| Paper | Title | Page |
|---|---|---|
| MOCPL05 | ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS | 71 |
|
||
|
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) | |
| TUPHA129 | Motion Control System for the European Spallation Source Target Wheel | 717 |
|
||
| The European Spallation Source (ESS) linear accelerator will deliver high energy proton bunches to tungsten sectors on a rotating Target Wheel, which will produce neutrons through a nuclear process. The motion control system of the Target Wheel presents engineering challenges, such as: velocity and phase stability requirements to precisely align individual tungsten sectors with proton bunches from the accelerator; a high moment of inertia due to the composition and distribution of mass on the wheel; limitations on the physical space to integrate control components, and components for associated safety systems; and, some components being exposed to a high radiation environment. The motion control system being prototyped employs components that satisfy the constraints on the physical space and radiation environment. Precise velocity and phasing of the Target Wheel are achieved by generating a series of pulses as each tungsten sector passes a fiducial point in the rotational cycle, and implementing a motion control algorithm to correctly synchronise the Target Wheel with reference signals from the centralised ESS timing system, which also controls the timing of the accelerator. | ||
| DOI • | reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA129 | |
| Export • | reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml) | |