1. Motion Controllers in SLS and SwissFEL
Miroslaw Dach & Juraj Krempasky
Paul Scherrer Institut Switzerland

2. Motion Controllers in SLS
Accelerators’ usage:
Diagnostic devices
Screen monitors
Faraday cups
Scrapers
Alignment system
Undulator control
Girder movers

3. Motion Controllers in SLS
Beam line experiments:
Beam optics
Slits, 2-slits, monochromators, mirror chambers
Alignment system
Girder movers

4. Motion Controllers in SLS
Motion controllers VME cards:
OMS (obsolete)
MAXv
Stepper motors (2,3,5 phase)(Uni-Bipolar) :
Berger Lahr
Owis
NewPort

5. Motion Controllers in SLS
Encoders:
Incremental (Renishaw, Heidenhain)
Absolute SSI (Temposonic, Heidenhain, TR-Electronic)
Absolute Biss (Renishaw)

6. Motion ctrl - hardware solution
MAXv motion ctrl
VME
Power drivers
Stepper motor driver

7. Motion ctrl - software solution
Client App
Motor record
EPICS Server
Driver support
Motion Controller
Power driver
Hardware

8. Motion ctrl - software solution
Set condition e.g., move motors; wait for completion
Trigger detectors e.g., start scaler; wait for completion
Acquire data read detector signals; store in arrays
Write data to disk

9. Simple initialisation
move motor to limit switch
set motor position at limit switch
move motor to “zero” position

10. Complex initialisation
move motor to limit switch
from lsw. make a reference search (in order to cross the reference from a defined side)
wait until encoder got the reference signal (home)
set motor to closed loop
set motor “zero” position in closed loop

11. Complex initialisation
For some systems the limit-switch position is deprecated:
Home edge digital 1 or 0 signal: the motor knows in which direction to move towards the home edge position:
Move motor to home edge
From home edge move towards the encoder reference
set motor to closed loop after reference is found
set motor “zero” position in closed loop

12. Motion controller based on WAGO PLC
New developments
Motion controller based on WAGO PLC

13. Distributed components
Network router
WAN
LAN
EPICS server

14. Thank you for your attention