1. Motion Control at DESY
As seen from the experiment control point of view
Thorsten Kracht
SOLEIL, 11. May 2011

2. Online Computing at HASYLAB
FLASH: 5 BLs, 180 eV
DORIS
33 BLs ( 21 DESY, 6 EMBL, etc.)
4.5 GeV, 120 mA, 289 m
PETRA III
14 BLs (9 DESY, 3 EMBL, 2 GKSS)
6 GeV, 100 mA, 1 nmrad, 2.3 km
Extension: 12 BLs (2014)

3. Overview of the motor servers
At PETRA III all hardware is accessed via Tango
VME
OmsMAXv
GPIB
Kohzu diffractometer
TCP/IP
Attocube
Galil
HexaPod, PI, M-850, M-840
SMC Hydra
RS232 via terminal server
FMB Oxford DCM
PiezoPIE710, E712, E816
ADS for PLCs
Large offset monochromator
Mirrors, slits
etc.

4. OmsMAXv (Pro-Dex) The main workhorse at PETRA III
Predecessor OmsVME58 was used at DORIS BLs
VME + Phytron ZMX
Stepping motors, with/without encoders (Renishaw)
Stepping motor closed loop
Servo mode partially implemented
8 channels
Slew max: 750 kHz (ZMX)
Step register: 32 bit
Controller trajectory feature not used
Photo: Pro-Dex
Photo: Phytron

5. OmsMAXv Features
General properties
Encoder parameters

6. FMB Oxford DCM Used at all PETRA III beamlines
RS232 via terminalserver
Multiclass server
Axes calibrations by Tango
Energy moves via axes directly
Axes assignment flexible

7. Tango Motor
Implements the minimal interface (replacing the abstract motor class)
Commands:
calibrate
stopMove
resetMotor
Attributes:
position, rw
unitLimitMin, ~Max, rw
cwLimit, ccwLimit (ro, optional)
positionSim, resultSim (optional, for compound devices)

8. Move and Scan Widgets for Tango Motors

9. Combining Servers
A MultipleMotor is a Tango Motor that controls other Tango Motors, master + slaves
The MotorMask attribute says which motors are moved
The AttributeMotor server make every attribute a TangoMotor

10. Collision Avoidance The CollisionsSensor Server checks for collisions
The configuration is done by properties
Whether or not collisions are checked
The name of the CollisionsSensor server
The beamline
One server for all beamlines

11. TcpIp Motor
A Tango server that implements the following ASCII protocol
calibrate <value>, answer: DONE | ERROR
position <value>, answer: DONE | ERROR
position?, answer: <value>
unitLimitMin, unitLimitMax
stopMove
state?
Moving/idle
Error
Lower limit
Upper limit

12. Virtual Motors VMs can implement ‘every’ movable
VMs can be moved or scanned
A Perl Online feature (so far)
Users need help to create VMs
Templates can be found on the web
Editable by users
VMs can turn into Tango Servers, like AttributeMotors or MultipleMotors

13. Clients Online, Perl, PerlTk, .gra-speak PyTango
Examples on the preceeding slides
PyTango
jddd, using Tango – Doocs gateway
Taurus, GUI applications, test mode
Sardana, fully supports the DESY Tango features

14. Synoptics: jddd jddd is a DOOCs tool, created by MCS (DESY)
Tango integration by Jens Meyer (ESRF), based on ATK

15. Conclusions All information is contained in the Tango servers
No information hidden in clients
Any client may connect and operate the motors
The TangoMotor concept is essential
MultipleMotor and AttributeMotor servers are very useful