1. Motion Control System Status
SESAME
Motion Control System Status
Control group
23/11/2013
Prepared by:
Ibrahim Saleh Abdallah Ismail
SESAME-SAC2013-Ibrahim Saleh

2. Beamlines Control System
SESAME
Beamlines Control System
Monochromator
Reflecting Mirror
VFM
DCM
VCM
VCM: Vertical Collimating Mirror
VFM: Vertical Focusing Mirror
DCM: Double Crystal Monochromator
SESAME-SAC2013-Ibrahim Saleh

3. SESAME Motion Control System
Requirements:
- Around 60 stepper motors to be controlled for XRF/XAFS beamline
Requirements for 80% of our motion controllers:
- EPICS compatible controller
- Integrated controller/driver
- Used & tested in other facilities
- Ethernet communication
- Low cost, standard features
Requirements for 20% of our motion controllers:
- High end features
- Synchronization and closed loop control
- Complex kinematics
SESAME-SAC2013-Ibrahim Saleh

4. SESAME Motion Control System - It has been tested at SESAME.
- We have purchased Newport XPS-Q8
controller for testing purposes.
- It has been tested at SESAME.
- Stepper motors of the XAFS/XRF
beamline’s mirrors and
monochromator have been
connected and tested successfully.
- EPICS IOC has been run
and client GUI has been
connected to the controller.
XPS-Q8 Controller
Stepper Motor
VCM Mirror
SESAME-SAC2013-Ibrahim Saleh-Abdallah

5. SESAME Motion Control System XPS-Q8 GUI XPS-Q8 Specifications
Model
XPS-Q8
Number of Axis 8
Interface
LED Power indicator, Stop ALL, Remote connector
Dimensions
482 x 508 x 177(4U) mm
Motion
Synchronized pt to pt, Spindle, Gantry, Linear/circular interpolation, Splines, PVT, Analog tracking, Master-slave
Compensation
Linear error, backlash compensation, error mapping
Command Set
Objected oriented language, 100+ functions, TCL generated scripts, EPICS Compatible
Communication Interfaces
RJ45 Ethernet
Power Requirements
115/230V, 50/60 Hz
Drive Type
XPS-DRV01 for DC Brush/Stepper, XPS-DRV02 for DC Brushless, XPS-DRV03 for DC Brush, XPS-DRV00 for external drives, XPS-DRV00P for Step/Direction & +/- Pulse mode for stepper motors, XPS-DRVP1 for Piezoelectric stacks. (Driver cards must be purchased separately)
Motor Control
DC Servo, Stepper, DC Brushless, Piezoelectric stacks, others via pass through card
Dimensions (W x D x H)
19 x 20 x 7 in.
Weight
32 (16 kg)
ESP Compatibility
ESP Stage Detection
Error Compensation
Linear, Backlash, Error
Control Algorithm
PI Position, PIDFF Velocity, PIDFF Acceleration, PIDDualFF Voltage, Variable PID's, Derivative Cut-off Filter, Notch Filters, or Open Loop
XPS-Q8 GUI
XPS-Q8 Specifications
SESAME-SAC2013-Ibrahim Saleh

6. SESAME Motion Control System
XPS-Q8 Compared to other controllers
- Price is expensive (about $14k for 8-Axis)
- Advanced options will not be required for SESAME beamlines
- Most compatible with Newport motor stages
- Mostly used in the US
Alternatives controllers to be used as a majority
- BMAC (Cheap price, EPICS compatible, tested in France
to be tested at SESAME)
- Galil (EPICS compatible, used at AUS & SOLEIL)
- Beckhoff (TwinCAT PLC, Easy Installation, EPICS is
not fully tested,)
SESAME-TAC2013-Ibrahim Saleh-Abdallah Ismail

7. SESAME
Thank You
SESAME-SAC2013-Ibrahim Saleh