no
Emtr J25-4
Relay
J24-4 Motor Controller,
+ 15v
2147-5009 J23-4 DC Relay Power
Collimator J22-4
Collision Matador Transition Panel
Gantry MPU J21-4
Board J20-4
Figure 5-5. Epic and Analog Vertex Classic / Pegasys E-stop Diagram.
SECTION 6
GANTRY SENSOR TEST
Scope Initiation
This section describes a quick test of the Gan- 1. On the H andcontrol, hold the START,
try sensors that you can perform with the Gan- STOP and SLOW buttons to enter the
try Display Panel. Diagnostic Mode.
2. On the Display Panel, press the SE-

General Description
LECT button until the Display Panel re-
adout says, "SET DEBU G PRINT
The gantry sensors that this test checks in- MODE".
cludes the:
3. Press ENABLE until the third line of
• 0 and 180 degree Gantry rotate sensors, the Display Panel readout says, "Level =
1 of 3".
• Detector # 1 and # 2 Vantage Line Source
Present, After a second or so, the system will dis-
play sensor values on the Display Panel.
• Detector # 1 and # 2 lock, unlock and latch Figure 6-1 shows the sensor readout and
sensors, defines the meaning of each displayed
value.
• translate and radius sensors, and
• Gantry rotate belt sensor.
6-1
E-Stop (1 = off, 0 = on)
Undefined
Slow Enable (0 = off, 1 = on)
SECTION 6
Fast Enable (0 = off, 1 = on)
Gantry Rotate #1 at 0° (0 = sensor off, 1 = sensor on)

Detector #1 Latch (0 = sensor off, 1 = sensor on)
Vantage Line Source Present Head 1 (0 = sensor off, 1 = sensor on)
Detector #2 Latch (0 = sensor off, 1 = sensor on)
Gantry Rotate #2 at 180° Relative (0 = sensor off, 1 = sensor on)

Detector #1 Lock (0 = sensor off, 1 = sensor on)
Vantage Line Source Present Head 2 (0 = sensor off, 1 = sensor on)
Detector #2 Lock (0 = sensor off, 1 = sensor on)
6-2
Translate/Radius #1 & 2 Home (0 = sensor off, 1 = sensor on)

Detector #1 Unlock (0 = sensor off, 1 = sensor on)
Gantry Rotate Belt Present (0 = sensor off, 1 = sensor on)
Detector #2 Unlock (0 = sensor off, 1 = sensor on)
GANTRY SENSOR TEST

1000 - 0111- 1010 - 0111
SET DEBUG PRINT MODE
Level = 1 of 3
Cycle to Next Level
Figure 6-1. Sensor readout on Display Panel.

APPENDIX A
GANTCAL (FOR BACKUP)
Scope 2. To upload Calibration data, do this:
This Appendix describes a procedure for back- a. Select option: 1

ing up the Gantry calibration data obtained in (Send/Receive Calibration Values).
Sections 2 and 3.
b. Select option: 2
The procedure consists of three steps: (Receive Calibration/Limit Values
from Gantry).
1. uploading calibration data from Gantry
RAM to a file on the PC, The system will write calibration val-
ues in a file called GANTCAL.DAT
2. uploading limit data from Gantry RAM in the CORTBL directory and return
to a file on the PC, and you to the D: \DIAG prompt.
2. making a floppy disc copy of the calibra- 3. Copy the CORTBL to a floppy disc with
tion file. the commands:
The next paragraph describes these three steps COPY D: \CORTBL\GANTCAL.DAT A:

in detail. COPY D: \CORTBL\GANTLIM.DAT A:
4. Save the floppy disc with your backup

Procedure flood discs.
To backup the Gantry calibration and limit Note: If you replace the Gantry MPU and load
data obtain in Sections 2 and 3, perform these the GANTCAL.DAT back into the MPU, you
steps: must recheck all calibrations and reset all sen-
sors (see Section 2).
1. On the Acquisition Console, run the
GANTCAL program with these steps:
a. Go to the DOS prompt by selecting

EXIT from the Main Menu.
b. From the \ACQUIRE> prompt, type:
CD \DIAG
GANTCAL
and press ENTER.
A two-option menu will appear.
A-1
APPENDIX A
GANTCAL (FOR BACKUP)
Scope 2. To upload Calibration data, do this:
This Appendix describes a procedure for back- a. Select option: 1

ing up the Gantry calibration data obtained in (Send/Receive Calibration Values).
Sections 2 and 3.
b. Select option: 2
The procedure consists of three steps: (Receive Calibration/Limit Values
from Gantry).
1. uploading calibration data from Gantry
RAM to a file on the PC, The system will write calibration val-
ues in a file called GANTCAL.DAT
2. uploading limit data from Gantry RAM in the CORTBL directory and return
to a file on the PC, and you to the D: \DIAG prompt.
2. making a floppy disc copy of the calibra- 3. Copy the CORTBL to a floppy disc with
tion file. the commands:
The next paragraph describes these three steps COPY D: \CORTBL\GANTCAL.DAT A:

in detail. COPY D: \CORTBL\GANTLIM.DAT A:
4. Save the floppy disc with your backup

Procedure flood discs.
To backup the Gantry calibration and limit Note: If you replace the Gantry MPU and load
data obtain in Sections 2 and 3, perform these the GANTCAL.DAT back into the MPU, you
steps: must recheck all calibrations and reset all sen-
sors (see Section 2).
1. On the Acquisition Console, run the
GANTCAL program with these steps:
a. Go to the DOS prompt by selecting

EXIT from the Main Menu.
b. From the \ACQUIRE> prompt, type:
CD \DIAG
GANTCAL
and press ENTER.
A two-option menu will appear.
A-1
APPENDIX B
GANTSNAP (FOR POST-FAILURE ANALYSIS)
Scope To capture the hardware enable and motion

active bits when a gantry error occurs, gantry
When it recognizes an gantry error condition, code makes a snapshot before disabling or
Vertex gantry code can be told to create a file resetting motions. To do this, the code breaks
containing a “snapshot” of the gantry state. the snapshot into two procedures:
This Appendix describes a procedure for
looking at, and interpreting, the snapshot file. • snapshotMotion saves a copy of most
dynamic motion data,
preprogrammed date,
Background PC receive &
transmit buffers,
Gantry code will create a new snapshot when: timer values, code
line number and
• an operator pushes an E-stop button, status register.
• a motion moves in an unexpected • snapshotStatic called after

direction, snapshotMotion;
collects rest of data.
• a gantry rotate drive belt breaks,
Because snapshotStatic copies some of the
• an error occurs during preprogammed same data as snapshotMotion, there are
operation, sometimes four data values saved for a single
entity (two data sets, each with two values).
• any of these errors occurs:
The gantry code saves snapshot data in
- E3 pot & encoder mismatch uninitialized ram so it will be preserved during
a reboot sequence.
- E5 pot out of range
A program called GANTSNAP (described
- E6 table endstand mismatch below) formats snapshot data into ASCII files
on the PC/Pegasys disk. When initiated,
- L76 head lock bar latch GANTSNAP will:
- L78 head lock bar lock sensor • request the “last saved snapshot”,
- E80 unrequested active motion • initiate another snapshot (the current

snapshot), and
- E81 unrequested motion error
• request the “current snapshot”.
- L89 gantry rotate clutch
Thus, you will usually get two snapshot data
- L99 hw limit hit sets when you initiate GANTSNAP. However,
when you execute GANTSNAP, it causes the
• a software reboot request occurs, or current snapshot to overwrite the last-saved
snapshot data. Thus, the last-saved snapshot is
• “system state” becomes “system fatal”. no longer available to the gantry.
B-1
APPENDIX B GANTRY CALIBRATION
Usually, the last-saved snapshot data will Interpretation

contain the information of field service
interest. If the gantry code did not trigger an To interpret a GANTSNAP file, look at Table
automatic last-saved snapshot, the current B-1 at the end of this appendix and consider
snapshot data may contain useful information. these guidelines:
Procedure • anything on a line after a semicolon is a

human-only comment,
To initiate GANTSNAP, do these steps:
• line 001 contains the GANTSNAP
1. On the PC, get to the DOS prompt. output file revision number,
2. Type: cd \acquire • the basic format of a data line is:

:CC:ST:DS:[P1:[P2]][RN:' where:
3. Type: GANTSNAP
CC is the two character ASCII
The program will do the action described command sent from the PC to
above, and will create the following the gantry in requesting data.
ASCII format file:
ST is GANTSNAP status, where:
\CORTBL\GSyymmdd.nnn
0 = the initial status,
where:
• “yymmdd” is the year/month/day, and 1 = indication that the PC
sent a CC command to
• “nnn” is 000 or the next available the gantry, and the
number in the sequence 001, 002, etc. gantry returned a proper
for that day. length response,
To look at the GANTSNAP-created file, go to 2 = same as 1 and response

the Pegasys terminal and do these steps: was valid.
1. Open a UNIX window by clicking in the DS is the data set number where, if
gray area, and taking the System there are only 2 data sets for
Maintenance, System Utilities and each data element:
UNIX Window options.
0 = the last saved snapshot,
2. Type: cd /files/camera1/cortbl
1 = the current snapshot.
3. Type: ls
But if there are 4 data sets for
4. In the listing, find the latest each data element, then:
“GSyymmdd.nnn” file.
0 = first snapshot from
5. Type: more -d GSyymmdd.nnn snapshotMotion,
where you replace the letters 1 = first snapshot from

yymmdd.nnn with the name of the file snapshotStatic,
determined in step 4.
2 = current snapshot from
6. Use the space bar and left or right mouse snapshotMotion, and
keys to step through the contents of the
file using the guidance contained in the 3 = current snapshot from
Interpretation section below. snapshotStatic.
B-2
GANTRY CALIBRATION APPENDIX B
P1 is a parameter that the PC sent • lines 188-193 error number for each
to the gantry (if the command collimator exchanger
required a parameter). motion and “SavePos”,
an index which
P2 is another parameter that the PC identifies the last
sent to the gantry (if the attempted collimator
command required two exchanger movement as
parameters). follows:
RN is the record number (0, 1, 2,...) SavePos Meaning

if the gantry response for a 1 bridge up
given command is formatted 2 bridge down
over more than one line. 3 carriage in
4 carriage clear
The formatted data are the actual data values 5 drive lock
from the gantry. For field service personnel, 6 lock
the following lines will be of interest: 7 unlocK
8 drive unlock
• lines 005-008 gantry sensor values in 11 elevator level 0
the same order as they on carriage
appear on the display 12 elevator level 0
panel when in diagnostic on elevator
mode. 13 elevator level 1
on carriage
• lines 010-057 motion data for the last 14 elevator level 1
attempted movement on elevator
and the current status. 15 elevator level 2
on carriage
• lines 058-101 error number that was 16 elevator level 2
displayed on the Display on elevator
Panel for the last 17 elevator level 3
attempted movement. on carriage
18 elevator level 3
• lines 102-124 gantry calibration data. on elevator.
• lines 126-130 preprogram, calibration

and “extra error field”
error values, and the
gantry code ID which
identifies the place in
the code where the code
initiated the snapshot.
• lines 144-146 collimator map.
• lines 148-151 collimator present

sensors.
• lines 153-156 collimator exchanger

position sensors.
B-3

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Analog & Epic Vertex

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

About This Manual

• an overview (Section 1), General Description

• Epic Detector Calibration (9202-0101), and • associated electronics in each detector

Figure 1-1. Vertex "Classic" Gamma Camera.

Epic Vertex Interfaces In Pegasys, the Maui-Maui board sends data

The PC directs gantry movements through an Analog Vertex Interfaces

MATADOR MAUI-MAUI IMAGE

CORRECTION X,Y,Zcor PC XYZ AT IMAGE -stack only-

IMAGE TEXT KEYBOARD

Figure 1-2. Epic Vertex Classic / Pegasys Block Diagram.

PRE-WINDOW H.V. CTRL PW/PI PROCESSOR

DIG I/F Image E-net

IMAGE TEXT KEYBOARD

Figure 1-3. Analog Vertex Classic / Pegasys Block Diagram.

• detector # 2 radius, 1. reads the potentiometer,

• table foot horizontal motion, 2. fetches a calibration factor from a bat-

HD1 Radius Drive

HD1 Radius Encoder

HD1 Gantry Rotate Encoder

HD2 Gantry Rotate Encoder

HD1 Gantry Rotate Pot

Figure 2-1. Pot and Encoder Locations

• encoders slipping relative to mechanisms,

Reverse, Negative Direction: B leads A

Error Condition Reporting Potentiometer Replacement

Encoder and potentiometer position discrep-

1 The mid point can also be checked with a voltmeter.

DETECTOR 1 RADIUS DETECTOR 2 RADIUS

GANTRY 1 ROTATE GANTRY 2 ROTATE

TABLE HEIGHT Z TABLE LATERAL X

MOTION MANUAL MOTION

Vacuum Florescent Readout IMAGING

ADAC ADAC LABORATORIES

Figure 2-2. Display Box and Handcontroller.

Code Meaning Cause Action

E-1 Communication error. DUART parity, framing or Reset gantry.

E-2 Emergency stop. E-stop button pressed. Release E-stop button.

E-4 Exchanger trays not parked. No communication. Check communication.

E-6 Table Endstand mismatch Negligence after calibra- Check Endstand

E-10 Unwanted, spurious inter- HW noise or SW internal Reset gantry.

E-13 Interrupt level out of range. HW noise. Reset gantry.

E-14 Software limit hit. Out of calibration. Recalibrate.

E-16 Detector head collision. Physical collision. Remove collision in over-

E-20 Pot is slipping. Bad pot. Check pot.

TABLE 2-1 (continued)

Code Meaning Cause Action

E-22 Parameter error. PC received command with Check communication

E-23 Bad checksum in Cal Bad DUART. Check DUART.

E-25 Position sensor not found. Sensor is not working or Recalibrate.

E-39 Unexpected position sensor Sensor malfunction. Check sensor.

E-100 Preprogrammed motion Reset gantry.

TABLE 2-1 (continued)

Code Meaning Cause Action

E-104 Collimator exchanger Unlock sensor in unexpect- Check/adjust unlock sensor.

E-105 Collimator exchanger Locking Plate Lock & Un-

E-107 Collimator exchanger Collimator map incorrect. Correct map or fix/adjust

E-108 Collimator exchanger Probable noise in Ensure “PC/Stack/Gantry

E-110 Collimator exchanger A position or sensor Check all Exchanger sen-

E-111 Collimator exchanger Carriage position by pot #1 Look at Carriage position

E-112 Collimator exchanger Motion is not at exchange Put Gantry Translate at