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SSRF is the first homemade third-generation of synchrotron radiation light source in China. In the first stage of SSRF, 7 beamlines have been built. Among of them, 5 beamlines have used inserting devices (IDs) including both of wigglers and undulators. To support stable and long life beam, the control part of these IDs must focus on high stability and high precision. Thus, Simens PLC, which has been widely used in industrial control fields, was used as local device controllers to control the motors. About upper layer control, we adopted a kind of embedded EPICS controller to implement the control of correction coil power supplies and PLC. This embedded EPICS controller is based on a commercial Ethernet/Serial converter which running MontaVista linux as its operation system. Beyond this, EPICS IOC Core program and several kinds of device control drivers were integrated to it. After several months using, the whole system works stably. Details of the necessary integration work and operation performance will be discussed in this paper.
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