Motion Controllers in SLS and SwissFEL Miroslaw Dach & Juraj Krempasky Paul Scherrer Institut Switzerland

Motion Controllers in SLS Accelerators’ usage: Diagnostic devices Screen monitors Faraday cups Scrapers Alignment system Undulator control Girder movers

Motion Controllers in SLS Beam line experiments: Beam optics Slits, 2-slits, monochromators, mirror chambers Alignment system Girder movers

Motion Controllers in SLS Motion controllers VME cards: OMS (obsolete) MAXv Stepper motors (2,3,5 phase)(Uni-Bipolar) : Berger Lahr Owis NewPort

Motion Controllers in SLS Encoders: Incremental (Renishaw, Heidenhain) Absolute SSI (Temposonic, Heidenhain, TR-Electronic) Absolute Biss (Renishaw)

Motion ctrl - hardware solution MAXv motion ctrl VME Power drivers Stepper motor driver

Motion ctrl - software solution Client App Motor record EPICS Server Driver support Motion Controller Power driver Hardware

Motion ctrl - software solution Set condition e.g., move motors; wait for completion Trigger detectors e.g., start scaler; wait for completion Acquire data read detector signals; store in arrays Write data to disk

Simple initialisation move motor to limit switch set motor position at limit switch move motor to “zero” position

Complex initialisation move motor to limit switch from lsw. make a reference search (in order to cross the reference from a defined side) wait until encoder got the reference signal (home) set motor to closed loop set motor “zero” position in closed loop

Complex initialisation For some systems the limit-switch position is deprecated: Home edge digital 1 or 0 signal: the motor knows in which direction to move towards the home edge position: Move motor to home edge From home edge move towards the encoder reference set motor to closed loop after reference is found set motor “zero” position in closed loop

Motion controller based on WAGO PLC New developments Motion controller based on WAGO PLC

Distributed components Network router WAN LAN EPICS server

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