17th oct 08 matthew pearson - motion control at dls 1 motion control developments at diamond light...

17th Oct 08 Matthew Pearson - Motion Control at DLS 1

Motion Control Developmentsat Diamond Light Source

Matthew Pearson

DLS Controls Group


EPICS / Control Software• Tom Cobb • Peter Denison (now left DLS)• Andy Foster (Contract)• Ian Gillingham• Pete Leicester• Matthew Pearson• Ulrik Pederson• Nick Rees (Boss)• Austen Rose (Insertion devices)

People involved in motion control / software at DLS:

Motion Hardware / Tuning• Trevor Bates (Contract)• Paul Dunne (Contract)• Lee Hudson• Iain Johnson• Brian Nutter (Boss)

Agenda:• What DLS is doing in motion control • New ethernet controller from Delta Tau• Work on EPICS drivers and motor record• Recent work with coordinated motion• Future plans


What motion control is DLS doing?

Motion Controllers(beamlines)

DeltaTau Turbo PMAC2 VME

Newport XPS

Applications: Diffractometers, DCMs, mirror systems, slits, diagnostics hexapods, optical tables, ……

Also, nanomotors, various piezo controllers (PI, Queensgate), new Aerotech Ensemble controller (for specific ‘position compare’ app)


PMAC2 VME

(Amplifier Crate Extra)

UMAC Crate (I/O, encoder, limits)

Optical link


New 8-axis integrated ethernet DeltaTau controller(Geobrick LV)

• Fewer cables• Ethernet + USB + Serial• Lower cost than PMAC+UMAC+Amplifiers• Easy to replace

• Andy Foster / Pete Leicester / Matthew Pearson / Brian Nutterhave worked on adapting EPICSPMAC driver + testing newcontroller.

• Is now DLS ‘standard’ controller• First batch arrived and is being built into 32-axis motion rack.


Recent EPICS motor software work at DLS:Motor Record:

• New HOMED bit in status word (for controllers that support it) (see tech-talk discussion in Aug 08)

PMAC and XPS driver are ASYN based (see EPICS meeting June 2006)Asyn device support layer (in motor support module):• Eases development of new drivers• Clean interface to motor record• Enables multiple records to use same ASYN port• Enables the use of ASYN interpose layer

PMAC driver (tpmac support module):• Adapted for new ethernet controller. Also have a new ASYN interpose layer to handle PMAC ethernet headers.• Correct setting of ATHM and HOMED bit.• Set fatal following error.• Made polling rates more flexible • Implemented deferred moves

(see backup slide)


Recent EPICS motor software work at DLS (cont…):

Deferred moves (Coordinated motion)

caput {device}:defer 1 (turn on deferred moves)caput {device}:motor1 10.0caput {device}:motor2 12.0caput {device}:motor3 13.0caput {device}:defer 0 (turn off deferred moves and execute

any pending moves)

Can take advantage of controller synchronised moves,

or provides synchronisation at EPICS driver level.

XPS driver: Added functionality (set position, for autosave). Set fatal following error bit. Set HOMED & ATHM. Implemented deferred moves.


Deferred moves (Cont…)

The {device}:defer is a binary output, like:

file bo.template { pattern {P, R, DTYP, OUT, ZNAM, ONAM, SCAN } {device:, defer, asynUInt32Digital,

"@asynMask(PMAC1,1,1)DEFER", "OFF", "ON", Passive } }

When moves are executed in driver:

For PMAC: #1J=100 #2J=200 #3J=150 etc. (standard axes) X(100)Y(200) etc. (for coordinate systems)

For XPS: GroupMoveAbsolute(int sockID, char *groupName, int NbAxes, double position[])

Asyn port


Motion programs / Coordinate systems on PMAC

Can define on PMAC new coordinate systems that look (almost) the same as a standard motor. We use a customised PMACdriver to operate/readback the coordinate systems.

Example: Table with 3 jacks Y1Y2Y3

Pitch Angle - XHeight - Y

#1 J=100 X(0.5)Y(100)

Have to do this in a motion program run on PMAC

Advantages:• Synchronised motion• Pushes complexity down into controller

Disadvantages:• Requires EPICS PMAC driver changes• Hard to maintain


Future work

• New DeltaTau PMAC controller:• Deploy on new beamlines• Easier to free issue to equipment suppliers

• Increase use of PMAC controller coordinate systems.

• Improve error reporting For example, make use of EPICS alarm handlerto notify us about limit violations, fatal followingerrors, communication errors, etc.

• Started ASYN based OMS VME58/MAXv driver (Nick/Austen).


Backup Slides

17th Oct 08 Matthew Pearson - Motion Control at DLS

Layers

devMotorAsyndevAsynFloat64

drvMotorPMACdrvMotorXPS

MotorAPIdrvMotorAsyn

XPS XPS

drvAsynIPPort drvAsynSerialPort

Ethernet

XPS Controller

RS232 PMAC Controller

= Asyn Port

devMotorAsyn

PMAC

Peter Denison – EPICS 2006

17th oct 08 matthew pearson - motion control at dls 1 motion control developments at diamond light...

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