ICALEPCS2023 - List of Authors (Sandström, A.)

Paper	Title	Page
TH2BCO02	Open Source EtherCAT Motion Control Rollout for Motion Applications at SLS-2.0 Beamlines	1166
	A.S. Acerbo, T. Celcer, A. Sandström PSI, Villigen PSI, Switzerland
	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.
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO02
About •	Received ※ 06 October 2023 — Accepted ※ 08 December 2023 — Issued ※ 12 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Page

Open Source EtherCAT Motion Control Rollout for Motion Applications at SLS-2.0 Beamlines

1166

A.S. Acerbo, T. Celcer, A. Sandström
PSI, Villigen PSI, Switzerland

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.

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO02

About •

Received ※ 06 October 2023 — Accepted ※ 08 December 2023 — Issued ※ 12 December 2023

Cite •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)