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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 1 Motion Control in LCLS Sheng Peng EPICS Meeting 2008, Shanghai
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 2 Applications Motion control is everywhere Drive Laser Laser Heater Wire Scanner Collimator … Beam line is all about motors
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 3 Requirement could be very different Applications Optical table motion control In vacuum motion control NEMA standard motors Heavy duty motion Multi-Axis coordination Pneumatic Motors DC servo Brush/Brushless Stepper 4 phase/5 phase Half step Micro stepping
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 4 Requirement could be very different Read back None for stepper motor LVDT AC output DC output Encoder Optical encoder Magnetic encoder Resolver Pots
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 5 Requirement could be very different Travel Limits Soft Limit Limit Switch Brake Proximity …
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 6 Different vendor has different specialty Different application leads to different solution
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 7 Newport XPS-C8 is used in LCLS for all optical control Pros Ethernet based 8 channels per controller Auto-recognize Newport motors Encoder built-in Driver XPS-DRV01: 3 Amps, 48V Cons Fairly expensive Motor choices are a little limited They don’t understand vxWorks like us Newport is used for Laser Optical Motion
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 8 Newport XPS
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 9 Most of Newport Stages/Actuators are compatible
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 10
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 11 Stability feedback loop
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 12 Wire Scanner Needs to read position with very short latency NEMA standard size motor is desired Long cable run is required LVDT is desired
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 13 HYTEC 8601 Stepper Motor Controller Industry Pack format 4 Channel (axis) 32-bit Step Registers for steps in next movement 32-bit Absolute Position Up/Down Counter records movement 16-bit Start/Stop Speed Register Set the speed at which a movement will start, steps per second 16-bit Travel Speed Register Sets the speed at which the motor will run after accelerating, steps per second 16-bit Ramp Rate Register Sets the rate at which speed will increase/decrease during ramp 16-bit Control/Status Status of drive, controller, limit switches 16-bit Interrupt Mask Register
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 14 HYTEC SMDS-4 Motor Drive System SMDS Plug-in driver card SMDS 4-axis power driver Step rate: 1- 65,535 sptes per second Ramp Rate: 64 – 50,000 steps per second Various versions: 4 phase 5 phase …
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 15 Highland Technologies LVDT Scanner 8 channel VME module 16-bit resolution with programmable noise filtering
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 16 Current Status
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 17 Wire Scanners
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 18 System Integration EPICS gives pretty good system level integration capability Motor record gives uniform user interface which is very important for operator A full turn key system especially for beam line will be highly desired
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Sheng Peng Motion Control in LCLSpengs@slac.stanford.edu 3/12/2008 19 Smart Motor Animatics Servo ~25 models plus customized 17NEMA size to 42NEMA Control thru RS232 Works with EPICS IMS MDrivePlus Stepper ~20 models 14NEMA to 42NEMA RS232 control interface Digi PortServer TS16
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