JACoW logo

Joint Accelerator Conferences Website

The Joint Accelerator Conferences Website (JACoW) is an international collaboration that publishes the proceedings of accelerator conferences held around the world.


RIS citation export for MOCPL05: ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS

TY - CONF
AU - Gahl, T.
AU - Brodrick, D.P.
AU - Bögershausen, T.
AU - Kirstein, O.
AU - Korhonen, T.
AU - Piso, D.P.
AU - Sandström, A.
ED - Schaa, Volker RW
TI - ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS
J2 - Proc. of ICALEPCS2017, Barcelona, Spain, 8-13 October 2017
C1 - Barcelona, Spain
T2 - International Conference on Accelerator and Large Experimental Control Systems
T3 - 16
LA - english
AB - 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.
PB - JACoW
CP - Geneva, Switzerland
SP - 71
EP - 75
KW - ion
KW - controls
KW - EPICS
KW - hardware
KW - real-time
DA - 2018/01
PY - 2018
SN - 978-3-95450-193-9
DO - 10.18429/JACoW-ICALEPCS2017-MOCPL05
UR - http://jacow.org/icalepcs2017/papers/mocpl05.pdf
ER -