Motion Control at DESY As seen from the experiment control point of view Thorsten Kracht SOLEIL, 11. May 2011

Online Computing at HASYLAB FLASH: 5 BLs, 180 eV DORIS 33 BLs ( 21 DESY, 6 EMBL, etc.) 4.5 GeV, 120 mA, 289 m PETRA III 14 BLs (9 DESY, 3 EMBL, 2 GKSS) 6 GeV, 100 mA, 1 nmrad, 2.3 km Extension: 12 BLs (2014)

Overview of the motor servers At PETRA III all hardware is accessed via Tango VME OmsMAXv GPIB Kohzu diffractometer TCP/IP Attocube Galil HexaPod, PI, M-850, M-840 SMC Hydra RS232 via terminal server FMB Oxford DCM PiezoPIE710, E712, E816 ADS for PLCs Large offset monochromator Mirrors, slits etc.

OmsMAXv (Pro-Dex) The main workhorse at PETRA III Predecessor OmsVME58 was used at DORIS BLs VME + Phytron ZMX Stepping motors, with/without encoders (Renishaw) Stepping motor closed loop Servo mode partially implemented 8 channels Slew max: 750 kHz (ZMX) Step register: 32 bit Controller trajectory feature not used Photo: Pro-Dex Photo: Phytron

OmsMAXv Features General properties Encoder parameters

FMB Oxford DCM Used at all PETRA III beamlines RS232 via terminalserver Multiclass server Axes calibrations by Tango Energy moves via axes directly Axes assignment flexible

Tango Motor Implements the minimal interface (replacing the abstract motor class) Commands: calibrate stopMove resetMotor Attributes: position, rw unitLimitMin, ~Max, rw cwLimit, ccwLimit (ro, optional) positionSim, resultSim (optional, for compound devices)

Move and Scan Widgets for Tango Motors

Combining Servers A MultipleMotor is a Tango Motor that controls other Tango Motors, master + slaves The MotorMask attribute says which motors are moved The AttributeMotor server make every attribute a TangoMotor

Collision Avoidance The CollisionsSensor Server checks for collisions The configuration is done by properties Whether or not collisions are checked The name of the CollisionsSensor server The beamline One server for all beamlines

TcpIp Motor A Tango server that implements the following ASCII protocol calibrate <value>, answer: DONE | ERROR position <value>, answer: DONE | ERROR position?, answer: <value> unitLimitMin, unitLimitMax stopMove state? Moving/idle Error Lower limit Upper limit

Virtual Motors VMs can implement ‘every’ movable VMs can be moved or scanned A Perl Online feature (so far) Users need help to create VMs Templates can be found on the web Editable by users VMs can turn into Tango Servers, like AttributeMotors or MultipleMotors

Clients Online, Perl, PerlTk, .gra-speak PyTango Examples on the preceeding slides PyTango jddd, using Tango – Doocs gateway Taurus, GUI applications, test mode Sardana, fully supports the DESY Tango features

Synoptics: jddd jddd is a DOOCs tool, created by MCS (DESY) Tango integration by Jens Meyer (ESRF), based on ATK

Conclusions All information is contained in the Tango servers No information hidden in clients Any client may connect and operate the motors The TangoMotor concept is essential MultipleMotor and AttributeMotor servers are very useful