1. A U.S. Department of Energy Office of Science Laboratory Operated by The University of Chicago Argonne National Laboratory Office of Science U.S. Department of Energy Insertion Device Controls at the Advanced Photon Source Mohan Ramanathan June 18, 2003

2. Pioneering Science and Technology Office of Science U.S. Department of Energy 2 Types of Insertion Device  Undulator - STI Device:  A 2-stepper motor device with the top and the bottom jaws coupled together by chains and gears; built by STI Optronics  Operated at gaps 11 mm ~ 35 mm  Undulator - NGSM Device (New Gap Separation Mechanism):  A 4-stepper motor device with each motor controlling each end of the top and bottom jaws.  Operated at gaps 11 mm ~ 35 mm  EMW Device (Elliptical Multipole Wiggler):  A 2-stepper motor device with the top and the bottom jaws controlled separately.  Permanent magnets in the vertical plane and electromagnets in the horizontal plane  Normally operated at a 24mm gap  CPU Device (Circularly Polarized Undulator):  A fixed gap device with only electromagnets

3. Pioneering Science and Technology Office of Science U.S. Department of Energy 3 Insertion Devices Status  Currently 20 2-motor (STI) devices, 9 4-motor (NGSM) devices, 1 CPU device, and 1 EMW device  Total of 31 insertion devices located in 27 sectors around the storage ring  The rest of this talk will discuss the 2 motor and the 4 motor insertion device control system

4. Pioneering Science and Technology Office of Science U.S. Department of Energy 4 Mode of Operation  The device is issued a command to move to a certain gap/energy  Both ends of both jaws are moved simultaneously  For taper, one end is kept at a different gap than the other end  The taper angle is limited to 2 mrad, which translates to about 5 mm difference in gap between the two ends ( 2.4 m long devices)  At beam loss:  Devices are switched to Operator access  Devices are fully opened  After Injection to more than 2 ma:  The devices are commanded to move to their previous user gaps which were saved prior to beam loss  Device is switched back to User access  Beamlines request Floor Coordinator to set a beamline limit on the minimum gap of the device  Used by the beamline staff for additional equipment protection

5. Pioneering Science and Technology Office of Science U.S. Department of Energy 5 STI Insertion Device ID wiring interface boxes Magnetic array Gearbox 2 stepper motors run each end of this device

6. Pioneering Science and Technology Office of Science U.S. Department of Energy 6 STI Insertion Device Stepper Motor Gearbox Chain tension adjustment Upper jaw drive chain Lower jaw drive chain E-Stop Rotary encoder Linear encoder

7. Pioneering Science and Technology Office of Science U.S. Department of Energy 7 NGSM Insertion Device Magnetic array Gearbox Rotary encoder & Motor assembly 4 stepper motors control each end of each jaw Linear encoder

8. Pioneering Science and Technology Office of Science U.S. Department of Energy 8 NGSM Insertion Device ID jaw drive screw Minimum gap hardstop Gurley linear encoder Gurley rotary encoder Stepper motor

9. Pioneering Science and Technology Office of Science U.S. Department of Energy 9 Insertion Device with Vacuum Chamber Minimum limit switch: Stops this end from closing Minimum limit switch: Shuts off AC stepper motor drive power Magnetic Jaws ID Vacuum Chamber

10. Pioneering Science and Technology Office of Science U.S. Department of Energy 10 ID Safeguards & Operating Ranges  Typical operating ranges:  STI Device 11 – 180mm  NGSM Device 11 – 180mm  The nominal ID gap is set at specified magnet poles. This means that due to magnetic tuning there may be spots along the structure that are higher by 100µm. So, in some cases the total clearance between the magnetic array and the vacuum chamber may be as tight as 25µm (0.001”) to either side of the chamber. 11 mm 10.8 mm 10.6 mm 10.4 mm – 10.5 mm STI Typical 210mm NGS Typical 185 mm ~10.1 - ~10.25 mm NGS Typical 185 mm STI Typical 205 mm Normal Gap Operating Range Maximum Software Limit Beamline Software Limit Maximum Gap Hardstop Maximum Gap Limit Switch (logic input) Vacuum Chamber Minimum Gap Limit Switch (logic input) Minimum Gap Limit Switch (relay chain) Minimum Gap Hardstop Minimum Software Limit 180 mm 11 mm

11. Pioneering Science and Technology Office of Science U.S. Department of Energy 11 ID Control System Overview

12. Pioneering Science and Technology Office of Science U.S. Department of Energy 12 ID Control System Layout

13. Pioneering Science and Technology Office of Science U.S. Department of Energy 13 ID Control Interface Logic VME ID Interface Board Layout

14. Pioneering Science and Technology Office of Science U.S. Department of Energy 14 ID Control Interface

15. Pioneering Science and Technology Office of Science U.S. Department of Energy 15 ID Control System Limit Switch Interlocks  Logic  A minimum limit hit at one end stops that end from closing any further while inhibiting opening of the opposite end of the ID  A maximum limit hit at one end stops that end from opening any further while inhibiting closing of the opposite end of the ID  Prevents ID from crushing the vacuum chamber  Hard wired limit switches remove AC input power from the stepper motor drives Inhibited motion

16. Pioneering Science and Technology Office of Science U.S. Department of Energy 16 ID Controls Software Logic - Main Modular – 4 Main parts

17. Pioneering Science and Technology Office of Science U.S. Department of Energy 17 ID Controls Software Logic – Global Actions At Beam Loss.. After Injection..

18. Pioneering Science and Technology Office of Science U.S. Department of Energy 18 ID Controls Software Logic – Auto Open To reduce Front End Heat Loads When Shutters Open When Shutters Close

19. Pioneering Science and Technology Office of Science U.S. Department of Energy 19 ID Controls GUI for System Managers 2 Motor Device

20. Pioneering Science and Technology Office of Science U.S. Department of Energy 20 ID Controls GUI for System Managers 4 Motor Device

21. Pioneering Science and Technology Office of Science U.S. Department of Energy 21 ID Controls – Software Debug GUI ID control consists of about 350 records

22. Pioneering Science and Technology Office of Science U.S. Department of Energy 22 ID Controls – GUI for Users  Control of the device is accomplished with 10 process variable  Additional 5 process variables are used for synchronous Scanning mode.  Only 8 relevant process variables need to be monitored at any time  Additional monitoring of 10 process variables may be useful  If needed, device can be controlled via a serial line

23. Pioneering Science and Technology Office of Science U.S. Department of Energy 23 WEB Access to ID Logs

24. Pioneering Science and Technology Office of Science U.S. Department of Energy 24 WEB Access to ID Logs

25. Pioneering Science and Technology Office of Science U.S. Department of Energy 25 General Control System Information

26. Pioneering Science and Technology Office of Science U.S. Department of Energy 26 Real-time Accelerator Data Distribution

27. Pioneering Science and Technology Office of Science U.S. Department of Energy 27 High Precision X-ray Timing Distribution

28. Pioneering Science and Technology Office of Science U.S. Department of Energy 28 Acknowledgments  Many thanks to my associates  Marty Smith  John Grimmer  Mike Merritt