# Presentation: 108849

## MCS-8The 8 axes motion control system

- Rok Šabjan

- _[rok](mailto:rok.sabjan@cosylab.com)__[.](mailto:rok.sabjan@cosylab.com)__[sabjan](mailto:rok.sabjan@cosylab.com)__[@](mailto:rok.sabjan@cosylab.com)__[cosylab.com](mailto:rok.sabjan@cosylab.com)_

## Contents

- What is it?
- Where is it being used?
- Hardware
- Software
- Future

## What is the MCS-8?

- 8-axes motion controller box (by Cosylab and Oxford Danfysik (UK)) that includes:
- Commercial motion controller (Delta Tau Turbo PMAC2)
- All the I/O units, including power drivers
- Embedded **Cosylab** **microIOC** with Linux and EPICS
- What can we drive with it?
- All kinds of motors: stepper, servo, pico, piezo...
- Inputs for limit switches, home switches, encoders
- Digital and analog I/O
- Why buy MCS-8?
- New functionality requirements on beamlines demand more complex motion controllers
- We want to provide the customer a fully integrated solution with the necessary features and plenty of room for additional development

## Main benefits

- Control **any** type of motor (power driver type has to be selected upon purchase)
- All advanced features of the Delta Tau controller:
- Fast acting PID control with multiple co-ordinate systems and a variety of flexible control algorithms.
- Synchronized movement of multiple axes, also across several controllers
- Reverse Kinematics capability.
- Full PLC control with programming facility as standard.
- Reduce the installation **time** and **effort **(=**cost**)
- Setup motor controls in a very **simple** way without giving up functionality
- Reduced cabling (just bring in your motor, switches and encoder cables + Ethernet and power)
- Custom connector types possible

## Where is it being used?

**Where is it being used?**

- Optical chicane (ASP)
- Hexapod mirror control (SLS) – migrated from VME system developed for Diamond
- Protein Crystallography beamline (ASP)
- Powder Diffraction beamline (ASP)
- Non EPICS projects:
- INDUS (SPEC)
- More than 20 pcs already sold!

## Hardware

- 4-U case
- 500W power supply
- Sufficient cooling (fans)
- Selectable motor drivers (external drivers possible)
- 4 additional analog inputs
- 8 programmable digital inputs and outputs

## Software

- PMAC driver support is an upgrade of the TPMAC support package maintained at GMCA/CAT at APS
- Only ASCII communication via Ethernet
- Most of the motor record features retained
- e.g. soft limits, velocity, backlash, acceleration, direction, offset, resolution
- Support for all statuses from Delta Tau (many of them)
- Several different homing procedures implemented, new can be added
- All motors are “scanable” (make use of busy record) and thus fully compatible to be used with synapps tools
- Screens in EDM also done for all features
- Architecture: gone for simplicity
- A careful balance between what is programmed in PMAC and EPICS
- the motion control is left to the PMAC
- Single motion, including running complex programs (e.g. special homing)
- Lookup table (up to 7 motors)
- Special software for hexapod mirror control
- Built on the Delta Tau inverse kinematics algorithms
- Integrates easily in the control system (all microIOC features)

## Future plans

- We want to move to asyn driver based motor record
- Right way to go
- Trendy
- Compatible with the universe
- All development from our projects will get fed into the MCS-8 software
- Power PMAC is a new product line from Delta Tau featuring Power PC and a RT Linux (most probably) operating system
- We are looking how to best use it in new generations of MCS-8
- Not before 2007

## Cosylab is the distributor and integrator for Delta Tau for academic CS market

- Ask us for an offer when buying Delta Tau products
- We can provide additional services, also designing and/or implementing your control system
- You know us and we know you – a very good start!

## Conclusion

- A motion control solution that easily integrates into control system
- Basic functionality working out of the box
- Custom requirements are easily implemented
- Available **now**
- For orders and enquiries please contact: 			_[csl-sales@cosylab.com](mailto:csl-sales@cosylab.com)_
- CA Server in Java
- We have secured 3⁄4 of funding already (Gemini, DESY)
- People would be interested in that (remember Kay’s and Marty’s talks)
- Still looking for the last ~10k$