The Advanced Photon Source Upgrade (APS-U) project has developed and installed a multi-bend achromat (MBA) lattice operating at 6.0 GeV beam energy to replace the existing APS storage ring lattice that operated at 7.0 GeV. A major part of the project is to install 60 hybrid permanent magnet undulator (HPMU) insertion devices (IDs) that include 12 revolver undulators, each with two magnetic structures (for a total of 72 magnetic structures); and one electromagnetic undulator for intermediate energy x-rays (IEX). These IDs will outfit 35 sectors. We have developed new HPMU designs for five different period lengths used in 46 magnetic structures, and we will reuse 26 existing magnetic structures with four additional period lengths. Eight new superconducting undulators (SCUs) have been designed and built with two short period lengths and three different overall lengths [1-3]. The SCUs will be installed in both inline and canted configurations after beam commissioning is completed and the user runs start. Demanding field requirements for the undulators were expected to be challenging for the undulator tuning, especially given the tight schedule. All undulators underwent rigorous tuning and control system tests before they were installed in the new storage ring. We will provide a status and schedule update including presenting measurement results of the IDs.

New Hybrid Permanent Magnet Undulators (HPMUs) have been designed and manufactured using servo motors for precise and reliable gap motion control for the Advanced Photon Source Upgrade (APS-U) project. Meanwhile, existing HPMUs equipped with legacy stepper motors are systematically replaced with servo motors. In parallel with mechanical modifications of the undulators, a comprehensive upgrade has been implemented for the control of the devices. This upgrade includes integration of standardized industrial components for replacement of motor controllers and motor drives using the Kollmorgen Programmable Controller Multi-axis Master (PCMM) controllers and the AKD2G series servo drives. Soft Input Output Controllers (IOCs) are developed and deployed to replace the legacy VME-based IOCs for both single-period undulators and Revolver undulators. In this paper, we will present the architecture of the new insertion device control system, including control mechanisms, interlock protocols, and tools for diagnostics and troubleshooting.