| Paper |
Title |
Page |
| WPPB15 |
Beyond PCs: Accelerator Controls on Programmable Logic
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433 |
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- J. Dedic, K. Zagar, M. Plesko
Cosylab, Ljubljana
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The large number of gates in modern FPGAs including processor cores allows implementation of complex designs, including a core implementing Java byte-code as the instruction set. Instruments based on FPGA technology are composed only of digital parts and are totally configurable. Based on experience gained on our products (a delay generators producing sub-nanosecond signals and function generators producing arbitrary functions of length in the order of minutes) and on our research projects (a prototype hardware platform for real-time Java, where Java runtime is the operating system and there is no need for Linux), I will speculate about possible future scenarios: A combination of an FPGA processor core and custom logic will provide all control tasks, slow and hard real-time, while keeping our convenient development environment for software such as Eclipse. I will illustrate my claims with designs for tasks such as low-latency PID controllers running at several dozen MHz, sub-nanosecond resolution timing, motion control, and a versatile I/O controller–all implemented in real-time Java and on exactly the same hardware, just with different connectors.
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| WPPB18 |
Customizable Motion Control Solution Supporting Large Distances
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436 |
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- R. Baer, G. Froehlich, K. Herlo, U. Krause, M. Schwickert
GSI, Darmstadt
- J. Bobnar, I. Kriznar, J. Dedic
Cosylab, Ljubljana
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Motion control solutions for controlling a movement of motorized mechanical subsystems for accelerators, telescopes or similar spatially distributed systems require high degree of flexibility regarding the use and connectivity. One platform should fit different applications and provide cost effective solutions. A connection to the control system (CS) is required on one side, while on the other side a connection to a variety of motors, position encoders and other feedback devices must be provided. In case of more complex mechanics, an advanced kinematics control is essential to provide features such as motion tuning, interpolation and controlled acceleration. An embedded computer is used for SW-flexibility and CS-support. Motion control capabilities are provided by separate HW; programmable multi axis controller. Signal adaptation for a direct connection of the equipment is managed by an interface board. Easy installation and debugging is provided by low-level local control; front panel switches and indicators, RS232 or direct keyboard and monitor access. An advanced approach is required in case of a larger distance between the motor controller and the motors with position encoders.
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