1. Pioneering Science and Technology Office of Science U.S. Department of Energy Joseph Xu, apsctl, anl LCLS Motion Control Architecture Motion Drive/Devices CA over TCP/IP Ethernet Motion Drive/Devices Motion Drive/Devices Motion Drive/Devices Motion Drive/Devices Motion Drive/Devices Motion Drive/Devices Angular Position Sensors Field IOC (motion control /position readouts) Linear Position Sensors RS-232 Dry Contact (DC) DC Use modular field IOCs with EPICS Asyn on Linux. Use field IOC serial interface to control movers, one port per each mover. Use field IOC power to excite the linear/rotary potentiometers. Use field IOC onboard ADCs with linear/rotary potentiometers to monitor ID positions. Use field IOCs to translate the motion vectors. Use EPICS clients to calibrate the movers.

2. Pioneering Science and Technology Office of Science U.S. Department of Energy Joseph Xu, apsctl, anl Field IOC’s: Off-the-shelf Integrated Industrial Computer Systems (PC-104 based) with 16 ADC’s (16-bit) for position readouts and 8 RS-232 for motion controls. RT OS: Linux. EPICS 3.14.x w/ Asyn module. Field IOC Prometheus w/16x16 bit ADCs, Diamond Systems Inc. Size: 5.5”x5.75”x1.7”. Power: 5W. Each ID/Cradle Assembly has one Field IOC

3. Pioneering Science and Technology Office of Science U.S. Department of Energy Joseph Xu, apsctl, anl Motion Drive/Devices: Servo Motors with RS-232 interfaces. Motion Device SmartMotors from Animatics Corporations 2 for undulator segment translation. 5 for cradle assembly camshafts.

4. Pioneering Science and Technology Office of Science U.S. Department of Energy Joseph Xu, apsctl, anl Linear Position Sensors: Absolute position feedback with 2 microns repeatability and 0.2 micron resolution. Linear transducers (w/2-micron repeatability) from Novotechnik US, Inc. 2 for undulator segment translation and 8 for cradle assembly. With 16 bit readout, the resolution is 0.15 micron. Linear Position Feedback

5. Pioneering Science and Technology Office of Science U.S. Department of Energy Joseph Xu, apsctl, anl Rotary Position Sensors: Absolute position feedback with 0.1 degree repeatability and 0.01 degree resolution. Rotary transducers (w/0.004 degree repeatability) from Novotechnik US, Inc. 5 for cradle assembly camshafts. With 16 bit readout, the resolution is 0.005 degree. Rotary Position Feedback

6. Pioneering Science and Technology Office of Science U.S. Department of Energy Joseph Xu, apsctl, anl Current Status Asyn/EPICS/Linux based Field IOC SmartMotor drive development: Completed. Motor drive unit test: Completed. Cam Shaft motion control and position feedback system development: In progress. Client (calibration) tools development: Pending. Development environment setup: In progress. Verification environment: Pending. Network mgnt: Pending. Interface with SLAC IT. Configuration mgnt: Pending. Interface with LCLS global ctls. System and network verification: Pending. Documentation: On going.