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In the compact variable-gap undulator with Hydraulic-Assist Driver, miniaturehydraulic cylinders compensate for ~90% of magnetic forces and mechanicalactuators are used to accurately control the undulator gap. This method ofhydraulic assist enables design simplicity and compactness of the undulator.Proof-of-concept experiments and test results of the undulator prototype instep-by-step motion mode indicated excellent accuracy and stability propertiesof the driver. In this note we present test results of hydraulic-assist driverin continuous motion mode. Results indicate that hydraulic-assist driver canprovide smooth continuous undulator gap change, keeping the undulator harmonicenergy variation within the required 1eV/sec, and speed and RMS normalizedenergy errors at 1.8e-4 level (or less). That satisfies any application plannedat CHESS.

Compact Variable-Gap Undulator with Hydraulic-Assist Driver: undulator harmonic energy scan test