Open source EtherCAT motion control, ECMC, at PSI

The open-source EtherCAT* motion control EPICS module, ECMC*, is now being extensively deployed at the Paul Scherrer Institute (PSI), with the number of motion axes currently exceeding 600. ECMC is used across PSI facilities, particularly for the ongoing upgrade of the Swiss Light Source (SLS 2.0), as well as in SwissFEL and HIPA. The scale and diversity of motion control and data acquisition (DAQ) applications have driven the development of many new features in ECMC. Recent developments include support for PVT (Position-Velocity-Time) motion profiles for advanced fly scanning applications, along with beam-synchronous data acquisition capabilities. A concept for flexible and mobile motion control solutions has also been introduced, aiming to support beamline common-pool equipment and facilitate the integration of user-provided motors. Efforts have also focused on improving user-friendliness, defining best practices, streamlining commissioning, and simplifying troubleshooting processes. This contribution highlights the ongoing development and deployment of ECMC within the complex motion control environments at PSI.