MOTION CONTROL OF THE MIRROR CHAMBER

The initial beamlines of SSRF have several mirror chambers. The motion mechanism of the mirror chamber consists of six step motors. Three vertical motors are used to achieve the height translation, the roll adjustment and the pitch adjustment. Two horizontal motors are used to achieve the horizon translation and the yaw adjustment. The mirror bending is achieved by a single motor. Except the bending, every motion needs two or three motors to work simultaneously. The VME systems are used in the control system. The EPICS (Experimental Physics and Industrial Control System) toolkits [1] are adopted to develop the control software. This paper describes how to use motor records, transform records and the EPICS database linking mechanism to form soft loops, which solve the difficulties of the complex motions perfectly. The system has been successfully applied in the mirror chambers at SSRF.