JACoW is a publisher in Geneva, Switzerland that publishes the proceedings of accelerator conferences held around the world by an international collaboration of editors.
TY - CONF AU - Acerbo, A.S. AU - Celcer, T. AU - Sandström, A. ED - Schaa, Volker RW ED - Götz, Andy ED - Venter, Johan ED - White, Karen ED - Robichon, Marie ED - Rowland, Vivienne TI - Open Source EtherCAT Motion Control Rollout for Motion Applications at SLS-2.0 Beamlines J2 - Proc. of ICALEPCS2023, Cape Town, South Africa, 09-13 October 2023 CY - Cape Town, South Africa T2 - International Conference on Accelerator and Large Experimental Physics Control Systems T3 - 19 LA - english AB - 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. PB - JACoW Publishing CP - Geneva, Switzerland SP - 1166 EP - 1171 KW - controls KW - PLC KW - EPICS KW - hardware KW - framework DA - 2024/02 PY - 2024 SN - 2226-0358 SN - 978-3-95450-238-7 DO - doi:10.18429/JACoW-ICALEPCS2023-TH2BCO02 UR - https://jacow.org/icalepcs2023/papers/th2bco02.pdf ER -