Author: Bögershausen, T.
Paper Title Page
MOCPL05 ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS 71
 
  • T. Gahl, D.P. Brodrick, T. Bögershausen, O. Kirstein, T. Korhonen, D.P. Piso, A. Sandström
    ESS, Lund, Sweden
  
  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.
* 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 		 
video icon Talk as video stream: https://youtu.be/SuQiKSMbfvs  
slides icon Slides MOCPL05 [1.081 MB]  
DOI • reference for this paper ※ https://doi.org/10.18429/JACoW-ICALEPCS2017-MOCPL05  
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