• J. Kulesza, A. Deyhim
  Advanced Design Consulting, Inc, Lansing, New York
• N. Chen
  SSRF, Shanghai

This paper summarizes the primary controller that is based on Schneider Premium PLC for two in-vacuum undulators to be installed at SSRF. The PLC controls a single gap stepper motor and driver, both made by Parker-Hannifin. Position feedback is derived from a TR Electronics linear absolute LTS-240 encoder mounted across the gap. The encoder resolution is programmable down to .1 um per count. Since the encoder is absolute there will be no need to home the gap axis. The advantage of linear encoders is the measurement is more direct and is not subject to wind-up and deflection that a rotary encoder would see on the end of a ball screw. Two encoders are planned, one on each end of the magnet array. One encoder will be the primary feedback for the axis and the other will detect deflection errors and girder taper. Four limits are provided as well as 4 kill switches. The 4 switches (2 limits and 2 kills) at min gap are optical and the 4 outer switches (2 limits and 2 kills) are mechanical. The limits prevent further motion in the direction they protect but allow the axis to be driven in the other direction (off the switch).