ICALEPCS2023 - Classification: General / Motion Control

Paper	Title	Page
TUMBCMO33	Expanding Motion Architecture Using Ethercat in the Australian Synchrotron
	A. Ng, N. Afshar, B. Alda, L. Lee, A. Michalczyk, N. Tahir, L. Zhu AS - ANSTO, Clayton, Australia
	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
	Slides TUMBCMO33 [0.471 MB]
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUMBCMO34	Motion Control Architecture and Kinematics for Multi-DoF Kirkpatrick-Baez Focusing Mirrors System at LNLS-Sirius	443
	J.P.S. Furtado, C.S.N.C. Bueno, J.V.E. Matoso, M.A. Montevechi Filho, G.B.Z.L. Moreno, T.R. Silva Soares LNLS, Campinas, Brazil
	Funding: Ministry of Science, Technology and Innovation (MCTI) In modern 4th generation synchrotron facilities, piezo actuators are widely applied due to their nanometric precision in linear motion and stability. This work shows the implementation of a switching control architecture and a tripod kinematics for a set of 4 piezo actuators, responsible by positioning the short-stroke: the vertical and horizontal focusing mirrors of the Kirkpatrick-Baez mirror system at MOGNO Beamline (X-Ray Microtomography). The switching control architecture was chosen to balance timing to move through the working range (changing the beam incidence on stripes of low/high energy), resolution and infrastructure costs. This paper also shows the implementation and results of the developed kinematics by layers that uncouples short-stroke from long-stroke to fix any parasitic displacements that occur on the granite bench levelers due to slippage during the movement and to match the required beam stability without losing alignment flexibility or adjustment repeatability. The architecture was built between a PIMikroMove set of driver-actuators and an Omron Delta Tau Power Brick controller due to its standardization across the control systems solutions at Sirius, ease of control software scalability and its capability to perform calculations and signal switching for control in C language, with real-time performance to make adjustments to the angles responsible by focusing the beam in a speed that matches the required position stability, guaranteeing the necessary resolution for the experiments.
	Slides TUMBCMO34 [1.753 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUMBCMO34
About •	Received ※ 06 October 2023 — Revised ※ 12 October 2023 — Accepted ※ 28 November 2023 — Issued ※ 08 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP005	Improvements on Kinematics and Control of Granite Benches at LNLS-Sirius	485
	J.V.E. Matoso, J.P.S. Furtado, J.P.B. Ishida, T.R. Silva Soares LNLS, Campinas, Brazil
	At the Brazilian Synchrotron Light Laboratory, the radiation beam is conditioned by optical elements that must be positioned with high stability and precision. Many of the optical elements are positioned using granite benches that provide high coupling stiffness to the ground and position control in up to six degrees of freedom, using a set of stepper motors. The solution of the inverse kinematics was done numerically by the Newton Raphson method. By employing the property that these systems have small rotation angles, the Jacobian matrix used in this numerical method can be simplified to reduce computational execution time and allow high processing rates. This paper also shows the results of adding a notch filter to the position servo control loop of the granite benches to increase stability due to their mass-spring-damper characteristics. The kinematics and control of the granite benches are implemented in an Omron Power Brick LV controller, with the kinematics developed in MATLAB and the C-code generated by MATLAB C-Coder. Reducing the execution time of the kinematics improves the efficient use of the computational resources and allows the real-time clock rate to be increased.
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP005
About •	Received ※ 05 October 2023 — Revised ※ 10 October 2023 — Accepted ※ 29 November 2023 — Issued ※ 04 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP015	Test Bench for Motor and Motion Controller Characterization	522
	D.K. Kraft, M. Brendike HZB, Berlin, Germany
	To maximize beamtime usage motorization of beamline equipment is crucial. Choosing the correct motor is complex, since performance depends largely on the combination of motor and motion controller [1]. This challenge, alongside renewing the twenty years old infrastructure at BESSY II, led to the demand for a motor testbench. The testbench was designed to be modular, so it fits different motors, loads and sensors. It allows independent performance verification and enables us to find a fitting combination of motor and motion controller. The testbench is operated via EPICS and Bluesky, allowing us usage of python for automated data acquisition and testing. An overview of the mechanical and electrical setup, as well as some data from different performance tests will be presented. [1]A.Hughes , B.Drury, ’Electric Motors and Drivers: Fundamentals, Types and Applications’, Fifth Edition, Kidlington, United Kingdom, 2019, pp. 41-86.
	Poster TUPDP015 [1.295 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP015
About •	Received ※ 06 October 2023 — Revised ※ 13 October 2023 — Accepted ※ 02 December 2023 — Issued ※ 13 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TUPDP032	Reference Measurement Methods for Planar and Helical Undulators	575
	S. Karabekyan EuXFEL, Schenefeld, Germany
	The modern permanent magnet undulators are usually equipped with motors that have integrated feedback electronics. These are essentially rotary encoders that indicate the position of the motor axis. In addition, undulators are also equipped with linear encoders that provide the absolute value of the gap between the magnetic structures or the position of the magnetic girders relative to the undulator frame. The operating conditions of undulators should take into account the risks of failure of electronic equipment under the influence of radiation. In case of encoder failure, the motor or encoder must be replaced. To avoid the need to return the undulator to the magnetic measurement laboratory, reference measurements are required to restore the position of the magnetic structure after replacement. In this article, reference measurement procedures for planar and helical APPLE-X undulators used at the European XFEL are presented.
	Poster TUPDP032 [1.358 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP032
About •	Received ※ 06 October 2023 — Revised ※ 10 October 2023 — Accepted ※ 14 December 2023 — Issued ※ 17 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TH2BCO01	Synchronized Nonlinear Motion Trajectories at MAX IV Beamlines	1160
	P. Sjöblom, H. Enquist, Á. Freitas, J. Lidón-Simon, M. Lindberg, S. Malki MAX IV Laboratory, Lund University, Lund, Sweden
	The motions at beamlines sometimes require components to move along non-trivial and non-linear paths. This type of motion can be achieved by combining several simple axes, typically linear and rotation actuators, and controlling them to perform synchronized motions along individual non-linear paths. A good example is the 10-meter-long spectrometer at MAX IV Veritas beamline, operating under the Rowland condition. The system consists of 6 linked axes that must maintain the position of detectors while avoiding causing any damage to the mechanical structure. The nonlinear motions are constructed as a trajectory through energy or focus space. The trajectory changes whenever any parameter changes or when moving through focus space at fixed energy instead of through energy space. Such changes result in automated generation and uploading of new trajectories. The motion control is based on parametric trajectory functionality provided by IcePAP. Scanning and data acquisition are orchestrated through Tango and Sardana to ensure full motion synchronization and that triggers are issued correctly.
	Slides TH2BCO01 [0.884 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO01
About •	Received ※ 05 October 2023 — Revised ※ 24 October 2023 — Accepted ※ 14 December 2023 — Issued ※ 22 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

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)

TH2BCO03	The LCLS-II Experiment Control System	1172
	T.A. Wallace, D.L. Flath, M. Ghaly, T.K. Johnson, K.R. Lauer, Z.L. Lentz, R.S. Tang-Kong, J. Yin SLAC, Menlo Park, California, USA
	Funding: Work supported by the U.S. Department of Energy under contract number DE-AC02-76SF00515. The Linac Coherent Light Source (LCLS) has been undergoing upgrades for several years now through at least two separate major projects: LCLS-II a DOE 403.13b project responsible for upgrading the accelerator, undulators and some front-end beam delivery systems, and the LCLS-II Strategic Initiative or L2SI project which assumed responsibility for upgrading the experiment endstations to fully utilize the new XFEL machine capabilities to be delivered by LCLS-II. Both projects included scope to design, install and commission a control system prepared to handle the risks associated with the tenfold increase in beam power we will eventually achieve. This paper provides an overview of the new control system architecture from the LCLS-II and L2SI projects and status of its commissioning.
	Slides TH2BCO03 [2.700 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO03
About •	Received ※ 04 November 2023 — Accepted ※ 11 December 2023 — Issued ※ 16 December 2023
Cite •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

TH2BCO04	SAMbuCa: Sensors Acquisition and Motion Control Framework at CERN	1179
	A. Masi, O.Ø. Andreassen, M. Arruat, M. Di Castro, R. Ferraro, I. Kozsar, E.W. Matheson, J.P. Palluel, P. Peronnard, J. Serrano, J. Tagg, F. Vaga, E. Van der Bij CERN, Meyrin, Switzerland S. Danzeca, M. Donzé, S.F. Fargier, M. Gulin, E. Soria European Organization for Nuclear Research (CERN), Geneva, Switzerland
	Motion control systems at CERN often have challenging requirements, such as high precision in extremely radioactive environments with millisecond synchronization. These demanding specifications are particularly relevant for Beam Intercepting Devices (BIDs) such as the collimators of the Large Hadron Collider (LHC). Control electronics must be installed in safe areas, hundreds of meters away from the sensors and actuators while conventional industrial systems only work with cable lengths up to a few tens of meters. To address this, several years of R&D have been committed to developing a high precision motion control system. This has resulted in specialized radiation-hard actuators, new sensors, novel algorithms and actuator control solutions capable of operating in this challenging environment. The current LHC Collimator installation is based on off-the-shelf components from National Instruments. During the Long Shutdown 3 (LS3 2026-2028), the existing systems will be replaced by a new high-performance Sensors Acquisition and Motion Control system (SAMbuCa). SAMbuCa represents a complete, in-house developed, flexible and modular solution, able to cope with the demanding requirements of motion control at CERN, and incorporating the R&D achievements and operational experience of the last 15 years controlling more than 1200 axes at CERN. In this paper, the hardware and software architectures, their building blocks and design are described in detail.
	Slides TH2BCO04 [5.775 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO04
About •	Received ※ 05 October 2023 — Revised ※ 12 October 2023 — Accepted ※ 19 December 2023 — Issued ※ 20 December 2023
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TH2BCO06	The SNS PLC Based Controls Solution for Stepper Motors	1187
	D.C. Williams, F.C. Medio ORNL, Oak Ridge, Tennessee, USA
	Funding: SNS is managed by UT-Battelle, LLC, under contract DE-AC05-00OR22725 for the U.S. Department of Energy The Spallation Neutron Source (SNS) at Oak Ridge National Laboratory has been operating for over 15 years and many electronic components are now obsolete and require replacement to assure reliability and sustainability. SNS uses stepper motors to control accelerator components throughout the facility including the cryomodule tuners, beam scrapers, and the primary and secondary stripper foils. The original motor controls were implemented with VME controllers, custom power supplies, and various types of motor drivers. As these components became less reliable and obsolete a new control solution was needed that could be applied to multiple motion control systems. Fast performance requirements are not crucial for these stepper motors, so the PLC technology was selected. The first system replaced was the Ring stripper foil control system and plans are underway to replace the beam scrapers. This paper provides an overview of the commercial off-the-shelf (COTS) hardware used to control stepper motors at SNS. Details of the design and challenges to convert a control system during short maintenance periods without disrupting beam operation will be covered in this paper.
	Slides TH2BCO06 [1.914 MB]
DOI •	reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO06
About •	Received ※ 19 September 2023 — Revised ※ 10 October 2023 — Accepted ※ 13 October 2023 — Issued ※ 25 October 2023
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Paper

Title

Page

TUMBCMO33

Expanding Motion Architecture Using Ethercat in the Australian Synchrotron

A. Ng, N. Afshar, B. Alda, L. Lee, A. Michalczyk, N. Tahir, L. Zhu
AS - ANSTO, Clayton, Australia

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

Slides TUMBCMO33 [0.471 MB]

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

TUMBCMO34

Motion Control Architecture and Kinematics for Multi-DoF Kirkpatrick-Baez Focusing Mirrors System at LNLS-Sirius

443

J.P.S. Furtado, C.S.N.C. Bueno, J.V.E. Matoso, M.A. Montevechi Filho, G.B.Z.L. Moreno, T.R. Silva Soares
LNLS, Campinas, Brazil

Funding: Ministry of Science, Technology and Innovation (MCTI)
In modern 4th generation synchrotron facilities, piezo actuators are widely applied due to their nanometric precision in linear motion and stability. This work shows the implementation of a switching control architecture and a tripod kinematics for a set of 4 piezo actuators, responsible by positioning the short-stroke: the vertical and horizontal focusing mirrors of the Kirkpatrick-Baez mirror system at MOGNO Beamline (X-Ray Microtomography). The switching control architecture was chosen to balance timing to move through the working range (changing the beam incidence on stripes of low/high energy), resolution and infrastructure costs. This paper also shows the implementation and results of the developed kinematics by layers that uncouples short-stroke from long-stroke to fix any parasitic displacements that occur on the granite bench levelers due to slippage during the movement and to match the required beam stability without losing alignment flexibility or adjustment repeatability. The architecture was built between a PIMikroMove set of driver-actuators and an Omron Delta Tau Power Brick controller due to its standardization across the control systems solutions at Sirius, ease of control software scalability and its capability to perform calculations and signal switching for control in C language, with real-time performance to make adjustments to the angles responsible by focusing the beam in a speed that matches the required position stability, guaranteeing the necessary resolution for the experiments.

Slides TUMBCMO34 [1.753 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUMBCMO34

About •

Received ※ 06 October 2023 — Revised ※ 12 October 2023 — Accepted ※ 28 November 2023 — Issued ※ 08 December 2023

Cite •

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

TUPDP005

Improvements on Kinematics and Control of Granite Benches at LNLS-Sirius

485

J.V.E. Matoso, J.P.S. Furtado, J.P.B. Ishida, T.R. Silva Soares
LNLS, Campinas, Brazil

At the Brazilian Synchrotron Light Laboratory, the radiation beam is conditioned by optical elements that must be positioned with high stability and precision. Many of the optical elements are positioned using granite benches that provide high coupling stiffness to the ground and position control in up to six degrees of freedom, using a set of stepper motors. The solution of the inverse kinematics was done numerically by the Newton Raphson method. By employing the property that these systems have small rotation angles, the Jacobian matrix used in this numerical method can be simplified to reduce computational execution time and allow high processing rates. This paper also shows the results of adding a notch filter to the position servo control loop of the granite benches to increase stability due to their mass-spring-damper characteristics. The kinematics and control of the granite benches are implemented in an Omron Power Brick LV controller, with the kinematics developed in MATLAB and the C-code generated by MATLAB C-Coder. Reducing the execution time of the kinematics improves the efficient use of the computational resources and allows the real-time clock rate to be increased.

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP005

About •

Received ※ 05 October 2023 — Revised ※ 10 October 2023 — Accepted ※ 29 November 2023 — Issued ※ 04 December 2023

Cite •

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

TUPDP015

Test Bench for Motor and Motion Controller Characterization

522

D.K. Kraft, M. Brendike
HZB, Berlin, Germany

To maximize beamtime usage motorization of beamline equipment is crucial. Choosing the correct motor is complex, since performance depends largely on the combination of motor and motion controller [1]. This challenge, alongside renewing the twenty years old infrastructure at BESSY II, led to the demand for a motor testbench. The testbench was designed to be modular, so it fits different motors, loads and sensors. It allows independent performance verification and enables us to find a fitting combination of motor and motion controller. The testbench is operated via EPICS and Bluesky, allowing us usage of python for automated data acquisition and testing. An overview of the mechanical and electrical setup, as well as some data from different performance tests will be presented.
[1]A.Hughes , B.Drury, ’Electric Motors and Drivers: Fundamentals, Types and Applications’, Fifth Edition, Kidlington, United Kingdom, 2019, pp. 41-86.

Poster TUPDP015 [1.295 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP015

About •

Received ※ 06 October 2023 — Revised ※ 13 October 2023 — Accepted ※ 02 December 2023 — Issued ※ 13 December 2023

Cite •

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

TUPDP032

Reference Measurement Methods for Planar and Helical Undulators

575

S. Karabekyan
EuXFEL, Schenefeld, Germany

The modern permanent magnet undulators are usually equipped with motors that have integrated feedback electronics. These are essentially rotary encoders that indicate the position of the motor axis. In addition, undulators are also equipped with linear encoders that provide the absolute value of the gap between the magnetic structures or the position of the magnetic girders relative to the undulator frame. The operating conditions of undulators should take into account the risks of failure of electronic equipment under the influence of radiation. In case of encoder failure, the motor or encoder must be replaced. To avoid the need to return the undulator to the magnetic measurement laboratory, reference measurements are required to restore the position of the magnetic structure after replacement. In this article, reference measurement procedures for planar and helical APPLE-X undulators used at the European XFEL are presented.

Poster TUPDP032 [1.358 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TUPDP032

About •

Received ※ 06 October 2023 — Revised ※ 10 October 2023 — Accepted ※ 14 December 2023 — Issued ※ 17 December 2023

Cite •

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

TH2BCO01

Synchronized Nonlinear Motion Trajectories at MAX IV Beamlines

1160

P. Sjöblom, H. Enquist, Á. Freitas, J. Lidón-Simon, M. Lindberg, S. Malki
MAX IV Laboratory, Lund University, Lund, Sweden

The motions at beamlines sometimes require components to move along non-trivial and non-linear paths. This type of motion can be achieved by combining several simple axes, typically linear and rotation actuators, and controlling them to perform synchronized motions along individual non-linear paths. A good example is the 10-meter-long spectrometer at MAX IV Veritas beamline, operating under the Rowland condition. The system consists of 6 linked axes that must maintain the position of detectors while avoiding causing any damage to the mechanical structure. The nonlinear motions are constructed as a trajectory through energy or focus space. The trajectory changes whenever any parameter changes or when moving through focus space at fixed energy instead of through energy space. Such changes result in automated generation and uploading of new trajectories. The motion control is based on parametric trajectory functionality provided by IcePAP. Scanning and data acquisition are orchestrated through Tango and Sardana to ensure full motion synchronization and that triggers are issued correctly.

Slides TH2BCO01 [0.884 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO01

About •

Received ※ 05 October 2023 — Revised ※ 24 October 2023 — Accepted ※ 14 December 2023 — Issued ※ 22 December 2023

Cite •

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

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)

TH2BCO03

The LCLS-II Experiment Control System

1172

T.A. Wallace, D.L. Flath, M. Ghaly, T.K. Johnson, K.R. Lauer, Z.L. Lentz, R.S. Tang-Kong, J. Yin
SLAC, Menlo Park, California, USA

Funding: Work supported by the U.S. Department of Energy under contract number DE-AC02-76SF00515.
The Linac Coherent Light Source (LCLS) has been undergoing upgrades for several years now through at least two separate major projects: LCLS-II a DOE 403.13b project responsible for upgrading the accelerator, undulators and some front-end beam delivery systems, and the LCLS-II Strategic Initiative or L2SI project which assumed responsibility for upgrading the experiment endstations to fully utilize the new XFEL machine capabilities to be delivered by LCLS-II. Both projects included scope to design, install and commission a control system prepared to handle the risks associated with the tenfold increase in beam power we will eventually achieve. This paper provides an overview of the new control system architecture from the LCLS-II and L2SI projects and status of its commissioning.

Slides TH2BCO03 [2.700 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO03

About •

Received ※ 04 November 2023 — Accepted ※ 11 December 2023 — Issued ※ 16 December 2023

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

TH2BCO04

SAMbuCa: Sensors Acquisition and Motion Control Framework at CERN

1179

A. Masi, O.Ø. Andreassen, M. Arruat, M. Di Castro, R. Ferraro, I. Kozsar, E.W. Matheson, J.P. Palluel, P. Peronnard, J. Serrano, J. Tagg, F. Vaga, E. Van der Bij
CERN, Meyrin, Switzerland
S. Danzeca, M. Donzé, S.F. Fargier, M. Gulin, E. Soria
European Organization for Nuclear Research (CERN), Geneva, Switzerland

Motion control systems at CERN often have challenging requirements, such as high precision in extremely radioactive environments with millisecond synchronization. These demanding specifications are particularly relevant for Beam Intercepting Devices (BIDs) such as the collimators of the Large Hadron Collider (LHC). Control electronics must be installed in safe areas, hundreds of meters away from the sensors and actuators while conventional industrial systems only work with cable lengths up to a few tens of meters. To address this, several years of R&D have been committed to developing a high precision motion control system. This has resulted in specialized radiation-hard actuators, new sensors, novel algorithms and actuator control solutions capable of operating in this challenging environment. The current LHC Collimator installation is based on off-the-shelf components from National Instruments. During the Long Shutdown 3 (LS3 2026-2028), the existing systems will be replaced by a new high-performance Sensors Acquisition and Motion Control system (SAMbuCa). SAMbuCa represents a complete, in-house developed, flexible and modular solution, able to cope with the demanding requirements of motion control at CERN, and incorporating the R&D achievements and operational experience of the last 15 years controlling more than 1200 axes at CERN. In this paper, the hardware and software architectures, their building blocks and design are described in detail.

Slides TH2BCO04 [5.775 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO04

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Received ※ 05 October 2023 — Revised ※ 12 October 2023 — Accepted ※ 19 December 2023 — Issued ※ 20 December 2023

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

TH2BCO06

The SNS PLC Based Controls Solution for Stepper Motors

1187

D.C. Williams, F.C. Medio
ORNL, Oak Ridge, Tennessee, USA

Funding: SNS is managed by UT-Battelle, LLC, under contract DE-AC05-00OR22725 for the U.S. Department of Energy
The Spallation Neutron Source (SNS) at Oak Ridge National Laboratory has been operating for over 15 years and many electronic components are now obsolete and require replacement to assure reliability and sustainability. SNS uses stepper motors to control accelerator components throughout the facility including the cryomodule tuners, beam scrapers, and the primary and secondary stripper foils. The original motor controls were implemented with VME controllers, custom power supplies, and various types of motor drivers. As these components became less reliable and obsolete a new control solution was needed that could be applied to multiple motion control systems. Fast performance requirements are not crucial for these stepper motors, so the PLC technology was selected. The first system replaced was the Ring stripper foil control system and plans are underway to replace the beam scrapers. This paper provides an overview of the commercial off-the-shelf (COTS) hardware used to control stepper motors at SNS. Details of the design and challenges to convert a control system during short maintenance periods without disrupting beam operation will be covered in this paper.

Slides TH2BCO06 [1.914 MB]

DOI •

reference for this paper ※ doi:10.18429/JACoW-ICALEPCS2023-TH2BCO06

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Received ※ 19 September 2023 — Revised ※ 10 October 2023 — Accepted ※ 13 October 2023 — Issued ※ 25 October 2023

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