1. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 1 Motion Control in LCLS Sheng Peng EPICS Meeting 2008, Shanghai

2. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 2 Applications Motion control is everywhere Drive Laser Laser Heater Wire Scanner Collimator … Beam line is all about motors

3. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 3 Requirement could be very different Applications Optical table motion control In vacuum motion control NEMA standard motors Heavy duty motion Multi-Axis coordination Pneumatic Motors DC servo Brush/Brushless Stepper 4 phase/5 phase Half step Micro stepping

4. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 4 Requirement could be very different Read back None for stepper motor LVDT AC output DC output Encoder Optical encoder Magnetic encoder Resolver Pots

5. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 5 Requirement could be very different Travel Limits Soft Limit Limit Switch Brake Proximity …

6. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 6 Different vendor has different specialty Different application leads to different solution

7. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 7 Newport XPS-C8 is used in LCLS for all optical control Pros Ethernet based 8 channels per controller Auto-recognize Newport motors Encoder built-in Driver XPS-DRV01: 3 Amps, 48V Cons Fairly expensive Motor choices are a little limited They don’t understand vxWorks like us Newport is used for Laser Optical Motion

8. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 8 Newport XPS

9. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 9 Most of Newport Stages/Actuators are compatible

10. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 10

11. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 11 Stability feedback loop

12. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 12 Wire Scanner Needs to read position with very short latency NEMA standard size motor is desired Long cable run is required LVDT is desired

13. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 13 HYTEC 8601 Stepper Motor Controller Industry Pack format 4 Channel (axis) 32-bit Step Registers for steps in next movement 32-bit Absolute Position Up/Down Counter records movement 16-bit Start/Stop Speed Register Set the speed at which a movement will start, steps per second 16-bit Travel Speed Register Sets the speed at which the motor will run after accelerating, steps per second 16-bit Ramp Rate Register Sets the rate at which speed will increase/decrease during ramp 16-bit Control/Status Status of drive, controller, limit switches 16-bit Interrupt Mask Register

14. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 14 HYTEC SMDS-4 Motor Drive System SMDS Plug-in driver card SMDS 4-axis power driver Step rate: 1- 65,535 sptes per second Ramp Rate: 64 – 50,000 steps per second Various versions: 4 phase 5 phase …

15. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 15 Highland Technologies LVDT Scanner 8 channel VME module 16-bit resolution with programmable noise filtering

16. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 16 Current Status

17. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 17 Wire Scanners

18. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 18 System Integration EPICS gives pretty good system level integration capability Motor record gives uniform user interface which is very important for operator A full turn key system especially for beam line will be highly desired

19. Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 19 Smart Motor Animatics Servo ~25 models plus customized 17NEMA size to 42NEMA Control thru RS232 Works with EPICS IMS MDrivePlus Stepper ~20 models 14NEMA to 42NEMA RS232 control interface Digi PortServer TS16