JACoW logo

Joint Accelerator Conferences Website

The Joint Accelerator Conferences Website (JACoW) is an international collaboration that publishes the proceedings of accelerator conferences held around the world.

Title ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS
  • T. Gahl, D.P. Brodrick, T. Bögershausen, O. Kirstein, T. Korhonen, D.P. Piso, A. Sandströmpresenter
    ESS, Lund, Sweden
Abstract In industry the open standard EtherCAT* is well established as a real-time fieldbus for largely distributed and synchronised systems. Open source solutions for the bus master have been first introduced in scientific installations by Diamond Light Source** and PSI using EtherCAT hardware for digital and analog I/Os. The European Spallation Source (ESS) decided to establish open source EtherCAT systems for mid-performance data acquisition and motion control on accelerator applications. In this contribution we present the motion control software package ECMC developed at the ESS using the open source Etherlab*** master to control the EtherCAT bus. The motion control interfaces with a model 3 driver to the EPICS motor record supporting it's functionalities like positioning, jogging, homing and soft/hard limits. Advanced functionalities supported by ECMC are full servo-loop feedback, a scripting language for custom synchronisation of different axes, virtual axes, externally triggered position capture and interlocking. On the example of prototyping a 2-axis wire scanner we show a fully EPICS integrated application of ECMC on different EtherCAT and CPU hardware platforms.
Footnotes & References * http://www.ethercat.org
** R. Mercado, I. J. Gillingham, J. H. Rowland, K. Wilkinson "Integrating EtherCAT based IO into EPICS at Diamond." ICALEPCS 2011, Grenoble 2011
*** http://www.etherlab.org
Paper download MOCPL05.PDF [1.563 MB / 5 pages]
Slides download MOCPL05_TALK.PDF [1.081 MB]
Export download ※ BibTeX LaTeXText/WordRISEndNote
Conference ICALEPCS2017, Barcelona, Spain
Series International Conference on Accelerator and Large Experimental Control Systems (16th)
Proceedings Link to full ICALEPCS2017 Proccedings
Session Integrating Diverse Systems
Date 09-Oct-17   14:00–15:45
Main Classification Integrating Diverse Systems
Keywords ion, controls, EPICS, hardware, real-time
Publisher JACoW, Geneva, Switzerland
Editors Volker RW Schaa (GSI, Darmstadt, Germany); Isidre Costa (ALBA-CELLS, Cerdanyola del Vallès, Spain); David Fernández (ALBA-CELLS, Cerdanyola del Vallès, Spain); Óscar Matilla (ALBA-CELLS, Cerdanyola del Vallès, Spain)
ISBN 978-3-95450-193-9
Published January 2018
Copyright © 2018 by JACoW, Geneva, Switzerland     CC-BY Creative Commons License
cc Creative Commons Attribution 3.0