Epic

Single Head Genesys

Gantry Overview

9202-0110 Rev B

Table of Contents
Sec 1: Introduction ....................1-1
Sec 2: Gantry Calibration ..........2-1
Sec 3: Reserved
Sec 4: AC/DC Power .................4-1

ADAC Laboratories
540 Alder Dr.
Milpitas, CA 95035
 Disclaimer

The information and drawings set forth in this document and all rights in and to
inventions disclosed herein and patents which might be granted thereon dis-
closing or employing the materials, methods, techniques or apparatus described
herein are the exclusive property of ADAC Laboratories.

Further, ADAC Laboratories reserves the right to revise this publication and to
make changes from time to time in the content hereof without obligation of
ADAC Laboratories to notify any person or organization of such revision or
changes.

No copies of this information or drawings shall be made without the prior con-
sent of ADAC Laboratories.

About This Manual

This manual describes the Single Head Genesys gamma camera with an Epic
Detector, and either an Atlas or a Pegasys Image Acquisition system.
 SECTION 1
INTRODUCTION
Scope General Description

This manual is part of a field service kit de- An Epic Single H ead Genesys camera con-
scribing ADAC’s Epic Single H ead Genesys sists of:
gamma camera. The Epic Single H ead Gene-
sys camera can interface to either: • a gantry for supporting and moving a
gamma radiation detector in circular,
• a Pegasys Image Acquisition/Processing radial and longitudinal directions (Figure
system (pre 1997), or 1-1),

• or an Atlas Image Acquisition Control • two end stands which support a patient
system (post 1997). table which will move in a vertical
direction,
This manual describes the interface to both
and Pegasys and the Atlas. In addition, this • a collimator exchanger,
manual covers:
• a Display Panel mounted on the left gantry
• an overview (Section 1), ring which contains gantry position
readouts, and push buttons for controlling
• procedures for calibrating gantry motions gantry/detector actions,
(Section 2),
• a H andcontroller which allows the
• AC/DC power distribution, emergency operator to manually move the gantry,
stop and collision detection systems detector and table, and
(Section 4),
• associated electronics in the detector head
The manual does not cover detector electron- and in the gantry base.
ics. That information is contained in the fol-
lowing manuals:

• Matador Detector Overview (9202-0104),

and

• Matador Detector Calibration (9202-0101).

1-1
 SECTION 1
1-2

INTRODUCTION
Figure 1-1. Epic Single Head Genesys
INTRODU CTION SECTION 1

Detector Electronics Atlas Interface

Detector electronics consist of (1) PM tubes Figure 1-3 shows the interface of an Epic Sin-
and associated high voltage control and dis- gle H ead Genesys camera to an Atlas Image
tribution circuitry, (2) pre-amplifiers for am- Acquisition system. The Atlas system consists
plifying PM tube outputs and creating a of a Matador Correction Electronics, a Per-
digital trigger for starting subsequent digitiza- sonal Computer (PC) and a Sun U ltra AX sys-
tion of the amplified PM tube signals, (3) dig- tem.
itizer circuity, (4) position calculation
circuitry and (5) a single board controller in The H ybrid Parallel I/O (PIO) board
each detector head for intefacing to the rest provides parallel control and data interface to
of the system and handling specific detector the Matador Correction Electronics board.
functions (e.g., table download, diagnostics The H ybrid Parallel I/O board also carries
and automatic gain adjustments). out Matador Correction Electronics board di-
agnostics and provides high voltage control
The Madator Correction Electronics board functions.
receives uncorrected event data from the de-
tector and corrects that data for spatial posi- The Janis board performs left/right and
tion and energy variations. top/bottom orientation. It also converts paral-
lel data to serial data and transfers the data to
Pegasys Interface the Sun U ltra AX processor via a SCSI-2 link.

Figure 1-2 shows the interface of an Epic Sin- The Sun U ltra AX processor performs image
gle H ead Genesys camera to a Pegasys Image binning (image creation) and image storage
Acquisition/Processing system. functions.

The H ybrid Parallel I/O board provides paral- Gantry Control

lel control and data interface to the Matador
Correction Electronics board. The H ybrid In both the Pegasys and the Atlas systems, the
Parallel I/O board also carries out Matador PC directs gantry movements through an
Correction Electronics board diagnostics and RS232 link. This link appears in the lower left
provides high voltage control functions. part of Figures 1-2 and 1-3.

The PC XYZ Digital Interface board per-

forms left/right and top/bottom orientation
and passes data to the AT Serializer board.

The AT Serializer board converts parallel

data to serial data and transfers the data to
the Pegasys system via an Image Ethernet
link. That link uses Ethernet hardware, but
not Ethernet protocols.

The Pegasys system performs image binning

(image creation), image display/processing
functions, and image storage functions.

1-3
 EPIC SINGLE HEAD GENESYS ( PEGASYS)

SECTION 1
EPIC PERSONAL COMPUTER (PC) PEGASYS
FILM
DEPARTMENT FORMATTER
ETHERNET
ETHERNET
BOARD E-NET
XCVR
EPIC &
TRANSCVR HOST-BUS HOST BUS
ETHERNET TWISTED PAIR
S-BUS I/F

S-BUS
H.V. CTRL FORMATTER
HYBRID AC
16 BIT PROCESSOR SUN
PARALLEL (ACP) SYSTEM SYSTEM
EPIC CONTROLLER
DETECTOR #1 X,Y I/F Graphics
ELECTRONICS ZE I/F

MATADOR MAUI-MAUI IMAGE

CORRECTION X,Y,Zcor PC XYZ AT IMAGE -stack only-
MEMORY
GANTRY MPU ELECTRONICS Image E-net
DIG I/F SERIALIZER ETHERNET BUS
1-4

in non-stack
(MCE)
DISPLAY
CONTROL VIDEO
SWITCH I/O
BUS

KEY-
I/O DISPLAY
BOARD
BOARD PIPELINE

MOUSE
AT-BUS
MONITOR
MATROX FLOPPY VGA DISPLAY IMAGE
CPU
RS 232

RS 232

BUFFER MEMORY

INTRODUCTION
IMAGE TEXT KEYBOARD
PC/STACK
MONITOR MONITOR
RS 232

RS 232 GANTRY

Figure 1-2. Pegasys Epic Single Head Genesys Block Diagram.

 EPIC SINGLE HEAD GENESYS (ATLAS)

INTRODUCTION
Atlas
EPIC PERSONAL COMPUTER (PC) SUN
10 T DEPARTMENT
50 ohm
ETHERNET
ETHERNET
OPTIONS:
EPIC BOARD &
10 BASE-T
TRANSCVR 50 Ohm

50 ohm TWIST ULTRA AX

MICRO SYSTEM
MILAN
DETECTOR HV CTRL
ELECTRONICS HYBRID 16-BIT Twisted Pair PCI-BUS
X,Y, ZE
PARALLEL MICRO-HUB
I/F (PIO) MILAN Twisted Pair
CPU
MATADOR
GANTRY CORRECTION X,Y,Zcor IMAGE DATA
JANUS SCSI-2
1-5

MPU ELECTRONICS SCSI-2

(MCE)

COM 1
ZIP
DRIVE
HARD DISK

AT-BUS

MATROX FLOPPY SVGA CPU

RS 232

RS 232
IMAGE TEXT KEYBOARD
MONITOR MONITOR
PC/STACK
RS 232
RS 232

SECTION 1
GANTRY

Figure 1-3. Atlas Epic Single Head Genesys Block Diagram.

 SECTION 2
GANTRY CALIBRATION

Scope Overview

This section describes the mechanisms for Each moving gantry mechanism includes a po-
moving gantry components. Topics include: tentiometer and an optical encoder.

• overview, The wiper of each potentiometer connects to

a moving gantry mechanism. The resistor in
• error condition reporting, the potentiometer connects to a reference
structure. Electrically, the voltage drop across
the potentiometer passes through an A/D con-
• potentiometer replacement,
verter.

• calibration procedure,
Similarly, the optical disk in each encoder
connects to a moving gantry mechanism. The
• position verification, and optical sensor in the encoder connects to a
reference structure. Electrically, the encoder
• speed verification. outputs pulses. The optical sensing of tick
marks on the encoder optical disk generates
The mechanisms (motions) that require cali- pulses during motion of the disk and associ-
bration are: ated gantry structure. Each revolution of the
disk produces 500 square wave pulses which
produces 2000 ticks.
• gantry rotation,

The potentiometer provides absolute position

• detector rotation,
information that is available even after power
cycling. The encoder, however, loses informa-
• detector radius, tion during power cycling. When power
comes on, the power-up procedure:
• table foot vertical motion, and
1. reads the potentiometer,
• gantry translate.
2. fetches a calibration factor from a bat-
tery-backup memory device, and

3. calculates an encoder position value.

After initialization, the encoder provides

movement information from which the system
calculates relative and absolute position,
speed and direction.

The system does not directly rely on potenti-

2-1
SECTION 2 GANTRY CALIBRATION

ometers for position information after power- • gears slipping relative to potentiometers,
up. However, the system compares potenti-
ometer and encoder-determined positions to • potentiometers slipping relative to
detect mechanical slip problems. When slips encoders,
occur, the system reports an error condition
to the equipment operator.
• encoders slipping relative to mechanisms,
and
To provide direction sensing, encoders output
two signals, an A signal and a B signal. The B
• mechanisms slipping relative to
signal either lags or leads the A signal by 90
potentiometers.
degrees depending of the direction of motion.
Figure 2-1 shows these signals.
Additionally, an E3 error code will occur if
you incorrectly perform the potentiometer/en-
Error Condition Reporting coder calibration (discussed below). For ex-
ample, if you calibrate gantry rotation at -180
Each motion has an associated position toler- and 0 (instead of -180 and + 180), potentiome-
ance between encoder-determined and poten- ter position changes will be twice as large as
tiometer-determined positions. Table 2-1 encoder position changes. This is because you
shows the tolerance for each motion. calibrated the encoder over 180 instead of 360
degrees.
When the system detects an out-of-tolerance
difference between encoder-determined and Potentiometer Replacement
potentiometer-determined positions, the sys-
tem generates an E3 error code. The error
To replace the potentiometer for any motion,
code will appear in the appropriate field of
follow these steps:
the display box shown (Fig 2-2). Thus an error
in detector # 1 radius motion will appear in
the upper left corner of the display box. 1. position the associated mechanism (gan-
try, detector, etc.) near its center of
movement;
Table 2-2 shows all Display Box error codes,
their cause and suggested corrective action.
Tables 2-3 and 2-4 show the same information 2. before installing a new 10 turn potenti-
for information codes and limit codes. ometer, center the wiper by turning it
fully to one end and then turning it 5
turns in the other direction 1;
Encoder and potentiometer position discrep-
ancies may occur when any mechanical link-
age problems occur. Possible problems 3. install the potentiometer; and
include:
4. perform the calibration procedure de-
• drive chains falling off, scribed at the end of this section 2 .

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

2 When entering the Cal Mode in the calibration procedure, the potentiometer value should be
near its mid range value of 2000 if you correctly center the wiper.

2-2
 GANTRY CALIBRATION SECTION 2

GANTRY ROTATION GANTRY TRANSLATE DETECTOR RADIUS DETECTOR ROTATION TABLE

Degrees cm. cm. Degrees cm

PREPROGRAMMED POSITIONS

MANUAL MOTION
1 2 3 4 5 6
OVERRIDE HAULTED
HOME COLLIMATOR BRAIN TOTAL ECT OUTER Override/
CHANGE BODY SETUP ROOM Reset

EMERGENCY STOP

RADIUS ROTATION

DETECTOR

TRANSLATION ROTATION

GANTRY
F
A
S DOWN UP P-SCOPE
T

S
L
O TABLE ERASE
W

START PAUSE RESUME STOP

MARK
IMAGING

Figure 2-1. Display Panel (top) and Handcontroller (bottom).

2-3
GANTRY CALIBRATION SECTION 2

TABLE 2-1
ERROR (E) CODES

Code Meaning Cause Action

E-0 Potentiometer installation Potentiometer feedback is Reverse potentiometer wires.

error. moving in opposite
direction as optical encoder
feedback.

E-1 Position feedback Position feedback provided Verify optical encoder

disagreement error. by potentiometer disagrees operation. Redo
with that provided by potentiometer calibration.
optical encoder.

E-2 Maximum software limit Motion exceeded maximum Reset MPU.

software limit Check motor controller
speed calibration for motion.
Check MPU ramp down
action.

E-3 E2PROM read or write System cannot successfully Ensure E2PROM jumpers
error during calibration. write new calibration to are in the “rear” position.
E2PROM. Redo calibration of affected
motion.

E-4 1 Potentiometer reference Redo calibration of affected

voltage has never been set. motion.

E-4 2 Could not read Reboot MPU.

potentiometer reference Power reset MPU.
voltage stored in Look for ADC failure.
E2PROM.

E-4 3 Unexpected change in Determine cause of of

potentiometer reference reference voltage drift and
voltage. recalibrate all motions.

E-4 4 Could not write Ensure E2PROM jumpers

potentiometer reference are in the “rear” position.
voltage. Redo calibration of affected
motion.

E-4 5 Could not set Ensure E2PROM jumpers

potentiometer reference are in the “rear” position.
voltage valid flag. Redo calibration of affected
motion.

2-4
SECTION 2 GANTRY CALIBRATION

TABLE 2-1 (continued)

ERROR (E) CODES

Code Meaning Cause Action

E-5 Program text checksum Corrupt Gantry MPU code. Download Gantry code.
error Replace Gantry code.

E-6 Motion overspeed Motion exceeded maximum Check motor controller

allowable speed. speed calibration.

E-7 Unrequested motion in Possible overshoot Check motor controller

process speed calibration.

E-8 0 Commanded motion is not Blown motor controller fuse. Replace fuse.
moving Motor controller failure. Replace motor controller.

E-8 1 Commanded speed is more Max speed too high Redo motor controller
than 1.5cm or 5° away speed calibration for
from desired position effected motion.

E-8 2 Commanded motion is Motor controller failure. Replace motor controller.

moving in wrong direction Gantry MPU failure. Replace Gantry MPU.
Corrupt Gantry MPU code. Replace Gantry MPU code.

E-9 Collimator coding error

detected during operation

E-10 Preprogram invalid button SELECT and ENABLE Wait 20 seconds between
error (nonfatal) buttons pressed to close pushing SELECT and
together in time. ENABLE buttons.

E-11 Preprogram motion setup SELECT and ENABLE Wait 20 seconds between
error (nonfatal) buttons pressed to close pushing SELECT and
together in time. ENABLE buttons.

E-20 Serial line output error No room in buffer. Reboot

Help Preprogrammed motion Motion out of limit for Move motion to a position
out of range or table must preprogrammed motion. within range.
be removed error
(nonfatal).

2-5
SECTION 2 GANTRY CALIBRATION

Calibration Procedure Detailed instructions for calibrating each gan-

try motion appear at the end of this section.
When to Calibrate. You should recalibrate a
given motion: Feedback Test
• after replacing the potentiometer for that Following potentiometer calibration you
motion, or should verify that the calibrated mechanism is
working properly.
• when an E3 error message occurs for that
motion. Detailed instructions for verifying each gantry
motion appear at the end of this section.
Calibration Order. You can perform Gantry
calibrations in any order and it is seldom nec-
essary to recalibrate all motions. But if it is Motor Controller Gain
necessary to calibrate both gantry and detec-
tor rotations, you should recalibrate those mo- Application software, preprogrammed but-
tions in the following order: tons, and the handcontroller are able to con-
trol gantry motions. At a lower level, separate
1. gantry rotation, then Linear Controller boards, located on the
Motor Control Panel Assembly on the left
rear door of the gantry (Figure 2-4), control
2. detector rotation. each motion.

General Calibration Procedure. The calibra- Application software can decrease the speed
tion procedure sets a scale factor. The scale of any motion, and the left/right handcontrol-
factor relates voltage drops across each poten- lers have two speed switches (fast and slow en-
tiometer to the position of each gantry mecha- able). However, a single potentiometer on
nism. The system calculates and stores the each Motor Controller board controls the
scale factor for each motion after you "tell" maximum speed for each motion.
the system when the mechanism is at specified
positions. The specified positions are usually
near the minimum and maximum limits. The purpose of the Motor Controller Gain
Calibration is to set the maximum speed for
each motion within a tolerance range. If the
To perform calibrations, you will communi- speed is out of tolerance, you should adjust
cate with the system through the handcontrol- the gain pot for that motion.
ler and receive system information from the
display panel. (Figure 2-2).
Detailed instructions for setting each gain ap-
pear at the end of this section.
For calibration procedures, the "Imaging"
keys on the upper row of the handcontroller
(START, PAU SE/ENABLE, RESU ME, Motion Limits
STOP and SLOW ENABLE) take on mean-
ings that do not correspond to their labels. For reference purposes, Table 2-3 shows the
For example, pressing PAU SE/MARK tells hardware and software limits for each motion.
the system that the gantry is at a prescribed
calibration point. Later instructions describe
these keys.

2-6
GANTRY CALIBRATION SECTION 2

JMP2
JMP3
MPU
JMP2
Normal JMP3
position
(front) Calibration
enable
position
(rear)

Figure 2-2. Location of MPU Board and E2PROM Jumpers.

Limit Override
Switch

System Harness Interface

Rear View of Gantry

Figure 2-3. Location of System Harness Interface Board and Limit Override Switch.

2-7
SECTION 2 GANTRY CALIBRATION

TP1 R42
TP2

R48 Motor Control

R44
R41 Panel Assembly
R51
Table Sync II

Table Sync II (T808-2410)

DROT (5200-3050)

DRAD (5200-3051) TABLE HD (5200-3050)

TRANS (5200-3050) TABLE FT (5200-3050)

GROT (T904-0070)

Figure 2-4. Location of Motor Control Assembly containing

Motor Controller boards and Table Sync II board.

2-8
GANTRY CALIBRATION SECTION 2

TABLE 2-2
HARDWARE AND SOFTWARE MOTION LIMITS and
MAXIMUM SPEED SPECIFICATION

Minium Limit Maximum Limit Max Speed

Motion HW SW SW HW

Gantry Rotate -197.5 deg -190 deg 190 deg 197.5 deg 450 deg/min

Gantry Translate na -39.5 cm 168 cm na 300 cm/min

Detector Rotate na -235 deg 90 deg na 270 deg/min

Detector Radius 16.0 cm 17.0 cm 33.5 cm 35.0 cm 60 cm/min

Table -25.7 cm -25.0 cm 1.0 cm 1.6 60 cm/min

TABLE 2-3
SUMMARY OF DISPLAY PANEL CONTROLS
USED IN GANTRY CALIBRATION

FUNCTION BUTTON(s) OPTIONS EACH

TIME BUTTON PRESSED

Enter Calibrate Mode H old START & STOP, then press SLOW ENABLE

Increment Test STOP 0 Pot Calibrate

1 Feedback Test
2 Motor Control Gain (MC
Gain)

Increment Motion RESU ME 0 Gantry Rotation (GROT)

1 Detector Radius (RAD)
3 Detector Rotation
(DROT)
5 Translate (TRANS)
6 Table

Save Calibration Point PAU SE/MARK

Reset MPU SLOW ENABLE, START, P-SCOPE ERASE

2-9
SECTION 2 GANTRY CALIBRATION

Gantry Rotate Calibration

1. For initial setup: e. Put level across screws.

a. Remove collimator so you can do a f. Rotate gantry as necessary until screws are
detector rotate calibration after gantry level.
rotate. Do not drive pot (PPPP) below 300.2
b. Remove Patient Table and Gantry Base
Level
Cover.
c. Rotate Detector to 0°. Radius
d. Set Detector radius to mid-range. Arm
e. Rotate Gantry to -180° (Detector on
bottom).
f. Translate Gantry to clear head end stand.
2. To enable Calibration Storage:
a. With power on, place E2PROM jumpers
JMP2 and JMP3 on Gantry MPU board in
the cal (rear) position (Figure 2-2).
3. For first calibration point (-180°): g. Remove level.
a. On Handcontrol, hold down START and h. Press PAUSE/MARK to store first cal
STOP keys, then press SLOW key to enter point.3
Cal Mode.1 Destination will be +180° (ignore decimal).

Test/Motion Destination Pot Value

T M DDD PPPP Test/Motion Destination Current Position Pot Value
0 0 180 - 180 00 PPPP

b. Press STOP until T=0.

c. Press RESUME until M=0. 4. For second calibration point (+180°):
TM should be 0 0. a. Rotate gantry clockwise as viewed from
PPPP will be near 400 (ignore decimal). foot (PPPP increasing); stop when Current
Destination will be -180 (ignore decimal). Position is +180.00° (Detector again at
bottom).
Do not drive pot (PPPP) above 3800.2
Test/Motion Destination Pot Value
0 0 - 180
b. Press PAUSE/MARK to store second
PPPP
calibration point.1 If second cal point
d. Locate the dowel pins with tapped center (+180°) appears as destination on the
holes in the center of each radius arm; display, calibration is OK.
install 10-32 screws in the two dowel pins. 5. To conclude:
a. Without moving the Gantry and without
Radius doing a position verification, go directly to
Arm
the Detector Rotation instructions on the
next page.

Dowel pin with

tapped center hole.
(Install screw here.)

1. If error code appears, refer to Table 2-1.

2. If you accidently hit a hardware limit: (1) set “limit override switch” (Fig 2-3) on System Harness
Interface board so adjacent red LED is on, (2) carefully select direction of movement switch on
handcontroller, (3) back away using slow enable switch, and (4) reset the “limit override switch”.
2-10
GANTRY CALIBRATION SECTION 2

Detector Rotate Calibration

1. For initial setup: 3. For second calibration point (0°):

Note: Before calibrating Detector Rotate, it is a. Rotate Detector clockwise as viewed from
best to calibrate Gantry Rotate as described foot (PPPP increasing) until Detector is
on previous page. If you do not do that, you again facing up. Current Position will be
must remove the collimator, rotate the Gantry 0°.
to +180° or -180°, verify with a level that the Do not drive pot (PPPP) above 3800.2
gantry is level, and then skip to step b below. b. Hold level on top of the Detector face.
a. Do not move the Gantry from the position c. Rotate Detector as necessary until Detector
established in Gantry Calibration until you face is level.
calibrate Detector Rotation as described in
this procedure.
b. Press RESUME until M=3.
TM should be 0 3. Level
The Detector should be facing up.

Test/Motion Destination Pot Value

0 3 - 180 PPPP

2. For first cal point (-180°):

a. Rotate Detector counterclockwise as
viewed from foot (PPPP decreasing) until
d. Press PAUSE/MARK to store the second
Detector is facing down. Current Position
cal point. If first cal point (-180°) appears
will be -360°.
as the destination of the display, the
Do not drive pot (PPPP) below 300.2
calibration is OK.
b. Hold level under the Detector face.
4. To conclude calibration:
c. Rotate Detector as necessary until Detector
a. Place E2PROM jumpers JMP2 and JMP3
face is level.
on Gantry MPU board in the normal
Level
(front) position (Figure 2-2).
b. Press RESUME until M=0.
c. Go to Position Verify procedure for
Gantry and Detector on next page.

d. Press PAUSE/MARK to store first cal

point. Destination will become 0 (new
destination).1

Test/Motion Destination Current Position Pot Value

0 3 0 -180 00 PPPP

1. If error code appears, refer to Table 2-1.

2. If you accidently hit a hardware limit: (1) set “limit override switch” (Fig 2-3) on System Harness
Interface board so adjacent red LED is on, (2) carefully select direction of movement switch on
handcontroller, (3) back away using slow enable switch, and (4) reset the “limit override switch”.
2-11
SECTION 2 GANTRY CALIBRATION

Gantry Rotation Position Verification

1. For +180° position: 2. For -180° position:

a. If not already in Cal Mode from previous a. Rotate Gantry counterclockwise as viewed
test, press START, STOP and SLOW. from the foot (pot and encoder decreasing)
b. If Gantry is not already at +180° from 360° stopping with Detector again on bot
Gantry Rotate test, rotate Gantry until De tom. Pot and encoder should both be about
tector is on bottom. -180°.
c. Press STOP until T=1. b. Determine if pot and encoder values agree
d. Press RESUME until M=0. by 1.5 or less. If pot and encoder disagree
TM should be 1 0. by more than this amount, the letter “E”
e. Press PAUSE/MARK to set encoder to po- will appear in the right-most field of the
tentiometer value. Pot and Encoder values display.
on Display Panel should be about equal. 3. Action:
a. Is disagreement is more than 1.5, deter-
Test/Motion Destination Pot Value
mine and repair the cause of slippage.
1 0 -180 PPPP b. If disagreement is less than 1.5, proceed to
Detector Rotate Calibration.

Detector Rotation Position Verification

1. For +90° position: 2. For -235° position:

a. Press RESUME until M=3. a. Rotate Detector counterclockwise (pot and
TM should be 1 3. encoder decreasing) until pot and encoder
b. Rotate Detector clockwise as viewed from are at -235 (detector facing to the front and
the foot (pot increasing) until pot and en at about 55° from horizontal).
coder are at 90 (detector vertical and fac b. Determine if pot and encoder values agree
ing rear). by 1.5 or less. If pot and encoder disagree
c. Press PAUSE/MARK to set encoder to po- by more than this amount, the letter “E”
tentiometer value. Pot and Encoder values will appear in the right-most field of the
on Display Panel should be approximately display.
equal. 3. Action:
a. Is disagreement is more than 1.5, deter-
mine and repair the cause of slippage.
Test/Motion Pot Value Encoder Value
b. If disagreement is less than 1.5, exit Cal
1 3 PPP PP EEE EE Mode by pressing the START, STOP and
SLOW keys.

2-12
GANTRY CALIBRATION SECTION 2

Gantry Rotate Maximum Limit Calibration

1. Theory and importance: d. Rotate Gantry counterclockwise to 193.5°

• If Gantry Rotate maximum limits are too (you may have to turn on the Limit
tight, software may hit the limits, or Override switch on the System Harness
• If limits are too loose, damage to ring Interface board, Fig 2-3, to reach 193.5°).
cables or other hardware may occur. e. Turn off the Limit Override switch.
2. Initial setup: f. Adjust the Max Pot (R7) on the Max Limit
a. Remove the Gantry Base Cover. Board counter-clockwise until the LED
b. Remove cover over Foot End Gantry just turns off. Then turn the Max Pot
Rotate Gear Box. clockwise until the LED just comes back
c. Locate the Max Limit PCB (T808-2510) on.
inside Gantry base, but attached to the g. With the Limit Override switch off and
Foot End Plate near the front of the using Slow enable, rotate the Gantry
Gantry. counter-clockwise toward 195°. The
system should stop you at about 194.5°.
R5 R7
MIN MAX h. Back away from the limit by turning the
Limit Override switch on and rotating the
Gantry counter-clockwise to 180°.
i. Turn off the Limit Override switch.
4. For Minimum Gantry Rotate:
a. Rotate the Gantry counter-clockwise to
-193.5° (you may have to turn on the Limit
Max Limit PCB Override switch on the System Harness
Interface board to reach -193.5°).
3. For Maximum Gantry Rotate: b. Turn off the Limit Override switch.
a. On Handcontrol, hold down START and c. Turn the Min Pot (R5) on the Max Limit
STOP keys, then press SLOW key to enter Board counter-clockwise until the LED
Cal Mode. just turns off. Then turn the Max Pot
clockwise until the LED just comes back
Test/Motion Destination Pot Value
on.
T M DDD PPPP d. With the Limit Override switch off and
using Slow enable, rotate the Gantry
clockwise toward -195°. The system
b. Press STOP until T=1.
should stop you at about -194.5°.
c. Press RESUME until M=0.
e. Back away from the limit by turning the
Limit Override switch on and rotating the
Test/Motion Destination Pot Value Gantry clockwise to -180°.
PPPP f. Turn off the Limit Override switch.
1 0 - 180 5. To Conclude Max Limit Calibration.
a. Exit Cal Mode by pressing START, STOP
and SLOW.
b. In the user mode, rotate the Gantry
between 190° and -190°. The Max Limit
light should stay on.

2-13
SECTION 2 GANTRY CALIBRATION

Detector Radius Calibration

1. For initial setup: e. With handcontroller, place detector crystal

a. Remove collimator and patient table. 17 cm (6 5/8") above the gantry center. A
b. Rotate Detector to 0°. level may be helpful.
c. Rotate Gantry to 0° (Detector on top). Do not drive pot (PPPP) below 300.2
2. To enable Calibration Storage:
a. With power on, place E2PROM jumpers
JMP2 and JMP3 on Gantry MPU board in
the cal (rear) position (Figure 2-2).
17 cm
3. For first calibration point (17 cm):
a. On Handcontrol, hold down START and
STOP keys, then press SLOW key to enter
Cal Mode.1
b. Press RESUME until M=1.
c. Press STOP until T=0. f. Press PAUSE/MARK to store cal point.
TM should be 0 1. Destination will become 33.

Test/Motion Destination Pot Value

Test/Motion Destination Current Position Pot Value
0 1 17 PPPP 0 1 33 17 00 PPPP

d. Place a strip of masking tape vertically 4. For second cal point (33 cm):
through the center of the gantry ring (in a. With handcontrol, move detector out until
side diameter is 33.5"); on the masking number in Current Position display is 33
tape, mark the vertical center of the ring. (pot increasing).
Do not drive pot (PPPP) above 3800.2
b. Press PAUSE/MARK to store cal point.
5. To conclude calibration:
a. Place E2PROM jumpers JMP2 and JMP3
Center on Gantry MPU in the normal (front) posi
tion (Fig 2-2).
b. Go to Position Verify procedure below.

Detector Radius Verification

1. For 33 cm position: 2. For 17 cm position:

a. Press STOP until T=1. a. With handcontroller, move radius in to 17
MT should be 1 1. cm.
b. Press PAUSE/MARK to set encoder to po- b. Determine if pot and encoder values agree
tentiometer value. Pot and Encoder values by 1.5 or less. If pot and encoder disagree
on Display Panel should be approximately by more than this amount, the letter “E”
equal. will appear in the right-most field of the
display.
3. Action:
Test/Motion Pot Value Encoder Value
1 1 PPP PP EEE EE
a. Is disagreement is more than 1.5, deter-
mine and repair the cause of slippage.
b. If disagreement is less than 1.5, exit Cal
Mode by pressing START, STOP, SLOW.

1. If error code appears, refer to Table 2-1.

2. If you accidently hit a hardware limit: (1) set “limit override switch” (Fig 2-3) on System Harness
Interface board so adjacent red LED is on, (2) carefully select direction of movement switch on
handcontroller, (3) back away using slow enable switch, and (4) reset the “limit override switch”.
2-14
GANTRY CALIBRATION SECTION 2

Gantry Translate Calibration

1. For initial setup: g. With power on, place E2PROM jumpers

a. Insure the Head Table End Stand covers JMP2 and JMP3 on Gantry MPU board in
are attached. the cal (rear) position (Figure 2-2).
b. Translate Gantry until it is 31/4" from the 2. For first calibration point (-39 cm):
head end of the rear rail. a. Press PAUSE/MARK to store first cal
point.

Test/Motion Destination Current Position Pot Value

0 5 161 - 39 00 PPPP

3. For second calibration point (161 cm):

a. With handcontrol, move the Gantry until
the Current Position is +161.00.
Do not drive pot (PPPP) above 3800.2
31/4" b. Press PAUSE/MARK to store second cali-
Rear View, Head End bration point.1 If second cal point (161) ap
pears as destination on the display, calibra
c. Translate Gantry to the head end. tion is OK.
d. On Handcontrol, hold down START and 5. To conclude calibration:
STOP keys, then press SLOW key to enter a. Place E2PROM jumpers JMP2 and JMP3
Cal Mode.1 on Gantry MPU in the normal (front) posi
e. Press STOP until T=0. tion (Fig 2-2).
f. Press RESUME until M=5. b. Go to Position Verify procedure below.
TM should be 0 5.

Test/Motion Destination Pot Value

0 5 - 39 PPPP

Gantry Translate Verification

1. For 161 cm position: 2. For -39 cm position:

a. Press STOP until T=1. a. With handcontroller, move Gantry back to
TM should be 1 5. the 31/4" position.
b. Press PAUSE/MARK to set encoder to po- b. Determine if pot and encoder values agree
tentiometer value. Pot and Encoder values by 5 or less. If pot and encoder disagree by
on Display Panel should be approximately more than this amount, the letter “E” will
equal. appear in the right-most field of the dis
play.
3. Action:
Test/Motion Pot Value Encoder Value
1 5 PPP PP EEE EE
a. Is disagreement is more than 5, determine
and repair the cause of slippage.
b. If disagreement is less than 5, exit Cal
Mode by pressing START, STOP, SLOW.

1. If error code appears, refer to Table 2-1.

2. If you accidently hit a hardware limit: (1) set “limit override switch” (Fig 2-3) on System Harness
Interface board so adjacent red LED is on, (2) carefully select direction of movement switch on
handcontroller, (3) back away using slow enable switch, and (4) reset the “limit override switch”.
2-15
SECTION 2 GANTRY CALIBRATION

Table Calibration

1. Table Height Synchronization: f. With power on, place E2PROM jumpers

Note: If end stands are already in sync (table JMP2 and JMP3 on Gantry MPU board in
is level), skip to Table Cal steps below. the cal (rear) position (Figure 2-2).
a. Remove patient table. 3. For first calibration point (-25 cm):
b. Remove Gantry Base Cover. a. With Handcontrol, lower table until the
c. Set “limit override switch” (Fig 2-3) on Inside Vertical Carriage Bar is 3 cm from
System Harness Interface board so adja the top of the Base Plate.
cent red LED is on.
d. Remove covers from one End Stand.
e. In selected End Stand, disconnect two
power leads to motor at T. S. board.
f. With the Handcontrol, move other End 3 cm
Stand until it is about the same height as
selected End Stand.
g. Reinstall patient table. b. Press PAUSE/MARK to store cal point.
h. Place level on patient table.
i. With the Handcontrol, move the other Test/Motion Destination Current Position Pot Value
0 6 0 PPPP
End Stand until the table is level.

4. For second calibration point (0 cm):

a. With Handcontrol, raise table until Inside
Vertical Carriage Bar is 28 cm from top
of Base Plate.

j. Locate test points TP1 & TP2 (gnd) and

pot R41 on Table Sync II board on Gant 28 cm
ry Motor Control Assembly (Fig 2-4).
k. With a DVM, monitor the voltage be-
tween TP1 and TP2 while adjusting R41
(balance adjust pot) to get 0.0 volts.
l. Reconnect the two power leads to the se-
lected End Stand lift motor at the T. S.
b. Press PAUSE/MARK to store cal point.
board in the End Stand.
c. Press START, STOP & SLOW to exit.
m. Reset the “limit override switch” (Fig 2-
b. Place E2PROM jumpers JMP2 and JMP3
3) on the System Harness Interface board
on Gantry MPU in the normal (front) po
so the adjacent red LED is off.
sition (Fig 2-2).
n. Proceed to the Table Cal steps below.
5. Hardware Limit adjustment:
2. Table Calibration Steps:
a. Remove patient table.
a. If you haven’t already done so, remove
b. With Handcontrol, move table to +1.5.
the inside cover of the Head End Stand.
c. Adjust +HLIM and +FLIM pots on Table
b. Translate gantry midway between end
Sync II board (Fig 2-4) by turning:
stands and remove the table.
• R42 CCW until max lim LED just goes
c. Press START, STOP and SLOW keys to
out, then CW until LED just lights.
enter Cal Mode.
• R44 CCW until max lim LED just goes
d. Press RESUME until M=6.
out, then CW until LED just lights.
e. Press STOP until T=0. TM should be 0 6.
d. With Handcontrol, move table to -25.7.
e. Adjust head and foot -HLIM and -FLIM
Test/Motion Destination Pot Value pots on Table Sync II board by turning:
0 6 - 2 5 PPPP
• R48 CW until max limit LED just goes
out, then CCW until LED just lights.
• R51 CW until max limit LED just goes
out, then CCW until LED just lights.
2-16
 GANTRY CALIBRATION SECTION 2

Motor Controller Gains

1. Initial setup: 3. Speed Verification:

a. Remove Gantry Base Cover. a. If not already in normal mode, press
b. Verify SW501 switch settings and all ini- START, STOP and SLOW keys to exit cal
tial pot settings (see bottom of this page). mode.
c. Mount heaviest Collimator on Detector. b. Move the desire motion to the starting
d. Rotate Gantry and Detector to 0°. point indicated in the table below.
e. Place radius in mid position. c. Use the Fast or Slow key to move each
f. If not already in Cal Mode, hold down motion in the direction and for the time in
START and STOP keys, and press SLOW. dicated in the table below.
g. Press STOP until T=2.
Motion Start Time End Position
DAC Current Max Neg Max Pos Gan Rotate fast cw 0 10 60 - 90
Test/Motion Value Speed Speed Speed
2 M DDD CCCC
slow cw 0 10 23 - 35
Radius fast out 15 10 23 - 27
h. Press RESUME until M is the value for the slow out 15 10 19 - 21
desired motion (see table below). Det Rotate fast cw 0 10 36 - 54
2. Adjustment: slow cw 0 10 12 - 18
a. Use the P-SCOPE ERASE key to toggle to Translate fast rt 0 10 40 - 60
the desired DAC value (see table below). slow rt 0 10 7 - 10
b. Use Fast or Slow key, as indicated below, Table fast dwn 0 10 -8 - -12
to enable desired motion; compare Current slow dwn 0 10 -4 - -6
Speed to Target Speed shown in this table. d. Verify that the motion moved to the end
(Stop/Resume) (P-Scope) (Max Spd Pot) postion within the range shown above.
Motion T M Spd DAC Tar- e. If out of tolerance, redo speed adjustment.
get Spd
Motor Controller
Gan Rotate 2 0 fast 2815 450 (Minarick)
Max Spd Pot
Radius 2 1 fast 3327 60
Motor Control
Det Rotate 2 3 fast na 270 Panel Assembly
slow na 90
Translate 2 5 fast 3071 300
Table 2 6 fast na 60

c. Adjust Max Speed Pot on appropriate Mo-

tor Controller board (see sketch at right) to DROT
achieve target speed with no more than 2
DRAD
cm/sec or 2°/sec overshoot. Table HD
d. Repeat these steps for each motion. TRANS
e. Press START, STOP and SLOW to exit. Table FT

GROT

Switches and initial pot settings on Minarick Control boards are as follows:
12:00 10:00 11:00 11:00 11:00 11:00 11:00 12:00 7:00 11:00 11:00 11:00 11:00 11:00
DROT TB HD
12:00 10:00 2:00 11:00 12:00 12:00 2:00 12:00 7:00 11:00 11:00 11:00 11:00 11:00
DRAD TB FT
DB ACC-DEC Max Spd IR Comp Rev TQ Fwd TQ Slo Spd
12:00 7:00 11:00 11:00 11:00 11:00 11:00
TRANS SW 501
SCR1
DB ACC-DEC Max Spd IR Comp Rev TQ Fwd TQ Slo Spd
LEN1
SCR2
Notes: 1. On 50 hz systems, DB pots on all boards LEN2
must be turned fully counter-clockwise. SCR3
2. As of this writing (3/95), Genesys systems LEN3
use KBIC controllers. See T960-1760. DROT DRAD TRANS TB HD TB FT
2-17
SECTION 2 GANTRY CALIBRATION

Motor Controller IR Comp & ACC DEC settings

1. Initial Steps: Table

4. Motion:
a. Rotate Gantry to 0°, remove table and a. Type: EXERCISE
Translate Gantry away from Exchanger. b. To move table, type: 6
b. On the PC, get to the DOS prompt. c. For number of movements, type: 10
c. Type: cd \diag d. For time delay, type: 4
2. Radius Motion: e. To display data, type: Y
a. Type: EXERCISE f. Observe motion on both End Stands; adjust
b. To move Radius 1, type: 1 IR COMP and ACC DEC pots on either
c. For minimum position, type: 15 Head or Foot Table Z Controller (step 1h).
d. For maximum position, type: 35 5. Detector Rotate Motion:
e. For number of movements, type: 10 a. Type: GDIAGNOS
f. For time delay, type: 4 b. To move to an absolute position, type: 10
g. To display data, type: Y c. To rotate Detector 1, type: 3
h. Observe motion and adjust IR COMP and d. To designate a target position, type: 45
ACC DEC pots as follows: e. Observe motion; adjust IR COMP and
• Turn IRR COMP pot clockwise to de- ACC DEC pots on Detector Rotate Con
crease hum at end of motion; do not al troller as in step 1h.
low motor to make an oscillating sound. f. To return Detector to 0°, select options 10,
• Turn ACC DEC pot clockwise until mo- 3 and 0.
tion overshoots, then backoff until over 6. Gantry Rotate Motion:
shoot stops. a. Type: GDIAGNOS
• If maytaging (back and forth motion) b. To move to an absolute position, type: 10
occurs, turn ACC DEC pot CCW. c. To rotate Detector 1, type: 0
• If motion undershoots, turn ACC DEC d. To designate a target position, type: 45
pot clockwise. e. Observe motion; adjust IR COMP and
• If an I-60 (Motion Incomplete) error oc- ACC DEC pots on Gantry Rotate Control
curs after an undershoot, turn the IR ler as in step 1h.
COMP pot clockwise. f. To return Gantry to 0°, select options 10, 0
• If the motion is jerky or surges, turn the and 0.
IR COMP pot counter-clockwise. g. To return to menu mode, press RETURN
i. When motion is satisfactory, rotate gantry then type:
to 90° and then repeat steps 1a through 1h. CD \ACQUIRE
j. Rotate gantry back to 0°. MENU
3. Translate Motion:
a. Type: EXERCISE
b. To translate gantry, type: 5
c. For minimum position, type: 70
d. For maximum position, type: 120
e. For number of movements, type: 10
f. For time delay, type: 4
g. To display data, type: Y
h. Observe motion; adjust IR COMP and
ACC DEC on Translate Controller as in
step 1h.

2-18
 SECTION 4
AC/DC POWER
Scope The Gantry includes two additional circuit
breakers, "Camera C/B" and "Motor C/B".
This section discusses: These breakers are on the left rear panel. Cus-
tomers will not normally use these switches.

• AC and DC power,
The "Camera C/B" switch disconnects power
to the detector, including the PM tubes. It
• emergency stop and collision detection, and does not affect gantry motor power.

• collision overrides. The "Motor C/B" switch disconnects power to

the Gantry MPU board and gantry motors. It
AC and DC Power does not affect detector power or power to
the high voltage power supply for the PM
tubes. You will frequently use this switch.
Figures 4-1 and 4-2 show AC and DC power
distribution for Epic Single H ead camera sys-
tems with Pegasys and Atlas Acquisition sys- DC Power. The Pegasys, or Atlas, and the
tems, respectively. Gantry have separate DC power supplies (Fig
4-1, 4-2 and 4-3).
AC Power. AC power for the gantry comes
from the Pegasys or Atlas rack. Pegasys/Atlas DC supplies provide power for:

As shown in Figures 4-1 and 4-2, the Pegasys • Matador electronics, and
and Atlas racks include a "Rear C/B" circuit
breaker to control all Pegasys/Atlas and gan- • Personal Computer (PC).
try power. That breaker mounts in a bottom
rear Pegasys or Atlas panel. Gantry power supplies provide power to:

Since camera PM tubes require a 24 hour • detector card cage,

warm-up period, the Rear C/B mounts in an
inaccessible location to discourage inadver-
• high voltage for the PM Tubes, and
tent customer shut downs.

• Gantry MPU PCB for gantry movements.

To turn power off, customers will normally
use the "Front C/B" breaker shown in Figures
4-1 and 4-2. That breaker is on the Pegasys or Switch S1 in Fig 4-1 and 4-2 allows you to dis-
Atlas front panel. It disables power to Pegasys able power to the detector through contactors
and Atlas electronics. Through a "SW + 24" K2. That switch interrupts power to the detec-
line, that switch also controls contactors K1, tor but does not interrupt the high voltage
K2 and K3 in the gantry. Those contactors dis- power to the PM tubes.
able power to the gantry motor and detector
electronics. They do not disable the 24 volt Fig 4-1 and 4-2 also shows an E-Stop
power to the high voltage power supply for switch/relay. The next subsection describes
the PM tubes. those items.

4-1
 SECTION 4
Pegasys Electronics Rack Epic Single Head Genesys Gantry

Matador HV Detector Head

PM Tubes
Correction Supply
S1 +12v -5v
Electronics +12v RTN Detector AGND
(MCE) -12v Electronics
+5v +5v
DGND
+5v

Personal Pegasys +24v

Computer System Switching Linear
Gantry Electronics
(mother +5,±12 -5v
(MPU Board)

+24v
board) +5v
DC PS DC PS
Hard ±12v
#5 +5v ±15v #2
Disk
±12v
±5v

SW +24
1
+5v F5 Linear Linear Linear
-12v 2
+24v +5v,±15v +5v
Switching Switching +24v DC PS DC PS DC PS
±5v, ±12v +5v, ±12v #3 #4
4-2

#1
DC PS DC PS
7

K2
4 K2
SW +24
K1 1 1 1 1
F1 F4 F2
110v 2 2 2 2
F3
Front C/B Camera C/B K2 K2
5 8 9 6
7 4
220 Rear Line
15.0 amps 110v
VAC C/B Filter 9 6 110v
110v Motor C/B K1

AC/DC POWER & E-STOPS

7 4

10.0 amps 110v 110v Gantry 2

8 5
Linear F10
1
E-Stop K3 Motor Control
Switching
K3 E-Stop Relay
SW +24 +24v
DC PS
(NUAC)

Figure 4-1. Epic Single Head Genesys Pegasys

AC/DC Diagram.
 AC/DC POWER & E-STOPS
Atlas Electronics Rack Epic Single Head Genesys Gantry

Matador HV Detector Head

PM Tubes
Correction Supply
S1 +12v -5v
Electronics +12v RTN Detector AGND
(MCE) -12v Electronics
+5v +5v
DGND
+5v

Personal Sun +24v

Computer Ultra AX Switching Gantry Electronics Linear
(mother +5,±12 (MPU Board) -5v

+24v
board) DC PS DC PS
#5 +5v ±15v #2
±12v
±5v

SW +24
1
F5 Linear Linear Linear
2
+24v +5v,±15v +5v
Switching +24v DC PS DC PS DC PS
±5v, ±12v #3 #4
4-3

#1
DC PS
7

K2 K2
4

SW +24
K1 1 1 1 1
F1 F4 F2
110v 2 2 2 2
F3
Front C/B Camera C/B K2 K2
7 4 5 8 9 6
220 Line
Rear 15.0 amps 110v
VAC Filter 9 6 110v
C/B K1
110v Motor C/B 7 4

10.0 amps 110v 110v Gantry 2

8 5
Linear F10
1
E-Stop K3 Motor Control
Switching
K3 E-Stop Relay
SW +24 +24v
DC PS

SECTION 4
(NUAC)

Figure 4-2. Epic Single Head Genesys Atlas

AC/DC Diagram.
 SECTION 4 AC/DC POWER & E-STOPS

#2
(for Detector)
ADAC #: 2146-3431

Board
-5 v Return (white) +OUT
-5 v Return Sense (white) +S
-5 v Sense (gray) -S
-5 v (gray) -OUT

Transformer

#5
4 2 3 1 5 (for Detector)
ADAC #: 2129-5153

#3
(for Gantry MPU)
ADAC #: T180-0010
#1
(for Detector)
ADAC #: 2146-3429

Board
+24 v (yellow) +OUT
+24 v Sense (yellow) +S
+24 v Return Sense (green) -S #4
-OUT
+24 v Return (green) (for Detector)
Transformer ADAC #: 2146-3430

Board
4 2 3 1 5
+5 v (white) +OUT
+5 v (white)
+5 v Sense (white) +S
+5 v Return Sense (gray) -S
+5 v Return (gray) -OUT
+5 v Return (gray)

Transformer

4 2 1 3 5

Figure 4-3. Gantry Power Supplies

4-4
AC/DC POWER & E-STOPS SECTION 4

E-Stop and Collision Detection Collision Overrides

Emergency stop switches allow the operator The next few paragraphs cover the collision
to quickly stop gantry motion. These switches override jumpers that the factory uses, and
are highly visible and accessible. E-Stop the collision override button that customer
switches appear on: and field service personnel use.

• Acquisition Monitor Cart, Collision Override Jumpers. Collision Over-

ride jumpers H D1 and H D2 on the Gantry
• Display Panel, and MPU board disable collision detection cir-
cuitry. The factory uses those jumpers when
testing cameras without collimators.
• Gantry.

In the field, you would not normally disable

Collision detection switches appear under
detection circuitry because you can temporar-
each collimator.
ily achieve the same thing by using the Over-
ride Button on the Display Panel.

In the rare circumstance that the jumpers are

in the wrong positions, or you are having
trouble with the detection circuitry, you may
need to locate and change those jumpers.

To enable collision detection, the jumpers

must be between pins 1 and 2 of the three pin
connector W6 and W7. In the enabled posi-
tion, the red Motion H alt light on the Display
Panel will be off. If you remove the jumper, or
shift it to the disable position (between pins 2
and 3), the red Motion H alt light will turn on.

Collision Override Button. When switch sen-

sors on a collimator detect a collision, colli-
sion detection circuitry will disable all
motions and turn on the red Motion H alt light
on the Display Panel.

To back away from a collision, you must press

the Override Button on the Display Panel.
When you press the Override Button, the red
Motion H alt light will flash, a beeping noise
will occur, and you will be able to move any
part of the gantry.

4-5