JACoW is a publisher in Geneva, Switzerland that publishes the proceedings of accelerator conferences held around the world by an international collaboration of editors.
@inproceedings{acerbo:icalepcs2023-th2bco02,
author = {A.S. Acerbo and T. Celcer and A. Sandström},
title = {{Open Source EtherCAT Motion Control Rollout for Motion Applications at SLS-2.0 Beamlines}},
% booktitle = {Proc. ICALEPCS'23},
booktitle = {Proc. 19th Int. Conf. Accel. Large Exp. Phys. Control Syst. (ICALEPCS'23)},
eventdate = {2023-10-09/2023-10-13},
pages = {1166--1171},
paper = {TH2BCO02},
language = {english},
keywords = {controls, PLC, EPICS, hardware, framework},
venue = {Cape Town, South Africa},
series = {International Conference on Accelerator and Large Experimental Physics Control Systems},
number = {19},
publisher = {JACoW Publishing, Geneva, Switzerland},
month = {02},
year = {2024},
issn = {2226-0358},
isbn = {978-3-95450-238-7},
doi = {10.18429/JACoW-ICALEPCS2023-TH2BCO02},
url = {https://jacow.org/icalepcs2023/papers/th2bco02.pdf},
abstract = {{The SLS-2.0 upgrade project comprises of a new storage ring and magnet lattice and will result in improved emittance and brightness by two orders of magnitude. Paired with these upgrades is a generational upgrade of the motion control system, away from VME based hardware and towards a more modern framework. For SLS-2.0 beamlines, the EtherCAT Motion Control (ECMC) open source framework has been chosen as the de-facto beamline motion control system for simple motion, analog/digital input/output and simple data collection. The ECMC framework comprises of a feature rich implementation of the EtherCAT protocol and supports a broad range of Beckhoff hardware, with the ability to add further EtherCAT devices. ECMC provides soft PLC functionality supported by the C++ Mathematical Expression Toolkit Library (ExprTk), which runs at a fixed frequency on the EtherCAT master at a rate up to the EtherCAT frame rate. This PLC approach allows for implementing complex motion, such as forward and backward kinematics of multi-positioner systems, i.e. roll, yaw, and pitch in a 5-axis mirror system. Additional logic can be loaded in the form of plugins written in C. Further work is ongoing to provide flexible Position Compare functionality at a frequency of 1 kHz coupled with event triggering as a way to provide a basic fly-scan functionality for medium performance applications with the use of standardized SLS-2.0 beamline hardware. We provide an overview of these and related ECMC activities currently ongoing for the SLS-2.0 project. }},
}