Motion Control in LCLS Sheng Peng EPICS Meeting

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

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

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 3/12/2008 Motion Control in LCLS 3 Sheng Peng pengs@slac. stanford. edu

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

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

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

Newport is used for Laser Optical Motion Newport XPS-C 8 is used in LCLS for all optical control Pros Ethernet based 8 channels per controller Auto-recognize Newport motors Encoder built-in Driver XPS-DRV 01: 3 Amps, 48 V Cons Fairly expensive Motor choices are a little limited They don’t understand vx. Works like us 3/12/2008 Motion Control in LCLS 7 Sheng Peng pengs@slac. stanford. edu

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

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

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

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

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

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 of drive, controller, limit switches 16 -bit Interrupt Mask Register 3/12/2008 Motion Control in LCLS 13 Sheng Peng pengs@slac. stanford. edu

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

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

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

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

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 3/12/2008 Motion Control in LCLS 18 Sheng Peng pengs@slac. stanford. edu

Smart Motor Animatics Servo ~25 models plus customized 17 NEMA size to 42 NEMA Control thru RS 232 Works with EPICS IMS MDrive. Plus Stepper ~20 models 14 NEMA to 42 NEMA RS 232 control interface Digi Port. Server TS 16 3/12/2008 Motion Control in LCLS 19 Sheng Peng pengs@slac. stanford. edu