ICALEPCS2017 - List of Authors (Bögershausen, T.)

Paper	Title	Page
MOCPL05	ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS	71
	T. Gahl, D.P. Brodrick, T. Bögershausen, O. Kirstein, T. Korhonen, D.P. Piso, A. Sandström ESS, Lund, Sweden
	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. * 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
	Talk as video stream: https://youtu.be/SuQiKSMbfvs
	Slides MOCPL05 [1.081 MB]
DOI •	reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-MOCPL05
Export •	reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)

Paper

Title

Page

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

71

T. Gahl, D.P. Brodrick, T. Bögershausen, O. Kirstein, T. Korhonen, D.P. Piso, A. Sandström
ESS, Lund, Sweden

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.
* 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

Talk as video stream: https://youtu.be/SuQiKSMbfvs

Slides MOCPL05 [1.081 MB]

DOI •

reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-MOCPL05

Export •

reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)