1. Jesse Smith HPCAT Newport XPS controller Some initial development, commissioning, and user operation

2. Overview Newport XPS controller with DC stages Initial motivation for using this motion control system Newport interface (configuration and control through network) EPICS control through soft IOC XPS.adl screens and transparent user control Complete hardware package enables new techniques XPS PCO (position compare output) SIS3820 – VME multichannel scaler from Struck Complementary hardware – long-line driver, BNC switch Initial software development and commissioning Python – channel access in your office in five minutes HPCAT SXD – Familiar interface, but hardware-based timing Diptera – A controller and viewer for flyscans (XPS only)

3. Why change anything? Broad requirements for sample control and positioning at GP Table General Purpose Table stage assembly must... support 10’s of kilograms deliver positioning with submicron resolution offer speed and stability Solution – modular assembly Base assembly characterized by high load capacity Cap assembly characterized by high precision capability Cap assembly design requirements Minimize height Footprint should closely match BKL-4 Maximize resolution Model stage turned out to be DC

4. Making the move to DC servomotors Most of HPCAT motion control is open-looped stepper Extremely robust, repeatable, and reliable operation Limited use of encoders (e.g., monochromators) Motion parameters initialized through the crate Need some alternative for DC servomotor control Explored small, compact interface Settled on Newport’s XPS controller/drivers Plug and play Extensive options for advanced motion control

5. Newport UI (configuration and control) i.Install correct type/number of driver cards and plug in stages ii.Assign a unique IP Address to the controller iii.(Auto) system configuration 1.Power-up system (listen for a happy sound) 2.Point web browser to IP Address 3.Log in (as Administrator) 4.Initialize and home motors 5.Start moving motors

6. Integration with EPICS, Soft IOC Soft IOC allows restart or reconfiguration of XPS controller without crate reboot Run in the background using procServ Lives in ZEON with typical path ~HP\current\iocBoot\iocXpsGP Started by calling script using simple command, for example at prompt: [epics@zeon ~]$ XPSGP Must exit gracefully by using CTRL + ] Look for it by typing the following: ps –ef |grep proc* Restarted only once during six weeks of operation

7. XPS medm interface

8. Two IOCs on one display From user perspective it is just like any other motor

9. New hardware, techniques PCO preface MinMax Step

10. New hardware → new techniques Primary apparatus Stages with encoders  real-time position feedback XPS PCO (position compare output)  position-based triggering Multichannel scaler (SIS 3820)  flyscan for x-ray transmission Secondary apparatus Custom signal box (PCO outputs to BNC connectors) Remote 10-1 BNC Switch (send any PCO to Struck) Long-line TTL driver (sends clean pulse over 75’ of cable)

11. Conceptual Schematic XPS Stages PILATUS 1M Shutter Struck MCS V to f

12. Struck MCS Practical Schematic XPS Stages PILATUS 1M ShutterPatch V to f Interface BNC 10-1 5V Driver

13. What can we do now? We might be able to use are now using position-based output to trigger... Photon counters (advance Struck channel number) PILATUS detectors (single, multi, gated) Photon shutter (for exposure of integrating detectors) We might be able to use hardware-based output to trigger... Channel advance in spectroscopy Imaging cameras (CoolSNAP, BMB) Laser output (laser heating, laser drilling) Remote pressure apparatus (dDAC, fast-release pneumatic cylinder)

14. Python – EPICS CA from you office in 5 min. Program to install: – Python 2.7: http://python.org/download/releases/2.7.6/ Automatically comes with the Python module called “math”. Python Packages (called “modules”) to install - modules you are likely to need: – pyepics: (EPICS Channel Access for Python) http://cars.uchicago.edu/software/python/pyepics3/installation.html http://cars.uchicago.edu/software/python/pyepics3/overview.html

15. Python – A complete tool set in 15 min. Program to install: – Python 2.7: http://python.org/download/releases/2.7.6/ Automatically comes with the Python module called “math”. Python Packages (called “modules”) to install - modules you are likely to need: – numpy: (Scientific computing with Python) http://sourceforge.net/projects/numpy/files/NumPy/ http://docs.scipy.org/doc/numpy/reference/ – scipy: (Science and engineering tools for Python) http://sourceforge.net/projects/scipy/files/scipy/ http://docs.scipy.org/doc/scipy/reference/ – matplotlib: (2D plotting library for Python) http://matplotlib.org/downloads.html http://matplotlib.org/contents.html – pyepics: (EPICS Channel Access for Python) http://cars.uchicago.edu/software/python/pyepics3/installation.html http://cars.uchicago.edu/software/python/pyepics3/overview.html

16. Single crystal diffraction at HPCAT Software maintained by single, non-HPCAT author Software written using IDL SEVERAL different versions (station, detector, table, capabilities, UI, file output) All controls through CA (and not clear exactly when/how the trigger occurs) All done with open-loop steppers Software maintained by one or more HPCAT staff Software written using Python 2.7 UNIVERSAL version (independent of station, detector, table, capabilities, UI, file output) All communication through CA (but all triggering is hardware based) All done with closed-loop encoders

17. HPCAT SXD – An alternative to Dera software

18. HPCAT SXD – Position-based triggering For hardware triggering Pilatus  Start image and open shutter then trigger detector Pilatus triggering goes through struck CCD  start image then trigger shutter Shutter trigger straight from XPS (but still intensity info at struck)

19. HPCAT SXD – Example.txt file output

20. Diptera – 2D flyscan software

22. Diptera – 2D example

23. Diptera – Focusing

25. Diptera – Centering (really just a 2D scan)

26. Diptera – Centering

28. Diptera – The clock as diagnostic tool

29. Almost done... Arun SIS3820 (Struck multichannel scaler) Soft IOC for XPS BNC 10-1 remote communication (serial port, ASCII commands) Software design (Diptera uses Blue Diamond interactive ideas extensively) Eric Stage assembly, physical installation of XPS Design/assembly of circuit for LEMO-BNC interface Extensive on-line testing of trigger signals, timing, shutter control, etc. Design help, fabrication and assembly of integrated beamstop diode Genevieve Python (start, advice, resources) Stas GP Table partner Mark Rivers Added EPICS support for PCO Initial firmware update and issues related to SIS3820 A lot of help initially with XPS installation Matthew Newville pyEPICS – EPICS channel access for Python Przemek Dera GUI design for HPCAT SXD stolen from his IDL code First use, testing, and suggestions related to HPCAT SXD with real data Frequent discussions with various HPCAT and GSECARS staff