Introduction

The Insertion Device Control System, IDCS, is a system to control Undulators, a special type of Insertion Devices, at the BESSY synchrotron facility.

The Control Hardware

The system consists of an

IOC that is either:

• A VME bus based host running RTEMS.

• A PC with Linux.

and one or more motor control devices that communicate with the IOC via CAN bus.

Attention

There are two motor control devices in currently in use. The “MOCON” device is deprecated, all new undulators use the “UniDrive” device.

The Control Software

For the IOC, the system uses EPICS as software framework. This is the Insertion Devices Control Program, IDCP.

The motor control devices also have a program that uses their propriatory programming system. This is ‘moserv’ for the MOCON device and ‘uniserv’ for the unidrive type.