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Motion Control System StatusControl group
23/11/2013
Prepared by:Ibrahim Saleh Abdallah Ismail
1SESAME-SAC2013-Ibrahim Saleh
SESAME-SAC2013-Ibrahim Saleh 2
Beamlines Control SystemMonochromator
Reflecting Mirror
VCM: Vertical Collimating MirrorVFM: Vertical Focusing MirrorDCM: Double Crystal Monochromator
DCMVCM
VFM
SESAME-SAC2013-Ibrahim Saleh 3
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