The design of a high end, very sophisticated controller, that consists of an Allen Bradley ControlLogix PLC with a Kinetix servo controller for a 4.16 m EPU is presented. Four servo motors control the gap — 2 on the upper girder and 2 on the lower girder, and another 4 servos controls the phase — 2 on the upper girder inner and outer and 2 on the lower girder, inner and outer. This system is designed for The Taiwan Light Source (TLS) a synchrotron radiation machine of the National Synchrotron Radiation Research Center (NSRRC) at the energy of 1.5 GeV with electron beam current of 200 ∼ 400 mA.

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