1 Motion Controllers in SLS and SwissFELMiroslaw Dach & Juraj Krempasky Paul Scherrer Institut Switzerland

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

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

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

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

6 Motion ctrl - hardware solutionMAXv motion ctrl VME Power drivers Stepper motor driver

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

8 Motion ctrl - software solutionSet 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 initialisationmove motor to limit switch set motor position at limit switch move motor to “zero” position

10 Complex initialisationmove 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 initialisationFor 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 PLCNew developments Motion controller based on WAGO PLC

13 Distributed componentsNetwork router WAN LAN EPICS server

14 Thank you for your attention