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Multi- axis control for in-vacuum diffractometer

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Presentation on theme: "Multi- axis control for in-vacuum diffractometer"— Presentation transcript:

1 Multi- axis control for in-vacuum diffractometer
for SIRIUS Beamline at Synchrotron SOLEIL Christer Engblom, on behalf of the ECA group & SYMETRIE Company , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

2 Contents Introduction In-vacuum diffractometer Installation Conclusion
Context & overview SIRIUS beamline & SYMETRIE In-vacuum diffractometer Axis Setup Hardware setup TANGO devices Controller embedded software Control/Drive Setup Installation FAT SAT Conclusion , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

3 Contents Introduction In-vacuum diffractometer Installation Conclusion
Context & overview SIRIUS beamline & SYMETRIE In-vacuum diffractometer Axis Setup Hardware setup TANGO devices Controller embedded software Control/Drive Setup Installation FAT SAT Conclusion , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

4 Introduction – Context & overview
Joint funding project (2 years), SIRIUS beamline (Synchrotron Soleil) FemtoMAX beamline (MAXIV) Complementarily funded by an Ile-de-France region project (DIM Oxymore) [1] In- vacuum diffractometer, produced by SYMETRIE 4-circle goniometer Hexapod implementations Sample alignment System X-ray beam- alignment [1] The Ile de France region (project,DIM-Oxymore) , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

5 Introduction – SIRIUS beamline & SYMETRIE
SIRIUS: Soft Interfaces and Resonant Investigation on Undulator Source Energy range keV Structural studies of soft interfaces (ex. Biological systems, polymers, etc.) Semiconductor or magnetic nanostructures SYMETRIE: specializing in high-precision hexapod systems Delta Tau PowerPMAC controllers for multi- axial, synchronous control , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

6 Contents Introduction In-vacuum diffractometer Installation Conclusion
Context & overview SIRIUS beamline & SYMETRIE In-vacuum diffractometer Axis Setup Hardware setup TANGO devices Controller embedded software Control/Drive Setup Installation FAT SAT Conclusion , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

7 Contents Introduction In-vacuum diffractometer Installation Conclusion
Context & overview SIRIUS beamline & SYMETRIE In-vacuum diffractometer Axis Setup Hardware setup TANGO devices Controller embedded software Control/Drive Setup Installation FAT SAT Conclusion , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

8 In- vacuum diffractometer - Setup
Series of Stacked systems: Large hexapod, JORAN 4-circle goniometer Small hexapod, BORA , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

9 In- vacuum diffractometer – Axis Setup
Series of Stacked systems: Large hexapod, JORAN 4-circle goniometer Small hexapod, BORA System X-ray beam alignment 6 DOF Circular sample- & detector movements 4 DOF Sample alignment 6 DOF , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

10 In- vacuum diffractometer – Axis Setup
Series of Stacked systems: Large hexapod, JORAN 4-circle goniometer Small hexapod, BORA System X-ray beam alignment 6 DOF Circular sample- & detector movements 5 DOF Sample alignment 6 DOF Circular sample- & detector movements , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

11 In- vacuum diffractometer - Hardware Setup
Control Delta Tau PowerBrick Motor Drive Delta Tau Powerbrick Phytron Temperature handling PLC solution , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

12 In- vacuum diffractometer– TANGO devices
Rough overview: PowerPMACBox Powerbrick commands & attributes PowerPMACAxis Single- axis movement commands & attributes PowerPMACComposedAxis Multi- axis movement commands & attributes PowerPMACdataviewer Controller variable exchange , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

13 In- vacuum diffractometer – Controller embedded software
System integration with pre-compiled libraries Intellectual properties System evolutions SOLEIL libraries (for TANGO interfacing) SYMETRIE libraries & motor configurations Ex: Hexapod kinematics , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

14 In- vacuum diffractometer - Control/Drive Setup
JORAN/circles controllers synchronized via MACRO interface Virtual axis calculations (kinematics) performed by master controller BORA controller Virtual axis calculations (kinematics) , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

15 Contents Introduction In-vacuum diffractometer Installation Conclusion
Context & overview SIRIUS beamline & SYMETRIE In-vacuum diffractometer Axis Setup Hardware setup TANGO devices Controller embedded software Control/Drive Setup Installation FAT SAT Conclusion , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

16 Contents Introduction Diffractometer Installation Conclusion
Context & overview SIRIUS beamline & SYMETRIE Diffractometer Axis Setup Hardware setup TANGO devices Controller embedded software Control/Drive Setup Installation FAT SAT Conclusion , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

17 Installation - FAT End of april 2017- performed at SYMETRIE site
System evaluated concerning: Single- axis movements (via low-level- and TANGO) Multi- axial movements (via low-level- and TANGO) Scans Temperature- measurements System security (ex: encoder failure, limit switches...) Sphere-of-confusion at sample Vacuum- tests ... , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

18 Installation - SAT Beginning of june 2017 – SIRIUS beamline, SOLEIL
Successfully installed into the beamline Installed & interfaced PLC system against over-temperature Improved accuracy by implementing compensation tables into Delta Tau controllers (reduce cross- coupling errors) , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

19 Installation - SAT 2017-10-08, MOCRAF 2017
SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

20 Installation - SAT 2017-10-08, MOCRAF 2017
SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

21 Contents Introduction Diffractometer Installation Conclusion
Context & overview SIRIUS beamline & SYMETRIE Diffractometer Axis Setup Hardware setup TANGO devices Controller embedded software Control/Drive Setup Installation FAT SAT Conclusion , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

22 Contents Introduction Diffractometer Installation Conclusion
Context & overview SIRIUS beamline & SYMETRIE Diffractometer Axis Setup Hardware setup TANGO devices Controller embedded software Control/Drive Setup Installation FAT SAT Conclusion , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

23 Conclusion Diffractometer installation proved successful
Mechanical integration in beamline Beamline TANGO control via Delta Tau controllers: synchronized movements, single- axis movements, etc. PLC integration Verified: Delta Tau software architecture controller well adapted for collaborations while still respecting intellectual properties. Commissioning with beam in end-of-this-year Smaller sphere-of-confusion with compensation tables on BORA platform , MOCRAF 2017 SIRIUS in- vacuum dffractometer (TUPHA007), C. Engblom

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