ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS

Gahl, Thomas; Brodrick, David; BÃ¶gershausen, Torsten; Kirstein, Oliver; Korhonen, Timo; Piso, Daniel; SandstrÃ¶m, Anders

doi:10.18429/JACoW-ICALEPCS2017-MOCPL05

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RIS citation export for MOCPL05: ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS

TY - CONF
AU - Gahl, T.
AU - Brodrick, D.P.
AU - BÃ¶gershausen, T.
AU - Kirstein, O.
AU - Korhonen, T.
AU - Piso, D.P.
AU - SandstrÃ¶m, A.
ED - Schaa, Volker RW
ED - Costa, Isidre
ED - FernÃ¡ndez, David
ED - Matilla, Ãscar
TI - ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS
J2 - Proc. of ICALEPCS2017, Barcelona, Spain, 8-13 October 2017
C1 - Barcelona, Spain
T2 - International Conference on Accelerator and Large Experimental Control Systems
T3 - 16
LA - english
AB - 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.
PB - JACoW
CP - Geneva, Switzerland
SP - 71
EP - 75
KW - ion
KW - controls
KW - EPICS
KW - hardware
KW - real-time
DA - 2018/01
PY - 2018
SN - 978-3-95450-193-9
DO - 10.18429/JACoW-ICALEPCS2017-MOCPL05
UR - http://jacow.org/icalepcs2017/papers/mocpl05.pdf
ER -