Exact Arm

Reference Guide

Clinac Imaging System

P1048543-001-A MAY 2020

Table of Contents
Legal Information ......................................................................................................... v

Introduction ................................................................................................................... 7
What is new in Exact Arm Reference Guide? ................................................................................... 7
Visual Cues ....................................................................................................................................... 7
Contact Varian Customer Support ..................................................................................................... 8
Abbreviations and Definitions ............................................................................................................ 8
Related Publications .......................................................................................................................... 9

Safety and Emergency ............................................................................................... 10

Safety and Emergency .................................................................................................................... 10
Care Required ................................................................................................................................. 10
Maintenance .................................................................................................................................... 10
Responsibility .................................................................................................................................. 11
Further Regulations ......................................................................................................................... 11
Hazards ........................................................................................................................................... 11
Electrical Hazards .................................................................................................................. 12
Mechanical Hazards ............................................................................................................... 12
Pinch Points ........................................................................................................................... 13
Effects of Radiation on Electronic Components ..................................................................... 13
Mechanical Overload .............................................................................................................. 13
Emergency ............................................................................................................................. 13
Procedures in Other Manuals ................................................................................................. 14
Emergency Procedures ................................................................................................................... 14
Overriding Motion Interlocks ................................................................................................... 15
Retracting Manually by Backup Motion Controls (BMC) ........................................................ 16
Power Failure ......................................................................................................................... 20
Hand Pendant on Clinacs: Resolving Thumbwheel or Key Jams .......................................... 20
Carrying-out Collision Detection Tests ............................................................................................ 20

Exact Arm Overview ................................................................................................... 22

Intended Use ................................................................................................................................... 22
Compatibility with Other Devices ..................................................................................................... 22
Location and Movement .................................................................................................................. 22
Components .................................................................................................................................... 23
About Physical Arm ................................................................................................................ 23
Hand Pendant ........................................................................................................................ 24
About Arm Motion ............................................................................................................................ 24
Clinical Mode .......................................................................................................................... 24

2 Exact Arm Reference Guide

 Non-Clinical ............................................................................................................................ 25
About Image Detection Unit ............................................................................................................ 25

Keys and Indicators .................................................................................................... 27

About Hand Pendant ....................................................................................................................... 27
Hand Pendant Paddle Keys ................................................................................................... 28
Hand Pendant Handle ............................................................................................................ 29
About Backup Motion Controls (BMC) ............................................................................................ 30
About Infrared Receivers and Transmitters ..................................................................................... 31

Operating Procedures ................................................................................................ 34

Using the Single Hand Pendant ...................................................................................................... 34
About Multiple Hand Pendants ........................................................................................................ 34
About Point-to-Point Motion ............................................................................................................ 35
About Directional Motion ................................................................................................................. 35
About Hand Pendant Menus ........................................................................................................... 36
Menu Timeout ......................................................................................................................... 36
Menu Languages .................................................................................................................... 36
Info Menu ............................................................................................................................... 36
Standard Menu ....................................................................................................................... 37
Retracted Menu ...................................................................................................................... 37
Position Control Menu ............................................................................................................ 38
Directional Motion Menu ......................................................................................................... 40
Notations ................................................................................................................................ 41
Thumbwheel Jam and Key Jam ............................................................................................. 43
Recharging the Hand Pendant Battery ............................................................................................ 44

Utilities for Clinac Version with Hand Pendant ........................................................ 46

Overview ......................................................................................................................................... 46
Accessing Utilities — General Procedure ....................................................................................... 46
Save Position Utility ......................................................................................................................... 47
Changing Predefined Positions with Exact Arm Hand Pendant ............................................. 47
Changing Predefined Positions with PortalVision IAS Service Monitor .................................. 48
Using the Hand Pendant Test Utility ................................................................................................ 49
Using the Interlocks Utility ............................................................................................................... 50
Using the Faults Utility ..................................................................................................................... 50
Mechanical Axis Calibration Utilities ................................................................................................ 50
Using the Mech Axis Vel Utility ............................................................................................... 51
Using the Mech Axis Cal Utility .............................................................................................. 52
Using the Isocenter Cal Utility ......................................................................................................... 54
Using the Languages Utility ............................................................................................................. 55
Using the Mech Axis PWM Utility .................................................................................................... 55

Table of Contents 3
 Using the Hand Pendant ID Utility ................................................................................................... 56
Using the Run Test Utility ................................................................................................................ 56

Appendix: Intended Use Statements ........................................................................ 57

Appendix: Interlocks, Faults and Error Codes ........................................................ 58

About Interlocks and Faults ............................................................................................................. 58
About Fault Classes ............................................................................................................... 58
About Fault Types .................................................................................................................. 58
About Interlocks Table ............................................................................................................ 58
About Faults Tables ................................................................................................................ 59
About I/O Board 7-Segment Error Codes ........................................................................................ 67

Index .......................................................................................................................... 69

4 Exact Arm Reference Guide

Legal Information
Publication ID
P1048543-001-A

Publication Title
Exact Arm Reference Guide

Abstract
This document provides reference information and procedures for using the Exact arm, version 2.0, in a treatment and
simulation environment.
This publication is the English-language original.

Trademarks
ARIA, Clinac, Exact, and VARiS are registered trademarks of Varian Medical Systems, Inc. Acuity BT, Acuity, PortalVision,
VARiS Vision, and Vision are trademarks of Varian Medical Systems, Inc.
Windows, Word, Windows NT and Windows XP, and Workstation are registered trademarks of Microsoft Corporation.
All other trademarks or registered trademarks are the property of their respective owners.

Copyright
© 2005–2014, 2020 Varian Medical Systems, Inc. All rights reserved. Published in Switzerland.

No part of this publication may be reproduced, translated, or transmitted without the express written permission of Varian
Medical Systems, Inc.

Notice
Information in this publication is subject to change without notice and does not represent a commitment on the part of
Varian. Varian is not liable for errors contained in this publication or for incidental or consequential damages in connection
with furnishing or use of this material.

Electronic Labeling
This symbol on the label indicates that the Instructions for Use for the corresponding product are available at
www.MyVarian.com. Access the Instructions for Use in electronic form by logging in with your assigned MyVarian user
credentials.

In compliance with Anvisa and EU regulations, Varian will send Brazil and EU customers a
free printed copy of the Instructions for Use within 7 days. Use the “Paper Publication Re-
quest” form provided on the Varian webpage to order your copy.

Legal Manufacturer
Varian Medical Systems, Inc.
3100 Hansen Way
Palo Alto, CA 94304
United States of America

FDA 21 CFR 820 Quality System Regulations (cGMPs)

Varian Medical Systems, Oncology Systems products are designed and manufactured in accordance with the
requirements specified within this federal regulation.

CAUTION: US Federal law restricts this device to sale by or on the order of a physician.

Legal Information v
 WHO
ICD-O codes and terms used by permission of WHO, from:
● International Classification of Diseases for Oncology, Third Edition.
ICD-10 codes and terms used by permission of WHO, from:
● International Statistical Classification of Diseases and Related Health Problems, Tenth Revision (ICD-10).

EU REACH SVHC Disclosure

The link to the current EU REACH SVHC disclosure statement can be found at
http://www.varian.com/us/corporate/legal/reach.html

International Organization for Standardization ISO 13485

Varian Medical Systems, Oncology Systems products are designed and manufactured in accordance with the
requirements specified within the ISO 13485 quality standard.

13485
Medical Device

Authorized Representative in the EU

Varian Medical Systems Nederland B.V.
Kokermolen 2
3994 DH Houten
The Netherlands

2797

vi Exact Arm Reference Guide

Introduction

What is new in Exact Arm Reference Guide?

Table 1 What is New in Exact Arm Reference Guide?

New/Enhanced Description Location

Feature
Minor corrections Updated figure showing the travel Figure 11 Vertical, Longitudinal
ranges: correction of the coordinate and Lateral Travel Range (Iso-
system. Correction of the procedure for center not Calibrated) on
the Hand Pendant Test Utility. page 25 Using the Hand
Pendant Test Utility on page 49
Editorial changes Apply changed technical publication Throughout the manual
standards and labeling instructions.

Visual Cues
This publication uses the following visual cues to help you find information:

WARNING: A warning describes actions or conditions that can result in serious

injury or death.

CAUTION: A caution describes hazardous actions or conditions that can result in

minor or moderate injury.

NOTICE: A notice describes actions or conditions that can result in damage to

equipment or loss of data.

Note: A note describes information that may pertain to only some conditions, readers, or
sites.

Tip: A tip describes useful but optional information such as a shortcut, reminder, or
suggestion, to help get optimal performance from the equipment or software.

Introduction 7
 Contact Varian Customer Support
Varian Customer Support is available on the internet, by e-mail, and by telephone. Support
services are available without charge during the initial warranty period.
The MyVarian website provides contact information, product documentation, and other resources
for all Varian products.
Use MyVarian to report incidents. Any serious incident that has occurred while using the device
should be reported to the manufacturer and the competent authority of the Member State in which
the user or patient is established.
1. Go to www.MyVarian.com.
2. Choose an option:
● If you have an account, enter your user login information (e-mail and password).
● If you do not have an account, use the on-screen prompts to create one. Establishing an
account may take up to two working days.
3. To get customer support:
● To display contact information, click Contact Us at the top of the page.
● To access product information and other support options, click Documentation at the top
of the page, or use the menu on the top right side of the screen.

Abbreviations and Definitions

a-Si Amorphous Silicon
BMC Backup Motion Controls
CNT Counts
CPU Central Processing Unit
IAS Image Acquisition System
ID Identifier, identification
IDU Image Detection Unit
LAT Lateral (axis label)
LCD Liquid Crystal Display
LED Light Emitting Diode
LIC Liquid Ion Chamber
LNG Longitudinal (axis label)
NL No Link
PRO Position Read Out
PWM Pulse With Modulation
SPRO Secondary Position Read Out
VRT Vertical (axis label)

8 Exact Arm Reference Guide

 Related Publications
For additional information, refer to the following sources:
● Treatment Delivery Instructions for Use
● Vision and Varis Safety Manual
● ARIA RTM Online Help
● Vision Reference Manual
● PortalVision Reference Manual
● Exact Arm Data Book

Introduction 9
Safety and Emergency

Safety and Emergency

This chapter provides safety precautions which apply to the general operation and maintenance
of the Clinac, the Exact arm and all associated equipment. Specific cautions describing a
particular hazard are given in the procedures. For specific warnings, refer to the related
Instructions for Use.
The hospital is responsible for establishing emergency and safety procedures to ensure safe
operation and maintenance conditions.
Where applicable, hardware and software are designed to meet current international
technological and safety standards (for example, IEC) for the protection of operators and patients.
Since hazards can be encountered, and risks cannot be ruled out completely, instructions and
procedures in the manuals must be followed to guarantee safety of operators and patients.
Any use of the system and software which does not comply with the agreed use described in this
manual or other related Varian manuals is prohibited.
The system must only be run with its original and unmodified fittings and replacement parts.
Modifications or adjustments on the system or its parts are not permitted, unless with prior
approval and check by Varian.
No modifications on the software may be made.

Care Required
WARNING: Incorrect use of a radiotherapy linear accelerator can cause serious
injury or death. Only trained personnel under the supervision of a
licensed physician should be authorized by the hospital or owner to
operate a clinical accelerator. The emergency and safety procedures
are described in the related Instructions for Use.

Careless handling or operating can result in poor performance, equipment and environmental
damage, potential fire hazards, and personal injury or death.
The equipment must be handled with care and kept in a good and safe condition as described in
the maintenance manuals.

Maintenance
For safety, best performance and long life of the equipment, regular cleaning and maintenance
work must be carried out as described in the maintenance manuals. This will keep the system in
proper working condition.
Deficiencies occurring during operation must be rectified immediately. The system must not be
operated while repair work is in progress.

10 Exact Arm Reference Guide

 The equipment is not protected against the harmful ingress of water. It is not suitable for use in
the presence of a flammable anaesthetic mixture with air, oxygen or nitrous oxide. It is classified
as being suitable for continuous connection to the supply mains in the standby state and for the
specified permissible loadings. All transformers have been tested to humidity preconditioning.

Responsibility
● All persons who handle, use, or operate the system must read and understand the chapters
dealing with safety regulations and emergency procedures
● Only qualified and trained personnel are permitted to operate and maintain the system and
parts of it
● The hospital management shall establish emergency and safety procedures before operating
the system and all personnel must be trained in such procedures
● The system must only be run with its original and unmodified fittings and replacement parts
● No modifications to the system, its parts or the software are permitted without prior review
and approval from Varian
Varian cannot be held responsible for personal injury or equipment damage if:
● Changes or repairs are carried out that are not in accordance with the instructions contained
in any Varian manual for the system, or if spare parts, standards and procedures not
authorized in writing by Varian are used
● Safety devices are removed or changed
● Updates, modification or repair instructions occasionally issued by Varian are not complied
with
● The equipment is used for purposes other than those intended
● The periodic inspection and maintenance instructions are not complied with and records not
kept
● Operation or maintenance work is performed by unqualified persons
● The instructions and safety regulations are not complied with by the operators, maintenance
staff, or guests
● Local laws and regulations have not been complied with
● Anomalies during operation and maintenance are not reported to Varian immediately
● Legal and/or government regulations are not complied with

Further Regulations
These instructions do not render any further hospital and/or local, state or country regulations or
laws invalid. Such regulations must be complied with at any time.

Hazards
There are several hazards for the Exact arm:
● Electrical Hazards on page 12
● Mechanical Hazards on page 12

Safety and Emergency 11

 ● Pinch Points on page 13
● Effects of Radiation on Electronic Components on page 13
● Mechanical Overload on page 13
● Emergency on page 13
● Procedures in Other Manuals on page 14

Electrical Hazards
Note: The emergency and safety procedures are described in the related Instructions for
Use.

Safety Precautions
● Only authorized and trained personnel are permitted to work on the system.
● The power supply must be properly shut off during maintenance, repair or inspection work on
the system as appropriate. Operators may be endangered if part of the equipment is
energized while work is being carried out. Take measures to prevent anyone from energizing
part of the equipment while work is being carried out. Adjacent parts that may be live must be
covered.
● Electric power must not be reapplied until after the persons working on any part of the system
have completed their task, are clear of moving parts, have reinstated the system to a safe
operating condition, and have personally reported on system clear and safe for energizing.
● Replace faulty cables immediately.
● Electrical equipment carries the risk of an electrical fire, which could lead to severe burns,
asphyxiation, other injuries or death.
● Only personnel trained in fire fighting procedures are allowed to attempt to put out an
electrical fire, using the correct type of fire extinguisher, not water.

Mechanical Hazards
Note: The emergency and safety procedures are described in the related Instructions for
Use.

The Exact arm is attached to the counterweight in the gantry and will intrude into the space
generally occupied by the treatment couch.
There is a risk of collision between the image detector unit, its arm, the patient and hospital
personnel whenever the Exact arm, the gantry, or the couch moves.
Safety Precautions
● Pay close attention to the patient's position, when mechanically moving the arm, gantry, and
couch.
● Immediately stop the motion if a collision appears possible.
● Stay out of hazardous areas while the system is in operation.
● Do not carry out maintenance or repair work unless the system is at standstill and has been
secured.
● Ensure that neither the calibration data nor the machine table is incorrect or corrupted, as this
may cause the Exact arm to drive to a point outside its limits.

12 Exact Arm Reference Guide

 Collision Involving Equipment
● If a collision occurs between the patient couch and the Exact arm, call maintenance to
inspect the system for damage.
● Never use the system for patient treatment until proper and safe operability has been verified
by maintenance personnel.

Pinch Points
Note: The emergency and safety procedures are described in the related Instructions for
Use.

Effects of Radiation on Electronic Components

The electronic components in the hand pendant and cassette are not designed to withstand
radiation. Exposure to radiation can result in failure of these components. Only the cassette’s
active detector area is meant to be irradiated. The detector’s active area is marked on the
cassette.

CAUTION: Failure of the electronic components in the hand pendant or cassette

will cause you to discontinue use of the Exact arm.

● Return the hand pendant to its holder at the end of the couch when you are not using it.
● Do not irradiate beyond the marked area of the cassette.

Mechanical Overload
The Exact arm is not designed to support weight other than the cassettes and its collision cover.
To prevent damage to the arm mechanisms, excess force on the cassette causes a mechanical
overload which interlocks clinical movements. Retraction is then possible only by BMC.
Only Varian service personnel can clear the overload interlock and reenable IDU movements.

CAUTION: Objects placed on the cassette could fall due to retraction of the Exact
arm or rotation of the gantry. This could result in injuries or equipment
damage. Any load on the cassette can affect its proper positioning.
Excess pressure on the cassette could trip the mechanical overload
interlock and result in damage to the arm mechanisms, causing in
unsafe operating conditions.

● Do not place anything on the cassette.

● If a mechanical overload occurs, use the BMC to retract the arm, then contact Varian service
personnel. Do not attempt to use the PortalVision system until Varian service personnel have
inspected the Exact arm and the overload detector.

Emergency
In case of an emergency, do not panic or act in haste.
● Think before taking decisive action.

Safety and Emergency 13

 ● Follow instructions and call for help.
● A detailed report on the incident and the eventual damage must be written.
● The system must under no circumstances be turned back on or put into operation. Wait until
the cause of the accident has been established and remedied.
● Varian must always be informed of serious malfunctions, accidents or any damage caused.
The operator must be aware of the progress of each treatment in order to determine when an
emergency exists.

Procedures in Other Manuals

This manual covers the safety aspects of the Exact arm only.
Refer to the following manuals for further safety regulations and procedures, especially for
operating the beam delivery system:
● Treatment Delivery Instructions for Use
● Installation Manuals
● Maintenance Manuals

Emergency Procedures
There are several emergency procedures for the Exact arm:
● Overriding Motion Interlocks on page 15
● Retracting Manually by Backup Motion Controls (BMC) on page 16
● Power Failure on page 20
● Hand Pendant on Clinacs: Resolving Thumbwheel or Key Jams on page 20

14 Exact Arm Reference Guide

 Overriding Motion Interlocks
Note: The emergency and safety procedures are described in the related Instructions for
Use.

Note: The override button on the Clinac collimator accessory I/F reenables the
interlocked motions of the Exact arm, gantry and couch. This override switch silences the
audible alarm. However, even a momentary collision requires that you press the Clinac
collimator accessory reset button to resume normal Clinac motion.

Collision detection is provided by touch guards in the following places, Figure 1 Collision
Detection on page 15:
● Cassette cover
● Both sides of the elbow joint
A motion interlock occurs when this collision detection system is activated. The motion interlock
disables all arm motion, gantry rotation, and treatment couch lift. It also activates an alarm that
sounds until you override or clear the collision condition.

Figure 1 Collision Detection

1. Cassette cover touch guard

2. Elbow joint touch guard

To Override Motion Interlocks for Clinacs:

Table 2 Clinac Types

Clinac Type System Type

23/21 EX High Energy Exact arm (HE Exact arm)
2100C S/N
2300C S/N
600C S/N Low Energy Exact arm (LE Exact arm)
Note that Type 600C S/N is just an example and additional LE Clinac types are
available.

Safety and Emergency 15

 1. Keep pressing the reset button on the collimator accessory mount, while moving out of the
collision condition.
If the arm needs to be moved, use the directional controls, which are limited to slow-speed
operation until the collision is cleared. If the gantry or treatment couch needs to be moved,
use the Clinac hand pendant per the Clinac operator manual.
2. When the collision condition no longer persists, release the reset button.
Normal motion is restored.

Retracting Manually by Backup Motion Controls (BMC)

CAUTION: The BMC function without software limits, but the motors speeds are
limited by hardware. Running into mechanical limits shall be
prevented, as this can result in the motor actuator shaft becoming
“stuck” against its internal end-stops. Always turn the BMC speed
selector slowly and never run the motor at full speed.

Note: The emergency and safety procedures are described in the related Instructions for
Use.

Backup Motion Controls (BMC, Figure 14 Backup Motion Controls (BMC) on page 31) used for
manual retraction is a pendant-like device allowing to move the arm when the Exact arm
controller is inoperable. The controls perform a function similar to the controls on the Clinac
emergency pendant. The controls, which must be enabled by a switch, operate each motor
individually, allowing you to move each arm part separately (forearm, upper arm, wrist, hand).
The recommended sequence of motions for retraction using the BMC is:
1. Cassette laterally to center (in relation to the gantry).
2. Hand towards forearm.
3. Forearm towards upper arm.
4. Upper arm towards gantry.
To operate the BMC:
1. Remove the covers. For clinac types, Table 2 Clinac Types on page 15:
a. For HE Exact arms: Remove enough of the vertical black decorative strip on the center
right side of the clinac gantry (as viewed from the treatment couch) to expose the BMC
socket (unlabeled), Figure 2 HE BMC Socket at Gantry on page 17.
b. For LE Exact arms: Open the stand door to gain access, Figure 3 LE BMC Socket at
Stand on page 17.
2. Plug the connector of the BMC into the appropriate socket on the clinac gantry, Figure 2 HE
BMC Socket at Gantry on page 17 and Figure 3 LE BMC Socket at Stand on page 17.

16 Exact Arm Reference Guide

 3. Use the BMC to position the Exact arm as desired.

CAUTION: Before you move the hand to the forearm, check that there is
enough clearance so that it will not hit the floor. A collision between
the cassette and the floor could cause serious damage to the
cassette.

1 2

Figure 2 HE BMC Socket at Gantry

1. Location of Exact arm BMC socket (clinac)

2. Socket for BMC

1 2

Figure 3 LE BMC Socket at Stand

1. Location of Exact arm BMC socket (clinac)

2. Socket for BMC

Safety and Emergency 17

 1

Figure 4 Hand Retract Position

1. Gantry

4. Move the hand towards the forearm until the mechanical limit is reached:
For the definition of the arm parts, Figure 9 Definition of Exact Arm Parts on page 23.
a. Turn the axis selector to Wrist.
b. Toggle the direction switch to control the direction of movement for the selected axis.
c. Press the motion enable button while turning the speed selector clockwise from the
neutral. Turning the speed selector increases the speed.
d. Move the hand slowly until the mechanical endstop is reached.
e. Release the motion enable button and return the speed selector to the neutral position,
by turning the speed selector counterclockwise.
If it is necessary to move the hand in the opposite direction toward the working position,
return the speed selector to the neutral position and toggle the direction switch.

CAUTION: Before you move the forearm towards the upper arm, check that
there is enough clearance so that it will not hit the cover of the
gantry. A collision between the cassette and the machine cover
could cause serious damage to the cassette.

Figure 5 Forearm Retracted Position

1. Gantry

5. Move the forearm towards the upper arm:

a. Turn the axis selector to Elbow.
b. Toggle the direction switch to control the direction of movement for the selected axis.
c. Press motion enable button while you turn the speed selector clockwise from the neutral.
Turning the speed selector increases the speed.
d. Move the forearm slowly until the wrist joint nearly touches the shoulder cover.

18 Exact Arm Reference Guide

 e. Release the motion enable button and return the speed selector to the neutral position,
by turning the speed selector counterclockwise.

Figure 6 Upper Arm Retracted Position

1. Gantry

CAUTION: When you retract the upper arm, stop before the arm is vertical
to check that the cassette is in the correct lateralposition for
retraction. A collision between the cassette and the sides of
thecounterweight could cause serious damage to both units.

6. Move the upper arm towards the counterweight, stopping to check the lateral position of the
cassette before it reaches the counterweight:
a. Turn the axis selector to Shoulder.
b. Toggle the direction switch to control the direction of movement for the selected axis.
c. Press the motion enable button while you turn the speed selector clockwise from the
neutral.
Turning the speed selector increases the speed.
d. Move the upper arm slowly until the IDU is about 5 cm from the gantry cover.
e. Release the motion enable button and return the speed selector to the neutral position,
by turning the speed selector counterclockwise.
If it is necessary to move the upper arm in the opposite direction toward an extended
position, release the motion enable button. Return the speed selector to the neutral position,
by turning the speed selector counterclockwise. Only than toggle the direction switch.
7. To fit the Image Detection Unit (IDU) into the space provided in the gantry, move the IDU
laterally, proceeding as follows:
a. Turn the axis selector to Hand.
b. Toggle the direction switch to control the direction of movement for the selected axis.
c. Press motion enable button while you turn the speed selector clockwise from the neutral.
Turning the speed selector increases the speed.
d. Move the IDU into central position.

CAUTION: After retracting the IDU, make sure that it is properly folded into the
base of the gantry.

Safety and Emergency 19

 8. Move the upper arm towards the counterweight (Repeat step 6).
1

Figure 7 Exact Arm Retracted Position

1. Gantry

9. Move the BMC Mode switch into the Off position.

10. Unplug the BMC from the service bracket and return it into the stand.

Power Failure
If there is a power failure during arm motion, you must recalibrate the arm. You must also
recalibrate it if the arm moves while the power is off.
If there is power to the Clinac but no power to the control rack (no LEDs lit), check the cable from
the power distribution of the machine.

Hand Pendant on Clinacs: Resolving Thumbwheel or Key Jams

To safeguard against unexpected movement of the Exact arm, the hand pendant’s software
checks the status of the motion control keys and thumbwheel switches whenever power is
enabled to the hand pendant. If a key or thumbwheel switch is stuck “on”, then transmission from
the hand pendant is disabled and the hand pendant’s display identifies the jammed switch.
1. From the display prompt, note which switch has jammed.
2. For the hand pendant (Figure 13 Hand Pendant on page 28), you can maintain power to
the display by keeping the enable bars pressed while you reset the switch to its neutral
position.
You must then press the CLR key. Otherwise, you can release the enable bars, reset the
switch, and then reenable power.
3. If a motion control key or thumbwheel switch becomes jammed after you have pressed it,
always release the enable bars and reset the switch.

Carrying-out Collision Detection Tests

Test the collision detection and interlock systems daily to ensure operational safety and reduce
the chance of personal injury or damage to equipment.
To Carry Out Collision Detection Tests for Clinacs:
For the clinac types, Table 2 Clinac Types on page 15.
1. Simulate a collision by applying force to one of the two collision detectors of the elbow joint
while you perform the following steps:

20 Exact Arm Reference Guide

 a. Check that the alarm sounds and that gantry rotation, couch lift, and all arm movements
are interlocked.
b. Check that the reset button on the collimator accessory mount reenables gantry rotation,
all couch motions, and motion speeds are limited to a save values.
2. After removing the force from the collision detector, press the reset button on the collimator
accessory mount.
Check that all interlocked motion is enabled and that the alarm is silenced.
Repeat the test for the remaining collision detection devices:
● Cassette cover
● The collision detectors on both sides of the elbow (see step 1 and 2)

Safety and Emergency 21

Exact Arm Overview

Intended Use
The Exact arm is used to position an X-Ray source or a real-time imager to provide either high-
quality fluoroscopic/radiographic images or high energy treatment images of a specified area.
The Exact arm is compatible with other devices where their intended use is defined, see
Appendix: Intended Use Statements on page 57 in this manual.

Compatibility with Other Devices

The Exact arm is a component of the following Varian Devices:
● PortalVision Advanced Imaging and PortalVision (in conjunction with Image Acquisition
System 2 or 3)
● On-Board Imager (in conjunction with Image Acquisition System 3)

Location and Movement

The Exact arm is built into the counterweight area at the base of the gantry and is a physical part
of the Clinac. It is fully retractable when not in use. In the retracted position, the entire arm,
including the cassette, folds into the base of the gantry.
Collision detection and motion interlock systems are provided to help protect against personal
injury and equipment damage.

Figure 8 Exact Arm

Collision detection and motion interlock systems are provided to help protect against personal
injury and equipment damage.

CAUTION: The Exact arm cannot sustain any kind of load.

22 Exact Arm Reference Guide

 Components
The Exact arm system consists of the following major components:
● About Physical Arm on page 23
● Hand Pendant on page 24
● About Backup Motion Controls (BMC) on page 30

About Physical Arm

The Exact arm consists of three mechanical parts connected to each other and to the Clinac by
three joints. These arm parts are referred to in terms that are analogous to a human arm,
Figure 9 Definition of Exact Arm Parts on page 23.

1
2
3

7
5 6

Figure 9 Definition of Exact Arm Parts

1. Hand with Image Detection Unit

2. Forearm
3. Upper arm
4. Wrist
5. Elbow joint
6. Shoulder joint
7. Clinac

All arm motion is fully motorized, with a separate drive assembly for each arm part: hand, upper
arm, and forearm. There is also a separate assembly for hand lateral motion.
● The shoulder, elbow and wrist drives move the corresponding arm parts so that the image
detection unit can reach every vertical and longitudinal position in its travel range.
● The lateral drive moves the image detection unit from side to side so that it can reach every
position in the lateral plane of its travel range.
The individual drives operate simultaneously, moving arm parts in order to position the image
detection unit along its three directional axes of motion: vertical, longitudinal, and lateral,
Figure 10 Directional Axes of Motion on page 24.

Exact Arm Overview 23

 1

- Lng +
-
Lat +
+ Vrt
-
Actual value increases in the + direction
Actual value decreases in the - direction

Figure 10 Directional Axes of Motion

1. Gantry

Hand Pendant
All communication between the operator and the Exact arm control system is through the hand
pendant display and controls. The hand pendant is an infrared device that is powered by a
rechargeable battery.
The display shows position values and status information sent by the control system.
The controls on the hand pendant move the Exact arm. There are directional controls that
position the image detection unit vertically, longitudinally, and laterally. Other controls move the
arm to predefined positions.

About Arm Motion

There are different types of arm motion grouped by application:
● Clinical Mode on page 24
● Non-Clinical on page 25

Clinical Mode
The clinical mode is used to position the imager for clinical image acquisition.
There are two different types of motion:
● Point-to-point motion
Movement to a predefined position using the position controls on the hand pendant.
● Directional motion
Movement using the variable speed controls on the hand pendant.
The speed of motion in the vertical, longitudinal and lateral direction ranges from approximately 3
mm/s (or slower) to 40 mm/s. The speed of motion to a predefined position is higher than the
speed of motion in a single direction.
For the vertical, longitudinal and lateral travel range, Figure 11 Vertical, Longitudinal and Lateral
Travel Range (Isocenter not Calibrated) on page 25.

24 Exact Arm Reference Guide

 The physical travel ranges are limited when the isocenter calibration is performed and can vary
accordingly. For more information on isocenter calibration, see section Using the Isocenter Cal
Utility on page 54.

MV
Detector’s Collimator
Reference Point Isocenter
Z
(vert.)
[X, +50, +25] [X, -50, +25]

+200
Gantry

-200
Y
(long.)

[X, +240, -200] [X, -200, -200]

-200

-400

Coordinates in [X, Y, Z] mm
where X = [-lat max to +lat max]
= 323 mm @ any position in
the travel field
-600

[X, +240, -820]

-800
[X, -200, -770]

[X, 0, -820]

Figure 11 Vertical, Longitudinal and Lateral Travel Range (Isocenter not Calibrated)
The total lateral travel range is 323 mm from ‑Lat (‑143 mm) to +Lat (+180 mm).

Non-Clinical
Used to service the Exact arm.
● Mechanical Axis Velocity mode
This is motion of one arm part at a time by direct velocity control over one motor.
● Mechanical Axis PWM mode
This is motion of one arm part at a time by direct PWM control over one motor and without
software supervision of mechanical limits.

About Image Detection Unit

The image detection unit is enclosed by a protective plastic cover, which acts as its collision
detector.
Depending on the type of the PortalVision system installed, the Exact arm carries different image
detection units. However, the overall size of these units and the protective cover for all of them is
the same. Also the operation is identical, therefore there is no need for additional training
depending for using the device in clinical operation.
Today, the following PortalVision detectors are supported by the Exact arm:

Exact Arm Overview 25

 1. Liquid Ion Chamber Detector with its squared sensitive area of 32.5 × 32.5 cm2.
2. Amorphous Silicon Detector with its active rectangular imaging area of 40 × 30 cm2
Due to the different size and aspect ratio of these detectors the recessed area in the plastic cover
is not identical with the sensitive areas of them. This area and the center of the detector are
marked with labels.

Figure 12 Image Detection Unit Outline with Sensitive Areas

1. Gantry
2. Electronics

The type of detector is configured in the Exact arm Control system. For more details, see the
Exact Arm Data Book.

26 Exact Arm Reference Guide

Keys and Indicators

About Hand Pendant

All communication between the operator and the Exact arm control system is through the hand
pendant display and keys.
The hand pendant is a wireless device that is powered by a rechargeable battery. Infrared
receivers and transmitters are embedded in its top end.
There are two corresponding sets of infrared receivers and transmitters on the Clinac
counterweight, one on each side.
When it is not being used, the hand pendant should be stored in the hand pendant holder at the
end of the couch.
The display shows position values and status information sent by the control system.
Keys and indicators on the hand pendant are grouped on the paddle and handle, Figure 13 Hand
Pendant on page 28.
● The keys on the paddle move the arm to predefined positions.
● The thumbwheels on the handle move the arm to position the cassette vertically,
longitudinally, and laterally. These motions are engaged with spring loaded, center-off keys
that provide variable speed action, that is the farther you move the keys from center, the
faster the arm moves in the selected direction.
The functions listed below describe the keys as they operate during clinical applications. Some
keys also have functions when you use the utilities, Figure 13 Hand Pendant on page 28.

Keys and Indicators 27

 1

Figure 13 Hand Pendant

1. Infrared device
2. Paddle
3. Thumbwheels
4. Handle
5. Enable bars
6. Hand position guides
7. Keys
8. Display

Hand Pendant Paddle Keys

Infrared The infrared device is located in the head of the hand pendant. It is the communica-
Device tion link between the hand pendant and the control system.
The device receives information from the control system and sends information to it.
Display The display is an LCD with LED backlight. The display is active only while you hold
the enable bars (and for a few seconds after you release them).
The display shows position values for the three directionalaxes of motion, as well as
status information.

Point-to-Point Motion

28 Exact Arm Reference Guide

 OUT The OUT key moves the arm to an “out of the way” position between the retracted
position and an extended position.
RETR The RETR key moves the arm to the retracted position.
AUTO GO The AUTO GO key is used to move the arm to the most common working position.
This position can be defined and loaded from the system database.
LAST The LAST key moves the arm to the last position it came to a complete stop.
P1-P5 The P1-P5 keys move the arm to each of the five predefined positions. You can
change the predefined positions with the Save Position utility or via the Service
Monitor of the PortalVision.
Default values (vrt, lng, lat) are defined when the armsoftware is installed.
MODE The MODE key is used with the P1-P5 keys to display the utility menus.
CLR The CLR key takes you to a previous menu, similar to the Escape key on a com-
puter keyboard.

Hand Pendant Handle

The thumbwheels on the handle move the arm to position the cassette vertically, longitudinally,
and laterally in clinical mode.
In Physics or Service menu they are used to control the arm joints individually.
These motions are engaged with spring loaded, center-off keys that provide variable speed
action. That is, the farther you move the keys from center, the faster the arm moves in the
selected direction.
Directional Motion

VRT The VRT key raises and lowers the cassette.

left = down
right = up
LNG The LNG key moves the cassette in and out, toward and away from the gantry, re-
spectively.
left = out (away from the gantry)
right = in (towards the gantry)
LAT The LAT key moves the cassette from side to side.
left = left (as you face the gantry)
right = right (as you face the gantry)
ANG The ANG key is not used at this time.
Enable The enable bars are spring-loaded switches located on each side of the hand
bars pendant handle.
The enable bars need to be pressed and hold continuously in order to activate the
hand pendant and invoke any motion.

Keys and Indicators 29

 There is a raised dot on each side of the handle between the LNG and LAT keys to help you
position your hand on the hand pendant.

About Backup Motion Controls (BMC)

Backup Motion Control (BMC) is a separate pendant-like device, Figure 14 Backup Motion
Controls (BMC) on page 31. It is used for manual retraction and allows to move the arm when:
● Exact arm is defective, or
● Exact arm controller is defective (the controller contains the control electronics that manages
all arm processes), or
● communication to the hand pendant cannot be established.
The BMC is located in the stand. Its connector needs to be plugged into the corresponding socket
on the service bracket, which is located on right hand side of the gantry, Figure 2 HE BMC
Socket at Gantry on page 17 and Figure 3 LE BMC Socket at Stand on page 17.
The controls, which must be enabled by a switch, operate each motor individually, allowing you to
move each arm part separately (forearm, upper arm, wrist, hand lateral).

Motion Enable Button Button to enable motion of the selected axis.

Speed Selector Controls speed of motion. Increase the speed by turning the speed se-
lector clockwise.
Axis Selector Rotary switch with the four positions to select the respective axis:
Hand, Wrist, Elbow, Shoulder.
BMC Mode Switch The BMC Mode enable switch toggles the controls OFF/ON.
Direction switch Controls direction of motion.

30 Exact Arm Reference Guide

 2

1 4
5

Figure 14 Backup Motion Controls (BMC)

1. Speed selector
2. Motion enable button
3. BMC mode switch
4. Direction switch
5. Axis selector

Note: For a description how to perform the manual retraction procedures, Retracting
Manually by Backup Motion Controls (BMC) on page 16.

About Infrared Receivers and Transmitters

You can control the Exact arm using the infrared hand pendant (Figure 13 Hand Pendant on
page 28). For the location of the infrared receivers, Figure 15 Infrared Receivers at the HE on
page 32 and Figure 16 Infrared Receivers at the LE on page 33.

Keys and Indicators 31

 1

Figure 15 Infrared Receivers at the HE

1. Infrared receiver (one is hidden by the couch)

32 Exact Arm Reference Guide

 1

Figure 16 Infrared Receivers at the LE

1. Infrared receiver

Keys and Indicators 33

Operating Procedures

Using the Single Hand Pendant

CAUTION: While the hand pendant is not in use, always put it back in its holder at
the end of the couch to protect it from radiation.

The hand pendant and the Exact arm system communicate by receivers and transmitters. The
receivers and transmitters reside inside the top part of the hand pendant and besides the Clinac
counterweight.
The enable bars on the hand pendant energize the infrared diodes activating the display and
enabling motion.
The communication range of hand pendant and infrared diodes differs with each installation. The
range is affected by the size of the treatment room, its color, the building material and so on.
Being on the edge of the range, information on the display will be incomplete.
To use the hand pendant:
1. Point the hand pendant toward one of the infrared devices in the counterweight.
2. To activate the display on the hand pendant, press the enable bars on either side of the hand
pendant.
After releasing the enable bars, the display remains on for a few seconds, until it times out.
3. To move the arm, hold the enable bars and perform one of the following steps:
● For directional motion, deflect a thumbwheel (VRT, LNG or LAT) until the arm reaches the
position you want. You stop the motion when you release the thumbwheel (or the enable
bars).
● For point-to-point motion, press one of the keys (OUT, LAST, P1 through P5, AUTO GO,
and RETR). In order to start the motion you either have to press the key for more than 2
seconds or you have to press it twice in a row. If you choose the latter, after the first
button press the target position is shown and after the second press the motion starts.
The arm then moves automatically to the selected position and “Actual” is shown on the
top line of the menu, when the move is complete. You can interrupt the move by pressing
any key or by releasing the enable bars.

Note: If a motion is aborted by either pressing a key or by releasing the enable bars,
the hand may not be in a level position, that is, the IDU may not be perpendicular to
the beam axis.

About Multiple Hand Pendants

You can use only one hand pendant at a time to communicate.
Hand pendants that are not controlling motion will display whatever the active hand pendant is
displaying.

34 Exact Arm Reference Guide

 About Point-to-Point Motion
Point-to-point motion means moving the arm to a predefined position by means of the keys on the
hand pendant paddle: OUT, LAST, P1 through P5, AUTO GO, and RETR.
The key’s functions are as follows:

OUT Moves the arm to a semi-retracted (out of the way) position which provides more clear-
ance around the couch and patient area.
LAST Moves the arm to the last position in the travel range where it came previously to a com-
plete stop.
Moving to the last position is helpful for AP/PA setups (A = Anterior, P = Posterior), as
illustrated by the following example:
a. After treating with the AP setup, move the arm to the OUT position.
b. Rotate the gantry to the PA position.
c. Use the LAST key to position the arm for the PA setup.

Note: If the last position was a predefined position, you can use the LAST key again to
return to the “last” position.

Position 1 - Moves the arm to predefined or user defined positions. Each of the five predefined
5 positions can be used as a standard setting for different types of treatment fields.
They can also be used as starting points for adjusting the arm to the appropriate
position for an individual field.
To display the target position values for a P1-P5 key without causing motion,
press and release the key quickly.
For the procedure of assigning target positions to the keys, see section Save Po-
sition Utility on page 47.
RETRACT Moves the arm to the retracted position. The retract position folds the arm into the
base of the gantry.

Note: The out position is an alternative to retracting the arm when you have not yet
finished with it for the day. It takes less time to move to a working position from the out
position than from the retracted position.

About Directional Motion

Directional motion refers to moving the arm to position the image detection unit along any of the
three directional axes of motion - vertical, longitudinal, and lateral - with the thumbwheels on the
hand pendant handle.
This is different from the single mechanical axis motion available for non-clinical operation.
It is possible to move the arm in more than one direction at a time.

Operating Procedures 35
 About Hand Pendant Menus
This section describes the various hand pendant menus during clinical operation.
For descriptions of the menus for the utility functions, Safety and Emergency on page 10.
There are the following main menus:
● Standard menu (no motion)
● Movement control menu (directional motion)
Each menu provides the following information:
● What kind of motion is occurring, such as Pos 1, Actual MOVE, and Actual (no motion)
● Actual or target position values (vrt, lng, lat)
● When there is motion toward a predefined position (+ -)
● Notations about system conditions, such as interlocks, collisions, etc.

Note: Position values are shown in centimeters with one decimal digit (+/-xx.x cm).

Menu Timeout
The standard menu is the default hand pendant menu. It is shown until you press a hand pendant
control.
Most other menus, including the utility menus, have a time limit. If you do not press a key during
this time limit, the timeout results in navigating to the standard menu.
If you release the enable bars on the hand pendant, the display will go off after a few seconds.

Menu Languages
The following menu languages are available:
● English
● German
● French
● Italian
The language is set in the utility Using the Languages Utility on page 55.

Info Menu
While pressing the enable bar and powering on the arm, an Info menu is shown for about 2
seconds. Thereafter it is shown whenever you press the CLR key. If a sub menu is displayed, you
have to press the CLR key several times until the Info menu is shown. The Info menu generated
by the control system software is as follows:

36 Exact Arm Reference Guide

 Version of control system software Varian
Exact Arm
x.x.xx

Varian service personnel may ask you for the software version number from the bottom line of the
Info menu.
However, if there is no link to the control system of the hand pendant during power ON the hand
pendant software generates the following:

Version of hand pendant software Varian

Retractable Arm
Handpendant
V x.x.xx NL

To go to the info menu from the standard or retracted menu, press the CLR key. To return to the
standard menu, press the CLR key or wait for the timeout.

Standard Menu

Actual
Vrt - 10.0 cm
Lng + 5.0 cm
Lat - 2.0 cm

The standard menu is shown when the arm is extended but not moving. It is identified by the label
“Actual” and gives the actual (current) position of each directional axis of motion.
● Press the CLR key to go to the Info menu.

Retracted Menu
When you activate a hand pendant with the arm retracted, the following is displayed:

Arm Retracted

When the arm is retracted, you can use only the keys to extend it; you cannot use the directional
keys until the point-to-point motion has completed.
● Press the CLR key to go to the Info menu.

Operating Procedures 37
 Position Control Menu

Pos 1
Vrt - 10.0 cm +
Lng + 5.0 cm -
Lat - 2.0 cm

The position control menu is shown whenever you press a point-to-point motion control once.
A position control menu can be identified by the label on the top line. In the example above, the
label “Pos 1” represents the P1 key.
The point-to-point motion controls and their labels in the menu are:

Key Display
P1 - P5 Pos 1 - Pos 5

OUT Out Pos

LAST Last Pos

RETR Retract

AUTO GO Auto Go

The values shown on a position menu are the target values for the predefined position. Actual
position values are not shown until the arm has reached its target position.
You can display the target position for P1-P5 without moving the Exact arm by pressing the key
briefly. Keeping the key pressed enables motion. After motion begins you can release the key.
A plus (+) or minus (-) after the positional value is displayed to indicate the direction of motion:

38 Exact Arm Reference Guide

 + Actual value will increase, which indicates
vrt
= up
lng
= in (towards the gantry)
lat
= right (as you face the gantry)
- Actual value will decrease, which indicates
vrt
= down
lng
= out (away from the gantry)
lat
= left (as you face the gantry)
no sign In the target position

When you interrupt point-to-point motion by pressing any key (while holding the enable bars), the
standard menu returns immediately.
No position values are displayed while the arm is being retracted. Instead, an asterisk (*) moves
across the display to indicate that the arm is moving toward the retracted position:

Retracting
*------>

When the arm is fully retracted, the display changes to:

Arm Retracted

When you interrupt the retract or unfold motion outside of the travel range by pressing any key
(while holding the enable bars), the display changes to:

Transition

When you interrupt the retract or unfold motion inside of the travel range by pressing any key
(while holding the enable bars), the display changes to:

Not Ready
Vrt - 30.0 cm
Lng + 24.0 cm
Lat - 2.0 cm

Operating Procedures 39
 Directional Motion Menu

Actual MOVE
Vrt - 30.0 cm
Lng + 24.0 cm *
Lat - 2.0 cm

This menu, with the label “Actual MOVE”, is shown whenever you request directional motion
with the VRT, LNG, or LAT keys.
The values on the directional motion menu are the actual position values, and they are updated
while motion occurs.
An asterisk (*) indicates that the arm has reached the operating limit of motion for this directional
axis and cannot travel any further. It must be moved using another position or directional key.

40 Exact Arm Reference Guide

 Notations
Note: The emergency and safety procedures are described in the related Instructions for
Use.

System State: TRP, CAL, FLT, COL, BAT, NL

There are six notations that can be displayed at the upper right of the top line (not shown on the
info or utility menus) to indicate the current state of the system:
● NL (no link),
● TRP (hardware interlock),
● CAL (calibration),
● COL (collision),
● FLT (fault),
● BAT (battery voltage low).
Only one notation can be shown at a time. If multiple conditions exist, the priority is as listed
above: as NL is not an arm status, TRP has the highest priority and BAT the lowest. A sample
display is as follows:

Actual TRP
Vrt - 10.0 cm
Lng + 5.0 cm
Lat - 2.0 cm

TRP indicates that the hardware motion interlock is active. To correct the problem:
● Press the Trip Reset switch. Or, perform a power down/up cycle on the Exact arm.
CAL indicates that the arm must be calibrated. You cannot move the arm with a directional key or
to a predefined position until it is calibrated. For additional information, see Utilities for Clinac
Version with Hand Pendant on page 46.
1. To bring the arm to its calibration position, use the Using the Mech Axis Vel Utility on
page 51.
2. To calibrate the arm, use the Using the Mech Axis Cal Utility on page 52.
FLT indicates that there is a non-collision FLT (fault).
To acknowledge it, proceed to the Using the Faults Utility on page 50, as follows:
1. Press the MODE key, then press the P2 key for clinical utility menu 2.
2. Press the P2 key to select the Fault utility.
3. Press the CLR key for more than 1 second to acknowledge the faults and exit to the standard
menu. For fault classes and descriptions, see Appendix: Intended Use Statements on
page 57.
COL indicates that there is a collision condition but no non-collision interlocks. To correct this,
move the equipment out of the collision condition (for additional information, see Safety and
Emergency on page 10):

Operating Procedures 41
 1. Hold the touch guard reset button on the Clinac collimator.
2. Use the Clinac and/or Exact arm hand pendant keys to move the equipment out of the
collision condition.
BAT indicates that the battery needs to be recharged. For more information, Recharging the
Hand Pendant Battery on page 44.
NL

Actual
Vrt - 10.0 cm
Lng + 5.0 cm
Lat - 2.0 cm NL

The no link (NL) indication at the bottom right of any display is generated by the hand pendant to
indicate that it is no longer receiving data and that, therefore, the display might not be accurate.
Indicators of IDU Level
The hand pendant display will indicate the following items when the arm is standing still:
● Actual is displayed on the top line of the display when the hand is less than 0.2° off level.
● Actual //// is displayed on the top line of the display when the hand is more than 0.2°, but less
than 2.0° off level. This condition can occur if a point-to-point or directional motion is aborted.
● Not Ready is displayed on the top line of the display when the hand is more than 2.0° off
level. This condition can occur if a point-to-point or directional motion is aborted.

Note: Motion aborted is one of the following items:

● Point-to-point motion interrupted by pressing a key,deflecting a thumbwheel or
releasing the motion enable button.
● Directional motion interrupted by pressing a key or releasing the motion enable
button.

Transition
Transition is displayed on the top line of the display when motion to or from the retracted position
is aborted outside of the travel range and stopping the arm in this in-between position. You can
use only the position keys to correct this condition; you cannot use the directional keys.

Note: Motion aborted is one of the following items:

● Retract or unfold motion is interrupted by pressing a key, deflecting a thumbwheel or
releasing the motion enable bars.

42 Exact Arm Reference Guide

 Thumbwheel Jam and Key Jam

CAUTION
THUMBWHEEL XXX
IS JAMMING
<CLR>

where “XXX” is a thumbwheel on the hand pendant handle: VRT, LNG, LAT, or ANG.

CAUTION
KEY XXX
IS JAMMING
<CLR>

where “XXX” is a key on the hand pendant paddle: OUT, RETR, AUTO GO, LAST, P1-P5, MODE,
or, CLR.
This caution indicator is displayed if a key or thumbwheel switch is stuck “on”, when power is
enabled to the hand pendant. The hand pendant cannot communicate with the Exact arm
controller until the switch has been reset to its neutral position and the display cleared.
For the hand pendant, you can maintain power to the display by keeping the enable bars pressed
while you reset the switch. You must then press the CLR key. Otherwise, you can release the
enable bars, reset the switch, and then reenable power.

Operating Procedures 43
 Recharging the Hand Pendant Battery
CAUTION: Do not overcharge the battery.

Note: When the battery power is so low that the display cannot be enabled, the hand
pendant is not transmitting data and should be immediately recharged.

CAUTION: Do not recharge the battery before the “BAT” message is displayed. Do
not store the hand pendant in the battery charger station when you are
not recharging it. Over time, recharging before battery power drops to
the warning level will result in a reduction of battery capacity.

When the hand pendant battery power drops to a low level, either of two indications are displayed
depending on whether there is enough power for the hand pendant to communicate with the
control system. If there is, then the system state “BAT” notation is displayed in the upper right
corner of the standard menu. When this message is displayed, there is enough power for you to
complete the treatments for the day. Press any key to communicate with the control system. If
there is not enough power to communicate, the following message is displayed when you press
the enable bars:

BATTERY LOW
PLEASE CHARGE
NL

To recharge the battery in the hand pendant:

44 Exact Arm Reference Guide

 1. At the end of the treatment day when the warning message was displayed, slide the hand
pendant into the plastic receptacle on the battery charger station, see Figure 17 Battery
Charger Station.
The green light that corresponds to the charger you are using is lit while the battery is being
charged. The light dims as the charging progresses and goes off when the battery is fully
charged.
2. Leave the hand pendant in the holder at least overnight, approximately 12 hours.

Note: Leaving the hand pendant in the battery charger station for more than 12
hours, such as over a weekend, will not cause any damage.

Figure 17 Battery Charger Station

Operating Procedures 45
Utilities for Clinac Version with Hand Pendant

Overview
The utilities are the support and diagnostic functions for the Exact arm. Most utilities are used for
diagnostic and test purposes.
The four kinds of utilities ‐ clinical, physics, and service ‐ are organized in five menus. You use
the MODE key on the hand pendant paddle to display the menus.
● For the Physics and Service menus you must enter a four‐digit access code.
● The Service menu is always in English. The other menus are displayed in the language
selected in the Physics menu.

CLINICAL CLINICAL PHYSICS

MENU P1 MENU P2 MENU P3
P1 Save Position P1 Interlocks P1 Mech Axis Cal
P2 Hand Pendant Test P2 Faults P2 Mech Axis Vel
P3 IDU Iso Cal
P4 Languages
SERVICE
MENU P4
P1 Mech Axis PWM
P3 Hand Pendant ID

Accessing Utilities — General Procedure

To access utilities:
1. Press the MODE key.
The following confirmation is displayed:

<MODE>
xxxxxxxxxxxxx
xxxxxxxxxxxxx
xxxxxxxxxxxxx

(You can exit from this display to the previous display by pressing the CLR key or waiting for
the timeout).
2. Press the P key for the menu you want.
3. If required, enter the access code.
4. When the utility menu is displayed, press the P key for the selection you want.

46 Exact Arm Reference Guide

 Specific procedures for using each utility are given in rest of this chapter.
The display timeout from each utility menu exits to the standard menu. You can also press the
CLR key to change to the higher menu level before the timeout.

Save Position Utility

Note: This utility allows you to change the predefined position for each of the five P keys
with the Exact arm hand pendant or via the Service Monitor of PortalVision.

Changing Predefined Positions with Exact Arm Hand Pendant

The procedure involves moving the arm to the new position, then saving that position with the P
key you want to use for it.
To predefine a position:
1. Move the arm into the position you want for the new predefined position.
2. Select the Save Position utility (MODE - P1 - P1).
The following is displayed:

Press < P1 .. P5 >

to save Actual
Position

3. Press the P key that you want to program with the current position.
If the arm position is valid, the following is displayed:

Actual position
saved as:
Pos X

(where “X” is the P1-P5 key you pressed)

If the arm is outside the travel range, the following is displayed:

Actual position
can not be
saved!

Reposition the arm so that it is within the travel range, then select the Save Position utility
again.
4. To exit to the standard menu, press the CLR key or wait for the timeout.

Utilities for Clinac Version with Hand Pendant 47

 Changing Predefined Positions with PortalVision IAS Service Monitor
The procedure for predefining positions with PortalVision depends on the available IAS version
(IAS2 or IAS3).
To predefine positions with IAS2:
1. Choose Task > Treatment Acquisition.
2. Choose Workspace > Maintenance.
3. Choose Maintenance > Run Service Monitor.
The IAS2 Service Monitor dialog box of PortalVision opens, Figure 18 IAS2 Service Monitor
Dialog Box on page 48.
4. Select the RTIS Config. tab.
5. Enter the Support Device Type Exact arm.
6. Type in the preset vertical, longitudinal and lateral position coordinates.
7. Select the Dedicated Preset Button (P1 - P5).
8. Click Download Setup.
The position is downloaded.
9. To move the arm to the specified position, press the P1 - P5 keys on the hand pendant.
10. From the Dedicated Preset Button list, select Auto Go.
11. Click Save.

Figure 18 IAS2 Service Monitor Dialog Box

To predefine positions with IAS3:
1. Choose Task > Treatment Acquisition.
2. Choose Workspace > Maintenance.
The IAS3 Service Monitor dialog box opens, Figure 19 IAS3 Service Monitor Dialog Box on
page 49.
3. Select the Support Arm tab.
4. From the Support Arm Type list select Exact arm, R-Arm.
5. Type in the Preset Position.
6. Select the desired entry from the Button list.

48 Exact Arm Reference Guide

 7. To save the position on the controller, click Download.
8. To move the arm to the specified position, press the P1 - P5 keys on the hand pendant.

Figure 19 IAS3 Service Monitor Dialog Box

Using the Hand Pendant Test Utility

This utility allows you to verify the function of each hand pendant control. The keys on the paddle
are verified by a display of their names; the directional keys on the handle are verified by a
display of their values, which are proportional to the angular position of the key.
The following are the default values (max.):

Vrt -128 +127

Lng -128 +127
Lat -128 +127
Ang -128 +127

To use Hand Pendant Test utility:

1. Select the Hand Pendant Test utility (MODE - P1 - P2).
An asterisk will move across the display, left to right, top to bottom, until you press a key.
2. To test a key on the paddle, hold the key so that its name replaces the asterisk on the display.
To abort the test, press and hold the CLR key.
3. To test a directional key on the handle, move the key away from center, the asterisk is
replaced by the value of the position.

Utilities for Clinac Version with Hand Pendant 49

 Using the Interlocks Utility
The Interlocks utility allows you to see the list of currently active motion interlocks. They are
represented on the display by 1-digit reference numbers. For a list of interlock numbers and
descriptions, see Appendix: Interlocks, Faults and Error Codes on page 58.
To use Interlocks utility:
1. Select the Interlocks utility (MODE - P2 - P1).
2. To return to the standard menu, press the CLR key, or wait for the timeout.

Note: Interlocks are cleared by means of the Faults utility. If there is no fault, there
are no interlocks either.

Using the Faults Utility

If non-acknowledged faults are present in the system, the FLT notation is displayed. This utility
allows you to see and acknowledge faults.
To use Faults utility:
1. Select the Faults utility (MODE - P2 - P2).
If there are active or non-acknowledged faults, the display lists them by reference number
(xx).

Faults
xx xx xx xx xx
xx xx xx xx xx

If there are no active or non-acknowledged faults, the display reads “none”

Transient faults will disappear from the fault list upon acknowledgement. Recurring faults will
not, since they are still present in the system. Authorized personnel will have to 'fix' the
system (for example, re-calibration of an axis). Subsequently, this type of faults will disappear
automatically from the list.

Note: The emergency and safety procedures are described in the related
Instructions for Use.

2. To acknowledge the faults, press the CLR key for more than one second.
To exit to the standard menu, press the CLR key for less than half a second or wait for the
timeout.
The list of active faults can be browsed forward by pressing P5, and backwards by pressing the
P4 key. To exit the browse function, press the CLR key, or wait for the timeout.

Mechanical Axis Calibration Utilities

The calibration of the mechanical axes requires the following steps:
● Mech Axis Vel and

50 Exact Arm Reference Guide

 ● Mech Axis Cal

Using the Mech Axis Vel Utility

Note: With this utility you can move the arm beyond the range allowed for motion in
clinical operation.

Note: If you must enter the passcode for using the Mech Axis Vel utility, press the P1
key four times.

The Mech Axis Velocity utility allows you to use the directional keys on the hand pendant handle
to move each mechanical axis individually (shoulder axis, elbow axis, wrist axis, hand lateral axis)
close to its calibration position, Figure 20 Mechanical Calibration Position on page 52.
If a mechanical axis is calibrated, it can be moved with maximal speed. The axis will stop
automatically before reaching its mechanical limit of motion.
If the mechanical axis is not calibrated, motion is limited to a slow speed. In this case, it can be
moved to its mechanical limits of motion.
To use Mech Axis Vel utility:
1. Select the Mech Axis Vel utility (MODE - P3 - P2).
The following is displayed:

“xxx.xx” is the actual position of an axis Sh VRT xxx.xx deg

El LNG xxx.xx deg
Wr LAT xxx.xx deg
Ha ANG xxx.xx cm

2. Use the VRT, LNG, LAT or ANG thumbwheels to move each axis.
It is not possible to move several axes simultaneously.
VRT moves the shoulder axis.
left = up
right = down
LNG moves the elbow axis.
left = in (towards the gantry)
right = out (away from the gantry)
LAT moves wrist axis.
left = up
right = down
ANG moves the hand lateral axis from side to side.
left = left (as you face the gantry)
right = right (as you face the gantry)

Utilities for Clinac Version with Hand Pendant 51

 3. To exit to the standard menu, press the CLR key or wait for the timeout.

Using the Mech Axis Cal Utility

Note: If you must enter the passcode for using the Mech Axis Cal utility, press the P1
key four times.

This utility is used by Varian service personnel during installation of the Exact arm. You do not
have to recalibrate after installation unless there is a power failure while the arm is moving or if
the arm moves while the power is off. Also certain faults can force a decalibration, see
Appendix: Interlocks, Faults and Error Codes on page 58. The notation “CAL” is displayed on
the hand pendant if calibration is necessary.
The calibration of a mechanical axis gives the system the accurate mechanical position of this
axis.
To use Mech Axis Cal utility:
1. Use the Mech Axis Vel utility to position the axes at their corresponding calibration positions.
These are as follows:
● Shoulder - upper arm horizontal (mechanical axis position = 180°)
● Elbow - forearm vertical (mechanical axis position = 90°)
● Wrist - IDU horizontal (mechanical axis position = 270°)
● Hand Lat - slide at mech center pos (mechanical axis position = 0 mm). There are two
notches (white) on the bottom side of the toothed rack.

Note: The position of the axes must lie within ±1° or ±1 mm respectively, for the
calibration to succeed. Use water level to verify the axis angles.

1
270°

90° 180°

Figure 20 Mechanical Calibration Position

1. Gantry

2. Select the Mech Axis Cal utility (MODE - P3 - P1).

The following is displayed:

52 Exact Arm Reference Guide

 “xxx.xx” is the actual position of an axis Sh VRT xxx.xx deg
El LNG xxx.xx deg
Wr LAT xxx.xx deg
Ha ANG xxx.xx cm

If an axis is not calibrated, “###.##” is displayed instead of its position.

3. Deflect the thumbwheel of the axis to calibrate until this axis starts to move.
4. The position of the axis (or ###.##) is replaced by 5 flashing asterisks (*****) to indicate
that motion is occurring.
You can interrupt the calibration by pressing any key. You can then either repeat from step 1,
or press the CLR key to return to the standard menu.
5. When the process completes successfully, the actual position of the axis is displayed.
When the process fails, “###.##” is displayed. Possible causes for a calibration failure are
the occurrence of a fault during calibration or the axis was not close enough to its calibration
position when the calibration was started.
6. To calibrate another axis, repeat from step 3.
To exit to the standard menu, press the CLR key or wait for the timeout
7. Check the Isocenter calibration.
If necessary perform the Isocenter Cal, see Using the Isocenter Cal Utility on page 54.

Utilities for Clinac Version with Hand Pendant 53

 Using the Isocenter Cal Utility
Note: It is not possible to perform this calibration when any of the mechanical axes are
not calibrated. Using the Mech Axis Cal Utility on page 52 how to achieve this.

Note: If you must enter the passcode for using the Isocenter Cal Utility, press the P1 key
four times.

The calibration procedure involves positioning the arm at isocenter (vertical distance to isocenter
is measured at the surface of the sensitive area of the cassette, beneath the plastic cover).

1 2 3 4

11.0 mm

1,000.0 mm

5 6 7 8

12.0 mm

Figure not to scale

Figure 21 Isocenter Calibration MV Detector (Figure not to scale)

1. LIC IDU
2. LIC isocenter
3. LIC sensitive layer
4. LIC detector surface
5. a-Si IDU
6. a-Si isocenter
7. a-Si sensitive layer
8. a-Si detector surface

Front pointer / optical distance indicator measurement to LIC 1,000.0 mm - 11.0 mm =

surface of detector 989.0 mm
a-Si 1,000.0 mm - 12.0 mm =
988.0 mm

To use Isocenter Cal utility:

1. Position the MV detector in the x and y axis using the marking on the detector cover, with the
aid of the room laser.
2. Remove the detector cover and position the detector in the z axis using the front pointer.

54 Exact Arm Reference Guide

 3. Select the Isocenter Cal utility (MODE - P3 - P3).
If the process completes successfully, the following is displayed:

Calibrating IDU
Succeeded

If the process fails, the following is displayed:

“XXX” is the axis name, for example VRT Calibrating IDU

Failed on Axis:
XXX

4. Possible causes for a calibration failure are not calibrated mechanical axes or an implausible
isocenter position.

Using the Languages Utility

Note: If you must enter the passcode for using the Languages Utility, press the P1 key
four times.

This utility is used by Varian service personnel during installation of the Exact arm to select the
language used for the hand pendant menus.
To use Languages utility:
1. Select the Languages utility (MODE - P3 - P4).
2. When the list of languages is displayed, press the P key that corresponds to the display
language that you want (English, German, French, or Italian).
3. To exit to the standard menu, press the CLR key until you reach the standard menu or wait
for the timeout.

Using the Mech Axis PWM Utility

Note: If you must enter the passcode for using the Mech Axis PWM utility, press the P5
key four times.

This utility uses the directional keys on the hand pendant handle individually to move each axis in
open loop mode to its mechanical limit of motion. This is similar to the Mech Axis Vel utility except
that the velocity controller is bypassed, making the PWM signal to the motor driver directly
proportional to the deflection of the thumbwheel. To reduce the force and speed of an axis, the
PWM value is limited to a maximum value of 25%.
To use Mech Axis PWM utility:
1. Press the MODE key.
2. Press the P4 key.
3. Enter the access code.
4. Press the P1 key.

Utilities for Clinac Version with Hand Pendant 55

 5. Select an axis (P1 to P4).
6. Move axis with corresponding thumbwheel.

PWM Axis: SHLD

P1...P4 P5->
PRO xxx cnt
SPRO xxx cnt

PWM Pulse With Modulation

P5 Scrolling through the axes
PRO Position Read Out (primary)
SPRO Position Read Out (secondary)
CNT Counts

7. Repeat the procedure for the remaining keys.

Press the LNG, LAT, and ANG keys to move each axis. It is not possible to move several
axes simultaneously.
Deflecting a thumbwheel to the left applies a negative voltage to the axis’s motor, while
deflecting a thumbwheel to the right applies a positive voltage to the axis’s motor.
8. To exit to the Service Menu, press the CLR key or wait for the timeout.

Using the Hand Pendant ID Utility

Note: If you must enter the passcode for using the Hand Pendant ID utility, press the P5
key four times.

Each hand pendant has a unique ID (1-15). This utility gives service personnel an easy way to
determine that hand pendant ID.
To use Hand Pendant ID utility:
1. Select the Hand Pendant ID utility (MODE - P4 - P3)
The ID of this hand pendant is displayed.
2. To exit to the Service Menu, press the CLR key or wait for the timeout.

Using the Run Test Utility

How to start a system self-test. System self-tests are not implemented yet.
To use Run Test utility:
1. Select the Run Test utility (MODE - P4 - P4).
The following is displayed: “Not implemented”
2. To exit to the Service Menu, press the CLR key or wait for the timeout.

56 Exact Arm Reference Guide

Appendix: Intended Use Statements

PortalVision Advanced Imaging

The PortalVision Advanced Imaging device is used to acquire images of anatomical landmarks,
fiducial markers, the shape of the treatment beam and dosimetric signals to guide the delivery of
radiation anywhere in the body where radiation treatment is indicated.

On-Board Imager
The On-Board Imager device is used for verification of correct patient position in relation to
isocenter and verification of the treatment fields in relation to anatomical and/or fiducial
landmarks.

Acuity
The Acuity Radiation Therapy Simulator is to be used in radiation therapy simulation, using a
fluoroscopic and/or radiographic x-ray system for visualizing the volume to be exposed during
radiation therapy and confirming the position and size of the therapeutic irritation field to be
applied. The Acuity ConeBeam Computed Tomography (CBCT) is intended to assist the
Radiation Oncologist in acquiring 3D “multislice” planning data in patient set-ups for the purpose
of radiation therapy treatment planning and patient positioning.

Intended Use Statements 57

Appendix: Interlocks, Faults and Error Codes

About Interlocks and Faults

The status of interlocks and faults for the Exact arm can be viewed using clinical menu P2 of the
utility functions. Interlocks limit the arm’s functionality until a fault condition has been removed.
For the tables of
● About Interlocks Table on page 58, and
● About Faults Tables on page 59.

About Fault Classes

F Fatal. The application is stopped, movements are disabled. It may be necessary to restart
the Exact arm.
C Critical. Any movements are stopped. Clinical movements are disabled until the fault is re-
moved.
W Warning. The system detected the presence of a fault condition that is noteworthy to the
user. However, ongoing motion is not aborted, nor are clinical movements disabled.

About Fault Types

● T: Transient: The fault occurs by a single event (for example CRC mismatch).
● P: Persistent: The fault occurs and stays until it is inactive or the fault condition disappears
(for example MDB over temperature).
● L: Latched: The fault is kept active until it is acknowledged.

Note: In general the supervisory system does query for faults on a periodical basis. (In
some exceptional conditions the application may not able to respond to such requests. In
this case some fault id is shown on a local display and logged in an exception log).

Interlocks none means that the particular node does not impose an interlock. However, the
Supervisor may impose an interlock on its level.

About Interlocks Table

Properties: Latching/Non-latching, Forcible, Clearable, and Overridable

Note: Per definition, ‘IDU movements’ do include the ‘retract/unfold’ movements.

Interlocks are actually cleared when the associating fault has been cleared. For
associations, see About Faults Tables on page 59.

58 Exact Arm Reference Guide

 Table 3 Interlocks

# Name Description Actor

- Application stopped The program execution stops, either initi- CPU Board
ated by the CPU H/W (for example
or
double bus fault --> HALT) or by the pro-
gram itself. This imposes automatically S/W
the interlock, i.e., any motion is inhibited
by H/W watchdog.
- Any motion inhibited The MDB activates the H/W backup MDB
by MDB brakes of all axes.
- Any motion inhibited The standstill supervisor activates the I/O board
by H/W motion inter- H/W backup brakes of all axes.
lock
- Any motion inhibited The H/W watchdog activates the H/W I/O board
by H/W watchdog backup brakes of all axes.
0 Any motion inhibited The application discards any movement S/W
by S/W command.
1 IDU movements in- The application discards any ‘Move IDU S/W
hibited to position’ and ‘Move IDU by velocity’
commands.
2 Mechanical axis po- The application discards any ‘Move me- S/W
sition movements in- chanical axis to position’ command.
hibited
3 Mechanical axis ve- The application discards any ‘Move me- S/W
locity movements in- chanical axis by velocity’ command.
hibited
4 Mechanical axes ve- The application limits the velocity of the S/W
locity limited to 25% mechanical axes to 25% of their speci-
of maximum velocity fied maximum velocity.

About Faults Tables

Table 4 Object Identifiers

Object Identifiers
0 Not used
1 Not used
2 Not used
3 Not used
4 Mechanical shoulder

Interlocks, Faults and Error Codes 59

 Object Identifiers
5 Mechanical elbow
6 Mechanical wrist
7 Mechanical hand
8 Node global

Table 5 Fault List

Number Description Class/ Immediate Max. Interlocks Recovery Action

Name Type Response Resp.
Param- on Node Time
eter
Fault 02 24 V input voltage F/PL H/W: 5 μs The applica- Restore 24 V
monitor detected tion discards power supply to
IOB 24 V - None
low voltage. any move- I/O board
power
S/W: ment com-
supply AND
mand.
failure - Stop mo-
Reset application
tion (activate Any motion
Object by the means of a
all H/W inhibited by
Identifier power cycle.
Backup H/W
Brakes if Watchdog.
any)
- Store posi-
tion and
status data
- Terminate
program ex-
ecution

60 Exact Arm Reference Guide

 Number Description Class/ Immediate Max. Interlocks Recovery Action
Name Type Response Resp.
Param- on Node Time
eter
Fault 13 The periodical W/PL None N/A None Identify and re-
PRO/SPRO, solve problem:
PRO/
check returned Use the Mech
SPRO
'first tolerance Axis PWM Utility
Periodical
band exceeded'. to identify the re-
selftest
The difference in sponsible readout
failure
position indicated causing the fault
Object by the primary (compare PRO
Identifier and the secondary versus SPRO
position readout reading for dif-
(PRO vs. SPRO) ferent positions).
exceeded the first See as well Fault
tolerance band. 41.
There may be me-
chanical (for ex-
ample readout got
lose) or electrical
(for example
cable) issues that
could cause the
check to fail.
Important: Verify
the isocenter cali-
bration/alignment
before continuing
operation.
Fault 14 The periodical C/TL H/W: 50 ms The applica- See Fault 41 and
PRO/SPRO, tion discards Fault 13.
PRO/ - None
check returned any IDU
SPRO There may be me-
'first tolerance S/W: movement
Periodical chanical (for ex-
band exceeded'. command
selftest - Initiate ample readout got
The difference in including re-
failure fault ‘Me- lose) or electrical
position indicated tract and un-
chanical (for example
Object by the primary fold.
axis not cali- cable) issues that
Identifier and the secondary
brated’ could cause the
position readout
check to fail.
(PRO vs. SPRO)
exceeded the first Important: Verify
tolerance band. isocenter calibra-
tion/alignment be-
fore continuing
operation.

Interlocks, Faults and Error Codes 61

 Number Description Class/ Immediate Max. Interlocks Recovery Action
Name Type Response Resp.
Param- on Node Time
eter
Fault 15 The MDB 34 V C/PL H/W: 5 ms Any motion Restore 34 V
input voltage mon- inhibited by power supply to
MDB 34 - Stop mo- 50 ms
itor detected MDB. MDB.
V input tion (activate
under-voltage
voltage all H/W The applica-
(below 23.5 V) - or
failure Backup tion discards
over-voltage
Brakes) any move-
Object (above 45.5 V).
ment com-
Identifier S/W:
mand.
- Stop mo-
tion
Fault 16 The MDB temper- C/PL H/W: 5 ms Any motion Wait until MDB
ature monitor de- inhibited by cooled down.
MDB - Stop mo- 50 ms
tected over- tem- MDB.
over- tion (activate
perature.
tempera- all H/W The applica-
ture Backup tion discards
Brakes) any move-
Object
ment com-
Identifier S/W:
mand.
- Stop mo-
tion
Fault 17 The current limiter C/PL H/W: 50 ms The applica- Drive the axis out
of the Shoulder or tion discards of the mechanical
MDB cur- - None
Elbow motor any move- end stop or colli-
rent lim-
driver was longer S/W: ment com- sion OR Repair
ited
than 5s activated. mand. motor driver.
- Stop mo-
Object
tion
Identifier
Fault 21 Axis overloaded. C/PL H/W: 50 ms The applica- Field Service En-
tion discards gineer for re-
Overload - None
any move- pairing Elbow
sensor
S/W: ment com- drive required;
activated
mand. use BMC for axis
- Stop mo-
Object movements.
tion
Identifier

62 Exact Arm Reference Guide

 Number Description Class/ Immediate Max. Interlocks Recovery Action
Name Type Response Resp.
Param- on Node Time
eter
Fault 22 The application C/T H/W: 50 ms The applica- Repair failing axis.
detected a moving tion discards
Software - None
axis without prior any move-
detected
motion command. S/W: ment com-
un-
mand.
granted - Stop mo-
motion tion

Object
Identifier
Fault 41 A mechanical axis C/P H/W: 50 ms The applica- Perform an ‘Axis
has lost its cali- tion discards Calibration’ on the
Mechan- - None
bration or has any IDU failing axis.
ical axis
never been cali- S/W: movement
not cali-
brated. command,
brated - Stop mo-
including re-
tion
Object tract and un-
Identifier fold. The ap-
plication dis-
cards any
mechanical
axis position
movement
command.
Mechanical
axis velocity
limited to
25% of max-
imum ve-
locity.
Fault 42 The QDEC value C/TL H/W: 50 ms The applica- Perform a recali-
of a mechanical tion discards bration. If fault re-
Encoder - None
axis did not match any IDU appears Perform
index
the expected S/W: movement fault analysis by
pulse
value when an command, using PWM axis
check - Initiate
index pulse oc- including re- moves to check
failed fault 'Me-
curred. tract and un- the PRO/SPRO
chanical
Object fold. readout system.
axis not cali-
Identifier Fix / replace faulty
brated'
device. Perform a
calibration.

Interlocks, Faults and Error Codes 63

 Number Description Class/ Immediate Max. Interlocks Recovery Action
Name Type Response Resp.
Param- on Node Time
eter
Fault 81 A hardware colli- C/P H/W: 50 ms None Move the arm out
sion was de- of the collision sit-
Hardware - Assert col-
tected. uation. (all colli-
collision lision line
sion sensors re-
Object S/W: leased). If the fault
Identifier persists, check
- None
collision paddles,
enclosures and
related wiring.
Note: Actions
must be done by
the Supervisor.

64 Exact Arm Reference Guide

 Number Description Class/ Immediate Max. Interlocks Recovery Action
Name Type Response Resp.
Param- on Node Time
eter
Fault 83 The MDB de- C/P H/W: 50 ms Any motion Repair failing axis
tected a voltage inhibited by
Hardware - As long as AND
over the Shoulder H/W Motion
Motion In- the un-
or Elbow axis mo- Interlock. Reset H/W motion
terlock granted mo-
tors without the interlock circuit via
tion is The applica-
Object presence of the reset button or
present, the tion discards
Identifier corresponding power cycle.
H/W backup any move-
motor driver en-
brake of the ment com-
able signal. This
failing axis is mand.
triggers the H/W
active on the
motion interlock
MDB -->
circuit inside the
stop motion
CPLD, which as-
serts the HW- - The H/W
MOTION- INTER- motion inter-
LOCK signal. lock circuit
inside the
Note: The Wrist
CPLD neg-
and Lateral axes
ates the en-
are not supervised
able signals
by the H/W.
to the motor
drivers of all
axes (if any)
and latches
in this state
S/W:
- Process
HW-
MOTION-
INTERLOCK
signal from
the CPLD --
> stop mo-
tion
Fault 84 At startup, the F/TL H/W: N/A The applica- Download a valid
Configuration tion discards node configuration
Configu- - None
Data Block was any move- from Service Tool.
ration
not found in S/W: ment com- Then reset the ap-
Data
FLASH or had an mand. plication by the
Block not - None
invalid CRC. use of the Service
found
Tool or a power
Object cycle.
Identifier

Interlocks, Faults and Error Codes 65

 Number Description Class/ Immediate Max. Interlocks Recovery Action
Name Type Response Resp.
Param- on Node Time
eter
Fault 96 One of the Motion C/TL H/W: N/A The applica- Check Motion En-
Gate signals was tion discards able Buttons at
Motion - None
either asserted at any move- BMC and console.
Gate
startup or as- S/W: ment com- If problem persist
signal
serted to long mand. after a node reset,
error - None
(stucked). check all motion
Object gate signal related
Identifier wiring.
Fault 100 +15 V supply C/PL H/W: 50 ms The applica- Replace the IOB.
voltage monitor tion discards
IOB 15 V - None
detected low any move-
power
voltage. S/W: ment com-
supply
mand.
failure - Stop mo-
tion
Object
Identifier
Fault 128 Servo Control C/T H/W: N/A The applica- Check for active
while the gantry is tion discards fault causing
Servo - None
rotating was any move- servo control to
Control
aborted. S/W: ment com- stop.
aborted
mand.
- Stop mo-
Object
tion
Identifier
Fault 131 Gantry Rotating C/PT H/W: N/A The applica- Check Gantry En-
Signal asserted tion discards able Signal and
Servo - None
without Gantry en- any move- related wiring.
Control
able signal used S/W: ment com-
signal
to enable servo mand.
mismatch - Stop mo-
control. tion
Object
Identifier
Fault 136 A protected value F/LT H/W: N/A The applica- Restart Applica-
stored in MCN tion discards tion with Node
RAM data - None
RAM has changed any move- Service Tool or
mismatch
its value. S/W: ment com- power cycle.
Object mand.
- Stop mo- If fault reappears,
Identifier
tion change the MCN
board.

66 Exact Arm Reference Guide

 Number Description Class/ Immediate Max. Interlocks Recovery Action
Name Type Response Resp.
Param- on Node Time
eter
Fault 253 The MCN Excep- W/TL H/W: N/A None A runtime excep-
tion log contains tion occurred and
Exception - None
at least one entry. the application
Logentry
S/W: was restarted. Up-
Object load and clear the
Identifier Exception Log
with Node Service
Tool and inform
CSS.
Fault 254 An axis id not at C/LT H/W: N/A The applica- Perform fault anal-
expected position tion discards ysis by using
Axis Posi- - None
while moving. any move- PWM axis moves
tion Devi-
S/W: ment com- to check the PRO/
ation
mand. SPRO readout
- Stop mo-
Object system. Repair
tion
Identifier failing axis.
Fault 255 Backup Motion C/P H/W: N/A The applica- Set BMC switch to
Control Mode is tion discards off position.
BMC - None
enabled. any move-
Mode
S/W: ment com-
Object mand.
- None
Identifier

About I/O Board 7-Segment Error Codes

Faults are indicated by a preceding ‘F’ followed by the number. Errors are indicated by a
proceeding ‘E’ followed by the number.

Table 6 I/O Board 7-Segment Error Codes

Error Code Meaning Remedy

00 No fault or error ---
E0 ASSERT() check failed Replace CPU Board or program different version of
DA software
E1 C++ ‘new’ operator out of Replace CPU Board or program different version of
memory DA software
E2 CPU Address Error Replace CPU Board or program different version of
DA software
E3 CPU Bus Error Replace CPU Board or program different version of
DA software

Interlocks, Faults and Error Codes 67

 Error Code Meaning Remedy
E4 CPU Spurious Interrupt Replace CPU Board or program different version of
DA software
E5 CPU Unknown Exception Replace CPU Board or program different version of
DA software
E6 CPU Zero Division Replace CPU Board or program different version of
DA software
E7 Heap crashed Replace CPU Board or program different version of
DA software
F0 CPU Board: Programming Replace CPU Board
error of FPGA
F1 CPU Board: Wrong Replace CPU Board
FLASH chip
F2 CPU Board: Sector on Replace CPU Board
FLASH chip is write pro-
tected
F3 CPU Board: Wrong revi- Replace CPU Board or program different version of
sion DA software
F4 I/O Board: Wrong identifi- Replace CPU Board or replace I/O Board or replace
cation number Backplane
F5 I/O Board: +24 V supply Check +24 V supply voltage to I/O Board or replace
voltage too low I/O Board

68 Exact Arm Reference Guide

Index
A E
a-Si 8 emailing Varian customer support 8
Acuity ConeBeam Computed Tomography emergency 13
intended use 57 Exact arm
Acuity Radiation Therapy Simulator intended use 22
intended use 57 major components 23
amorphous silicon 8
ANG key 29
angle of hand 41 F
asterisk Fault utility 41
flashing 52 faults 50
moving 38 flashing asterisks 52
AUTO GO FLT notation 41
key 28
position 35, 43
H
B hand pendant
display 28
backup motion control 8, 13, 30 handle 29
BAT notation 41, 44 holder 27
battery, recharging 41, 44 ID 56
BMC 8 infrared receivers 27
infrared transmitters 27
C menu 36
multiple 34
CAL notation 41 passcode 56
central processing unit 8 single 34
clinical mode 29 test 49
CLR key 28 thumbwheels 29
CNT 8 hardware motion interlock 41
COL notation 41
collision
detection 15 I
detection test 20 IAS 8
controller 30 ID 8
couch, motion interlock 15, 20 identification 8
counts 8 identifier 8
CPU 8 IDU 8
customer support 8 image acquisition system 8
image detection unit 8
D description 25
indicator IDU level
display, hand pendant 28 Actual 41
Actual //// 41

Index 69
 Not Ready 41 mechanical overload 13
Info, menu 36 menu
infrared diode 34 hand pendant 36
intended use Info 36
Acuity ConeBeam Computed Tomography Languages 36
57 Position Control 38
Acuity Radiation Therapy Simulator 57 Retracted 37
Exact arm 22 Standard 37
On-Board Imager 57 Timeout 36
PortalVision Advanced Imaging 57 minus sign 38
interlock MODE key 28
motion 15 motion
interlocks 50 aborted 41
isocenter calibration 54 arm 24
MV detector 54 motion interlock
couch 15, 20
override 15
K MyVarian 8
key jam 20
keys 27 N
NL 8
L NL notation 41
languages 55 no link 8
languages, menu 36 notations 41
LAST key 28
LAT 8 O
LAT key 29
lateral 8 On-Board Imager
lateral motion 16 intended use 57
LCD 8 online customer support 8
LED 8 ordering product documents by phone 8
LIC 8 OUT key 28
light emitting diode 8 overload, mechanical 13
liquid crystal display 8 override
liquid ion chamber 8 button 15
LNG 8 motion interlock 15
LNG key 29
longitudinal 8
P

M P1-P5
key 28
mech axis position 35
calibration 52 plus sign 38
passcode 52, 55 PortalVision Advanced Imaging
PWM 55 intended use 57
Mech Axis Cal 50 position
Mech Axis Vel 50 mechanical calibration 52
mechanical calibration position 52 Position Control, menu 38

70 Exact Arm Reference Guide

position read out 8 Mech Axis Vel 51
power failure 20 passcode 51
PRO 8 Run Test 56
pulse with modulation 8 Save Position 47
PWM 8

V
R
Varian customer support 8
radiation effect on electronics 13 vertical 8
related publications 9 visual cues 7
RETR key 28 VRT 8
retract position 35 VRT key 29
Retracted, menu 37

W
S
wireless 27
secondary position read out 8
service monitor 48
SPRO 8
standard, menu 37
support e-mail addresses 8
system self test 56
system state 41

T
technical support 8
thumbwheel 27
jamming 20
Timeout, menu 36
touch guard reset button 41
transition 41
travel range uncalibrated 24
TRP notation 41

U
uncalibrated travel range 24
utilities
accessing 46
Utility
Faults 50
Hand Pendant ID 56
Hand Pendant Test 49
Interlocks 50
Isocenter Cal 54
Languages 55
Mech Axis Cal 52

Index 71