Motion Control System Status Control group 23/11/2013 Prepared by: Ibrahim Saleh Abdallah Ismail 1SESAME-SAC2013-Ibrahim Saleh.

Motion Control System StatusControl group

23/11/2013

Prepared by:Ibrahim Saleh Abdallah Ismail

1SESAME-SAC2013-Ibrahim Saleh

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Beamlines Control SystemMonochromator

Reflecting Mirror

VCM: Vertical Collimating MirrorVFM: Vertical Focusing MirrorDCM: Double Crystal Monochromator

DCMVCM

VFM

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Motion Control System

Requirements:

- Around 60 stepper motors to be controlled for XRF/XAFS beamline

Requirements for 80% of our motion controllers: - EPICS compatible controller - Integrated controller/driver - Used & tested in other facilities - Ethernet communication - Low cost, standard features Requirements for 20% of our motion controllers: - High end features - Synchronization and closed loop control - Complex kinematics

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Motion Control System

XPS-Q8 Controller

- We have purchased Newport XPS-Q8 controller for testing purposes.

- It has been tested at SESAME. - Stepper motors of the XAFS/XRF beamline’s mirrors and monochromator have been connected and tested successfully.

- EPICS IOC has been run and client GUI has been connected to the controller.

Stepper Motor

VCM Mirror

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Motion Control SystemModel XPS-Q8

Number of Axis 8

InterfaceLED Power indicator, Stop ALL, Remote connector

Dimensions 482 x 508 x 177(4U) mm

Motion

Synchronized pt to pt, Spindle, Gantry, Linear/circular interpolation, Splines, PVT, Analog tracking, Master-slave

CompensationLinear error, backlash compensation, error mapping

Command SetObjected oriented language, 100+ functions, TCL generated scripts, EPICS Compatible

Communication Interfaces RJ45 Ethernet

Power Requirements 115/230V, 50/60 Hz

Drive Type

XPS-DRV01 for DC Brush/Stepper, XPS-DRV02 for DC Brushless, XPS-DRV03 for DC Brush, XPS-DRV00 for external drives, XPS-DRV00P for Step/Direction & +/- Pulse mode for stepper motors, XPS-DRVP1 for Piezoelectric stacks. (Driver cards must be purchased separately)

Motor ControlDC Servo, Stepper, DC Brushless, Piezoelectric stacks, others via pass through card

Dimensions (W x D x H) 19 x 20 x 7 in.

Weight 32 (16 kg)

ESP Compatibility ESP Stage Detection

Error Compensation Linear, Backlash, Error

Control Algorithm

PI Position, PIDFF Velocity, PIDFF Acceleration, PIDDualFF Voltage, Variable PID's, Derivative Cut-off Filter, Notch Filters, or Open Loop

XPS-Q8 SpecificationsXPS-Q8 GUI

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Motion Control System XPS-Q8 Compared to other controllers - Price is expensive (about $14k for 8-Axis) - Advanced options will not be required for SESAME beamlines - Most compatible with Newport motor stages - Mostly used in the US

Alternatives controllers to be used as a majority - BMAC (Cheap price, EPICS compatible, tested in France to be tested at SESAME) - Galil (EPICS compatible, used at AUS & SOLEIL)

- Beckhoff (TwinCAT PLC, Easy Installation, EPICS is not fully tested,)

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Thank You

SESAME-SAC2013-Ibrahim Saleh