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Motion Control in LCLS

Motion Control in LCLS. Sheng Peng EPICS Meeting 2008, Shanghai. Applications. Motion control is everywhere Drive Laser Laser Heater Wire Scanner Collimator … Beam line is all about motors. Requirement could be very different. Applications Optical table motion control

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Motion Control in LCLS

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  1. Motion Control in LCLS Sheng Peng EPICS Meeting 2008, Shanghai

  2. Applications • Motion control is everywhere • Drive Laser • Laser Heater • Wire Scanner • Collimator • … • Beam line is all about motors

  3. Requirement could be very different • Applications • Optical table motion control • In vacuum motion control • NEMA standard motors • Heavy duty motion • Multi-Axis coordination • Pneumatic • Motors • DC servo • Brush/Brushless • Stepper • 4 phase/5 phase • Half step • Micro stepping

  4. Requirement could be very different • Read back • None for stepper motor • LVDT • AC output • DC output • Encoder • Optical encoder • Magnetic encoder • Resolver • Pots

  5. Requirement could be very different • Travel Limits • Soft Limit • Limit Switch • Brake • Proximity • …

  6. Different vendor has different specialty • Different application leads to different solution

  7. Newport is used for Laser Optical Motion • Newport XPS-C8 is used in LCLS for all optical control • Pros • Ethernet based • 8 channels per controller • Auto-recognize Newport motors • Encoder built-in • Driver XPS-DRV01: 3 Amps, 48V • Cons • Fairly expensive • Motor choices are a little limited • They don’t understand vxWorks like us

  8. Newport XPS

  9. Most of Newport Stages/Actuators are compatible

  10. Stability feedback loop

  11. Wire Scanner • Needs to read position with very short latency • NEMA standard size motor is desired • Long cable run is required • LVDT is desired

  12. HYTEC 8601 Stepper Motor Controller • Industry Pack format • 4 Channel (axis) • 32-bit Step Registers • for steps in next movement • 32-bit Absolute Position Up/Down Counter • records movement • 16-bit Start/Stop Speed Register • Set the speed at which a movement will start, steps per second • 16-bit Travel Speed Register • Sets the speed at which the motor will run after accelerating, steps per second • 16-bit Ramp Rate Register • Sets the rate at which speed will increase/decrease during ramp • 16-bit Control/Status • Status of drive, controller, limit switches • 16-bit Interrupt Mask Register

  13. HYTEC SMDS-4 Motor Drive System • Step rate: 1- 65,535 sptes per second • Ramp Rate: 64 – 50,000 steps per second • Various versions: • 4 phase • 5 phase • … SMDS 4-axis power driver SMDS Plug-in driver card

  14. Highland Technologies LVDT Scanner • 8 channel VME module • 16-bit resolution with programmable noise filtering

  15. Current Status

  16. Wire Scanners

  17. System Integration • EPICS gives pretty good system level integration capability • Motor record gives uniform user interface which is very important for operator • A full turn key system especially for beam line will be highly desired

  18. Smart Motor • Animatics Servo • ~25 models plus customized • 17NEMA size to 42NEMA • Control thru RS232 • Works with EPICS • IMS MDrivePlus Stepper • ~20 models • 14NEMA to 42NEMA • RS232 control interface • Digi PortServer TS16

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