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 a VME bus based control host running RTEMS , also called IOC, and one or more motor control devices that communicate by a CAN bus line.

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 type and uniserv for the unidrive device type.