Martins dos Santos, L. Řežende, J.H. Aranha, P.D. Kofukuda, L.M. Kontogiorgos, G.N. Moraes, M.A.L. Saveri Silva, M. Tolentino, H.C.N. JACoW Publishing Geneva, Switzerland 2226-0358 978-3-95450-221-9 10.18429/JACoW-ICALEPCS2021-TUPV003 English 365-369 controls feedback operation synchrotron alignment Contribution to a conference proceedings 2022 2022-03 https://doi.org/10.18429/JACoW-ICALEPCS2021-TUPV003 https://jacow.org/icalepcs2021/papers/tupv003.pdf CARNAÚBA (Coherent X-ray Nanoprobe) and CATERETÊ (Coherent and Time Resolved Scattering) are the longest beamlines in Sirius - the 4th generation light source at the Brazilian Synchrotron Light Laboratory (LNLS). They comprise Four-Bounce Crystal Monochromators (4CM) for energy selection with strict stability and performance requirements. The motion control architecture implemented for this class of instruments was based on Omron Delta Tau Power Brick LV, controller with PWM amplifier. The 4CM was in-house designed and consists of two channel-cut silicon crystals whose angular position is given by two direct-drive actuators. A linear actuator mounted between the crystals moves a diagnostic device and a mask used to obstruct spurious diffractions and reflections. The system is assembled in an ultra-high vacuum (UHV) chamber onto a motorized granite bench that permits the alignment and the operation with pink-beam. This work details the motion control approach for axes coordination and depicts how the implemented methods led to the achievement of the desired stability, considering the impact of current control, in addition to benchmarking with manufacturer solution.