Geraldes, R.R. Brito Neto, J.L. Coelho, E.P. Do Carmo, L.P. Horita, A.Y. Luiz, S.A.L. Moraes, M.A.L. JACoW Publishing Geneva, Switzerland 2226-0358 978-3-95450-221-9 10.18429/JACoW-ICALEPCS2021-TUPV004 English 370-375 controls undulator FPGA EPICS operation Contribution to a conference proceedings 2022 2022-03 https://doi.org/10.18429/JACoW-ICALEPCS2021-TUPV004 https://jacow.org/icalepcs2021/papers/tupv004.pdf The High-Dynamic Double-Crystal Monochromator (HD-DCM) has been developed since 2015 at Sirius/LNLS with an innovative high-bandwidth mechatronic architecture to reach the unprecedented target of 10 nrad RMS (1 Hz - 2.5 kHz) in crystals parallelism also during energy fly-scans. After the initial work in Speedgoat’s xPC rapid prototyping platform, for beamline operation the instrument controller was deployed to NI’s CompactRIO (cRIO), as a rugged platform combining FPGA and real-time capabilities. Customized libraries needed to be developed in LabVIEW and a heavily FPGA-based control architecture was required to finally reach a 20 kHz control loop rate. This work summarizes the final control architecture of the HD-DCM, highlighting the main hardware and software challenges; describes its integration with the EPICS control system and user interfaces; and discusses its integration with an undulator source.