Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20081

Motion Control in LCLS

Sheng Peng

EPICS Meeting 2008, Shanghai

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20082

Applications

Motion control is everywhereDrive Laser

Laser Heater

Wire Scanner

Collimator

…

Beam line is all about motors

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20083

Requirement could be very different

ApplicationsOptical table motion controlIn vacuum motion controlNEMA standard motorsHeavy duty motionMulti-Axis coordinationPneumatic

MotorsDC servo

Brush/BrushlessStepper

4 phase/5 phaseHalf stepMicro stepping

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20084

Requirement could be very different

Read backNone for stepper motorLVDT

AC outputDC output

EncoderOptical encoderMagnetic encoder

ResolverPots

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20085

Requirement could be very different

Travel LimitsSoft Limit

Limit Switch

Brake

Proximity

…

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20086

Different vendor has different specialty

Different application leads to different solution

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20087

Newport XPS-C8 is used in LCLS for all optical controlPros

Ethernet based8 channels per controllerAuto-recognize Newport motorsEncoder built-inDriver XPS-DRV01: 3 Amps, 48V

ConsFairly expensiveMotor choices are a little limitedThey don’t understand vxWorks like us

Newport is used for Laser Optical Motion

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20088

Newport XPS

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/20089

Most of Newport Stages/Actuators are compatible

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200810

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200811

Stability feedback loop

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200812

Wire Scanner

Needs to read position with very short latency

NEMA standard size motor is desired

Long cable run is required

LVDT is desired

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200813

HYTEC 8601 Stepper Motor Controller

Industry Pack format4 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 RegisterSet the speed at which a movement will start, steps per second

16-bit Travel Speed RegisterSets the speed at which the motor will run after accelerating, steps per second

16-bit Ramp Rate RegisterSets the rate at which speed will increase/decrease during ramp

16-bit Control/StatusStatus of drive, controller, limit switches

16-bit Interrupt Mask Register

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200814

HYTEC SMDS-4 Motor Drive System

SMDS Plug-in driver card

SMDS 4-axis power driver

Step rate: 1- 65,535 sptes per secondRamp Rate: 64 – 50,000 steps per secondVarious versions:

4 phase5 phase…

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200815

Highland Technologies LVDT Scanner

8 channel VME module 16-bit resolution with programmable noise filtering

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200816

Current Status

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200817

Wire Scanners

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200818

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

Sheng Peng

Motion Control in LCLS pengs@slac.stanford.edu

3/12/200819

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