Beamline motor control using EPICS

We are now using EPICS to control the X-1A beamline motors (except for the microscope motors themselves). The names, descriptions, and step sizes for these motors are given in Table 4.1, while their connections with controllers (from Oregon Micro) and drivers (from Advanced Control Systems) are shown in Table 4.2. Further details on motor and driver hookups are provided in Chap. C, and further details on EPICS are given in Chap. G.

Table 4.1: X-1A EPICS motors, their scalings, and a description of their purpose in life (don't you wish you had a table for your purpose in life?).

Device	Scaling	Description
BPM_X	1 step/micron	X1 beam position monitor X axis
BPM_Y	1 step/micron	X1 beam position monitor Y axis
MIR_X	1.25 steps/micron	X1A mirror X axis
MIR_YAW	1 step/step	X1A mirror yaw
MIR_ROLL	1 step/step	X1A mirror roll
TMM	0.4 steps/micron	X1A toroidal mirror mask Y axis
ENS_I	-1.25 steps/micron	X1A2 inboard entrance slit X
SGM_I	1 step/step	X1A2 inboard monochromator rotation
EXS_I	1.58 steps/micron	X1A2 inboard horizontally-restricting exit slit drive
EXSY_I	1.25 steps/micron	X1A2 inboard vertically-restricting exit slit Y
EXS_IH
EXSY_IH
ENS_O	-1.25 steps/micron	X1A1 outboard entrance slit X
SGM_O	1 step/step	X1A outboard monochromator rotation
SGMY_O
EXS_O	1.30 steps/micron	X1A outboard horizontally-restricting exit slit drive
EXSY_O	1.25 steps/micron	X1A outboard vertically-restricting exit slit Y

Table 4.2: X-1A EPICS motors and their drivers and controller channels. The controllers OMS #1 and OMS #2 are OMS VME58-8 (8 stepper axes, open loop) units, while OMS #3 is a VME58-4E (4 stepper axes, encoder closed loop). For drivers, two ACS MDU-8 units are used for most motors. Additional drivers include one Berger-Lahr D450.01 driver for the Berger-Lahr RDM 566/50 motor used for the inboard X1A2 branch SGM, two ACS SPD6B drivers, and the drivers of the Physical Sciences Laboratory vertical SGM used on the outboard X1A1 branch beamline.

Device	EPICS	OMS #1	OMS #2	OMS #3	MDU-8 #1	MDU-8 #2	Other
BPM_X	x1a:m1	0			0
BPM_Y	x1a:m2	1			1
MIR_X	x1a:m3	2			2
MIR_YAW	x1a:m4	3			3
MIR_ROLL	x1a:m5	4			4
TMM	x1a:m6	5			5
ENS_I	x1a:m13		4			4
SGM_I	x1a:m14		5				Berger-Lahr
EXS_I	x1a:m9		0			0
EXSY_I	x1a:m10		1			1
EXS_IH	x1a:m17			0			ACS SPD6B #0
EXSY_IH	x1a:m18			1			ACS SPD6B #1
ENS_O	x1a:m15		6			6
SGM_O	x1a:m19			2			PSL scan
SGMY_O	x1a:m20			3			PSL index
EXS_O	x1a:m11		2			2
EXSY_O	x1a:m12		3			3
Test	x1a:m16		7			7