Homing and Establishing Reference Frames for Motion Axes in Radiation Systems

A method of homing a motion axis including a motor, a load, and one or more feedback devices coupled to the motor and/or the load in a radiation system having at least two hardstops defining a range of travel of the motion axis, comprising:

• providing a value of distance or angle between a first hardstop and a second hardstop;
• moving the motion axis toward the first hardstop and contacting the axis with the first hardstop to perform a first homing routine, whereby a first reference position of the motion axis is established;
• moving the motion axis toward the second hardstop and contacting the axis with the second hardstop to perform a second homing routine, whereby a second reference position of the motion axis is established;
• calculating a value of distance or angle between the established first and the second reference positions;
• comparing the calculated value of distance or angle between the established first and the second reference positions with the provided value of distance or angle between the first hardstop and the second hardstop;
• and
• accepting the first and second reference positions for the motion axis if the calculated value and the provided value agree.

A method of establishing a reference frame for a motion axis including a motor, a load, and one or more feedback devices coupled to the motor and/or load in a radiation system having one or more hardstops defining an end-of-travel of the motion axis, comprising:

• driving the motor to move the load toward a hardstop;
• monitoring an electrical parameter of the motor or the motor velocity or the load velocity which reaches or exceeds a determined value when at least a portion of the load contacts the hardstop;
• and
• defining an origin of a reference frame for the motion axis when the monitored electrical parameter or motor velocity or load velocity reaches or exceed the determined value.

A radiation system, comprising:

• a motion axis comprising a motor, a load drivingly coupled to the motor, and one or more feedback devices coupled to the motor and/or the load;
• one or more hardstops each defining an end-of-travel of the motion axis;
• and
• a controller programmed to detect a contact of at least a portion of the load with the one or more hardstops.