Author: Bögershausen, T.
Paper Title Page
MOCPL05 ECMC, the Open Source Motion Control Package for EtherCAT Hardware at the ESS 71
  • T. Gahl, D.P. Brodrick, T. Bögershausen, O. Kirstein, T. Korhonen, D.P. Piso, A. Sandström
    ESS, Lund, Sweden
  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.
** R. Mercado, I. J. Gillingham, J. H. Rowland, K. Wilkinson "Integrating EtherCAT based IO into EPICS at Diamond." ICALEPCS 2011, Grenoble 2011
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