Realtime Motion Control -Update. Uwe Ristau
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1 Realtime Motion Control -Update Uwe Ristau
2 Distributed control units: current configuration CX1030 Embedded PC CX /930 Power module/ups EL7041 Stepper motor modules EL6692 Master-to-Master communication Cooling unit SB to Ethernet dapter Rack mount option: EL5101 Counter, I/O modules 24V /48V power supplies 2
3 Distributed control units: current configuration CX /930 Electronic to for one Power component module/ups like: CX1030 DCM Embedded PC Mirror Exp Tbl BPM, Collimator EL7041 Stepper motor modules EL6692 Master-to-Master communication Cooling unit USB to Ethernet adapter Rack mount option: EL5101 Counter, I/O modules 24V /48V power supplies 3
4 Motion control > Motor to Client TwinCat PLC Task IPS: Lips Task Motor Lib SynchronizationTask ADS 100us ADS cycle Time SoftPLC TINE CDI BusPlug TwinCatADS TwinCat Manager NC-Motor Control EtherCat EtherCat Device TINE Motor/SCAN MotorPlug TINE Motor1 Motor2 Monitor1 Monitor2 Electronic TwinCatNC Software Client ADS Beckhoff TwinCat communication protocoll
5 TINE Common Device Interface Siemens S5 TINE CDI BusPlug TwinCatADS CANOpen TwinCatADS WinComm(RS-232) Low level server to access hardware Exports device api to tine Hides device specific protocols Connection to the central services Archiver and Alarms Example TwinCat: Motor functionality (properties) Access to all variables of the twincat plc
6 Motor Architecture TINE CDI BusPlug Siemens S5 CANOpen TwinCatADS TwinCatADS WinComm(RS-232) TINE Motor/SCAN MotorPlug TwinCatNC TwinCatNC Attocube PI 815 Piezo Staeubli Robot PMAC Beckhoff K.Bus TwinCatNC Numeric Control of Beckhoff TwinCat ADS Beckhoff Communication Protocol Beckhoff EL7041 Beckhoff EL AX5000
7 TINE Motor Group moves On the fly defined group moves Move.Start -> Mot1,Mot2,Mot3,10,10,20 Pseudo axis move: Pseudo axis defined in motorgroups.csv. PseudoAxis def File In use:exptable,slits,mono, Detector stage Initialization at the pos Limit switch or at the referenz position for all axis
8 Architecture of the EMBL PetraIII Beamline control TINE Services: Sequencing, Alarming, Archiving Presentation Layer (GUI) / Communication Layer Beamline Layer Interfacing & Communication servers Thin Client USER Client Beamline Rich Client Generic Component Component Component High Level Device Device Device Device Device Device Low Level Device
9 Architecture of the EMBL PetraIII Beamline control TINE Services: Sequencing, Alarming, *Layer structure Archiving Presentation Layer (GUI) / Communication Layer Interfacing & Communication servers * Every layer Beamline accessible Layer via TINE Thin Client USER Client Beamline * High Level s (Component, Beamline ) Rich Client can access Generic data/properties Component of low and high level servers Component Component *All Devices have theire own local Instrument Protection system LIPS High Level Device Low Level Device
10 Standard Motor Client 1. Connect totine.csv file 2. Load the Devices via TINE call 3. Start Client Config files Logging Initialization of axis Variable speed
11 BICFROC Container Interface
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