Philips CARDIOMD Service Manual page 36

Gantry
Figure 3.9 Drive block diagram
The horizontal drive differs only in the respect that the motor delivers an incremental encoder
output directly instead of a resolver output.
One controller, the linear controller (the slave controller), handles the X- and Y-axis drives; the
other, the rotate controller (the master controller), handles the rotate drive and the CANbus
interface and thus the communication with the acquisition PC. All three absolute encoders are
connected to the Rotate Controller (via the safety board), using the extraneous incremental
encoder input port. The table drive uses only digital input/outputs.
The two controllers communicate via a dedicated high-speed serial interface (HSSI).
Figure 3.10 on page 3-13 shows the connections to the two controllers. The RS-232 ports are only
used for debug and programming.
3-12 CardioMD Service Manual
Control voltage
Motor
Amp Enable
Control
Output
Port
Amp Fault
Encoder Incremental
Input Port encoder ticks
Digital
Input Port
(Rotate
Controller)
Absolute position
Motor
current
Amplifier
Resolver
Motor Power
(interruptible)
Safety
circuit
Absolute
position
encoder
Motor
Ultimate
Limit
Switches
1MAN0158-H11 04-2005 CSIP Level 1