Design of a Tango system supported stepper motor driver

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Dr. Balogh Attila
Department of Automation and Applied Informatics

Within the framework of my thesis, I was given the task to prepare a steppermotor control system with Tango user interface, on behalf of the Laser Center of Szeged (ELI-HU Nonprofit Ltd.) The steppermotor drives the axle of a polarisation rotator equipment. With the polarisation rotator equipment, the polarisation of the incident beam can be rotated, according to demand. The finished project (the polarisation rotator equipment, as well as the motor controlling hardware and software) is a prototype. The goal of the project is to enable the introductory testing and experiments of the equipments to be used at the Laser Center.

To complete the project, the following hardware equipments were available: steppingmotor, power supply, motor drives, controller (BeagleBone Black), emergency switch, pushbutton and an endstate sensor. In the course of my work, I had to write three programmes, then I had to revive the system. The first programme runs on the Programmable Realtime Unit (PRU) of the BeagleBone Black; this is an assembly programme, managing the digital outputs and inputs. Simultaneously, a communication server is running on the BeagleBone Black. It communicates through a socket with the outside world, and drives the programme running on the PRU on the basis of the commands received from the socket. On top level of the software system is the Tango Device Server. It is connected to the Beagle Bone communication server from the Tango control system. My work also included commissioning and testing of the system.

In my thesis I describe the available hardwares, the written softwares and the necessary preparations for the functioning of the system. Moreover, I summarize the results obtained, the conclusions and further development opportunities.


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