Experimental Physics and
Industrial Control System

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<== Date ==>		<== Thread ==>

Subject:	RE: Omron Ethercat Motor Controllers
From:	"Foster, Andrew \(OBS,RAL,TEC\) via Tech-talk" <tech-talk at aps.anl.gov>
To:	"Nutter, Brian (DLSLtd,RAL,LSCI)" <brian.nutter at diamond.ac.uk>, "tech-talk at aps.anl.gov" <tech-talk at aps.anl.gov>
Date:	Mon, 7 Feb 2022 12:48:49 +0000

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

From: Tech-talk <tech-talk-bounces at aps.anl.gov> On Behalf Of Dunning, Michael via Tech-talk
Sent: Thursday, February 3, 2022 4:16 PM
To: Pearson, Matthew <pearsonmr at ornl.gov>; Mercado, Ronaldo (DLSLtd,RAL,LSCI) <ronaldo.mercado at diamond.ac.uk>; 'bob dalesio' <bob.dalesio at gmail.com>
Cc: EPICS mailing list <tech-talk at aps.anl.gov>
Subject: Re: Omron Ethercat Motor Controllers

Hi Matt,

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.

Mike

From: Pearson, Matthew <pearsonmr at ornl.gov>
Sent: Thursday, February 3, 2022 6:36 AM
To: Mercado, Ronaldo (DLSLtd, RAL, LSCI) <ronaldo.mercado at diamond.ac.uk>; Dunning, Michael <mdunning at slac.stanford.edu>; 'bob dalesio' <bob.dalesio at gmail.com>
Subject: RE: Omron Ethercat Motor Controllers

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

From: Tech-talk <tech-talk-bounces at aps.anl.gov> On Behalf Of Mercado, Ronaldo (DLSLtd, RAL, LSCI) via Tech-talk
Sent: Thursday, February 3, 2022 8:12 AM
To: 'Dunning, Michael' <mdunning at slac.stanford.edu>; 'bob dalesio' <bob.dalesio at gmail.com>
Cc: 'tech-talk at aps.anl.gov' <tech-talk at aps.anl.gov>
Subject: [EXTERNAL] RE: Omron Ethercat Motor Controllers

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

From: Tech-talk <tech-talk-bounces at aps.anl.gov> On Behalf Of Dunning, Michael via Tech-talk
Sent: 02 February 2022 02:02
To: bob dalesio <bob.dalesio at gmail.com>
Cc: EPICS mailing list <tech-talk at aps.anl.gov>
Subject: Re: Omron Ethercat Motor Controllers

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

From: Tech-talk <tech-talk-bounces at aps.anl.gov> on behalf of bob dalesio via Tech-talk <tech-talk at aps.anl.gov>
Sent: Tuesday, February 1, 2022 12:14 PM
To: EPICS tech-talk <tech-talk at aps.anl.gov>
Subject: Omron Ethercat Motor Controllers

Hi All,

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.

Thank you

Bob

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References:: Omron Ethercat Motor Controllers bob dalesio via Tech-talk; Re: Omron Ethercat Motor Controllers Dunning, Michael via Tech-talk; RE: Omron Ethercat Motor Controllers Mercado, Ronaldo (DLSLtd, RAL, LSCI) via Tech-talk; Re: Omron Ethercat Motor Controllers Dunning, Michael via Tech-talk

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ANJ, 14 Sep 2022

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Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System