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CLS Motor Control

CLS Motor Control. Tony Wilson. Motor Controllers. Oregon Micro Systems VME58-4E 180 CLS Motor Controller 250 Scientific Instrumentation Ltd. ESC626 2 channel DC servo motor 2

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CLS Motor Control

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  1. CLS Motor Control Tony Wilson

  2. Motor Controllers • Oregon Micro Systems VME58-4E 180 • CLS Motor Controller 250Scientific Instrumentation Ltd. • ESC626 2 channel DC servo motor 2 • Huber Slits XIA 6

  3. VME58 Software features • Velocity, base velocity, acceleration all configurable. • Brake auto ON/OFF. • Power auto ON/OFF using hardware or software. • Backlash correction. • A motor status record- processed when move is started, completed or failed to complete e.g. hit a limit switch, VME crate turned off. • Encoder position, step position updated at 100Hz.

  4. To synApps or not synApps • Should we use the APS synApps package, specifically the motor control record and associated software? • Are we reinventing the wheel? • Decision to write a VME58 driver was made over 3 ½ years ago. • CLS uses RTEMs orLINUX with SIS3100 fiber optic interface board. • Operator interface of choice was edm not medm. • Modeled after CLS motor driver by Eric Norum.

  5. Move Sequencing • Simple sequence:Backlash correction, queue two moves to the controller. • Complex sequence:Use EPICS state notation language (SNL). • Examples: • Calibration procedures: 1. Use a limit switch. 2. Locate home/index pulse. 3. Beam based calibration.

  6. Move Synchronization • Simple synchronization: • Slit control on linac - write to gap or centering causes 2 slit jaws to reposition. • Complex synchronization: • Define point of rotation for pitch, roll and yaw of a mirror move motors as required. Uses a sub record. • Use EPICS state notation language (SNL).Example: setting energy of SM beam line -> set monochrometer grating and mirror -> set epu gap and girders using polarization and angle -> set girder taper using gap and polarization

  7. Flip Coil Bench • VME58 motor driver was written for the flip coil bench. • Uses SNL for both synchronization and sequential movement of stages to move the flip coil

  8. In the future • Hardware: • VME58-4E >> MAXv Oregon Microsystems • CLS Motor Controller >> no new installations • Evaluation of servo motors • Software: • Synchronization of motors using controller capabilities. • Use interrupts from VME58 for move completion (done bit). • Ongoing evaluation of synApps

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