TUMBCMO33
AS - ANSTO, Clayton, Australia
[*] - Diamond Light Source
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TUMBCMO33 |
Expanding Motion Architecture Using Ethercat in the Australian Synchrotron | |
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Australian Synchrotron’s motion control architecture is standardized around Omron’s PowerBrickLV controller. An EPICS software-stack is developed based on DLS[*] pmac EPICS driver to utilize PowerPmac (Ppmac) capabilities while providing maintainability through a system of standard configuration toolchain and templates. To expand the existing architecture using new hardware technologies, we have developed templates to utilize Ppmac as EtherCat master for several external stepper drivers, encoder interfaces and IO modules over EtherCat. This way the EtherCat axes are abstracted at Ppmac, utilizing its capabilities while being fully compatible with our existing epics software-stack. We have developed a prototype, based on our standard PowerBrickLV 8 axis controller. The 8 built-in axes are suitable for brushless and brushed DC motors as well as steppers while the 16 EtherCat axes can be used for steppers. All 24 axes are protected by smart protections and can be used in open or closed loop with any combination of available encoders. Also, any combination of the 24 axes can be coordinated in the controller to form coordinated axes which are supported by the EPICS driver. This prototype is to be used for upgrading motion axes in the Soft X-Ray beamline in August 2023.
[*] - Diamond Light Source |
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Slides TUMBCMO33 [0.471 MB] | |
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