SIEMENS Linear Accelerator Functional Description a | Revision A * 4/99 5499574 SMN 2054. English Siemens Medical Systems, Inc. Oncology Care Systems Group 4040 Nelson Avenue Concord, CA 4520The information contained in this ocumentis of a proprietary and confidential nature and is intended only for the persons to whom itis directly transmitted by Siemens Medical Systems, Inc, Any reproduction of this document, in whole or part, or the divulgence of any ofits contents without the prior written consent of Siemens Medical Systems, Inc. is prohibited. This document is subject to change without notice. Linear Accelerator Functional Description © 1999 by Siemens Medical Systems, Ine Allrights reserved, 54.99 674 Revision ATable of Contents 1 System Overview e 3 Options. 3 Structure of the Master-Slave System 10 Interconnection 10 SIP Communication Software 10 Keyboard Handler u MEVATRON Application Software " Slave Software Overview W Slave Software Tasks u Operating System RMOS2.... 12 Machine Setup Control 18 Communication Monitoring 2 Serial /O Slave (D10K2008). 27 Serial Communication. 29 Parallel Communication. 23 2 Motor Control 31 V7.0 Motor Control PCB PIN 45 04 879 .... 3 Encoder Index Signal 41 Electrical Requirements 46 Pre-V7.0 Motor Control 51 Overview 51 Motor Function Con:roller Input/Output Configuration 53 Encoder Converter PCB (S32PC82) PIN 94.10 473..... se 55 4-Channel VIF PCB (G41PCB2) PIN 94 10 333. 56 Gantry Contro! PCB (S32PCB1} PIN 85 03 070. 87 G31 Motherboard PCB PIN 94 09 863. 60 Motor Control PCB (G31PCBS, PCBS, PCB7) PIN 94 06 596. 62 Motor Driver PCB (G31PCB1, PCB2, PCB3) PIN 86 77 700. 66 Motor Control Software Description 68 Siemens Medical Systems, Inc. 6499 574 Linear Accelerator Oncology Care Systems Group Rev A 4/99 Functional Description - Contents3 Dosimetry Overview .... Dosimetry System Description Dosimetry Hardware Dosimetry interlocks Control Console Check Routines O/F - F/D Interface PCBs (G32PCB2 and PCB3} PIN 84 98 975. Parameter Backup PCB (G32APCB4) PIN 94.06 414. Prechigh Rate PCB (G32BPCB4) PIN 19 48.012. Clock PCB (S34PCB8) PIN 94.19 995. Transceiver PCB (G42PCB1, PCB3) PIN 85 19 720. ‘AMP Sample and Hold PCB (G42PCB2, PCB4) PIN 86 79 748. Dose SERVO PCB (G42PCB5) PIN 19.47 923 Dose Amplifier Dose Power Supply (G57) PIN 94.08 261 Dosimetry Software 4 Beam Control Motherboard PCB (G32C) 71 n 72 73 78 79 87 88 9 a1 92 95 97 98 94 14 525 99 O/F - F/D PCB in Slot 2 PIN 84 98 875.... 100 Dif - FID PCB in Slot 3 PIN 84 98 875, 101 O/F - F/D PCB in Slot 4 PIN 84 98 875, 103 Current Control PCB (S41PCB1} PIN 94 12.412 103 Emag-Fil Current PCB PIN 19 43 344, 107 Siemens Medical Systems, inc. 5499574 Linear Accelerator Oncology Care Systems Group Rev A 4/99 Functional Description - Contents,AFC PCB Assembly (G33) PIN 85 02 122 109 AFC Preamp PCB (G39) PIN 85 02 338. m Steering Current Reversal PCB (G55) PIN 94 06 901 m1 Regulator Injector Assembly (G45PCB2) PIN 85 02 098. 112 Injector Assembly PIN 85 15 942 4 Programmable Inpu/Output interface. . 115 Beam Control Functions - 118 5 Lights and Beamshield ($33) Handcontrol interface 3/ Watchdog PCB (S39aPCa1} PIN 94 13 865... 122 121 6 Handcontrol Handcontrol - Control Console Communication 127 Handcontrol Flowchart of Inputs... - 130 Communication Distribution and DC Regulators 130 7 Interlocks Control Console System 131 Control Function... 135 Funetion Controller Overview. 140 Interlock PCB (S33BPCB2, PCB3, and PCB4) PIN 94 05 770. 141 Interlock Complete Chain... 142 Vacuum Power Supply Assembly (S40B) PIN 85 16 544 Rev. B 146 ‘Vacuum PCB (S40BPC81) PIN 85 06 941 147 Chamber Power Supply Assembly (S40C) PIN 85 16 536. 148, Chamber PCB (S40CPCB1) PIN 85 06 917.0... . . 149 Water Fiow PCB (G37PCB1). PIN 98 20 663. 151 Siemens Medical Systems, Inc. 5499574 Linear Accelerator Oncology Care Systems Group Rev A 4/99 Functional Description - Contentsk Command Data Analysis 157 8 Input/Output System ... 159 Logic Control PCB (S34PCB5) PIN 85 16 346. 161 Clock PCB (S34PCB8) PIN 98 20 081 164 Head Control PCB (S34PCB9) PIN 94 19 672 167 Eight Channel F/D PCB (S34PCB7) PIN 94 00 888. _ al Trigger A PCB (S34PCB2) PIN 94 10 515. 175 Trigger B PCB (S34PCB3) PIN 94 10 549. 180 Klystron Interface PCB (S34PCB1) PIN 85 08 897 182 VO Relay PCB (S34PCB4) PIN 98 20 242 184 VO Function Controller - Control Console Communication 186 9 G41 Motherboard seve 195 V7.0 G41 Motherboard PIN 45 05 298 195 4-Channel V/F PCB PIN 45 05 286... 196 Accessory Interface VIF PCB (G41PCB3) PIN 98 21 166. - 196 Head Driver PCB (G41PCB5) PIN 84 78.917 199 Mode Interlock PCB (G41PCB4) PIN 84 99 832 203 G41 Motherboard Description, Pre-V7.0 PIN 94 06 786 206 Accessory Interface V/F PCB (G41PCB3) PIN 98 21 166. 207 Head Driver PCB (G41PCB5) PIN 9411 174. 210 Siemens Medical Systems, inc. acco Linear Accelerator Oncology Care Systems Group Rev A 4/99 Functional Description - ContentsMode Interlock PCB (G41PCB4} PIN 84 99 832....... au Siemens Medical Systems, Ine 54 99574 Linear Accelerator Oncology Care Systems Group Rev A499 Functional Description - Contents] System Overview Physical Location ‘The entire control (except the function controllers) is housed in a double Euroframe in the operating control console. The required power supplies are also integrated in this frame ‘The commands are entered via a keyboard. The monitor records the system response to the input MEVATRON Interface Via ASB ‘The communication connection to the actual machine is made via the asynchronous serial bus (ASB). The eight slaves (function controllers) are each assigned to a certain function unit Options Digital Readout Attachment for the Treatment Table The digital readout attachment is for digitizing the treatment table position parameters (vertical, longitudinal, and transverse positions; centric and eccentric rotation angles) with the electronic indicator and display box, as Well as with serial interface for conveying the treatment table parameters to the machine. Local Area Network Therapy Information System LANTIS is designed for the creation and management of patient data, automated transfer of treatment setup data to the MEVATRON control console, verification of treatments according to treatment plans, and automatic recording of these treatments Remote Diagnostic System (RDS) ‘This system monitors the machine parameters in real time and records all interlock events and machine parameters, Remote monitoring via a modem is possible, and various machine statistics can be obtained along with machine parameters Siemens Medical Systems, Inc 54.99 574 Linear Accelerator Oncology Care Systems Group Rev A499 Functional Description - Overview10 Structure of the Master-Slave System Slaves 1 and 2 Slave 3 Slave 4 Slave 5 Slave 6 Slave 7 Interconnection Names of Slaves Up to 16 slave component groups can be connected to the serial VO processor. Seven of these function controllers are in the machine. ‘The Motor Function Controller controls the motion ofthe gantry, collimator, and jaws. ‘The Dosimetry Function Controllers (Dose | and 2) control treatment parameters, ¢.¢. dose rate ‘The Beam Function Controller monitors beam parameters (e.g., beam current) and controls voltage values (e-g., the pulse forming network (PFN) voltage reference). Handcontrol Function Controller sends/receives motor commands, The Lights and Beamshield Function Controller controls the room lights and beamshield movement. The Interlock Function Controller monitors interlock status and generates an inhibit signal The /O Function Controller reads accessory data information (e.g., applicator, wedge, cr beam block) and controls head setup and machine signals necessary for radiation Master-Slave Link The slaves are all connected to the master (SIP 51). The ASB output of the ‘master (front connector X9) can either be distributed to the slaves in star shape or the slaves are interconnected (serial). The individual pins of the front connectors X13 and X14 on the slave component groups are connected in parallel to enable the interconnection of the slaves. Communication Only the master can establish communication with the slaves. The slaves, ‘must wait until they are addressed by the master. This cyclical interrogation of the slaves by the master is called polling. The address guarantees that only one slave ata time can be selected. After the identification of the slave, data can be transferred from the master to the slave or vice versa. Ifthe ‘master has no new data and the slave status is the same since the last polling cycle, no data will be transferred and the master addresses the next slave after an acknowledge byte ‘The communication handler for the serial bus is driven by the'master communication controller (SIP) 2nd is used for the master-slave Siemens Medical Systems, Inc. 54.99 674 Linear Accelerator Oncology Care Systems Group Rev A499 Functional Description - OverviewKeyboard Handler 1 communications between the control console and the function controllers (slaves), The serial port is full duplex. When the master processor transmits a block of data to one of the slaves, it sends out an address byte to identify the target slave, The address byte interrupts all the slaves, but only the addressed slave prepares to receive the data, if any. Ifthe slave has no data to send, it replies with an acknowledge byte, If it has data to send, it now sends a block of data bytes. The keyboard handler is divided into a typewriter/numeric and a function key/special action key part. The handler is switched for inpuoutput and requires a serial interface (V.24/V.28/20 mA) in the Operating System ‘environment. After a character keystroke, the handler gives an ASCII character back to the Operating System. If function key is pressed, the handler gives back the key number. MEVATRON Application Software ‘The MEVATRON application software contains the user interface software ‘and the process control software. Alll application programs are written in high level languages, strictly under the rules of structured programming. The application program is divided into separate tasks. A task is a sequence of program instructions that implement a portion of the application program and is recognized and managed by the Operating System. Separation of an application into separate tasks is influenced by such programming factors as modularity, ease of use, or maintenance and programmer assignments. Slave Software Overview Slave Software Tasks Siemens Medical Systems, Inc. Oncology Care Systems Group The master controller (SIP) and function controllers (slaves) use a sequence of executable instructions to direct, monitor, and validate the machine ‘operation. These executable instructions reside in programmable read-only memory (PROM) and are referred to as the firmware. The software performs four major tasks: + Controls the system configuration + Monitors system communication + Monitors interlocks + Tests system parameters via diagnostics 5499574 “Linear Accelerator Rev A499 Functional Description - Overview12 Opcvating System RMOS2 Siemens Medical Systems, Inc. Oncology Care Systems Group con Control of System Configuration ‘The system is configured by parameters input by an operator at the control console. Once the operator inputs specific treatment parameters, the following steps occur + The master firmware compares the parameters with stored system operating parameters. Ifthe treatment parameters are acceptable, the master transmits the parameters to the appropriate slave. However, if the parameters are not acceptable, a message is displayed on the control console monitor. + The slave firmware transmits commands tothe functional unit (e.g., dose rate, mode, energy, etc.) + The functional unit implements the command (e.g., sets the dose rate), monitors the circuitry for correct operation, and sends back a status signal to the slave. + The slave firmware transmits the status of the funetional unit to the control console + The master firmware displays the status of the functional unit on the control console monitor + In addition to setting the treatment parameters, the system firmware monitors the treatment parameters. Introduction ‘The operating system is a Real-time, Multi-tasking, Operating System. It contains a library of programs (tasks) that implements the various system functions and facilities, These programs can be freely linked in any ‘combination in order to support the creation of customized application programs that will solve technical problems. The operating system provides all the necessary facilities for establishing, coordinating, and synchronizing tasks and for intertask communications. The access of an individual task to system resources is controlled by the operating system. RMOS2 controls the 4quasi-parallel processing of these tasks by a microcomputer, thus allowing a fast response of the user system to environmental events Application programs can normally be written in either ASM86 Assembler or in PLIM-86, All facilities are available to both languages. Tasks A task is a sequence of program instructions that implements a portion of an application. It is recognized and managed by RMOS2. 54 99574 Linear Accelerator Rev A499 Functional Description - Overview13 Siemens Medical Systems, inc Oncology Care Systems Group ‘The concept of dividing an application into tasks should be kept in mind while the application software is being created, The following procedures must be implemented as separate tasks: *+ Procedures that must or may be executed in parallel + Procedures with varying time-dependencies *+ Procedures that may vary in importance (priority) during execution Separation of an application into separate tasks can also be influenced by such programming factors as modularity, ease of use or maintenance, and programmer assignments, ‘System Resources System resources are the processing entities that are employed in the execution of a task, There are five system resources for the control system. + Central Processing Unit (CPU) control is allocated on the basis of the priority of a task. The priority range is 0 (low priority) to 255 (high priority). The priority of a task is set when the task is started and remains ‘constant until the task is terminated. + Sharable memory (memory pools) refers to specific portions of memory allocated for specific tasks. These pools are used to guarantee that sufficient memory is reserved for the execution of a critical phase of the application. Up to 32 memory pools can be defined under RMOS2, Three 2K byte pools have been specified, + Control programs permit the common use of nonreentrant programs. A ‘onreentrant program is a program that uses the CPU register (stacks) to store more than just local variables. Control programs function by allowing only one task at atime to access such a program. Task requests are queued to the controlled program according to their priority. A task, executing a controlled program, cannot be preempted, + The 8087 coprocessor permits extensive calculations required by a task. The only task that can issue commands to the 8087 is the Running task. To ensure this, each task must specify whether or not the 8087 ‘coprocessor is required, *+ The scheduler provides control over the execution of a Ready task, The RMOS2 maintains a queue of all Ready tasks, known as the Ready Task ‘Queue (RTQ), Sequencing within the RTQ is determined by the priority of the task, and itis the scheduler that allocates CPU control to the highest priority task within the RTQ. 5499 574 Linear Accelerator Rev A 4/99 Functional Description - Overview14 Siemens Medical Systems, Inc, Oncology Care Systems Group ‘System Services ‘Tasks use supervisor calls (SCs) to request system services. These supervisor calls are implemented by software interrupt instructions, There are two types of SVCs, each with a different interrupt vector For the first type of SVC, the address of the supervisor descriptor block (SDB) must be stored on the stack. For the second type, the address of the supervisor descriptor block must follow the SVC instruction, RMOS? returns status information after the execution of each supervisor call, From this information, the requesting task can recognize whether the supervisor call was successful, whether parameter errors occurred, or whether the SVC processor found any conditions requiring testing, Parameters This is a list of available RMOS2 parameters that can be selected during system configuration: Tasks = up to 4096 Device drivers up to 256 Units per device = up to 255 Local mailboxes - up to 256 Global mailboxes = up to 256 Controtied programs = up to 256 Discrete bytes = up to 8192 Global event flags = up t0 496 Local event flags per task always 16 Memory pools = up to 32 ‘Semaphores up to 4096 ‘System clock period + from 1 millisecond System Task ‘A system task is a portion of an instructional sequence that can be executed separately by the system. Since it is not possible for all the tasks in the system to be executed at the same time, each task will be in one of four states: Running - ‘The task has been allocated control of the CPU and is, currently executing instructions. 54 93 574 ~ Linear Accelerator Rev A4i99 Functional Description - Overview15 Ready - ‘The task is waiting for CPU control allocation, With the exception of the CPU, all conditions necessary for the execution of instructions are met. Waiting - The task is blocked because the necessary system resource is not available or the task is waiting for a signal (usually from the completion of an VO operation), before it can be Ready Suspended - The task is inactive. Upon powerup or system reset, all tasks Priority In addition, each task is assigned a priority, so that if two tasks are in the same state (e.g., Ready), RMOS2 will allocate control of the CPU to the higher priority task. As soon as the higher priority task is terminated, the next priority task is allocated CPU control. Note CPU control is reallocated after each interrup, since each interrupt will change the status ofa task. TASK NAME OF TASK PRIORITY Task 0 Debugger (XDB_ENTRY) 100 Task 1 Reporter (X_REP_TASK) 100 Task 2 Error Logger (KERRLOGTASK) 185 Task 3 ‘Transmit ASB (TKASB) 229 Task 4 ‘Transmit ASB (TXASB) 229 Task 5 SIP VO (SIPIO) 28 Task 6 Application Program (DOSE) 208 Task 7 Funetion Key Input (FNK) 209 Task 8 VT 100 (VT100) 209 Task 9 Screen Update (UPDATE) 204 Task 10 Central Service (CENSVC) 202 Task 11 Timer (TIM_TSK) 240 Task 12 (APLRXTSK) 207 Task 13 M735 INT 206 Siemens Medical Systems, inc 5499574 Linear Accelerator Oncology Care Systems Group Rev A a/g9 Functional Description - Overview16 Siemens Medical Systems, Inc Oncology Care Systems Group Task This system task can be started for debugging the system. It provides the following features: + The user can start Suspended tasks, stop Ready or Running tasks, and release stopped tasks again, + The entire contents of memory can be tested and the contents of RAM can be changed. *+ Up to eight breakpoints can be set in any task, if the desired breakpoint address is known and lies in RAM. + The register of a task that was interrupted via breakpoint can be changed, including register pair CS/P. Task 1 The system reporter task is a tool that can be used while debugging tasks are running under the Operating System. It can be called via the Service/Diagnostic Interface. It provides information about the status of the tasks, including priorities, event flags (which are used and their status), installed drivers, memory pools, and mailboxes. Task 2 This system task is used to display messages to the remote terminal but is suppressed due to conflicts with the CENSVC task, Task 3 This application task is used for the communication between the master and the slave controllers. Itis started by an interrupt, receives data from the slaves, converts it, and provides it to the screen update (Task 9), Task 4 ‘This system task works like a serving task for sending data to the function controllers. The application interface is based on function controller address, data, and data length. It is invoked by application tasks wishing to initiate a download, 54 99 674 Linear Accelerator Rev 4/99 Functional Description - OverviewSiemens Medical Systems, inc. Oncology Care Systems Group 7 Task 5 This system task is provided by the S51 communications package. TASK NAME OF TASK PRIORITY Task 0 Debugger (XDB_ENTRY) 100 Task 1 Reporter (X_REP_TASK) 100 Task 2 Error Logger (ERRLOGTASK) 185 Task 3 IFM Receive (RCVSSI/RCV) 230 Task 4 ‘Transmit ASB (TXASB) 29 Task 5 SIP VO (SIPIO) 228 Task 6 Application Program (DOSE) 208 Task 7 Function Key Input (FNK) 209 Task 8 VT 100 (VTI00) 209 Task 9 ‘Screen Update (UPDATE) 204 Task 10 Central Service (CENSVC) 202 Task 11 ‘Timer (TIM_TSK) 240 Task 12 (APLRXTSK) 207 Task 13 M735 INT 206 Task 6 This application task (dose) starts the machine warm-up routine. After system warm-up, it displays the first Command Line, which contains the ‘operating mode options. It validates key inputs, generates display data and entry data, changes background color, controls display box blinking, controls the link to the patient data base, sets up data to the function controller, and controls the system status Task7 ‘This application task continually performs RIO calls for the special keys, including function keys, of the control console keyboard. It invokes Task 6 to process the keys Task 8 This application task continually performs RIO calls for the VT100 keys of the control console keyboard. It invokes Task 6 to process the keys. 54 99.574 “Linear Accelerator Rev A 4/99 Functional Description - Overview18 Macl 1 Setup Control oN Task 9 This application task updates the screen and the system time/date, starts and stops the blink procedure of certain data fields, compares actual data with previous data, and updates the related display box. The update frequencv is normally 100/min, but under peak CPU loading, it will sometimes be preempted by the timer task Task 10 This application task is for remote diagnostics; saves current and previous operating information. Iti intended to execute at a low priority and to interact as passively as possible with the system. Because the application semaphore is not invoked, the menu data does not represent a snapshot of the system. Task 11 This application task is designed to execute 100 times per minute. Its given the highest priority inthe system, and normally only waits for the special TIMER semaphore to guarantee its timely execution. Its used for time-related functions, such as timeouts on data received from various function controllers, and the warm-up timer. Task 12 This is the application receive task, which is invoked by the RCVSS1 task whenever data is received from one of the function controllers. It stores data received in global data structure for later display by the UPDATE task. In the case of hand control data, it directly initiates downloads for motion control and ancillary functions. Task 13 This is the application task that interfaces the LANTIS verification system with the machine. ‘The purpose of the system control software is to ensure operation and system communication at all times by controlling the machine setup, ‘monitoring the system status, monitoring the communication link, and providing diagnostics to test the interlock system. The system control software interacts with the system hardware, thus controlling the machine configuration Input ‘An operator inputs a set of parameters, via the operating keyboard. Siemens Medical Systems, Ine. Oncology Care Systems Group 5499 574 Linear Accelerator Rev A499 Functional Description - OverviewAcceptance Check The control console, under firmware control, determines if the input Parameters are acceptable based on stored system operating parameter limits + Ifthe parameters are not acceptable, the control console displays a ‘message on the monitor, notifying the operator that the parameters are not acceptable. + If the parameters are acceptable, the control console transmits the parameters to the appropriate function controller, Function Controller The function controller, under firmware control, transmits commands to the hardware functional unit or subsystem (e.g., dose rate, mode, energy, etc.) Functional Unit The functional unit implements the command (e-g., sets the dose rate), ‘monitors the circuitry for correct operation, and sends back a status signal to the function controller. Status Check ‘The function controller transmits the status ofthe functional unit to the control console. In addition, the function controller compares the status of the functional unit with the input. + Ifthe status and input do not correlate, the function controller generates an error message. Output and Interlock ‘The control console displays th: status of the functional unit on the monitor and compares the status ofthe functional unit with the input. * Ifthe status and the input do not correlate, the control console generates an interlock signal Note The correct mechanical positioning of the dose chamber, target, and scattering foils is monitored independently of firmware control through currently used hardware interlocks. Status Monitoring ‘The modular control system operates on the master/slave concept. The control console (master) is directing the function controller (slave) to perform the required functions. The slave controller then performs the function and keeps the master informed of the real-time status of the area of responsibility Siemens Medical Systems, Inc. Oncology Care Systems Group 54.99 574 Linear Accelerator Rev A 4/99 Functional Description - Overview20 The operating system and the application programs are located in the PROM. When the system is energized, it is ready to accept the operating parameters. No further downloading from extemal devices is required. Standby Inthe Standby state, all operator interaction is prohibited. The key should be Femoved when the operator is not at the control console. Program In the Program state, the operator inputs the system parameters. The ‘machine setup, based on these parameters, is controlled by the firmware Ready ‘Once the parameters are input, the operator must accept the parameters before the system proceeds to the Ready state. The system must be in the Ready state before radiation can be initiated. Note that if all interlocks are ‘not complete, the system will not proceed to the Ready state. Veri When the operator accepts the parameters, the system firmware verifies that the machine is configured as requested and is operating correctly. This verification is performed via the furction controllers and the control console. The function controllers continually poll the status of each functional unit, cross-checking the functional unit status with the input parameters and displaying the status to the operator. Not Ready If the system is not configured properly, or if there is a system fault, the system will transition to the Not Ready state. Ready In the Ready state, the operator cannot alter the system parameters. However, the system verification process by the function controllers and the control console continues, RAD ON Even after radiation is initiated, this continual polling and cross-checking sequence occurs, Terminate If there is any deviation between the functional unit status and’the input Parameters, movement and radiation are terminated. Siemens Medical Systems, Inc. Oncology Care Systems Group 8499574 Linear Accelerator Rev A 4/99 Functional Description - OverviewCommunication Monitoring 21 If the primary monitoring system fails, the secondary dose or time elapsed values will generate an interlock signal, terminating treatment. Complete The system transitions toa COMPLETE state for the following conditions: + Actual accumulated dose equals preset dose for a fixed treatment. + ‘The end of radiation arc is detected for a rotation treatment. ‘+ The end of the last radiation arc is detected for a skip treatment Control Console — Function Controller Link ‘The communication link between the control console and the function controllers is monitored by the control console and by the Beam Function Controller. Polling Sequence The control console monitors the communication link by continually polling each funetion controller, verifying that it can transmit data to and receive data from each controller. When a communication error is detected, the control console will display the error, generate an interlock signal, and notify the remaining function controllers of the error. In turn, each function controller will generate an error signal if not polled within a specified time Interlock Categories Interlocks are divided into three categories: SAFETY, SYSTEM, and ERROR interlocks. Safety and system interlocks correspond to conditions fon the linear accelerator that are deemed critical to the patient and machine, respectively. Error interlocks, commonly called errors, correspond to improper conditions detected internal to the control system itself and also by the function controllers. A conceptual fourth interlock category is composed of events that cause completion, ie., the state transition from RAD ON to COMPLETE. In FIXED technique, this corresponds to MONITOR |, which is considered a generic SAFETY interlock in other techniques. In ROTATION or SKIP techniques, this corresponds to gantry completion. It was decided to bypass the usual interlock display mechanism for these events, to minimize the display of interlocks 50 as not to desensitize the operator. Interlocks can also be divided according to which layer of the control system first detects the interlock and takes action to disable the machine. ‘The hardware layer is used for those interlocks that require extremely fast Siemens Medical Systems, Ine. Oncology Care Systems Group 5499574 Linear Accelerator Rev A 4/99 Functional Description - Overview22 Siemens Medical Systems, Inc. Oncology Care Systems Group oN response time, or where safety considerations require a response independent of a potential software design error or digital failure, The function controller layer implements interlocks that require the flexibility associated with software control, yet still require a fast response time. Finally, the control console layer implements interlocks that are not considered to be time-critical, or which require comparison of data from several function controllers Refer to Register 5 for a complete listing of interlocks and error codes. Interlock Type The interlock firmware is designed to manipulate two types of interlocks: CONDITIONS, which can be tested repeatedly, and EVENTS, which occur once and cannot subsequently be tested for. An example of a condition is the treatment room door being open; an example of an event is the treatment time passing the preset value. 5499574 Linear Accelerator Rev A499 Functional Description - Overview23 Zinio aov.43, ) “SNOW ODT BN MO14 VIVO soir | a NI snivis | pagraaint | aa82ss¥e) | | Jasna) wWRLNDD IAD ODN] “DYLND. SIN3A3 NOLL 1aWO3 INTALV341 SDLINGA 4 SAN3AZ ONY SNOILIGNOD OO 7AS1N] “370SNOI a | S334 00783 alae a) Stivis xOD NaS vn of ont ONISOLINON MOOTYSLNI Linear Accelerator Functional Description - Overview 54 99574 Rev A 4/99 Siemens Medical Systems, Inc, Oncology Care Systems Group24 Siemens Medical Systems, Inc Oncology Care Systems Group oN Interlock Transitions Each interlock is maintained as being in one of four states: CLEAR, ACTIVE, LATCHED, and ACTIVE LATCHED. The CLEAR state implies that this interlock will not prevent RAD ON. The ACTIVE LATCHED state is intended for CONDITIONS, such as the above-mentioned example of the treatment room door, occurring during RAD ON, SKIP, or TERMINATE. ‘The ACTIVE state is intended for CONDITIONS when they occur during other states. The LATCHED state is intended for events or conditions that have cleared but had previously been in the ACTIVE LATCHED state. We sometimes say the interlock is asserted to mean that it is notin the CLEAR state. When an interlock is asserted (and assuming itis not bypassed as discussed subsequently), the system is prevented from being in the READY, RAD ON, SKIP, or INTERRUPT (READY) states. The following state transitions are possible: + CLEAR to ACTIVE LATCHED For interlocks that correspond to conditions, when the condition is asserted, if it causes a transition to TERMINATE or occurs in TERMINATE, + CLEAR to ACTIVE For interlocks that correspond to conditions, when the condition is asserted, if it causes a transition to TERMINATE or occurs in ‘TERMINATE, + CLEAR to LATCHED For interlocks that correspond to events, when the event occurs. + ACTIVE to CLEAR For interlocks that correspond to conditions, when the condition is deasserted + ACTIVE to ACTIVE LATCHED For interlocks that had previously been asserted, when entering the RAD ON, SKIP, or TERMINATE states. Please note this is only possible in RESEARCH or SERVICE modes ifthe corresponding interlock was bypassed + ACTIVE LATCHED to LATCHED For interlocks that correspond to conditions, when the condition is deasserted. 5499574 Linear Accelerator Rev A 4/99 Functional Description - Overview25 + LATCHED to ACTIVE LATCHED For interlocks that correspond to conditions, when the condition is reasserted, + LATCHED to CLEAR This occurs when the left-hand keyswitch is set to the RESET position, acknowledging all interlocks asserted at that time. It should be stressed that the reason for the latching mechanism described above is to force the custodian of the Key for the letchand keyswitch (the designated responsible person, typically the hospital physicist) to acknowledge the occurrence of abnormal situations and take appropriate action. To prevent misuse of the equipment, this mechanism will not be defeated by powering down the control console. State Transitions ‘The interlock firmware is designed to prevent radiation when interlocks are active. This is implemented in terms of the system state transitions, as described below. ‘When the ACC key is pressed by the operstor after programming a treatment, the control system accesses the Check I routine. If the Check 1 routine fails, the system will transition to the ERROR state and will remain there until Check 1 passes successfully. If Check 1 passes and an interlock is detected, the system will transition to the NOT READY state. Ifthe Check 1 routine passes and there are no interlocks detected, the system will transition to the READY state; otherwise, the system is brought to the NOT READY state. Once in the READY or NOT READY state, the control system sequences the system to the other state if a change in the interlock status necessitates this. Transitioning from the NOT READY to RAD ON state is not allowed. ‘When the system is in the RAD ON or SKIP states and a SAFETY interlock ‘occurs, the control system initiates the state transition to TERMINATE, ‘When a SYSTEM interlock occurs on a non-DIN machine, the control system initiates the state transition to INTERRUPT NR, allowing the ‘operator the possibility of clearing the interrupt condition and resuming, {reatment, or to request the system to proceed to TERMINATE. In the case of the DIN machine, a SYSTEM interlock will always transition the machine from RAD ON to TERMINATE, Se In the RESEARCH or SERVICE modes of operation, certain interlocks are allowed to be overridden or bypassed (the words being used interchange- ably). When an interlock is overridden, the system is allowed to produce e and Research Siemens Medical Systems, Ine Oncology Care Systems Group 54.99 574 Linear Accelerator Rev A 4/99 Functional Description - Overview26 radiation independently of the state of that interlock. No interlocks can be overridden in the TREATMENT mode, which is the only mode intended for Patient treatment. Not all interlocks can be bypassed by software in RESEARCH or SERVICE modes, as determined by safety requirements. One special item should be elaborated on: overriding the MONITOR 1 interlock in FIXED treatment causes the usual state transition from RAD. ON to COMPLETE to not be performed, even though in this context no MONITOR 1 interlock would be generated. This was done to consolidate the override user interface. Note that no override is provided for the completion event for ROTATION or SKIP modes (gantry completion) as this would constitute an undue safety risk. Subsequent discussions will refrain from elaborating on this bypass mechanism, In general, when an interlock has been bypassed, the firmware action that otherwise would be taken when the interlock is asserted is not performed either at the console or atthe function controller level. lay Interlocks will be displayed in three separate boxes on the display screen, cone for each of the interlock categories. Safety, system, and error category interlocks will be displayed by name and number. Interlocks will be displayed only when asserted. An interlock will normally be displayed in red, except when bypassed, in which case itis displayed as blue. For each category, the system will display a red interlock if there is one, otherwise it will display a blue interlock. Since only one interlock is displayed for each category, a mechanism is provided for the user to review the stack of all currently asserted interlocks for each category by using the up and down cursor keys, Function Controller Overview ‘The main task of the slave is to maintain the communication between a functional unit and the system controller. Up to 16 slave boards can be connected to a master via the asynchronous serial bus (ASB). Since a slave ) and as a data port (bits <0:7>). Port 1 With switch pack $1, the slave address and other functions can be selected, It consists of 8 bits connected to port 1. The processor compares the address sent from the master with s1<1:4> of Port 1 and responds if the addresses match, Port2 ‘The most significant address byte <8:15> is available at Port 2 54 99 574 Linear Accelerator Rev A 4/98 Functional Description - Overview28 Siemens Medical Systems, Inc. Oncology Care Systems Group a Port 3 0 Receive line of the ASB communication from master. Activity on this line can be seen on LED V1 1 ‘Transmit line of the ASB communication to master. ‘Activity on this line can be seen on LED V2. 2 ‘AINTO interrupt from either increment decoder or PIOP Port 2, X8 3 AINTI determined by jumper X9. 4 Ground 5 Relay drive: Via a relay connected to this bit, a contactor can be activated, Used for T! output in KD 2 6 ‘Write line for the PIOPs, 7 Read line for the PIOPs. AddrData ‘The 8031 multiplexes its address/data lines of Port 0. The low order address byte is latched by the trailing edge of ALE (address latch enable) into the address latch J6. The upper address byte is output from Port 2. Data can now be transferred to or from the 8031 via Port 0. PROM ‘The external program memory consists of a 128 kbit PROM. Jumper X7 grounds the EA pin of the 8031, which specifies external program memory access, The PROM has its chip enable grounded and its /PGM pin tied to +5 V via the X6 jumper. The X5 jumper connects A13 to the PROM. For a 256 Kbit PROM, A14 is connected through X6. Fetch Cycle ‘The addresses are output and allowed to stabilize, and then the /PSEN (program store enable) goes low. This output enables the instruction to go conto the data bus from the PROM. Internally, the rising edge of /PSEN latches the instruction into the 8031. The processor then executes various machine cycles as required by that particular instruction. External Memory The external memory consists of a 2 k x 8 static RAM chip that is used to store various temporary parameters and arrays. The X4 jumper selects between a2k x 8 oran 8k x8 RAM. The 2 k x 8 device must be inserted in the DIP socket with two empty pins on each side showing above pins | and 24 of the RAM chip. The pin numbers on the schematic refer to the RAM. 5499574 Linear Accelerator Rev A 4/99 Functional Description - Overview29 Serial Communication Parallel Communication chip pins and not the socket pins. The 2 k x 8 RAM is enabled by A13 going low. The X4 jumper connects the /WR line to pin 21 of the RAM with the MRD already connected to pin 20. Memory read and write cycles are now possible PIOPs ‘Two PIOPs (J8 and 511) with three 8-bit ports each, can be operated optionally as inputs or outputs; they serve as a parallel connection to the environment RXD For serial communication, either optical coupler J10 (20 mA loop) or Schmitt-trigger J13 (via X13.A5) can be used as input (selection by jumper X12), LED V1 is driven and flickers when there is incoming data. The serial input to the 8051 is 32.10, TxD The output signal is transmitted via J2.11 to jumper X11.2, Jumper X11 determines whether direct output or 20 mA loop by optical coupler J7 is used. The signal levels for rx and tx can be inverted with a signal on X13.B8, which acts on the XOR gate JS. Port Select ‘The parallel communication consists of two 8255 programmable (J11 and 38) peripheral interfaces that contain three 8-bit /O channels. In 311 these channels are located at Port 0_A, B, and C. In J8 these channels are located at Port 1_A. B, and C. When the A1S signal is low, Port 0 is addressed. Addresses AQ and Al determine whether the A, B, or C byte is to be addressed. Since AO and Al are low for byte A, the address for Port 0_A would be TFFC (the address for Port 1_A would be BFFC), Program Modes Refer to Mode 0, Mode 1, and Mode 2 programming in the 8255 specifications, Siemens Medical Systems, Inc. Oncology Care Systems Group 5499574 Linear Accelerator Rev A 4/99 Functional Description - Overview30 Siemens Medical Systems, Inc. Oncology Care Systems Group VO Write Cycle The motor control circuitry will be used to explain the handshaking for the VO Write and Read cycles. When performing a peripheral write cycle to a 8255 in Mode 2, the 8031 processor addresses both the particular chip and Port A; and then toggles the /WR input line. The /WR input line latches a data word into Port A, causing the 8255's assertion of the /OBF (output buffer full) signal. After a few propagation delays, the /OBF signal causes the WSTROBE and /ACK signals to go active, which in turn causes the cancellation of the /OBF signal and the write data to appear on the peripheral bus (motherboard bus). After a resistance capacitor delay, the cancellation of JOBF causes the cancellation of WSTROBE and /ACK at which time the data is latched into the addressed register. VO Read Cycle With the 8255 programmed for /O operation of Port A (Mode 2) and output mode for Port B (Mode 0), the read cycle is more involved than the write cycle. In order to read data from the peripheral bus via Por A, itis necessary to perform an operation that will latch a byte of data into the 8255, This is accomplished by a write sequence through Port B that, addresses a particular register on a particular board, and output enables this data onto the peripheral bus. A /STB signal goes active as the data is enabled and sets an input buffer full flip-flop in the 8255 after a short internal delay (300 nsec). This transition latches the read data into the 8255 after the data has stabilized. A read sequence is now performed to Port A, and the latched data is read into the 8031. When the read signal from the 8031 goes high at the end of the read cycle, the internal input buffer full flip-flop is reset. System Reset ‘The system hardware reset can be initiated in two ways: + By manual actuation of $2 *+ By response to voltage monitoring (J3), ifthe supply voltage drops below 4.75V In both cases, the reset pulse is transmitted to the RST input of the processor (32) and to the PIOPs (J8 and J11). This causes the processor to reinitialize the PIOPs. 84.99 574 Linear Accelerator Rev A 4/99 Functional Description - OverviewMotor Control V7.0 Motor Control PCB P/N 45 04 879 Siemens Medical Systems, Ine Oncology Care Systems Group ‘The Motor Control PCB contains circuits to support embedded motion control of the jaws, collimator, and gantry. It includes interfaces to the sensors, motors, microcontroller, power supplies, and to other subsystems, This PCB is located in the G31 section of the Digital MEVATRON accelerator. One Motor Control PCB is required in each machine. This PCB isa component of the MEVATRON Motor Control subsystem, ‘The Motor Control Electronics Module is the printed circuit board (PCB) containing most of the motor control subsystem electronics. It has a parallel, digital bus interface to the Function Controller PCB which is mounted on the main circuit board as a daughter-board. It is powered by external power supplies. It drives six servo motor axes, each of which includes a permanent ‘magnet DC servo motor, an incremental encoder, and a follow pot. This module provides a 24V PWM output to drive each motor. (In the case of the gantry axis, the output is a 0 to £10V analog signal.) It provides a 24V output to drive the collimator brake. It accepts quadrature square wave inputs from each incremental encoder and a 0-SV analog signal from each pot. It has logic circuitry included to handle various supervisory and motion enable signals, It has self-test circuitry included to provide loop-back paths for some of the inputs and outputs. There is a multi-character display for diagnostic feedback. Figure | gives an overview of the functions performed. 54 99574 Linear Accelerator Rev A 4/99 Functional Description - Motor32 ee en]) pe TR Lee a. es a [ipa «if Figure 1-Block Diagram ee il i | st Communication with Function Controller ‘The current Function Controller 0 communicates with UO devices using an Intel 8255, Port A is an 8-bit bidirectional data bus. Seven bits of Port B are Siemens Medical Systems, inc, Oncology Care Systems Group 54.99 574 Linear Accelerator Rev A 4/99 Functional Description - Motor‘Siemens Medical Systems, ine Oncology Care Systems Group 33 Used to address up to 128 extemal registers. One bit of Port B is used for a static R/W line. /OBF, /ACK, /IBF, and /STB on Port C are used to control transfers. The V7.0 Function Controller communicates with VO using the PC104 bus standard. PC104 data transfer is 8-bit. ‘An HO interface compatible with the Intel 8255, Mode 2, is provided. PC104 bus interface, see reference 7. The motor control PCB is an 8-Bit PC104 device. In the PC104 scheme, the function controller is the CPU module stacked on top of the motor control PCB which is the application base board. Diagnostic Display A display is provided to allow diagnostic information to be easily obtained locally, ‘An 8-character alpha-numeric LED display is used. The diagnostic display is mapped to V/O or memory address space, and no more than 64 byte spaces are required for character display and mode controls, ‘The display is oriented on the Motor Control PCB so that it is upright when. the gantry is at 180°, Diagnostic Switches Switches are used to establish a test mode and invoke the test locally. One switch will be used to reset the VO hardware. ‘One momentary push button switch is provided. The state of the switch is readable by the function controller, ‘Two hexadecimal coded thumb wheel switches are used to specify motor encoder and pot count information. Diagnostic DAC ‘The motor control PCB includes a D/A converter for diagnosis and test during development. The DAC will normally not be loaded on the PCB for production. Potentiometer Interface ‘The motor control PCB is capable of driving and reading 6 potentiometers used to indicate motion axis position. The SV reference used to excite the pots is derived from the A/D converter reference to minimize errors. All six pots are 10 kOhm. Six channels of 5 volt pot excitation voltage are provided, each paired with a analog common. Six wiper connections are brought on to the-PCB. Pot interface signals are transported iv shielded cables. 5499574 Linear Accelerator Rev A 4/3 Functional Description - Motor34 Four jaw voltages are converted to digital with 12 bit resolution or better, and the digital reading is available to the function controller over the parallel communication interface. Gantry and collimator pots are converted to digital with 13 bit resolution or better, and the digital reading is available to the function controller over the parallel bus interface A single pole lowpass filter is provided to filter the wiper voltage of the pot being read. The cutoff frequency for the jaw pots is 1000Hz or more. The cutoff frequency for the collimator and gantry pots is 100Hz or more. (This is intended to help eliminate noise.) Motor Control Closed loop motor control ICs, the National LM629, are used for position and velocity control of each of six axes. The LM629 (with added logic) ‘communicates with the function controller over the parallel communications interfaces specified previously. The part accepts quadrature incremental encoder signals, including an index pulse, and provides a PWM output. ‘The motor control ICs communicate over the specified parallel buses to the function controller. ‘The output resolution is equivalent to 7 bits. ‘The motor control IC accepts incremental encoder inputs with a counter width of 24 or more bits. Gantry Motor Driver - Analog Output ‘The drive signal for the sixth axis is -I0V to +10V. This output is driven by ‘one of six motion control IC discussed in Motor Control. Motor Brake Drivers ‘One 24V, 1A driver is provided for driving the collimator power-off brake. On-Off is register controlled. ‘An inductive catch diode is provided on the output, ‘The open circuit output voltage rating is 40V oF greater. Gantry Manual Override Switch Interface Circuitry is provided for directly generating gantry drive voltage under the control of manual override switch inputs. In manual rotation mode, the resulting gantry drive level is fixed and is nominally set for one half of full scale (+ of -5V). Manual movement in either direction occurs during. continuous activation of both the “manual enable” switch input and either a “clockwise” or “counterclockwise” switch input Siemens Medical Systems, Inc. Oncology Care Systems Group 54.99 574 Linear Accelerator Rev A 4199 Functional Description - Motor35 2 State of the “Manual Enable” input line is readable by the function controller. Gantry Over-travel Protection 1 Circuitry is provided to govern the 0 - +10V gantry drive signal which accepts the CW and CCW gantry limit switch inputs and prohibits motion in the direction of the limit, and only in the direction of the limit. The extemal limit switches are normally closed. One side of each switch is connected to the +24V Motion Stop signal. The other side of each switch is provided to the PCB. If the Motion Stop signal becomes active (OV), then motion in both directions is inhibited. Inputs are “pulled-down” for a fail-safe operation, The gantry limit switch function (see Gantry Manual Override Switch Interface) operates in both manual mode and auto mode. 2 Clockwise limit switch active (OV) -» Gantry drive signal is limited to positive voltage. Counterclockwise limit switch active (OV) —> Gantry drive signal is limited to negative voltage. 3. The state of each switch is readable by the function controller over the parallel interface. Incremental Encoder Interface Y The electrical interface to the six incremental encoders is given below. 1 Differential receivers, similar to 26L$32, are used for each encoder input signal. (26L$31 drivers are included at the encoder end of the cable.) Input lines are terminated with 100 to 200 ohm (The characteristic impedance of the cable is typically less than 200. Although the choice of 200 ohm termination may somewhat degrade the waveform, it will reduce the current draw and consequently the supply voltage drop thereby supporting overall design robustness) 2 The output of each differential receiver is conditioned by a contact debounce circuit. Debounce :nterval is 7+ 2 sec, ie. input pulse with less than 10 see width is rejected. The debounce interval is no longer than 10% of the maximum encoder output pulse rate. (Intended to eliminate any noise slitches on the encoder inputs. Will prolong the life of encoders exposed 10 radiation because the radiat‘on-induced failure mode is output bouncing.) 3 The encoder interface for the collimator and gantry accommodates an index pulse input. The LM629 motion control IC requires a predefined alignment Of three encoder signals -- Index, Phase A, and Phase B. Siernens Medical Systems, inc 5499 574 Linear Accelerator Oncology Care Systems Group Rev A499 Functional Description - Motor36 VF Converter ‘An Analog Devices AD652 V/F converter is included to convert the gantry follow pot voltage to frequency. (Function Controller I reads gantry Position by counting frequency.) A I MHz clock is provided externally. 010 +10V input corresponds to 0 - 500 KHz output. Motion Enable Logic The three following figures depict the motion enable logic for the three types of motion axes: gantry, collimator, and jaw. This shows only the logic fn the motor control PCB. See section Gantry Over-travel Protection for the gantry limit switch logic. — Ponto otov | uncrion | ~ 10 ! ' contmouteno | eee oc c = >—T~| ower [~] contactor | i sirenrace i oo Ly onvray ews J ae IP tesenaen ce 1 frome | mourune cantay i, i Figure 4.Collimator Brake Control Logie Siemens Medical Systems, inc. 54.99 574 Linear Accelerator Oncology Care Systems Group Rev A499 Functional Description - Motor38 - saw | | H-BRIDGE | FUNCTION DRIVER | CONTROLLER 0 | | i DIGITAL vO. - |_inrenrace | LocaL Jaw | ENABLE | | JAW DRIVE. | \ ENABLE JAWS EN. a / Siemens Medical Systems, inc. Oncology Care Systems Group 1 Figure 5.Jaw Motion Enable Logic ‘The gantry motion enable logic is shown in figure 2. Gantry Enable Supervisor Input Line, Deadman, and Motion Stop are external digital signals. The collimator motion enable logic is shown in figure 3. Collimator /O Enable and Deadman are external digital signals, Collimator /O Enable is aan input that is connected to +5V via a relay contact when collimator motion is enabled. The input is pulled low on this PCB with a resistor to disable the collimator if the input line is broken Deadman input is connected externally to +5V via switch contacts when the Deadman switches are depressed. The input is pulled low on this PCB with a resistor to disable the Deadman if the input line is broken. This signal is readable by the function controller. ‘The jaw motion enable logic, figure 5, is implemented for each of the four jaws. A separate Local Jaw Enable signal is provided for each of the four jaws. Jaws En and MU GAP are external digital signals, Jaws Enable is an input that is connected to +5V via a saturated transistor when jaw motion is enabled. The input is pulled low on this PCB with a resistor to disable jaw ‘motion if the input line is broken. It is used to enable jaw drive circuit as described in the section on Motion Enable Logic. A relay is provided to switch the +24V supply input tothe PCB. Itis normally open. A separate TTL input is provided and is driven low to energize the relay. Motion Stop (see Electrical Requirements) and a digital output from the function controlter, Motion Enable, are ANDed to drive the relay 54 99574 Linear Accelerator Rev A ai99 Functional Description - Motor39 Note The function controller will enable its Motion Enable line when all power supplies, reference voltages, etc. are within spec.) Digital VO Interface ‘The new motor control provides 16 digital TTL/CMOS inputs and 16 digital TTL outputs. All inputs are TTL compatible (unless specified otherwise below) with a 10K series resistor and a 10K pullup or pulldown to protect ‘the input and establish a logic level if the input is left open. (This only applies to inputs that go off the PCB.) Several existing supervisory signals are interfaced and made readable/writable by the Function Controller. They are listed below. The remaining, unspecified V/O lines are spares. This section also describes the digital VO from external MEVATRON. subsystems, TI ~ a bidirectional TTL signal. An uncommitted open-collector driver is provided. The function controller controls the open-collector driver via a register bit. The open-collector output is wire-OR'd with open-collector drivers situated in other subsystems. The state of the open-collector output line is readable by the function controller. Three local supervisor input lines, TTL levels, active high: HV ON IN, RAD ONIN, GAN EN IN. These lines are readable by the function controller and they are bussed off the PCB to other function controllers. Three local supervisor output lines, TTL levels, active low: HV ON OUT 0/, RAD ON OUT 0/, GAN EN OUT 0/. The three supervisor outputs are written by the function controller via a register ‘A watchdog output, written by the function controller, is an active low TTL. signal routed to a connector. ‘There are 16 TTL signals that ar? daisy-chained through this PCB, entering ‘on one connector and leaving on another. They are the supervisor lines (Chee input lines described above and 9 other output lines to function controllers 1 - 3), TI (described above), and watchdog signals (three outputs from other function controllers). Reset input (TTL) for hardware initialization of on-board components, A power-fail input from the +5V supply is readable by the function controller. This is open collector driven, and a pull-up resistor is provided for 1 mA sink current. A logic high indicates power good. MU GAP TTL signal to enable jaw motion during Virtual Wedge treatments. This signal is an input to the PCB to be made readable by the function controller. A pull-up is provided at the input so that an open input defaults to logic high (inhibits jaw motions) Motion Stop is an input that is connected to +24V via switch contacts when ‘motion is not stopped (by machine operator). The input is pulled low on this Siemens Medical Systems, inc, or logy Care Systems Group 54.99 574 ” Linear Accelerator Rev A 4/99 Functional Description - Motor40 PCB with a resistor to disable motion ifthe input line is broken. This signal is readable by the function controller. Secondly, it supplies gantry limit switches with a positive voltage which is returned back to this PCB through two limit switches, Thus disappearance of the Motion Stop signal will appear as if both limit switches are opened (See Gantry Over-travel Protection). The common for this signal is +24V Logic Common which is provided to this board. Self-test Circuits A limited amount of self-test circuitry is provided to allow checking of the basic functionality of the motor control. Refer also to the sections on Diagnostic Display, Diagnostic Switches, and Diagnostic DAC. The self-test circuit is capable of digitally reading analog common, the +24V supply voltage, and the +15V supply voltages. The same A/D converter that is used to measure potentiometer inputs is used for measuring the analog common since this reading is used to mutl-out the offset in the pot AID conversion chain, An A/D channel is provided to read the -10 to +10V gantry drive signal. ‘An analog signal representing the magnitude of the current in each motor (except the gantry) is provided. An A/D channel is provided for each signal ‘The function controller has the ability to select which signal to read. The analog signal is filtered to have less than 10% peak-peak AC noise. (Ripple due to actual variations in motor current is not filtered.) Since the gantry drive signal (see above) is already being sensed, this does not apply to the gantry motor. A load resistor ean be switched across each motor driver output on the PCB (except the gantry) to allow testing of the driver. To minimize the power rating of the load resistor, select it to set the maximum load current (with the resistor switched in) at 10% of the nominal motor rating. An array of LED lamp is provided to indicate the status of various control lines. Table 1, “Status Indicators,” on page 41 lists required and optional status indicators, Siemens Medical Systems, Inc. Oncology Care Systems Group 54.99 574 Linear Accelerator Rev A 4/99 Functional Description - Motor41 Status Required Lit when Jaw Drive Enable (4) v Enabled Collimator Drive Enable y Enabled Gantry Drive Enable Enabled HV ON OUTO v 1 RAD ON OUT O v 1 GAN EN OUT O. v 1 Power Up Status 1 y Power Up Status 2 V | Gantry Contactor [on | #24 V Power On(>4v) 424 V Relay Closed & +24V Pwr > 4V +5 V Power On (>2.5V) 1 Global v 0, Asserted Ti Local y 0, Asserted Table 1. Status Indicators cellaneous Encoder Index Signal 1 +5V supply is over-current protected immediately after it enters the PCB. It is a self-resetting power supply. Test points on the PCB are provided for each DC supply, the SV reference driving the pots, motor common, analog common, digital common, each of the pot voltage inputs, the gantry drive signal, and the PWM output of each motor control IC. iagnostic LEDs, display, and switches are accessible, visible and labeled when the Motor Subsystem is in normal operating configuration. ‘The Motor Control system is responsible for positioning and reporting the position of the Jaws, Gantry, and Collimator axes to the Console. The Jaws, Gantry, and Collimator position measuring systems consists of a redundant Potentiometer and Encoder. The potentiometer represents absolute position data. The Encoder provides relative motion information to the Motor Control firmware which processes Encoder data with initial Potentiometer data to derive an absolute position encoding system. For the Gantry and Collimator axes, the Encoder also supplies an index signal to indicate an absolute position, within one revolution, of its shaft. Based on this index signal, the Encoder can be used to represent absolute position data if the ‘occurrence of an index signal is reported and correlated with the Potentiometer data ‘Siemens Medical Systems, ine. Oncology Care Systems Group Linear Accelerator Functional Description - Motor 54.99 574 Rev A 4/9942 ‘The Motor Control system is responsible for storing the Potentiometer and Encoder readings for each axis and reporting these values along with the current Potentiometer position to the Console at reset and power up. This information is contained in the ‘G" message from FCO, For the Gantry and Collimator axes, the Motor Control system also reports the occurrence of the first Encoder index signal after reset and power up. The Encoder index signal is not used for the Jaws as sufficient accuracy is available from the Potentiometer to reliably initialize the Encoder counter. ‘The general mechanism for using an absolute position sensor, such as a Potentiometer, in concert with a relative position sensor, such as an Encoder, is as follows: + Initially, the Encoder’s report of position can be regarded as suspect and in need of initialization + Ifthe accuracy of the Potentiometer is sufficient, the Encoder initialization may be based on this position, without the need for an index signal (this is the case for Jaws on the machine). + ‘The Encoder initialization may be based on the occurrence of an index signal. This indicates an absolute position, within one revolution, of the Encoder's shaft. Calibration serves to fix the physical location of the index signal (this is the purpose of the Reference Encoder Index Position). The difference between the location at which the index signal is reported and the known location can be used to correct future Encoder readings. The index signal is periodic (several may occur over the full range of motion of an axis).To ensure that the calculation for correcting Encoder readings is performed correctly, the Potentiometer is used to censure that the Encoder is roughly calibrated prior to encountering the first index signal (this is the case for the Collimator and Gantry), Alternatively a switch may be used to mask out all but one index signal (this isthe case for the ZXT), For Gantry and Collimator axes, if the difference between the stored and current Potentiometer values exceeds 0.13, the Console system requires an index signal report, in the form of an ‘H’ ‘7° message from FCO, to clear this condition. This is a latching condition that cannot be cleared by a reset or power cycle, The Console calculates the current absolute Encoder position from the current potentiometer data in the “G’ message and supplies the Motor Control System with this information and the Encoder-to-Potentiometer conversion data. This information is contained in the ‘H’ ‘2' and ‘H’ °5" commands from the Console, respectively, The Console indicates the need for an index pulse report to the user by causing the Gantry position box or Collimator position box to blink. If the Accept key is pressed while the Gantry of Collimator box is blinking, the Gantry position and/or Collimator position interlocks are activated based on which Siemens Medical Systems, Inc. Oncology Care Systems Group 5499 574 Linear Accelerator Rev A 4/9s Functional Description - Motor43 box is blinking, When the Encoder index signal is reported, as a result of moving the required axis, the Console system will recalculate the absolute Encoder position and supply the Motor Control system with this new data via the "H’ ‘7° command. The box blinking is deactivated at this point. The User can expect to experience occasional Gantry or Collimator box blinking. For the Gantry and Collimator axes, ifthe difference between the stored and current Potentiometer values does not exceed 0.13° the Console system does not require an index signal report from the Motor Control system and the Gantry oF Collimator position boxes will not blink. The Console system sets the current absolute Encoder position to be equal to the stored absolute Encoder data and supplies the Motor Control system with this information and the Encoder to Potentiometer conversion data as above. When the first Encoder index signal is reported, it triggers an *H’ *7" command to FCO, Connector Pin Assignments JI, Header 5X2 Pin No. Signal Pin No. ‘Signal H “SV 3 ~~ SHIELD 3 JAWS ENI 9 GAN POS+ 4 -MU GAP 10 GAN POS- 32, 10 Position Wago/Phoenix, Power No. | Signal Pin No. Signal T POWER GOOD 6 MTR COM 2 43V 7 AGND 3 +5V 8 +24VL COM 4 GND 9 SHIELD 5 GND 10 4v 33, D37 Male Signal Pin No. | Signal : COL ENT 16 WD3 DEADMANI "7 wo2 +24VL. COM 18 wD1 -GAN EN OUTO 19 -GAN EN OUT3 -MOTION STOP 20 TI woo 21 GAN EN IN -RAD ON OUTO 2 -HV ON OUTI -HV ON OUTO 2B -HV ON OUT2 -HV ON OUTS 4 -GAN EN OUT2 -RAD ON OUTI 25 -GAN EN OUTI -RAD ON OUT2 2 SYS IMHZ+ -RAD ON OUT3 28 SYS IMHZ. Siemens Medical Systems, Inc. 5499 574 Linear Accelerator Oncology Care Systems Group Rev A ais Functional Description - Motor44 14 HV ONIN 29 SHIELD 15 RAD ON IN 37 SHIELD J5, DIS Female Pin No. | Signal Pin No. | Signal 3 ‘COL DRI 6 MTR COM 4 COL DR2 7 MTR COM 5 COL BRAKE 15 SHIELD 46, DIS Female Pin No. | Signal Pin No. | Signal T JAW Yi DR2- 6 “[JAW X2DRT 2 JAW YIDR I 7 JAW X1DR2 3 JAW Y2 DR 2 8 JAW XI DR | 4 JAW Y2 DR 1 9 MTRCOM 5 JAW X2 DR 2 15 SHIELD JT, Header 8X2 Pin No. | Signal Pin No. | Signal T TI 9 “HV ON OUTS 2 HV ONIN 10 wo 3 GANEN IN u -RAD ONOUTI 4 RAD ONIN 12 -GAN EN OUT3 5 -HV ON OUTI 13 -RAD ON OUT? 6 wD3 14 GAN EN OUT2 7 -HV ON OUT2 15 -RAD ON OUT3 8 wp2 16 -GAN EN OUTI 39, PC104 - 64 Position Pin No. | Signal Pin No. | Signal ‘A2 SD7 ‘Als ‘SAT a3 SD6 25 SA6 Aa SDs A26 SAS AS sD4 27 SA4 A sp3 A28 SA3 AT sp2 A29 SA2 AB spi 30 SAI Ag Spo A3I SAO Al0 IOCHRDY A32 GND All SAEN BI GND Az SAIS B2 SRESET AB SAI8 B3 vec Als SAIT B4 IRS Als SAI6 B10 BUSX2 Al6 SAIS B13, -SIOW Siemens Medical Systems, Ino 54 99.574 Linear Accelerator Oncology Care Systems Group Rev Aisa Functional Description - Motor45 Ay SALA B14 -SIOR Als SAI3 B20 SYSCLK Ald SAID 628 BALE A20 SAIL B29 vec A2l SA10 831 GND A22 SA B32 GND A23 SAS J11, PC104 - 40 Position No. [Signal [Pin No. | Signal co GND — C10 -MEMW C2 LA23 Do GND 3 La22 Dis vec C4 La2t Dis GND cs LA20 Dio GND 9 -MEMR 113, D37 Male Pin No. | Signal Pin No. | Signal T GND 20 JAW YZENC At 2 GND 21 JAW Y2 ENC B- 3 JAW YI POT- 2 JAW Y2 ENC B+ 4 JAW Y1 POT+ 2B JAW X2 ENC A- 5 JAW Y2 POT- 24 JAW X2 ENC A+ 6 JAW Y2 POT+ 25 JAW X2 ENC B- 7 JAW X2 POT- %6 JAW X2 ENC B+ 8 JAW X2 POT+ 2 JAW XI ENC A- 9 JAW XI POT- 28 JAW XI ENC A+ 10 JAW X1 POT+ 29 JAW X1 ENC B- ul POT REF OUT 30 JAW XI ENC B+ 2 AGND 31 JAW Y2 INDX 4 JAW YI INDX 32 SHIELD 15 JAWYIENCA. | 33 JAW X2 INDX 16 JAWYIENC A+ — [35 JAW X1 INDX "7 JAWYLENCB- | 36 vec 18 JAW YLENCB+ =| 37 vec 19 JAW Y2 ENC A- i 314, DIS Male Pin'No. | Signal Pin No.__| Signat T GND 2 8 ‘COL ENC A+ 2 vec 9 COL ENC B- 3 COL POT+ 10 COL ENC B+ 4 | cot por- 12 COL IND+ Siemens Medical Systems, Inc 5499 574 Linear Accelerator Oncology Care Systems Group Rev A 4/93 Functional Description - Motore oN 5 POT REF OUT 13 COL IND- 6 AGND 15 SHIELD 7____| cOLENCA- _ J15, D37 Female “Pin No. J Signal [Pin No. ‘Signal 1 GAN IND+ 7 ‘AGND 2 GAN IND- 18 vec 3 GAN ENC A+ 19 GND 4 GAN ENC A- B -GAN CCWL 5 GAN ENC B+ 24 -MOTION STOP 6 GAN ENC B- 25 GAN CONT 9 SHIELD 7 GAN MEI 10 -MOTION STOP 28 GAN ME2 n -GAN CWL. 29 GAN MCWI 2 GAN DR OUT 30 GAN MCW2 3 AGND 31 GAN MCCWI 4 GAN POT+ 32 GAN MCCW2 Is GAN POT- 36 424V DF 16 POT REF OUT 37__| CURRENTLIM Electrical Requirements Signal Glossary P = Power; | = Input; O = Output; PT = Pass Through A." in front of a non-power supply signal means that it is a low-asserted signal. ‘Signal Name ‘Typel Description _ — +28V P| +24-V main supply used for driving H-bridge, brake, and generating 215 V. +#24V DF P_ | 424-V supplied by external gantry drive electronics (DanFoss) for interfacing opto isolated Current Limit status input signal. +24VL COM P| Common reference for Motion Stop signal. +5V (VCC) P| Logic supply “SV P__ | Supply needed for 75110 & 75107 differential interface devices “CURRENT LIM | I | Indicates that the external gantry drive is in current limited stat. This is an abnormal operation warning. -GAN CCWL 1 | 0V indicates that the counterclockwise gantry limit switch is open (tripped). +24 V otherwise. -GAN CWL 1} 0-V indicates that the clockwise gantry limit switch is open (tripped). +24 V otherwise. -GANENOUTO |__| Indicates assertion of gantry enable (one of three supervisor line) by the funct controller 0. Siemens Medical Systems, Inc. Oncology Care Systems Group 84.99 574 Linear Accelerator Rev A 4/99 Functional Description - Motor-GAN EN OUT 1/23 -HV ON OUTO HV ON OUT 1/2/3, -MEMR -MEMW -MOTION STOP -MU GAP, -RAD ON OUT 0. -RAD ON OUT 1/23, -SIOR -SIOW TI AGND BALE BUSX2 COL BRAKE COL DRI?2 COL ENI COL ENC A/B,#/- COL IND+/- COL POT+/- DEADMANI GAN CONT GAN DROUT GAN EN IN GAN ENC A/B,+/- GAN IND+/- GAN MCCW1/2 GAN MCW1/2 PT Pr 47 Indicates assertion of gantry enable by function controllers 1, 2, and 3 respectively. Indicates assertion of high voltage enable (one of three supervisor line) by the function controller 0, Indicates assertion of high voltage enable by function controllers 1, 2, and 3 respectively. PC104: Memory Read. PC104: Memory Write. +24 V indicates that the motion stop chain is not broken (I.e. motion is enabled). OV otherwise. Generated by a dosimetry controller. Its status is monitored by the function controller 0 to start the jaw motion in virtual wedge mode. Indicates assertion of radiation-on enable (one of three supervisor line) by the function controller 0. Indicates assertion of radiation-on enable by function controllers 1, 2, and 3 respectively. PC104: LO Read. PC104: YO Write. System-wide “emergency” flag. Each function controller has access to an open collector pull mechanism as well as capability to read the wire-ANDed line. ‘Analog common, PC104 signal. Address Latch Enable. 8255; -ACK, a handshake signal used during a bus write cycle. PC104: IRQS OV /+24 V power FET driver signal for controlling collimator brake (inductive toad) PWM drive pair for collimator motor. External enable for collimator motion. +5 V enables. Collimator encoder phases A and B, each phase is a differential pair. Collimator encoder index, a differential pair. Collimator potentiometer, a differential pair. External enable for gantry motion, +5 V enables. Open collector type peripheral driver output for controlling gantry contactor. -10 to +10 V analog reference voltage that sets the gantry speed, Feeds external gantry drive electronic. External enable for gantry motion, +5 V enables. One of three Supervisor lines, Gantry encoder phases A and B, each phase is a differential pair. Gantry encoder index, a differential pair. Manual gantry rotation switch input. A short (zero Ohm) between the signal pair causes counterclockwise rotation. Manual gantry rotation switch input. A short (zero Ohm) between the signal pair causes clockwise rotation. Siemens Medical Systems, Ine Oncology Care Systems Group "4 99 574 " Linear Accelerator Rev & 4/89 Functional Description - Motor48 GAN ME1/2 1 | Manual gantry rotation switch input. A short (zero Ohm) between the signal pair arms a manual rotation. GAN POS#/- 1 | Frequency encoded gantry position signal in differential form, Frequency (0 - 500 Khz) is proportional to the gantry pot input. GAN POT#- Collimator potentiometer, a differential pair. GND Digital ground HV ONIN One of three Supervisor lines. IOCHRDY PC104: Bus cycle extension signal. 8255: -STB; Bus handshake signal used during a read cycle. IRQS PC104: Interrupt Request channel 9, 8031: Interrupt Request channel 0. JAW XI DR 1/2 PWM drive pair for Jaw X1 motor. JAW X1 ENC ADB, +/- Jaw X1 encoder phases A and B, each phase is a differential pair. JAW XI INDX Jaw X1 encoder index, single ended. JAW XI POT#/- Jaw X1 potentiometer, a differential pair. JAW X2 DR 1/2 PWM drive pair for Jaw X2 motor. JAW X2 ENC A/B.4+/- Jaw X2 encoder phases A and B, each phase is a differential par. JAW X2 INDX Jaw X2 encoder index, single ended. JAW X2 POT+/- Jaw X2 potentiometer, a differential pair. JAW Y1 ENC A/B,+/- Jaw Y1 encoder phases A and B, each phase is a differential pair. JAW YL INDY Jaw YI encoder index, single ended. JAW YI POT#/- Jaw YI potentiometer, a differential pair. JAW YI DR 1/2 PWM drive pair for Jaw ¥2 motor. JAW YI ENC A/B.4- Jaw Y2 encoder phases A and B, each phase is a differential pair. JAW YL INDY Jaw Y2 encoder index, single ended. JAW YI POT+/- Jaw Y2 potentiometer, a differential pair. JAWS EN1 External enable for jaw motion. +5 V enables all jaws, LA«23..20> PC104: High address lines for above | up to 16 Meg, MTR COM Motor Common POT REF OUT Reference voltage for six pots. POWER GOOD Power-going-down early warning indicator. TTL level (open collector input.) RAD ONIN One of three Supervisor lines. 1 Pp I ° ° ° I I 1 ° 1 I 1 JAW Y1 DR 1/2 | PWM drive pair for Jaw YI motor. I I I ° I I I I I P oO I I I SA<19..0> PC104: Address lines, 8255: Address lines; only 7 low order lines are used, SAEN 1 | PC104: When high, it indicates that a DMA master has the control of address bus and read/write command lines. 8255; -OBF, Output Buffer Full, a handshake signal used during a bus write cycle. SD<7..0> VO_| Data bus for both PC104 and 8255. SHIELD P| WO cable shield. SRESET 1 | External reset line SYS IMHZ+/- 1 | Clock used to operate pot voltage to frequency conversion circuit SYSCLK 1} PC104: 8 MHz clock wDo | Watchdog signal from Function Controller 0 WD 12/3 PT_| Watchdog signal from Function Controtlers 1, 2. & 3 z Siemens Medical Systems, Inc. 5499574 Linear Accelerator Oncology Care Systems Group Rev A 4/93 Functional Description - Motor49 Data Read/Write ro8r Write Cycle - 8255 ‘SYMBOL___| PARAMETER MIN MAX NOTE ‘dAOB Delay, /ACK low to JOBF hi = * $255 Param tdAD Delay, /ACK low to DATA valid | * . 8255 Param tdkD Delay, /ACK hito DATA tristate | * . 8255 Param tdOBAL Delay, JOBF low to /ACK low | * 1500 ns \dOBAT Delay, /OBF hi to /ACK hi 1000ns__} 1500 ns ons 000s l2000ns 20000 mrad rou Pauw rout xcs Dasa Raw 7 | _ Horns fms | iste i AWD oaTa — = — — | Data xfer from 8255 to 8031 | ‘somewhere here Fie: 6255ra3 Read Cycle 8255 ‘SYMBOL PARAMETER MIN MAX NOTE os TdRWS Delay, (W-RD edge to STB edge | * 100 ns tRWD Delay, AV-RD edge to DATA : Ltoons | ‘Siemens Medical Systems, ine 84.99 574 Linear Accelerator Oncology Care Systems Group Rev A 499 Functional Description - Motorem Pre-V7.0 Motor Control Overview Siemens Medical Systems, inc. ‘Oncology Care Systems Group ‘The purpose of this unit is to control and define field sizes as well as collimator and gantry positions. This unit is located in the gantry section of. the machine, G31 This unit contains one function controller, three dual channel Motor Control PCBs, and three dual channel Motor Driver PCBs. ‘There are basically two types of motor motion: preset and manual. Preset ‘motion can be entered from the console keyboard in the program state, from the motor adjustment screen in service mode, and from the hand control. A target position is loaded into the function controller, and a software slow-down algorithm is applied as the actual position approaches the target position. This motion is possible for all six motors. ‘The other motion is termed manual motion and is only possible via the hand control. In the case of jaw motion, a particular jaw or jaw pair must be selected and then the close or open button must be pressed and held down for manual motion to continue. Releasing the button will cause the motors to stop. Extreme preset positions are sent to the function controller, depending ‘on whether the close or open buttons are pressed. It will perform a slow-down algorithm at the extreme position if the close ot ‘open button is pressed and not released before it reaches the limit of travel. In the case of manual hand control motion with the gantry, the clockwise button (open) or the counterclockwise button (close) must be pressed and held along with the two enable buttons after “gan” is selected. Extreme rotate positions are sent to the function controller, and it will perform a slow-down at the extremes of gantry motion if the buttons are held down until it reaches the extremes. Otherwise, the motion will stop when any of the above buttons are released on the hand control. For are therapies, the gantry are motion is begun with the /O gantry enable at RAD ON and stopped with the rotate enable from the motor function controller at the end of the arc. There is no slow down performed at the end of the radiation arc. For the manual motion with the collimator, the clockwise button (open) or the counterclockwise button (close) must be pressed and held after the “col is selected. The enable buttons are not required. The motion will stop when the button is released or the extreme positions are reached. ‘The Motor Control PCBs receive commands from the function controller. ‘The commands for direction, and speed are downloaded. The outputs of the 5499574 Linear Accelerator Rev A499 Functional Description - MotorSiemens Medical Systems, Inc. Oncology Care Systems Group 51 Motor Control PCBs provide analog signals that are used for the Motor Driver PCBs. These signals contain the magnitude and the direction for DC ‘motor motion, Status of motor positions are then received as frequency data and converted to digital data on the Motor Control PCBs. This position information is then sent back to update the control console display of the addressed motor, ‘The Motor Driver PCBs receive the analog signals from their associated Motor Control PCBs and filter and amplify the signals to drive the motors The motor driver citcuit uses digital logic to control an onboard relay that is ‘enabled when a motor is addressed and is disabled when the motor has reached its requested position. The normally open relay contact disconnects the motor drive signal to the motor when itis disabled. The second associated onboard relay is used to disconnect the motor common. The gantry motor is powered by a polyspede amplifier, including the motor control amplifier, which provides the required voltage and current. ‘There are two types of interface boards used for the motor position feedback. The first is the four channel Voltage-to-Frequency (V/F) PCB (S41PCB2), which is used for the four different jaw positions, The second is the Encoder Converter PCBS. The collimator and the gantry have one Encoder Converter PCB associated with each of their individual motors. Both interfaces receive absolute position information from a sensor and transmit to its associated Motor Controller a frequency that represents the ‘motor position, ‘The V/F PCB, used for the jaw field sizes, is located in the G41 chassis. It receives its four inputs from each of the follower potentiometers used for each jaw motor. The V/F PCB provides a +10 VREF to each follower potentiometer that is connected to either the CW terminal or the CCW terminal, depending on the jaw. The alternate follower potentiometer terminal, either CW or CCW, is connected to analog common. After the V/F PCB receives the analog position signal from the follower potentiometer wiper, itis then converted to a frequency and transmitted to its associated Motor Controller. ‘The Encoder Converter PCB, used for the collimator, is also located in the G41 chassis. It receives its input from an absolute shaft encoder, which is coupled tothe rotatable collimator gear. The Encoder Converter PCB has 25 lines that are converted to binary data. This motor position data is then converted to a frequency and transmitted to the associated Motor Controller One Encoder Converter PCB is also used for gantry motor position feedback, which is located on the $32 panel. This Encoder Converter PCB also receives its input from an absolute shaft encoder, which is coupled to the gantry through a cable driven drum. It also has 25 lines that are converted to binary data. This motor position data is then converted to a 5499574 Linear Accelerator Rev A 4/99) Functional Description - Motor52 frequency and transmitted to the associated Motor Controller. This Encoder Converter PCB has a second frequency channel and provides the Dose 1 Function Controller with the gantry motor position. This data is used for the dose/degree interlock and is critical information during arc treatment. All control and interface PCBs used in the G41 chassis and the $32 pane! utilize a | MHz clock for synchronizing data conversions and for transmitting position data, A best two-of-three reads is accomplished on the position data for noise immunity. Motor Function Controller Input/Output Configuration 1 PIO-A;J8 PORT LABEL PCBPIN# — DESCRIPTION PIO-1 20 DO Z16 data bit 0 al oI Bi4 data bit 1 2 be FI6 data bit 2 3B DB Dia data bit 3 a4 4 Dis data bit 4 aS z4 data bit 5 6 D6 BI2 data bit 6 ue hy Fis data bit 7 0 AO biz BA (0] bl AL z12 BATH] ba? FIZ BA [2] bs AB Dio RD/WR baad BS RA [0] bs AS Flo RAI] b6 AG Z10 RA (2) fy 1) BIO RA [3] oO F24 not used clo 224 not used 2 MEST 24 test output oo B24 not used ee eT 77 strobe input Se Fig not used 6 = IACK BI acknowledge eT (OBF 222 output butter full Siemens Medical Systems, Inc “64.99 574 - Linear Accelerator Oncology Care Systems Group Rev A 4/99 Functional Description - Motor53 2 PIO;311 PORT LABEI PCBPIN# DESCRIPTION PIO-0 a0 /GANENOUT —-B20_—_gantry enable. al RADONOUT ~—-F22._——- RAD ONenable. a2 (MV ONOUT D20 high voltage on enable Bo 720 notused a4 FTODEN Z18_ frequency to digital enable aS PRESET DIS software reset a6 FIXED F20 fixed mode a7 WATCHDOG OUT B18watchdog output bo MTRDRVEN-1 — 232.—_jaw YI motor enable bl MTRDRVEN-2 B30. jaw Y2 motor enable 62 MTRDRVEN-1 F32_—_jaw X2 motor enable b3 (MTRDRVEN-2 D30_—_jaw XI motor enable b4 — PMTRDRVEN-1 32 collimator motor enable bS MTRDRVEN-2 F26 gantry motor enable be 226 notused 7 PBO-7 26 not used <0 = TLINPUT F28 emergency line cl RADONIN B26 RADON <2 HVONIN 228 high voltage on 3 GANENIN 28 gantry enable a F30 not used So B28 not used 6 730 notused <7 ROTEN D2 rotation enable Siemens Medical Systems, Inc. 5499574 Linear Accelerator Oncology Care Systems Group Rev A 4/99 Functional Description - Motor54 Encoder Converter PCB (S32PCB2) PIN 94 10 473, Siemens Medical Systems, ino Oncology Care Systems Group ‘The Encoder Converter PCB is a part of the MD/KD 2's motor control system (gantry motor and collimator motor. Its function is to receive position information from the absolute encoder in 13-bit Vscan binary ‘encoded format, convert it to natural binary format, and then convert that to pulse output whose frequency is proportional to the value of the converted binary data, ‘The MD/KD 2 contains two Encoder Converter PCBs. One is in the G41 card cage, referenced as PCBI, and it converts and transmits collimator position information. A second Encoder Converter PCB is mounted on the 32 panel, and it converts and transmits gantry position information. ‘The output of the absolute encoder is presented to the encoder converter with 25 parallel lines in Vscan binary format. Vscan is used to remove ambiguity from a code where more than one bit changes at one time. Vscan requires two lines (a true and a complement) for each bit I through 12 and ‘one line for bit 0 ‘scan code is then decoded to produce 13 bits of straight binary data, The logic equations for decoding Vscan binary are as follows: DO=/E0 Di =(( (D0 x El) + (D0 x C1) D2=(( (D1 x E2) + (DI x C2)) DI2= (DU x E12) + (DU x C12) where Da denotes a converted output n En denotes a TRUE input n (i.e., encoder output n) Cn denotes a COMPLEMENT input n (i.e. encoder output n) ‘The least significant bit (LSB) from the encoder is debounced and time aligned with other bits, and it is labeled as DO. The 12 most significant bits (MSBs) from the encoder, along with the DO are decoded by PALs, resulting in D1 through D12. At this point, DO through D12 are in natural binary format. These 13 bits are then fed into a set of 7497s for conversion into frequency information, 54 99.574 Linear Accelerator Rev A4i99 Functional Description - Motor55 JPI and JP2 are provided for configuring the Encoder Converter PCB in either 12-bit resolution mode or 13-bit resolution mode. Normally. 7497s take a binary value of 0 to 8,191 (decimal) represented by D[12..0] and generate a 0.5 sec pulse whose frequency is indicative of input binary value. An input of 0 results in a 0 Hz output, and an input of 8,191 produces a 1 MHz output. The frequency output is buffered/converted into differential signals via the 7510s and routed to the G31 Motor Control card cage and Dose | system, ‘The DO signal is also converted to differential pairs and sent to the G31 Motor Control card cage where the transitions of the D0 are monitored for proper gantry movement. 4-Channel V/F PCB (G41PCB2) PIN 94 10333 Siernens Medieal Systems, Inc. Oncology Care Systems Group Overall Theory ‘The Four Channel V/F PCB enables the Motor Function Controller to read the positions of the four independent jaws. A follower pot is attached to each jaw drive system. The board offsets and amplifies each follower pot voltage; it then converts that voltage to a frequency between 0 (below ‘minimum field size) and 500 kHz (above maximum field size). The position frequency of each jaw is transmitted via shielded twisted pair to that jaw’s Motor Control PCB. The frequency is converted to digital data on the Motor Control PCB for each jaw. 4 99574 Linear Accelerator Rev A 4/99 Functional Description - Motor56 Gantry Control PCB (S32PCB1) PIN 85 03 070 Siernens Medical Systems, Ino Oncology Care Systems Group Any gantry motion via rotational therapy mode, hand control mode, or ‘manual mode requires specific enable signals generated by the motor control system, /O control system, hand contral, and hardware motion interlock complete chain. Inputs TACH (+) Differential Gantry Speed Feedback TACH () Differential Gantry Speed Feedback MTR DRV REF Speed and Direction Control DEADMAN Hand Control Gantry Motion Enable ROT EN Gantry Motion Enable GANEN WO Gantry Motion Enable MOTION STOP (24 V) Board Enable 124. CW GANTRY LIM. Limit Switch Disable 24.V CCW GANTRY LIM. Limit Switch Disable Outputs MTR BRAKE Polyspede Brake Input (TB1,7) MTR BRAKE Polyspede Brake Input (TB1,9) MOTOR DRY OUT Polyspede Motor Speed Input MOTOR DRV COM Polyspede Motor Speed Input GANTRY RELAY ENABLE GANTRY SPEED INTLK Gantry Motor Drive Enable Halts Gantry if Active Enable Signals MOTION STOP (Board Enable) voltage activates K1, which connects all the analog and digital voltages to the Gantry Control PCB. If the motion stop interlock is active, the 24 V is not present and the PCB is effectively disabled. 24 V CW, 24 V CCW - The voltage steering network enable voltages are ‘coupled to the Gantry Control PCB via the CW and CCW gantry limit switches. The switches are normally closed until activated, 5499674 Rev A 4/99 Linear Accelerator Functional Description - Motor57 ROT EN - The Rotate Enable signal is generated by Motor Control Function Controller 0, and is transmitted to the Gantry Control PCB via the Motor Driver PCB. This signal is active for any gantry movement. GAN EN - The Gantry Enable signal is generated by /O Function Controller 7 via the VO Relay PCB and is active during rotational therapy. GANTRY DEADMAN - The Gantry Deadman signal is generated by the hand contro! Enable switches (both must be depressed). Rotational Therapy When a rotational therapy treatment is executed by the control console at HV ON, the ROT EN signal generated by the Motor Control PCB goes high. This signal forward biases Q3 via CRB. Q3 then conducts and activates K4. The normally open contacts of K4 (8,3) apply the 24 VL to the gantry relay (832K), which in turn completes the path forthe drive voltage from the $32 polyspede to the gantry motor. The Motor Control PCB also transmits the motor drive reference voltage to TPS (positive = CW, negative = CCW) via the Motor Driver PCBs. Gantry motion is not possible until the GAN EN signal from /O Function Controller 7 is enabled. This signal is driven high at the instant of RAD ON (injector coincidence to produce beam). At this moment, the GAN EN signal forward biases Q4 via CR4; Q4 conducts and activates K3. The normally open contacts of K3 (4,7) short the MTR BRAKE signals, which disable the polyspede motor braking circuit (32K 1,K2) ‘The GAN EN signal also forward biases Q2 via CR4; Q2 conducts and drives inverter US (1,2) and analog switch U3 (3) low. The analog switch U3 (13,14) opens, which removes R26 from the feedback path of U4 (1,2) This allows Us to function as an integrator. The analog switch U3 (15,16) closes and applies the signal present at TPI to the integrator U4, This is the error signal generated by the comparator U1 Ul compares the motor drive reference voltage (TPS) with the scaled-down and buffered motor-tach-feedback voltage (TP3). R24 and RB are adjusted to achieve the desired gantry rotational speed. The error signal generated by comparator U1 is applied to TPI via servo gain control R19. The error signal is coupled to the integrator through the analog switch U3. The integrated error signal (polyspede drive voltage) is buffered by the unity gain amplifier U1-7 and applied to TP2. The drive voltage is coupled to the voltage steering network via the normally open contacts of Ka (4,7) and the normally closed contacts of K2 (4.6). ‘The voltage steering network consists of KS, K6, and CRI2 through CRIS. KS and K6 are both activated when the 24 V CW and CCW Voltages are present. The 24 V CW and 24 V CCW voltages coupled through the Siemens Medical Systems, inc ‘Oncology Care Systems Group 5499 574 — Linear Accelerator Rev 4/99 Functional Description - Motor58 normally closed contacts of the gantry limit switches dictate which polarity of drive voltage can be coupled to TPS (polyspede drive voltage). For example, if the gantry is driven to maximum CW (positive voltage) and the limit switch is activated, the 24 V CW voltage is uncoupled and KS deactivates. In this state, only a CCW drive voltage (negative voltage) can bbe coupled to TPS via the normally open contacts of K6 (4,7) and CR12. The proportional speed interlock circuit consists of the comparator UI-14, the threshold detector U2 (7,8), CRI. CR2, and QU. The interlock is set to Leip if the speed varies + 10% from the gantry speed reference voltage. The delay network (RI and C1) prevents any false interlocks from occur ring by requiring that the interlock condition be present at Ul-14 for at least 250 ‘msec. Also, the 150 k resistor and the 1 F capacitor prevent any false interlocks by maintaining the motor drive reference voltage after the gantry drive has been terminated. If the speed varies more than 10%, then @ positive voltage will be generated at U2 (7 or 8). This voltage is coupled to QI via CRI or CR2, and the analog switch U3 (11,12). This signal causes QI to conduct, producing a gantry speed interlock Hand Control Mode ‘The hand control method of gantry rotation is similar to rotational therapy ‘operation with the exception that the hand control DEADMAN signal is equivalent o the GAN EN signal, described in the rotational therapy mode description. The GANTRY SPEED INTLK signal is enabled but masked by the $33 interlock system during the RAD OFF state. Manual Mode ‘The major components for manual mode gantry rotation are $1 through S4, K2, U6, and CR6. SI (spst) must be activated on to supply the momentary ‘button switches $2 (CCW) and $4 (CW) with the 5 V control voltage for the analog switch U6. R41 determines the CW voltage at TP6 (approx. +5.5 V) and R42 determines the CCW voltage at TP7 (approx. 5.5 V). The function of $3 (momentary button switch) is to activate the gantry relay via CR6, release the $32 polyspede brake by shorting the MTR BRAKE signals, and activate K2, which couples the CW or CCW drive voltage selected by $4 or ‘S2to the voltage steering network. The voltage steering network applies the MOTOR DRV OUT signal to TP8 with direction polarity depending on the state of the 24 V CW and 24 V CCW voltages as previously described Siemens Medical Systems, inc 5499 574 Linear Accelerator Oncology Care Systems Group Rev A 4/99 Functional Description - MotorG31 Motherboard PCB PIN 94 09 863 59 ‘The Motherboard PCB's four main functions are to: + Allow physical grouping of several types of daughter boards and connectors that share the task of controlling various motors. The Motor Control PCBs (3), Motor Driver PCBs (3), and the Motor Function Controller are installed on this motherboard. * Distribute various powers and grounds to daughterboards in an electrically sound manner + Allow interconnections among daughterboards + Allow interconnections between the motor control subsystem and other subsystems in an organized manner by grouping signals and packing them on several connectors ‘The G31 Motherboard, as the name implies, is located in the G31 card cage. The union of the motherboard and daughterboards is accomplished by ‘means of an array of female-pin connectors on the motherboard and a ‘mate-pin connector on each daughterboard. Terms and Conventions ‘+ A signal activated or asserted means logical TRUE state of that signal. * A signal deactivated or negated means logical FALSE state of that signal A negated signal is shown with a slash () preceding the signal name. The following list shows the placement of the daughterboards on the motherboard. Slot ‘Type Function Slot 1 Motor Driver Jaw YI and jaw Y2 Slot 2 Motor Driver Jaw X2 and jaw X1 Slot 3 Motor Driver Collimator and gantry Slot4 Motor Function Interface to the control Controller console Slot 5 Motor Control Jaw Y1 and jaw ¥2 Slot 6 Motor Control Jaw X2 and jaw Xt Siot7 Motor Control Collimator and gantry Slot 8 Spare Slot 9 Spare Slot 10 Spare Siemens Medical Systems, Inc. 84 98 674 "Linear Accelerator Oncology Care Systems Group Rev A 4/99 Functional Description - Motor60 Connector Signals Pl 415 V, 15 V, 424 V, 24 V, 2 Motor enable signals from /O Funetion Controller, 1 MHz clock, and others B GAN EN X, HV ON X, RAD ON X, and others 44 Motor positions, motor drives, and others Js TI, WD X, GAN EN X, HV ON X, RAD ON X, and others, 16 LSB from the gantry encoder Address Bus Distribution The only active component on the motherboard is the HC368 inverting buffer, UL. Its purpose is to code the board addresses going to slots 5 through: 10 so that no address setting is necessary on the daughterboards. ‘The Motor Function Controller generates three board addresses (BA(2}...BA[0)). These addresses are both selectively and logically inverted for each slot as follows: Slot $ (Address 0) gets. —/BA[2/BALI)BA(O] Slot6 (Address 1) gets. /BAL2V/BAL1] BAO} Slot? (Address 2) gets. /BA[2)BA[1)/BA(0) Slot8 (Address3) gets. /BAI2)BA[1]BA(0] Slot9 (Address 4) gets. BA[2)/BA[I]/BA(0] Slot 10 (Address 5) gets. BA[2V/BAI1] BA(0] ‘When a slot is addressed (selected) by the Motor Function Controller, only the daughterboard in that addressed slot sees 1, 1, 1 on its BA(2...0]. For example, when the Motor Function Controller selects slot 10 (address 5) by setting BA(2..0] = [1, 0, 1}, stot 10 will receive BA(2), /BA[1] (note the inversion), BA[O), and their bit values will be {1, 1, 1]. On all other slots, ‘one or more board addresses will be 0. ‘Therefore, any daughterboard can be selected with a pattern of 1,1, 1 on its board address bus regardless ofthe slot itis in. Siemens Medical Systems, Inc. Oncology Care Systems Group 84.99 574 Linear Accelerator Rev A 4/99 Functional Description - Motor61 Motor Control PCB (G31PCB5, PCB6, PCB7) PIN 94 06 596 ‘The Motor Control PCB's main functions are to: *+ Receive and translate jaw, collimator, and gantry position information from the respective encoding electronics and then make this information available to the Motor Function Controller *+ Receive speed control command from the Motor Function Controller in digital format and convert it to a proportional analog voltage that is then sent to the Motor Driver PCB *+ Provide a backup mechanism of monitoring and stopping the rotation of the gantry Introduction ‘The MD/KD 2 has three Motor Control PCBs. They are all located in G31 card cage along with a Motor Function Controller and three Motor Driver PCBs. The Motor Control PCBs occupy slots 5, 6, 7 of the G31 card cage. Each Motor Control PCB controls two motors: the Motor Control PCB in slot 5 controls jaws Y1 and Y2, the Motor Control PCB in stot 6 controls Jaws X2 and X1, and the Motor Control PCB in slot 7 controls collimator and gantry. ‘Terms and Conventions * A signal activated or asserted means logical TRUE state of that signal. + A signal deactivated or negated means logical FALSE state of that signal + Motor 0 refers to the first of two motors controlled by each Motor Control PCB. It corresponds to jaw Y1, jaw X2, and collimator. + Motor I refers to the second of two motors controlled by each Motor Control PCB. It corresponds to jaw Y2, jaw X1, and gantry. Slot Addressing The motor control section uses the technique of slot addressing, In order to uniquely address slots 5, 6, 7, 8, 9, and 10 with three address lines, the logical NOTS of BAO, BAL, and BA2 are generated with inverters, and ‘unique combinations of three each of these six signals go to each slot. Only the slot with a particular combination in which all three are high will be addressed at a given time. This particular technique allows for quick board swapping since there are no address switches that have to be changed. Siernens Medical Systems, ina Oncology Care Systems Group 54 99574 Linear Accelerator Rev A 4/99 Functional Description - Motor62 Siemens Medical Systems, Inc Oncology Care Systems Group Drive and Decode Data and address busses are buffered and fanned out using the 244 and 245, buffers. Board addresses (BA[2..0}) are coded and distributed on the ‘motherboard so that these lines all become HIGH at the slot selected by the Motor Function Coniroller, A comparator, HC8S, compares BA(2..0) against (I, 1, 1) and activates /BD SEL (board selected) upon the coincidence of BA[2..0] with (1. 1, 1). This is known as slot addressing and expedites board swapping as a troubleshooting technique. U21 generates write strobes for various registers by decoding register addresses [3.0], /BD SEL, R-/W, and WSTROBE signals, U2 generates read strobes for various registers by decoding register addresses A(3.0}, /BD SEL, and R-/W signals. Write Cycle The data write cycle is started by the Motor Function Controller's assertion of an /OBF (output buffer full) signal. This causes WSTROBE and /ACK to g0 active, This, in tum, causes 1) the negation of /OBF and 2) the write data to appear on the motherboard bus. Afier an RC delay, the negation of /OBF causes negation of WSTROBE and then /ACK, at which time the data is latched into the addressed register. Read Cycle The Motor Function Controller via the board address lines reads data out of the Motor Control PCBs' registers by first selecting a PCB and a register via A[3..0], and then setting R-/W to 1. This activates the STB and the read strobe for a selected register. The selected register then places the data on the bus. If the selected register is the analog to digital converter, a conversion starts and the result is put on the bus at the end of the conversion. ‘The Motor Function Controller reads the data on the bus and ends the read cycle by setting R-/W to 0, negating the /STB and the read strobe. Reset PRESET is a logical OR of powerup reset and /SRST generated by the Motor Function Controller. /RESET is applied to most of the registers and counters on the Motor Control PCBs. Digital to analog converters are not cleared, Frequency to Digital Conversion The position of objects under control (jaws, collimator, and gantry) are transmitted to the Motor Control PCBs in pulses with frequencies proportionate to the position of the objects. Frequencies range from 0 to 500 Hz for jaws and 0 to 1 MHz for both the collimator and gantry. The 5499574 Linear Accelerator Rev A 4/99 snctional Description - MotorSiernens Medical Systems, Inc. Oncology Care Systems Group 63 conversion of position from frequency to binary position counts is achieved by counting the pulses during an 8 ms window. This results in possible position counts of 0 to 4,095 for the jaws and 0 to 8,191 for both the collimator and gantry. Motor 0 (i.., jaw Y1, jaw X1, collimator) position pulses are received by U29A in differential pair. The TTL output is routed through a multiplexer (U6) and then counted by a 16-bit counter (U12 and U3). The acquisition window of 8.192 ms is determined by the level of U1, pin 3 output. At the end of the 8 ms window, US-B disables the counting of the 16-bit counter. ‘The accumulated count is then transferred to the output register by U4-C This is followed by the clearing of the counter by U4-D, preparing it for the next 8 ms window. A new 8 ms window will begin 8 sec after the end of the previous 8 msee window. A system wide 1 MHz clock is received by U34A in differential pair form Terminating resistors for the pair are located on the motherboard, Before the Motor Function Controller reads position counts from the output registers of the two 8-bit counters, it inhibits new transfer into the register by negating the F to D EN signal. The F to D EN signal is synchronized with the I MHz clock to avoid a possible race condition, ‘The clock multiplexer, U6, is used to switch in an independent clock source of known frequency (1 MHz or 0 Hz) to test and verify the conversion circuit ital to Analog Conversion ‘There are two channels of the digital to analog conversion circuit. The outputs of the digital to analog converter are used to control the speed of the motor. AD7548 is a 12-bit current output digital to analog converter. Op-amps are used to achieve voltage and then amplify that voltage with an offset to produce a bipolar voltage of 5 V to +5 V at U32-C. Nominal values: Digital to Analog U32€ or Converter u32¢ oo1n 4.998 V: Full speed, jaws out, collimator CCW, gantry CCW 8008 0.000 V: No movement FFh +4.998 V: Full speed, jaws in, collimator CW, gantry CW Analog to Digital Conversion A single 8-bit analog to digital converter is used to test and verify the operation of the digital to analog converter and series of op-amps and drivers in the speed control circuit, AD7824 is an 8-bit analog to digital 54 99.574 Linear Accelerator Rev A.ai99 Functional Description - Motor64 ‘Siemens Medical Systems, ino. Oncology Care Systems Group converter with a one-of-four input selector. Two of four inputs to AD7824 (MVO, MV1) are connected to op-amp outputs near the digital to analog converter. The other two (J1-D28, J1-228) are connected to the output of the

You might also like

• The Subtle Art of Not Giving a F*ck: A Counterintuitive Approach to Living a Good Life

  

  From Everand

  The Subtle Art of Not Giving a F*ck: A Counterintuitive Approach to Living a Good Life

  Mark Manson

  Rating: 4 out of 5 stars

  4/5 (5813)
• The Gifts of Imperfection: Let Go of Who You Think You're Supposed to Be and Embrace Who You Are

  

  From Everand

  The Gifts of Imperfection: Let Go of Who You Think You're Supposed to Be and Embrace Who You Are

  Brene Brown

  Rating: 4 out of 5 stars

  4/5 (1092)
• Never Split the Difference: Negotiating As If Your Life Depended On It

  

  From Everand

  Never Split the Difference: Negotiating As If Your Life Depended On It

  Chris Voss

  Rating: 4.5 out of 5 stars

  4.5/5 (844)
• • Magazines
  • Podcasts
  • Sheet music
• Principles: Life and Work

  

  From Everand

  Principles: Life and Work

  Ray Dalio

  Rating: 4 out of 5 stars

  4/5 (608)
• The Glass Castle: A Memoir

  

  From Everand

  The Glass Castle: A Memoir

  Jeannette Walls

  Rating: 4.5 out of 5 stars

  4.5/5 (1716)
• Grit: The Power of Passion and Perseverance

  

  From Everand

  Grit: The Power of Passion and Perseverance

  Angela Duckworth

  Rating: 4 out of 5 stars

  4/5 (590)
• Sing, Unburied, Sing: A Novel

  

  From Everand

  Sing, Unburied, Sing: A Novel

  Jesmyn Ward

  Rating: 4 out of 5 stars

  4/5 (1104)
• Hidden Figures: The American Dream and the Untold Story of the Black Women Mathematicians Who Helped Win the Space Race

  

  From Everand

  Hidden Figures: The American Dream and the Untold Story of the Black Women Mathematicians Who Helped Win the Space Race

  Margot Lee Shetterly

  Rating: 4 out of 5 stars

  4/5 (897)
• Shoe Dog: A Memoir by the Creator of Nike

  

  From Everand

  Shoe Dog: A Memoir by the Creator of Nike

  Phil Knight

  Rating: 4.5 out of 5 stars

  4.5/5 (540)
• The Perks of Being a Wallflower

  

  From Everand

  The Perks of Being a Wallflower

  Stephen Chbosky

  Rating: 4.5 out of 5 stars

  4.5/5 (2104)
• The Hard Thing About Hard Things: Building a Business When There Are No Easy Answers

  

  From Everand

  The Hard Thing About Hard Things: Building a Business When There Are No Easy Answers

  Ben Horowitz

  Rating: 4.5 out of 5 stars

  4.5/5 (348)
• Bad Feminist: Essays

  

  From Everand

  Bad Feminist: Essays

  Roxane Gay

  Rating: 4 out of 5 stars

  4/5 (1018)
• Elon Musk: Tesla, SpaceX, and the Quest for a Fantastic Future

  

  From Everand

  Elon Musk: Tesla, SpaceX, and the Quest for a Fantastic Future

  Ashlee Vance

  Rating: 4.5 out of 5 stars

  4.5/5 (474)
• Her Body and Other Parties: Stories

  

  From Everand

  Her Body and Other Parties: Stories

  Carmen Maria Machado

  Rating: 4 out of 5 stars

  4/5 (822)
• The Outsider: A Novel

  

  From Everand

  The Outsider: A Novel

  Stephen King

  Rating: 4 out of 5 stars

  4/5 (1850)
• The Emperor of All Maladies: A Biography of Cancer

  

  From Everand

  The Emperor of All Maladies: A Biography of Cancer

  Siddhartha Mukherjee

  Rating: 4.5 out of 5 stars

  4.5/5 (271)
• The Sympathizer: A Novel (Pulitzer Prize for Fiction)

  

  From Everand

  The Sympathizer: A Novel (Pulitzer Prize for Fiction)

  Viet Thanh Nguyen

  Rating: 4.5 out of 5 stars

  4.5/5 (122)
• Angela's Ashes: A Memoir

  

  From Everand

  Angela's Ashes: A Memoir

  Frank McCourt

  Rating: 4.5 out of 5 stars

  4.5/5 (441)
• Brooklyn: A Novel

  

  From Everand

  Brooklyn: A Novel

  Colm Toibin

  Rating: 3.5 out of 5 stars

  3.5/5 (1947)
• The Little Book of Hygge: Danish Secrets to Happy Living

  

  From Everand

  The Little Book of Hygge: Danish Secrets to Happy Living

  Meik Wiking

  Rating: 3.5 out of 5 stars

  3.5/5 (401)
• A Man Called Ove: A Novel

  

  From Everand

  A Man Called Ove: A Novel

  Fredrik Backman

  Rating: 4.5 out of 5 stars

  4.5/5 (4610)
• The Art of Racing in the Rain: A Novel

  

  From Everand

  The Art of Racing in the Rain: A Novel

  Garth Stein

  Rating: 4 out of 5 stars

  4/5 (4203)
• Steve Jobs

  

  From Everand

  Steve Jobs

  Walter Isaacson

  Rating: 4.5 out of 5 stars

  4.5/5 (807)
• The World Is Flat 3.0: A Brief History of the Twenty-first Century

  

  From Everand

  The World Is Flat 3.0: A Brief History of the Twenty-first Century

  Thomas L. Friedman

  Rating: 3.5 out of 5 stars

  3.5/5 (2259)
• A Tree Grows in Brooklyn

  

  From Everand

  A Tree Grows in Brooklyn

  Betty Smith

  Rating: 4.5 out of 5 stars

  4.5/5 (1929)
• The Yellow House: A Memoir (2019 National Book Award Winner)

  

  From Everand

  The Yellow House: A Memoir (2019 National Book Award Winner)

  Sarah M. Broom

  Rating: 4 out of 5 stars

  4/5 (98)
• Devil in the Grove: Thurgood Marshall, the Groveland Boys, and the Dawn of a New America

  

  From Everand

  Devil in the Grove: Thurgood Marshall, the Groveland Boys, and the Dawn of a New America

  Gilbert King

  Rating: 4.5 out of 5 stars

  4.5/5 (266)
• Yes Please

  

  From Everand

  Yes Please

  Amy Poehler

  Rating: 4 out of 5 stars

  4/5 (1898)
• Team of Rivals: The Political Genius of Abraham Lincoln

  

  From Everand

  Team of Rivals: The Political Genius of Abraham Lincoln

  Doris Kearns Goodwin

  Rating: 4.5 out of 5 stars

  4.5/5 (234)
• A Heartbreaking Work Of Staggering Genius: A Memoir Based on a True Story

  

  From Everand

  A Heartbreaking Work Of Staggering Genius: A Memoir Based on a True Story

  Dave Eggers

  Rating: 3.5 out of 5 stars

  3.5/5 (231)
• The Woman in Cabin 10

  

  From Everand

  The Woman in Cabin 10

  Ruth Ware

  Rating: 3.5 out of 5 stars

  3.5/5 (2521)
• Fear: Trump in the White House

  

  From Everand

  Fear: Trump in the White House

  Bob Woodward

  Rating: 3.5 out of 5 stars

  3.5/5 (738)
• Wolf Hall: A Novel

  

  From Everand

  Wolf Hall: A Novel

  Hilary Mantel

  Rating: 4 out of 5 stars

  4/5 (3811)
• John Adams

  

  From Everand

  John Adams

  David McCullough

  Rating: 4.5 out of 5 stars

  4.5/5 (2409)
• On Fire: The (Burning) Case for a Green New Deal

  

  From Everand

  On Fire: The (Burning) Case for a Green New Deal

  Naomi Klein

  Rating: 4 out of 5 stars

  4/5 (74)
• The Light Between Oceans: A Novel

  

  From Everand

  The Light Between Oceans: A Novel

  M.L. Stedman

  Rating: 4.5 out of 5 stars

  4.5/5 (789)
• Elekta Service Parts Catalog Atualizado 2015-45133702305 - 07

  

  Document668 pages

  Elekta Service Parts Catalog Atualizado 2015-45133702305 - 07

  Nicolas Ronchi

  100% (2)
• Manhattan Beach: A Novel

  

  From Everand

  Manhattan Beach: A Novel

  Jennifer Egan

  Rating: 3.5 out of 5 stars

  3.5/5 (792)
• The Constant Gardener: A Novel

  

  From Everand

  The Constant Gardener: A Novel

  John le Carré

  Rating: 3.5 out of 5 stars

  3.5/5 (104)
• The Unwinding: An Inner History of the New America

  

  From Everand

  The Unwinding: An Inner History of the New America

  George Packer

  Rating: 4 out of 5 stars

  4/5 (45)
• Rise of ISIS: A Threat We Can't Ignore

  

  From Everand

  Rise of ISIS: A Threat We Can't Ignore

  Jay Sekulow

  Rating: 3.5 out of 5 stars

  3.5/5 (137)
• Little Women

  

  From Everand

  Little Women

  Louisa May Alcott

  Rating: 4 out of 5 stars

  4/5 (104)
• Guia Rápido Hico-Variotherm 550

  

  Document1 page

  Guia Rápido Hico-Variotherm 550

  Nicolas Ronchi

  100% (1)
• Manual Manutenção Sistema MV

  

  Document158 pages

  Manual Manutenção Sistema MV

  Nicolas Ronchi

  No ratings yet
• Anexo I Ao Termo de Referência - Manual Dos Serviços de Limpeza Do Hospital de Campanha - Anexo I - Termo de Referência - 5DF18

  

  Document31 pages

  Anexo I Ao Termo de Referência - Manual Dos Serviços de Limpeza Do Hospital de Campanha - Anexo I - Termo de Referência - 5DF18

  Nicolas Ronchi

  No ratings yet
• Ecg Compassus 3000

  

  Document4 pages

  Ecg Compassus 3000

  Nicolas Ronchi

  No ratings yet
• OPTV V5 Serv and Parts Non-ROHS - 846083-J

  

  Document362 pages

  OPTV V5 Serv and Parts Non-ROHS - 846083-J

  Nicolas Ronchi

  No ratings yet
• Instrucao de Usoperfusorspace

  

  Document94 pages

  Instrucao de Usoperfusorspace

  Nicolas Ronchi

  No ratings yet
• 03 Diagramas

  

  Document342 pages

  03 Diagramas

  Nicolas Ronchi

  No ratings yet
• Manual Preventiva NOVO

  

  Document238 pages

  Manual Preventiva NOVO

  Nicolas Ronchi

  No ratings yet
• Manual de Preventiva Antigo Best

  

  Document178 pages

  Manual de Preventiva Antigo Best

  Nicolas Ronchi

  No ratings yet
• Manual de Interlock ELEKTA

  

  Document448 pages

  Manual de Interlock ELEKTA

  Nicolas Ronchi

  No ratings yet