Author: Levashov, Yu.I.
Paper Title Page
WECPL03 Implementation of the Motion Control System for LCLS-II Undulators 915
  • M.A. Montironi, C.J. Andrews, H. Bassan, K.R. Lauer, Yu.I. Levashov, H.-D. Nuhn, Z.R. Wolf
    SLAC, Menlo Park, California, USA
  • Ž. Oven
    Cosylab, Ljubljana, Slovenia
  As part of the LCLS upgrade called LCLS-II, two new undulator lines were introduced: a soft X-Ray line (SXR) and a hard H-Ray line (HXR). Serving distinct purposes, the two undulator lines employ different undulator designs. The SXR line is composed of 21 vertical gap, horizontally polarized undulators while the HXR line is composed of 32 undulator segments designed to operate on the horizontal axis and to produce a vertically polarized beam. The HXR undulators will replace the LCLS ones and thus the control system was designed with the main goal of maximizing the re-utilization of existing hardware and software. For this purpose, the motion control system based on RTEMS running on VME with Animatics SmartMotors was developed as an upgrade of the LCLS design and the cam-based undulator girder positioning system has been reused. The all new SXR undulators employ a new control system design based on Aerotech motion controllers and EPICS soft IOCs (input-output controllers). This paper describes how the most challenging motion control requirements were implemented focusing on motion synchronization, K-value to gap transformation, cams kinematics and calibration, and user interaction.  
slides icon Slides WECPL03 [0.625 MB]  
DOI • reference for this paper ※  
About • paper received ※ 29 September 2019       paper accepted ※ 09 October 2019       issue date ※ 30 August 2020  
Export • reference for this paper using ※ BibTeX, ※ LaTeX, ※ Text/Word, ※ RIS, ※ EndNote (xml)