1. 17th Oct 08 Matthew Pearson - Motion Control at DLS 1 Motion Control Developments at Diamond Light Source Matthew Pearson DLS Controls Group

2. 17th Oct 08 Matthew Pearson - Motion Control at DLS 2 EPICS / Control Software Tom Cobb Peter Denison (now left DLS) Andy Foster (Contract) Ian Gillingham Pete Leicester Matthew Pearson Ulrik Pederson Nick Rees (Boss) Austen Rose (Insertion devices) People involved in motion control / software at DLS: Motion Hardware / Tuning Trevor Bates (Contract) Paul Dunne (Contract) Lee Hudson Iain Johnson Brian Nutter (Boss) Agenda: What DLS is doing in motion control New ethernet controller from Delta Tau Work on EPICS drivers and motor record Recent work with coordinated motion Future plans

3. 17th Oct 08 Matthew Pearson - Motion Control at DLS 3 What motion control is DLS doing? Motion Controllers (beamlines) DeltaTau Turbo PMAC2 VME Newport XPS Applications: Diffractometers, DCMs, mirror systems, slits, diagnostics hexapods, optical tables, …… Also, nanomotors, various piezo controllers (PI, Queensgate), new Aerotech Ensemble controller (for specific ‘position compare’ app)

4. 17th Oct 08 Matthew Pearson - Motion Control at DLS 4 PMAC2 VME (Amplifier Crate Extra) UMAC Crate (I/O, encoder, limits) Optical link

5. 17th Oct 08 Matthew Pearson - Motion Control at DLS 5 New 8-axis integrated ethernet DeltaTau controller (Geobrick LV) Fewer cables Ethernet + USB + Serial Lower cost than PMAC+UMAC+Amplifiers Easy to replace Andy Foster / Pete Leicester / Matthew Pearson / Brian Nutter have worked on adapting EPICS PMAC driver + testing new controller. Is now DLS ‘standard’ controller First batch arrived and is being built into 32-axis motion rack.

6. 17th Oct 08 Matthew Pearson - Motion Control at DLS 6 Recent EPICS motor software work at DLS: Motor Record: New HOMED bit in status word (for controllers that support it) (see tech-talk discussion in Aug 08) PMAC and XPS driver are ASYN based (see EPICS meeting June 2006) Asyn device support layer (in motor support module): Eases development of new drivers Clean interface to motor record Enables multiple records to use same ASYN port Enables the use of ASYN interpose layer PMAC driver (tpmac support module): Adapted for new ethernet controller. Also have a new ASYN interpose layer to handle PMAC ethernet headers. Correct setting of ATHM and HOMED bit. Set fatal following error. Made polling rates more flexible Implemented deferred moves (see backup slide)

7. 17th Oct 08 Matthew Pearson - Motion Control at DLS 7 Recent EPICS motor software work at DLS (cont…): Deferred moves (Coordinated motion) caput {device}:defer 1 (turn on deferred moves) caput {device}:motor1 10.0 caput {device}:motor2 12.0 caput {device}:motor3 13.0 caput {device}:defer 0 (turn off deferred moves and execute any pending moves) Can take advantage of controller synchronised moves, or provides synchronisation at EPICS driver level. XPS driver: Added functionality (set position, for autosave). Set fatal following error bit. Set HOMED & ATHM. Implemented deferred moves.

8. 17th Oct 08 Matthew Pearson - Motion Control at DLS 8 Deferred moves (Cont…) The {device}:defer is a binary output, like: file bo.template { pattern {P, R, DTYP, OUT, ZNAM, ONAM, SCAN } {device:, defer, asynUInt32Digital, "@asynMask(PMAC1,1,1)DEFER", "OFF", "ON", Passive } } When moves are executed in driver: For PMAC: #1J=100 #2J=200 #3J=150 etc. (standard axes) X(100)Y(200) etc. (for coordinate systems) For XPS: GroupMoveAbsolute(int sockID, char *groupName, int NbAxes, double position[]) Asyn port

9. 17th Oct 08 Matthew Pearson - Motion Control at DLS 9 Motion programs / Coordinate systems on PMAC Can define on PMAC new coordinate systems that look (almost) the same as a standard motor. We use a customised PMAC driver to operate/readback the coordinate systems. Example: Table with 3 jacks Y1 Y2 Y3 Pitch Angle - X Height - Y #1 J=100X(0.5)Y(100) Have to do this in a motion program run on PMAC Advantages: Synchronised motion Pushes complexity down into controller Disadvantages: Requires EPICS PMAC driver changes Hard to maintain

10. 17th Oct 08 Matthew Pearson - Motion Control at DLS 10 Future work New DeltaTau PMAC controller: Deploy on new beamlines Easier to free issue to equipment suppliers Increase use of PMAC controller coordinate systems. Improve error reporting For example, make use of EPICS alarm handler to notify us about limit violations, fatal following errors, communication errors, etc. Started ASYN based OMS VME58/MAXv driver (Nick/Austen).

11. 17th Oct 08 Matthew Pearson - Motion Control at DLS 11 Backup Slides

12. Layers devMotorAsyn devAsynFloat64 drvMotorPMAC drvMotorXPS MotorAPI drvMotorAsyn XPS drvAsynIPPort drvAsynSerialPort Ethernet XPS Controller RS232 PMAC Controller = Asyn Port devMotorAsyn PMAC Peter Denison – EPICS 2006