Cart Drive

Section 2: Cart Drive

Overview
The cart control subsystem allows you to:
• Drive the system at speeds up to 5.0 kph (3.5 mph)
• Move the system manually

Description

The cart drive subsystem drives the system while you walk behind it steering and controlling the speed. Pushing on
the left or right side of the handle drives the left or right wheels and moves the system. Pressing harder on one side
of the drive handles steers the system. Pulling on the drive handle moves the system in reverse.
In the case of low power, the system can be unlocked and pushed or pulled manually.

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Components
Strain Gauges
The left and right strain gauges independently control the speed of acceleration of each of the drive wheels. Pushing
harder on the drive handle on one side deflects the flexure on that side. The strain gauge measures the deflection
and accelerates the drive wheel on that side faster. Consistent deflection of either of the flexures/strain gauges
causes an acceleration to maximum speed.
• Starting to Drive—When the left or right flexure/strain gauge is deflected, the servo motor on either the left or
right side starts to accelerate to a maximum speed. The amount of deflection of the strain gauge determines the
rate at which the servo motor accelerates to the maximum speed.
• Steering—Pushing on either the left or right side of the handle causes the motor on that side to independently
drive the wheel on that side. Pushing harder on one side causes the motor and that side to drive faster and turn
the system. The other wheel turns at a slower rate when you are steering the system.
• Moving at a Constant Speed—When the system has accelerated to the maximum speed and you are walking
behind it, eventually the pressure from your hands becomes neutral. You are essentially not pushing or pulling
on the drive handle. The system continues to drive forward in a straight direction at a constant speed.
• Decelerating—When the system is moving forward at a constant speed and you are walking behind it steering,
eventually you will want to stop the system. Your pace slows and as the system continues to move forward, your
hands provide pressure on the reverse side of the drive handle and the system starts to slow down.
• Stopping—Releasing the left and right deadman switches stops the system.

Servo Motors
The left and right 60 V (dc) servo motors drive the left and right drive wheels independently to move the system. The
strain gauges determine the deflection of the left or right handle and send signals to the multi axis controller (MAC)
board. The MAC board sends signals to the motor and driver (MAD) board, which then sends a varying voltage to
either the right or left drive motor. The encoder on each of the motors controls the velocity of the motor and provides
feedback to the MAC board.

Brakes
The left and right brakes stop the servo motors. The brakes are engaged when the deadman switches on the drive
handle are released or when the bumper is actuated. Squeeze the drive handle to disengage the brakes.

Bumper
When the bumper is depressed and either the left or right bumper sensor is actuated, the servo motors are shut down,
the brakes are engaged, and the forward drive of the system is stopped. You must release and then squeeze the
drive handle to drive the system backward. When the bumper sensors are cleared, you must squeeze the drive
handle to disengage the brakes, and then you can drive the system forward again.

Brake Release Button

Pressing the brake release button disengages the brake for each of the drive wheels and allows you to manually push
the system. This button is only active when the (dc) circuit breaker CB 1A is deenergized and/or one of the E-Stop
buttons is depressed. This button can still be active when the system is connected to (ac) power.

Deadman Switches
The left and right deadman switches on the drive handle must be pressed to drive the system. Releasing the
deadman switch stops the system.

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Circuit Boards
MAC Board
The system includes 2 MAC boards, the tube head MAC board and the cart MAC board. The 2 MAC boards
communicate through a communication area network (CAN) connection.
The MAC board is designed to control the electro-mechanical devices on the system. The MAC board responds to
high level commands from the SCB through a CAN 2.0B serial communication network and interfaces with all local
sensors and motors on the system. It is capable of providing:
• Operational sequencing
• Position monitoring
• Button and sensor event monitoring
• Actuator control
• Closed loop motor control
The tube head MAC board includes an accelerometer for the tube head. The accelerometer determines the angle of
inclination of the tube head versus gravity. It also includes the control for the collimator light, grid alignment, and the
input for the brake releases on the tube head handles only.

MAD Board
The MAD board controls the high voltage and high current electro-mechanical devices on the system. The MAD
board responds to low level commands from the MAC board with the main purpose of driving the 2 main drive motors
and the column drive motor.

Load Cell Interface Board

The load cell interface boards convert linear position to linear electronic signals. Each of the left or right load cell
interface boards converts the deflection of the left or right strain gauges to send a signal to the MAC board for speed,
direction, and overall cart drive.

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Section 3: Crane Drive

Overview
The crane drive subsystem allows for vertical, horizontal and rotational movement of the tube head to provide correct
positioning to obtain an image.

Description

The crane drive subsystem is divided into 3 separate but interrelated smaller subsystems:
• Column Drive on Page 14
• Boom Extension on Page 17
• Tube Head on Page 18
These 3 subsystems work together to allow you to align the tube head for imaging.

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Column and Tube Head Motions

Boom

Column

Alpha

Tau

Theta
Beta

The tube head positioning has 5 axes of motion, plus the column can be raised or lowered to correctly position the
tube head for an image.
• Beta—The column rotates 270 ° from the docked position in either direction.
• Column extension—The column extension range places the focal spot from 68.6—205.0 cm (27.0—78.7 in.)
above the floor.
• Boom extension—With the boom fully compressed, the X-ray tube focal spot is 61.0 cm (23.8 in.) from the
column center, and with the boom fully extended, the X-ray tube focal spot is 101.6 cm (39.6 in.) from the center
of the column.
• Alpha rotation—The tube head rotates 180 ° in the clockwise direction, and 135 ° in the counterclockwise
direction.
• Tau rotation— The tube head rotates –10—90 ° where 0 ° is pointing straight down.
• Theta rotation—The tube head rotates 90 ° in either direction.

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Column Drive
Description

In the graphic Column and Tube Head Motions on Page 13, the column drive subsystem is responsible for:
Column Extension and Retraction—The inner column is motorized to extend and retract as required to follow the
operator’s motions when raising or lowering the boom. The boom slides in a bearing track attached to the inner
column, and is counterweighted with a large weight so it can move freely. A magnetic strip linear encoder indicates
the position of the boom in the bearing track.
As the operator presses the brake releases and moves the boom up and down, the inner column positions itself as
necessary. When the encoder indicates the trolley is approaching the end of travel on the slide, the column motor
quickly moves the inner column to bring the boom toward the center of the slide.
When the boom is moved up beyond a set point, it enters the upper active servo zone and the column adjusts its
position upward until the boom is below the upper active servo zone. When the boom enters the lower active servo
zone, the column adjusts its position downward until the boom is above the lower active servo zone. When the boom
is moved in the section of trolley travel that is in between active servo zones, the column tracks the trolley position
at a ratio of approximately 50%. This allows an extended smooth operation zone that is approximately 1.5 times
longer that the actual distance between the active servo zones.
Column Rotation—Press the same brake release buttons and you can rotate the column around the system up to
270 ° in either direction from the docking position.

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Components
Inner Column
The inner column completely supports the weight of the boom and the counterweight. The counterweight rides on a
set of cables that runs over 2 pulleys attached to the top of the inner column. The entire assembly has a total weight
of 122 kg (270 lb), with the column itself adding an additional 22.7 kg (50.0 lb). A small servo motor drives a
counterbalance to raise and lower the inner column/boom assembly.

Trolley
The trolley holds the boom/tube head assembly and moves up and down on the column. Press and hold the brake
button on the back of either of the tube head handles, or on the front of the boom handles to release the column brake
and manually move the trolley up and down. A counterweight/pulley system allows for easier lifting of the trolley. A
magnetic strip linear encoder tracks the movement of the trolley, and sends the signal to the cart MAC board.

Column Motor
The column motor is a 60 V (dc) servo motor that includes an encoder. The column linear encoder sends a signal to
the cart MAC board. The cart MAC board sends a signal to the MAD board. The MAD board sends a varying voltage
to the column motor to raise and lower the column.
The motor is coupled to the shaft of the counterbalance through a gear head reducer and a cogged belt.The motor
has an incremental encoder to provide velocity feedback for servo loop stability.
The column motor provides the acceleration for raising or lowering the column, and the positioning of the column.
The counterbalance provides the force for raising or lowering the column.

Counterbalance
A clock-spring counterbalance device with a cable provides all the force for raising and lowering the column. This
enables a much smaller motor to raise and lower the heavy boom assembly.

The column motor drives the counterbalance through a gear head reducer and a cogged belt.The motor has an
incremental encoder to provide velocity feedback for servo loop stability. The cable from the counterbalance passes
through a lower and an upper pulley to raise the inner column.

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Brakes
Brake release buttons on the back of each tube head handle, and on the front of each boom handle release the
brakes for the column extension and beta rotation. These buttons disengage:
• Trolley brake
• Column brake
• Beta brake
The brakes are permanent magnet brakes that are always holding. Pushing the brake button zeros the holding force
and releases the brakes.
The input from the buttons on the boom handle goes to the cart MAC board through the I2C board. The signals for
the column brake and the beta brake are sent directly from the cart MAC board. The signal for the trolley brake is
sent from the cart MAC board through the I2C board.

Column Down Sensor (Cable Stretch Sensor)

The column down sensor detects that the column is nearing the lowest position. It then slows the rate of speed of the
column movement until the column is completely retracted.

Column Absolute Encoder

The column absolute encoder is a single rotation absolute encoder with a multi-rotation potentiometer that is attached
to a tensioner pulley on the cogged belt driven by the column motor. This absolute encoder provides absolute position
feedback for the upper column.

Column Linear Encoder

The magnetic strip column linear encoder indicates the position of the boom in the slide. The encoder also includes
a distance coded reference marking (DCRM) that enables it to provide absolute position information after moving a
short distance.

MAC Board
The system includes 2 MAC boards, the tube head MAC board and the cart MAC board. The 2 MAC boards
communicate through a communication area network (CAN) connection.
The MAC board is designed to control the electro-mechanical devices on the system. The MAC board responds to
high level commands from the SCB through a CAN 2.0B serial communication network and interfaces with all local
sensors and motors on the system. It is capable of providing:
• Operational sequencing
• Position monitoring
• Button and sensor event monitoring
• Actuator control
• Closed loop motor control
The tube head MAC board includes an accelerometer for the tube head. The accelerometer determines the angle of
inclination of the tube head versus gravity. It also includes the control for the collimator light, grid alignment, and the
input for the brake releases on the tube head handles only.

I2C Board
The I2C Board is designed to supply the devices with a user interface switch, actuator signals, and input/output for
LEDs.

MAD Board
The MAD board controls the high voltage and high current electro-mechanical devices on the system. The MAD
board responds to signals from the MAC board with the main purpose of driving the 2 main drive motors and the
column drive motor.

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Boom Extension
Description

The boom extension subsystem allows you to manually release the brakes and extend, retract, and dock the boom.

Components
Brakes
Brake release buttons on the back of each tube head handle, and on the front of each boom handle release the
brakes for the boom extension. These buttons disengage:
• 2 boom brakes—inner and middle boom
• Boom lock—The solenoid release latch is only actuated when the boom locked sensor is made.
The input from the buttons on the boom handle goes to the cart MAC board. The signal for the boom brake are sent
from the cart MAC board through the I2C board.

Boom Locked Sensor

The boom locked sensor detects that the boom is fully down and in the locked position. The signal is sent from the
sensor to the cart MAC board. The signal for the boom brake is sent from the cart MAC board through the I2C board.

MAC Board
The system includes 2 MAC boards, the tube head MAC board and the cart MAC board. The 2 MAC boards
communicate through a communication area network (CAN) connection.
The MAC board is designed to control the electro-mechanical devices on the system. The MAC board responds to
high level commands from the SCB through a CAN 2.0B serial communication network and interfaces with all local
sensors and motors on the system. It is capable of providing:
• Operational sequencing
• Position monitoring
• Button and sensor event monitoring
• Actuator control
• Closed loop motor control
The tube head MAC board includes an accelerometer for the tube head. The accelerometer determines the angle of
inclination of the tube head versus gravity. It also includes the control for the collimator light, grid alignment
transmitter, and the input for the brake releases on the tube head handles only.

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Tube Head
Description

The tube head allows you to manually release the brakes and rotate the tube head in the alpha, tau, and theta
direction. See Column and Tube Head Motions on Page 13.

Components
Brakes
Brake release buttons on the front of each tube head handle release the brakes to rotate the tube head. These
buttons disengage:
• Alpha brake
• Tau brake
• Theta brake
The brakes are permanent magnet brakes that are always holding. Pushing the brake button zeros the holding force
and releases the brakes.
The input from the buttons on the boom handle goes through the I2C board to the cart MAC board. The signals for
the brakes are sent from the cart MAC board through the I2C board.

Collimator
The collimator has a projection radiography range of 40–150 kV, and single transverse and longitudinal cross-hairs
on the output aperture. It rotates independently of the X-ray tube ± 90 °, and has rails for the use of a DAP
measurement chambers and additional filters. The collimator light field provides an average luminance 160 lux at
100.0 cm (39.0 in).

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MAC Board
The system includes 2 MAC boards, the tube head MAC board and the cart MAC board. The 2 MAC boards
communicate through a communication area network (CAN) connection. The tube head MAC board includes an
accelerometer that measures the inclination of the tube head with X, Y, and Z coordinates. See the Tube Head
Diagnostics screen for the X, Y, and Z coordinates.
The MAC board is designed to control the electro-mechanical devices on the system. The MAC board responds to
high level commands from the SCB through a CAN 2.0B serial communication network and interfaces with all local
sensors and motors on the system. It is capable of providing:
• Operational sequencing
• Position monitoring
• Button and sensor event monitoring
• Actuator control
• Closed loop motor control
The tube head MAC board includes an accelerometer for the tube head. The accelerometer determines the angle of
inclination of the tube head versus gravity. It also includes the control for the collimator light, grid alignment
transmitter, and the input for the brake releases on the tube head handles only.

I2C Board
The I2C Board is designed to supply the devices with a user interface switch, actuator signals, and input/output for
LEDs.

LED Backlight Board

The LED backlight board provides the drive for the tube head display backlighting. It is located in the tube head near
the tube head display.

Opto-Switch Board
The opto-switch board contains an opto sensor that is actuated when the switch is depressed. Each tube head switch
uses this board.

Grid Alignment Transmitter

See Grid Alignment on Page 30.

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