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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

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Motion Control Developments at Diamond Light Source

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  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

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