Motion Control in LCLS

1
Motion Control in LCLS

• Sheng Peng
• EPICS Meeting 2008, Shanghai

2
Applications

• Motion control is everywhere
• Drive Laser
• Laser Heater
• Wire Scanner
• Collimator
• Beam line is all about motors

3
Requirement could be very different

• Applications
• Optical table motion control
• In vacuum motion control
• NEMA standard motors
• Heavy duty motion
• Multi-Axis coordination
• Pneumatic
• Motors
• DC servo
• Brush/Brushless
• Stepper
• 4 phase/5 phase
• Half step
• Micro stepping

4
Requirement could be very different

• Read back
• None for stepper motor
• LVDT
• AC output
• DC output
• Encoder
• Optical encoder
• Magnetic encoder
• Resolver
• Pots

5
Requirement could be very different

• Travel Limits
• Soft Limit
• Limit Switch
• Brake
• Proximity

6

• Different vendor has different specialty
• Different application leads to different solution

7
Newport is used for Laser Optical Motion

• Newport XPS-C8 is used in LCLS for all optical
  control
• Pros
• Ethernet based
• 8 channels per controller
• Auto-recognize Newport motors
• Encoder built-in
• Driver XPS-DRV01 3 Amps, 48V
• Cons
• Fairly expensive
• Motor choices are a little limited
• They dont understand vxWorks like us

8
Newport XPS
9
Most of Newport Stages/Actuators are compatible
10
(No Transcript)
11
Stability feedback loop
12
Wire Scanner

• Needs to read position with very short latency
• NEMA standard size motor is desired
• Long cable run is required
• LVDT is desired

13
HYTEC 8601 Stepper Motor Controller

• Industry Pack format
• 4 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 Register
• Set the speed at which a movement will start,
  steps per second
• 16-bit Travel Speed Register
• Sets the speed at which the motor will run after
  accelerating, steps per second
• 16-bit Ramp Rate Register
• Sets the rate at which speed will
  increase/decrease during ramp
• 16-bit Control/Status
• Status of drive, controller, limit switches
• 16-bit Interrupt Mask Register

14
HYTEC SMDS-4 Motor Drive System

• Step rate 1- 65,535 sptes per second
• Ramp Rate 64 50,000 steps per second
• Various versions
• 4 phase
• 5 phase

SMDS 4-axis power driver
SMDS Plug-in driver card
15
Highland Technologies LVDT Scanner

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

16
Current Status
17
Wire Scanners
18
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

19
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