| Title |
Open Source EtherCAT Motion Control Rollout for Motion Applications at SLS-2.0 Beamlines |
| Authors |
- A.S. Acerbo, T. Celcer, A. Sandström
PSI, Villigen PSI, Switzerland
|
| Abstract |
The SLS-2.0 upgrade project comprises of a new storage ring and magnet lattice and will result in improved emittance and brightness by two orders of magnitude. Paired with these upgrades is a generational upgrade of the motion control system, away from VME based hardware and towards a more modern framework. For SLS-2.0 beamlines, the EtherCAT Motion Control (ECMC) open source framework has been chosen as the de-facto beamline motion control system for simple motion, analog/digital input/output and simple data collection. The ECMC framework comprises of a feature rich implementation of the EtherCAT protocol and supports a broad range of Beckhoff hardware, with the ability to add further EtherCAT devices. ECMC provides soft PLC functionality supported by the C++ Mathematical Expression Toolkit Library (ExprTk), which runs at a fixed frequency on the EtherCAT master at a rate up to the EtherCAT frame rate. This PLC approach allows for implementing complex motion, such as forward and backward kinematics of multi-positioner systems, i.e. roll, yaw, and pitch in a 5-axis mirror system. Additional logic can be loaded in the form of plugins written in C. Further work is ongoing to provide flexible Position Compare functionality at a frequency of 1 kHz coupled with event triggering as a way to provide a basic fly-scan functionality for medium performance applications with the use of standardized SLS-2.0 beamline hardware. We provide an overview of these and related ECMC activities currently ongoing for the SLS-2.0 project.
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| Paper |
download TH2BCO02.PDF [0.524 MB / 6 pages] |
| Cite |
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| Conference |
ICALEPCS2023 |
| Series |
International Conference on Accelerator and Large Experimental Physics Control Systems (19th) |
| Location |
Cape Town, South Africa |
| Date |
09-13 October 2023 |
| Publisher |
JACoW Publishing, Geneva, Switzerland |
| Editorial Board |
Volker RW Schaa (GSI, Darmstadt, Germany); Andy Götz (ESRF, Grenoble, France); Johan Venter (SARAO, Cape Town, South Africa); Karen White (SNS, Oak Ridge, TN, USA); Marie Robichon (ESRF, Grenoble, France); Vivienne Rowland (SARAO, Cape Town, South Africa) |
| Online ISBN |
978-3-95450-238-7 |
| Online ISSN |
2226-0358 |
| Received |
06 October 2023 |
| Accepted |
08 December 2023 |
| Issued/td>
| 12 December 2023 |
| DOI |
doi:10.18429/JACoW-ICALEPCS2023-TH2BCO02 |
| Pages |
1166-1171 |
| Copyright |
 Published by JACoW Publishing under the terms of the Creative Commons Attribution 4.0 International license. Any further distribution of this work must maintain attribution to the author(s), the published article's title, publisher, and DOI. |
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