# Presentation: 219025

## LCLS Undulator Positioning Control System

*	**Shifu Xu, Joseph Xu, Josh Stein*
*	**  **Control Group, AES/APS, ANL*
*	**           **June 15, 2006*

## Outline

- Undulator Positioning Control System Hardware
- Field IOC Hardware
- Network Scheme
- IOC Software
- EPICS Database
- EPICS SmartMotor driver
- User Graphic Interface: MEDM vs Java
- Things to do

## Undulator Positioning Control System Hardware and Requirements

- LCLS has 33 undulator segments, each segment has a positioning system that consists of:
- 5-axis girder cam mover system
- 2-axis undulator translation system
- 5 absolute angular position readouts
- 8 absolute linear position readouts
- Total:  231 motion axis and 429 position feedbacks
- Each segment has one IOC
- Quadrupole Motion Positioning Repeatability		±7 μm
- Short-Term (1 h) BPM and Quad Stability		±2 μm
- Long-Term (24 h) BPM and Quad Stability		±5 μm
- Thermal limitations
- CAM mover system has five degrees of freedom
- X-translation
- Y-translation
- Pitch motion
- Roll motion
- Yaw motion

## Undulator Segment Layout

| LCLS SUT Layout |  |
| --- | --- |
| Undulator Magnet and Support | Motion |
| Vacuum System | Motion |
| Diagnostics | Motion |
| Thermocouple |  |

|  |  |  |
| --- | --- | --- |
|  |  |  |
|  |  |  |
|  |  |  |
| New Renderings | 04 | 01-18-06 |
| Expanded Pages, Added Thermocouples, Added Cable Tray, Added Cables | 03 | 01-17-06 |
| Moved Bellows, Updated Supports, Reconfigured RFBPM Waveguide, Added Change Box | 02 | 01-16-06 |
| Reconfigure Assembly, Update Colors, Reconfigure RFBPM Waveguide | 01 | 01-09-06 |
| Change | Rev | Date |

| Thermocouple Location |  |
| --- | --- |
| 1 | Undulator |
| 2 | Ambient Air |
| 3 | Ambient Air at Quad |
| 4 | Quad |
| 5 | RFBPM |
| 6 | Girder |
| 7 | Undulator Motor (Dwn Strm) |
| 8 | Undulator Motor (Up Strm) |
| 9 | Girder Motor (Single) |
| 10 | Girder Motor (Double) |
| 11 | Floor Support (Upper) |
| 12 | Floor Support (Lower) |
| 13 | Vacuum Chamber Support |
| 14 | Vacuum Chamber (At Beam) |
| 15 | Vacuum Chamber (Strngbk) |
| 16 | Ion Pump |

- 1

- 2

- 3

- 4

- 5

- 6

- 7

- 11

- 9

- 12

- 8

- 10

- 15

- 16

- 14

***Undulator Segment Layout***

## Field IOC Hardware

- Off-the-shelf Integrated Industrial Computer Systems (PC-104 based):486DX2/100M, 32MB SDRAM (Diamond Systems Co.)
- 16 channel single ended/8 differential  ADCs (16-bit) for position readouts.
- Programmable input range: ± 10V/0-10v
- 24 programmable digital I/O
- One Ethernet port, and 12 serial ports, including add-on 8 channel serial port board for motion control:
- Configurable RS232,RS422, RS485
- 32M flash disk; IDE driver connector
- two USB ports, one parallel port
- Floppy disk driver connector

## Network Scheme

- 33 IOCs with a  DHCP/NFS server
- On each IOC:
- scp for file copy
- sshd for remote login
- dhclient for dynamic IP address configuration
- IP address setup scheme
- Run dhclient, if success, save IP address in a script.
- Otherwise, run the pre-saved script.
- If no pre-saved script exists, run the default script.

## IOC Software

- Linux 2.4.22: boot from local flash disk
- IOC kernel and application program are updated through scp command from the server as needed.
- EPICS base 3.14.8.2
- ASYN 4-4
- Device/driver support for the ADC/DIO on CPU board
- Kernel module for the 8 channel serial port PC104 board
- Motor record and SmartMotor driver support
- EPICS database

## SmartMotor driver support

- SmartMotor: Servo Motor with RS-232 interface.
- http://www.animatics.com/
- Motor record and device support
- Based on Intelligent Motion System’s IM483 driver

## EPICS Database

- PV naming scheme: prefix of PV name is assigned according to the last 8 bits of IOC’s IP address, e.g.
- IP: xxx.xxx.xxx.101id001:xxxx
- IP: xxx.xxx.xxx.133id033:xxxx
- Motion Algorithms are implemented through calc records.

## MEDM User Interfaces

- Position Control
- Undulator Position Control
- Undulator Position Calibration
- Girder Position Control
- Girder CAM Position Calibration
- Girder Parameter
- Potentiometer Readout
- Motor setup (7)

## MEDM User Interface

## MEDM User Interface

***MEDM User Interface***

## Java User interface

- Eclipse 3.1 IDE on Linux
- Visual Editor
- Jca 2.16 CA library
- RCP (Rich Client Platform)
- Manage the control and display of all the undulators in one window

## GUI (Java version)

## GUI (Java version)

***GUI (Java version)***

## Things to Do

- EDM GUI
- System verification on SUT (Single Undulator Test) system
- Network verification
- Undulator motion control design review
-  Integrate software into source/release controls system at SLAC (subversion).
-  Determine operator/engineering interfaces required for LCLS operation.

## Thank you for your attention