4, PRINCIPLES OF OPERATION 4.1 Outline of the System No. 2D342-023E (1) Block diagram of the entire CAS-8000V system (hardware configuration) Figure 4-1(2) Software configuration AOL PWB (CPU: 68Hc000-16) 402 PWB No. 2D342-023E

* AC servomotor control * Inverter drive motor control (CPU: 280-8 Miz) |* Communication 1/F to the DFP-2000A ‘A07 PHB + Communication I/F to the CAT-350B + CHECK & SAVE PWB control (cPU: 780-8 Miz) | * Communication I/F to the BLA-800A * Communication I/F to the area dosimeter ‘A04 WB 4.2 C-arm Rotation 4.2 4.2.2 Operating specitications * Communication I/F to the KXO-200A TESEUAy, (cpu: Miz) |* PDP control Figure 4-2 + Operating range: RAO 180° to LAO 120° * Operating speed: During manual operation Max. 15°/s (motor axis: 3000 rpm) During rotational DSA Max. 15°/s (motor axis: 3000 rpm) Drive method itt Worm Harmonic | Cross-rller Pa leg) Ut ls bearng com BMS | reducer R650 | reuucer fin ‘3000 pm (1720) (150) 25 1pm (2) Motor used Sanyo AC servomotor (200 VAC, 750 W) (2) Lock mechanism: Off-1ock Drake built into the motor (90 VDC) (2) Control method: Variable speed control method by a position- control-type AC servo driverNo. 20342-0236 4.2.3 Block diagram of the control system AOL pws | 03 pw A/D CONV. 12bi Lanitts iz comNTER ‘AC_SERVO AQ 5 PWB DRIVE! PULSE GENE |._{gbit J PMC510) JOYSTICK angle A7D_CONV. Sbit (PM7574) Ac200¥/750N g i i i : Control panel : GOYSTICK) i Js TOP SW AQA me i * This AC servo driver is a position-control type based on pulse Line input. Figure 4-3 (1) AC servo control circuit © AOS (SERO CONT) PWB 25kpps @ 15° /sec [ex PUCSLOF | i i Wi ne DIR 2 B aoe ss 3] Gal [ 7 ty [tao pulse 6 ours 2 ce Wa s > il 15 Jeno pulse 5 16 751588 1¢-13F TC-166 (ic-134) 28 |Servo ON JS TOP SW Figure 4-42) @ No. 2D342-023E Parameter settings for the AC servo driver When replacing the AC servo driver, connect the special remote operator to the OP connector on the front panel and set the parameters listed below. * Position loop gain (Kp)* : 20 (reference) * Speed loop gain (Kvp)* : 48 (reference) + Time constant for speed loop integration (Tvi)* + 41 (reference) + Electronic gear ratio (EGER) 2 16/2 + Output pulse dividing ratio (ENCR): 1/4 * User I/F function selection (UIF) : 00011000 + Selection switch 1. (Funcl) + 01000000 * Selection switch 2 (Func2) + 01100000 * Current command LPF (ILPF)* : 201 (reference) Caution: 1. Set parameters marked "*" automatically using the servo tuning function. Du nul change parameters other than those Listed above. Protection function (a) Motor stop by the FINAL sensor (LSs 1 and 2) If the FINAL sensor is actuated due to over-run, RY1 in the AC servo unit is set to OFF, the power supply of the servo driver is shut down, and the dynamic brake is engaged. The motor stops inmediately In addition, the error message shown below is displayed on the display panel. * Error code: 51 (LAO/RAO final Limit actuated) (b) Motor etop by abnormality (alarm signals) of the servo driver If the protection function in the servo driver is actuated due to overcurrent, overload, etc., alarm signals are output and a dynamic brake is engaged. The motor stops immediately. In addition, the error message shown below is displayed on the display panel. * Error code: H60 (LAO/RAO driver error detected)No. 20342-0235 4.2.4 Position detection (1) Position detection sensor * Potentiometer: 2 kQ, 10 rotations (8.33 rotations/300°, resolution: 8 bits/degree) + Encoder + 100 pulses/rotation (8.32 rotations/300%, resolutions) + Microswitch : For detecting the stroke end position and safety switch (automatic-return type) (2) Sensor actuation timing P PA 0 0 «120125 (dee) Final limit (LS1, 2) RAO 1 't (MSL) LAO Limit (HS2) Speed down by CPU HL i PT 175 115 (deg) Figure 4-5