The DAMC-MOTCTRL is a low-cost motion controller card in AMC form factor.

This code repository handles the Board Support Package of the board.

The object of Motion Control project is to access numerous actuators and sensors present in: experimental, control and optics cabin. Particular focus is given to translation of desired motion into synchronous motor movements which run diffractometers structure. The beamlines at DESY facility use legacy VMEbus motion control cards that are limited in I/O features and processing power. We have developed a MicroTCA compliant card that provides control of 16 motors per card with emphasis on low torque, speed and velocity ripple. Processing power and I/O features of MicroTCA Motion Controller card(hereinafter DAMC-MOTCTRL) permit continuous scans, on the fly data analysis, cloud integration and daisy chaining. Conjunction of MicroTCA and DAMC-MOTCTRL architecture provides unparalleled flexibility in retrofitting or building completely new systems.

This AMC has two FPGAs. Namely Ultrascale+ MPSoC and Kintex-7 FPGA. The connectivity between the FPGAs, AMC connector, front panel and Zone-3 is shown on the diagram below.

The two FPGAs directly connect each other with 22 pins which are meant to be used by Chip2Chip(C2C) communication. Ethernet connectivity between both FPGAs is also possible through RGMII interface.

There is a cross-point switch for the transceiver connections for both FPGAs. Using this switch, users can choose where the GTX/R Transceivers of both FPGA connects to.

MPSoC has a 2GB DDR4 Memory (1066MT) connected to the PS Side. Kintex-7 has 4GB DDR3 Memory.

Kintex-7 handles the Zone-3 Pins, MLVDS lanes from the AMC backplane, as well as SFP connectivity to the front panel.

The front panel connectivity of the AMC is shown below: