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| Title | ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS | |||||
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| Abstract | In industry the open standard EtherCAT* is well established as a real-time fieldbus for largely distributed and synchronised systems. Open source solutions for the bus master have been first introduced in scientific installations by Diamond Light Source** and PSI using EtherCAT hardware for digital and analog I/Os. The European Spallation Source (ESS) decided to establish open source EtherCAT systems for mid-performance data acquisition and motion control on accelerator applications. In this contribution we present the motion control software package ECMC developed at the ESS using the open source Etherlab*** master to control the EtherCAT bus. The motion control interfaces with a model 3 driver to the EPICS motor record supporting it's functionalities like positioning, jogging, homing and soft/hard limits. Advanced functionalities supported by ECMC are full servo-loop feedback, a scripting language for custom synchronisation of different axes, virtual axes, externally triggered position capture and interlocking. On the example of prototyping a 2-axis wire scanner we show a fully EPICS integrated application of ECMC on different EtherCAT and CPU hardware platforms. | |||||
| Footnotes & References | * http://www.ethercat.org ** R. Mercado, I. J. Gillingham, J. H. Rowland, K. Wilkinson "Integrating EtherCAT based IO into EPICS at Diamond." ICALEPCS 2011, Grenoble 2011 *** http://www.etherlab.org |
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| Paper | download MOCPL05.PDF [1.563 MB / 5 pages] | |||||
| Slides | download MOCPL05_TALK.PDF [1.081 MB] | |||||
| Export | download ※ BibTeX ※ LaTeX ※ Text/Word ※ RIS ※ EndNote | |||||
| Conference | ICALEPCS2017, Barcelona, Spain | |||||
| Series | International Conference on Accelerator and Large Experimental Control Systems (16th) | |||||
| Proceedings | Link to full ICALEPCS2017 Proccedings | |||||
| Session | Integrating Diverse Systems | |||||
| Date | 09-Oct-17 14:00–15:45 | |||||
| Main Classification | Integrating Diverse Systems | |||||
| Keywords | ion, controls, EPICS, hardware, real-time | |||||
| Publisher | JACoW, Geneva, Switzerland | |||||
| Editors | Volker RW Schaa (GSI, Darmstadt, Germany); Isidre Costa (ALBA-CELLS, Cerdanyola del Vallès, Spain); David Fernández (ALBA-CELLS, Cerdanyola del Vallès, Spain); Ãscar Matilla (ALBA-CELLS, Cerdanyola del Vallès, Spain) | |||||
| ISBN | 978-3-95450-193-9 | |||||
| Published | January 2018 | |||||
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