The Joint Accelerator Conferences Website (JACoW) is an international collaboration that publishes the proceedings of accelerator conferences held around the world.
TY - CONF AU - Gahl, T. AU - Brodrick, D.P. AU - BÃ¶gershausen, T. AU - Kirstein, O. AU - Korhonen, T. AU - Piso, D.P. AU - SandstrÃ¶m, 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 -