Sorry, I forgot to include “tech-talk” in the reply:
From: Foster, Andrew (OBS,RAL,TEC)
Sent: Monday, February 7, 2022 12:44 PM
To: 'Dunning, Michael' <mdunning at slac.stanford.edu>; Pearson, Matthew <pearsonmr at ornl.gov>; Mercado, Ronaldo (DLSLtd,RAL,LSCI) <ronaldo.mercado at diamond.ac.uk>; 'bob dalesio' <bob.dalesio at gmail.com>; Nutter, Brian (DLSLtd,RAL,LSCI) <brian.nutter at diamond.ac.uk>
Subject: RE: Omron Ethercat Motor Controllers
Hi Everyone,
I’m passing on this message from Brian Nutter, who heads-up our low-level motion team at Diamond:
“We have used CK3M controller with AX1515P to replace the brick Controller ( Turbo) product on our insertion device control unit. This uses +/-
10V analogue output to the servo amplifier and has SSI or EnDAT feedback as standard. We are also testing it wit step and direction output for a 12 axis front-end system. I have trialled the above unit with EtherCAT connection to the amplifiers but we have
not yet tested them on a built ID to compare the performance with the analogue output, so it hasn’t been tested using EPICS yet. Fundamentally, once we set up a motor that’s all EPICS sees and it can be anything we build underneath, PFM, analogue, EtherCAT.
With regards to the powerBrick-LV we have a few of the older Power PC versions on test around Diamond, but this has
now been replaced with the ARM processor versions. We are expecting some deliveries in March.
To replace the Turbo UMAC in the field I would recommend the Power UMAC, not the CK3 version. For new projects I guess you could choose between 19”
rack UMAC systems or DIN rail mount CK3.”
Cheers, Brian
My impression in talking with the vendor is that the CK3M line is intended to replace the discontinued "Power Brick Controller" (without integrated drives) and eventually the Turbo
UMAC (which is still alive but may be reaching the end of its life).
They told me that they don't currently plan to discontinue the Power Brick LV (or Power Brick AC).
Like Ronaldo, we're also planning to test the CK3M with external ethercat drives. The reason we're not using the Brick LV is that we need to drive steppers at a higher bus voltage,
which the Bricks don't support.
Hi,
Out of interest, would this be the modern incarnation of the Delta Tau Power Brick LV? Except without integrated drives? I couldn’t find a complete integrated solution on the Omron website.
Cheers,
Matt
Hi,
I am writing to confirm that we are using the Omron CK3M in (at least) one project.
We are indeed using the pmac driver that Michael Dunning points to. Under the hood it is a power-pmac based motor controller. We have not yet used EtherCAT equipment connected to this motor controller. My understanding
is that any EtherCAT connected equipment will be transparent from the EPICS side.
>> Do you have a unit that we could use to test the controller?
We have a handful of these systems and I also heard reports of deliveries taking a long time.
Thanks,
Ronaldo Mercado
Diamond
Hi Bob,
I'm not sure which one you're looking at, but the CK3M/CK3E use the PMAC API so should work with the DLS pmac driver.
I've been talking with Omron/DeltaTau and they've confirmed this.
https://github.com/dls-controls/pmac
We are in the same boat as you; we've ordered parts for a prototype and are waiting to receive them. As soon as the parts arrive I plan to test with the DLS driver.
Michael Dunning
SLAC National Accelerator Laboratory
2575 Sand Hill Road
Menlo Park, CA 94025
(650) 926-5200
Is anyone using this generation of Omron motion controller?
Do you have a driver? Do you have a unit that we could use to test the controller? The order we placed will be several months to delver.
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This e-mail and any attachments may contain confidential, copyright and or privileged material, and are for the use of the intended addressee only. If you are not the intended addressee or an authorised recipient of the addressee please notify us of receipt by returning the e-mail and do not use, copy, retain, distribute or disclose the information in or attached to the e-mail. Any opinions expressed within this e-mail are those of the individual and not necessarily of Diamond Light Source Ltd. Diamond Light Source Ltd. cannot guarantee that this e-mail or any attachments are free from viruses and we cannot accept liability for any damage which you may sustain as a result of software viruses which may be transmitted in or with the message. Diamond Light Source Limited (company no. 4375679). Registered in England and Wales with its registered office at Diamond House, Harwell Science and Innovation Campus, Didcot, Oxfordshire, OX11 0DE, United Kingdom
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