1 / 12

Motion Control Developments at Diamond Light Source

Motion Control Developments at Diamond Light Source. Matthew Pearson DLS Controls Group. People involved in motion control / software at DLS:. EPICS / Control Software Tom Cobb Peter Denison (now left DLS) Andy Foster (Contract) Ian Gillingham Pete Leicester Matthew Pearson

gonzaloe
Download Presentation

Motion Control Developments at Diamond Light Source

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Motion Control Developmentsat Diamond Light Source Matthew Pearson DLS Controls Group Matthew Pearson - Motion Control at DLS

  2. People involved in motion control / software at DLS: • EPICS / Control Software • Tom Cobb • Peter Denison (now left DLS) • Andy Foster (Contract) • Ian Gillingham • Pete Leicester • Matthew Pearson • Ulrik Pederson • Nick Rees (Boss) • Austen Rose (Insertion devices) • Motion Hardware / Tuning • Trevor Bates (Contract) • Paul Dunne (Contract) • Lee Hudson • Iain Johnson • Brian Nutter (Boss) • Agenda: • What DLS is doing in motion control • New ethernet controller from Delta Tau • Work on EPICS drivers and motor record • Recent work with coordinated motion • Future plans Matthew Pearson - Motion Control at DLS

  3. What motion control is DLS doing? Motion Controllers (beamlines) Newport XPS DeltaTau Turbo PMAC2 VME Applications: Diffractometers, DCMs, mirror systems, slits, diagnostics hexapods, optical tables, …… Also, nanomotors, various piezo controllers (PI, Queensgate), new Aerotech Ensemble controller (for specific ‘position compare’ app) Matthew Pearson - Motion Control at DLS

  4. PMAC2 VME UMAC Crate (I/O, encoder, limits) (Amplifier Crate Extra) Optical link Matthew Pearson - Motion Control at DLS

  5. New 8-axis integrated ethernet DeltaTau controller (Geobrick LV) • Fewer cables • Ethernet + USB + Serial • Lower cost than • PMAC+UMAC+Amplifiers • Easy to replace • Andy Foster / Pete Leicester / • Matthew Pearson / Brian Nutter • have worked on adapting EPICS • PMAC driver + testing new • controller. • Is now DLS ‘standard’ controller • First batch arrived and is being built • into 32-axis motion rack. Matthew Pearson - Motion Control at DLS

  6. Recent EPICS motor software work at DLS: • Motor Record: • New HOMED bit in status word (for controllers that support it) • (see tech-talk discussion in Aug 08) • PMAC and XPS driver are ASYN based (see EPICS meeting June 2006) • Asyn device support layer (in motor support module): • Eases development of new drivers • Clean interface to motor record • Enables multiple records to use same ASYN port • Enables the use of ASYN interpose layer • PMAC driver (tpmac support module): • Adapted for new ethernet controller. Also have a new ASYN • interpose layer to handle PMAC ethernet headers. • Correct setting of ATHM and HOMED bit. • Set fatal following error. • Made polling rates more flexible • Implemented deferred moves (see backup slide) Matthew Pearson - Motion Control at DLS

  7. Recent EPICS motor software work at DLS (cont…): • XPS driver: • Added functionality (set position, for autosave). • Set fatal following error bit. • Set HOMED & ATHM. • Implemented deferred moves. Deferred moves (Coordinated motion) caput {device}:defer 1 (turn on deferred moves) caput {device}:motor1 10.0 caput {device}:motor2 12.0 caput {device}:motor3 13.0 caput {device}:defer 0 (turn off deferred moves and execute any pending moves) Can take advantage of controller synchronised moves, or provides synchronisation at EPICS driver level. Matthew Pearson - Motion Control at DLS

  8. Deferred moves (Cont…) The {device}:defer is a binary output, like: file bo.template { pattern {P, R, DTYP, OUT, ZNAM, ONAM, SCAN } {device:, defer, asynUInt32Digital, "@asynMask(PMAC1,1,1)DEFER", "OFF", "ON", Passive } } Asyn port When moves are executed in driver: For PMAC: #1J=100 #2J=200 #3J=150 etc. (standard axes) X(100)Y(200) etc. (for coordinate systems) For XPS: GroupMoveAbsolute(int sockID, char *groupName, int NbAxes, double position[]) Matthew Pearson - Motion Control at DLS

  9. Motion programs / Coordinate systems on PMAC Can define on PMAC new coordinate systems that look (almost) the same as a standard motor. We use a customised PMAC driver to operate/readback the coordinate systems. Example: Table with 3 jacks Y1 Y2 Y3 Pitch Angle - X Height - Y • Advantages: • Synchronised motion • Pushes complexity down into • controller • Disadvantages: • Requires EPICS PMAC driver changes • Hard to maintain #1 J=100 X(0.5)Y(100) Have to do this in a motion program run on PMAC Matthew Pearson - Motion Control at DLS

  10. Future work • New DeltaTau PMAC controller: • Deploy on new beamlines • Easier to free issue to equipment suppliers • Increase use of PMAC controller coordinate systems. • Improve error reporting • For example, make use of EPICS alarm handler • to notify us about limit violations, fatal following • errors, communication errors, etc. • Started ASYN based OMS VME58/MAXv driver (Nick/Austen). Matthew Pearson - Motion Control at DLS

  11. Backup Slides Matthew Pearson - Motion Control at DLS

  12. = Asyn Port devMotorAsyn devAsynFloat64 devMotorAsyn XPS XPS drvMotorAsyn PMAC MotorAPI drvMotorXPS drvMotorPMAC drvAsynSerialPort drvAsynIPPort PMAC Controller XPS Controller Layers Ethernet RS232 Peter Denison – EPICS 2006

More Related