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Slow control

    This page is Outdated. Please follow new code in IPFN GIT Server Git https://git.ipfn.tecnico.ulisboa.pt/tree/ISTTOK.git

    New ISTTOK EPICS Slow Control documentation moved to Markdown Format in README.md

    TOC 

    1. 1. New ISTTOK slow control system
      1. 1.1. Intro
      2. 1.2. Team and responsabilities
      3. 1.3. System description
        1. 1.3.1. Temperature/Vacuum Node: Vacuum System
        2. 1.3.2. Temperature/Vacuum Node: Temperature Sensors and ELCO Voltage Measurement Systems
        3. 1.3.3. Central Node
      4. 1.4. State machine description
      5. 1.5. Hardware Platform
          1. 1.5.1.1. Temperature/Vacuum Node
          2. 1.5.1.2. Local Control
          3. 1.5.1.3. Central Node
      6. 1.6. Software Platform
          1. 1.6.1.1. Temperature/Vacuum Node
          2. 1.6.1.2. Local Control
          3. 1.6.1.3. Central Node
          4. 1.6.1.4. Building EPICS base http://www.aps.anl.gov/epics/base/R3-14/12-docs/README.html#0_0_12
          5. 1.6.1.5. Channel Access configuration
      7. 1.7. Protocol for communication between dspics and PC in ISTTOK slow control
            1. 1.7.1.1.1. Examples:                                                                                             PIC -> PC
            2. 1.7.1.1.2. PC -> PIC
          2. 1.7.1.2. Table of words:
      8. 1.8. Archive System
    2. 2. References

    Other pages:

    New ISTTOK slow control system

    Intro

    The new ISTTOK slow control system is designed to replace the former vaccum/power/slow timing system based is the EDWARDS controller.

     

    The new system uses the EPICS framework and the Control System Studio, below there is a detailed description of the used software. In the next figure is depicted the system structure.

    systemdraw.png

    At the present all the software are installed in two IOC servers with the exception of the Control System Studio that is also used for the GUI management.

    Team and responsabilities

    • Horácio Fernandes (ISTTOK Leader)
    • Bernardo Carvalho (Project Leader)
    • Paulo Duarte (ISTTOK Session Leader, State Machine develpment)
    • Tiago Pereira (dsPIC development, RS232 protocol/ Sensor Interface/ Wiring)
    • Paulo F. Carvalho ( Epics Applications)
    • Bruno Santos (Epics)
    • Gonçalo Quintal (Epics, CSS Gui Panels)

    System description

    Presently there are two instances of EPICS IOC Server implemented. One responsible for the Temperature /Vacuum Node. And a second one, installed in a Raspberry Pi, implemented in the new control unit launched at ISTTOK for the remote control of the vacuum pumps, named Central Node.

    Temperature/Vacuum Node: Vacuum System

    - Pfeiffer pressure gauges

    The dsPic acquires the pressure value from the Pfeiffer gauge, with the Pfeiffer protocol working on RS485, and sends the pressure to a high level PC application.

    Process Value in the IOC Server for this system.

    PV Name PV Type Archive
    ISTTOK:vacuum:Uptime longin no
    ISTTOK:vacuum:Diff_Uptime calc no
    ISTTOK:vacuum:Last_Uptime calc no
    ISTTOK:vacuum:Pressure_Chamber1 ai yes
    ISTTOK:vacuum:Pressure_Primary1 ai yes


    Temperature/Vacuum Node: Temperature Sensors and ELCO Voltage Measurement Systems

    - Thermocouple Sensor
    - ELCO voltage measurement
       -For communication was used a fiber optic
     
    The dsPic uses the internal ADC to read the voltage signal from the thermocouple.
    To measure the ELCO's voltage it was developed two boards one to read the ELCO's voltage and another to connect the fiber optic to dsPIC.
     
    Process Value in the IOC Server for this system.
    PV Name PV Type Archive
    ISTTOK:temperature:Uptime longin no
    ISTTOK:temperature:Diff_Uptime calc no
    ISTTOK:temperature:Last_Uptime calc no
    ISTTOK:temperature:RawTemperature_0 ai yes
    ISTTOK:temperature:Temperature_0 calc yes
    ISTTOK:temperature:RawTemperature_1 ai no
    ISTTOK:temperature:Temperature_1 calc no
    ISTTOK:temperature:RawTemperature_2 ai no
    ISTTOK:temperature:Temperature_2 calc no
    ISTTOK:temperature:RawTemperature_3 ai no
    ISTTOK:temperature:Temperature_3 calc no
    ISTTOK:temperature:RawCapbank_Voltage ai no
    ISTTOK:temperature:Capbank_Voltage calc no

    Central Node

    - Pffeifer rotatory vacuum pump
    - Edwards electro valve
    - Seiko Seiki turbomolecular pump and control unit
     
    There are: one control signal to turn the rotatory pump on and off; one control signal to open and close the Edwards electro valve; and four control signals, as well as four monitoring signals for the Seiko Seiki turbomolecular pump and control unit.
     
    Process Value in the IOC Server for this system.
    PV Name PV Type Archive
    ISTTOK:central:RotatoryPump bo -
    ISTTOK:central:RotatoryValve bo -
    ISTTOK:central:TMPControllerOn bo -
    ISTTOK:central:TMPControllerOnInv calcout -
    ISTTOK:central:TMPControllerOff bo -
    ISTTOK:central:TMPControllerOffInv calcout -
    ISTTOK:central:TMPMotorOn bo -
    ISTTOK:central:TMPMotorOnInv calcout -
    ISTTOK:central:TMPMotorOff bo -
    ISTTOK:central:TMPMotorOffInv calcout -
    ISTTOK:central:Turbo_PW_Ind bi -
    ISTTOK:central:Turbo_Emergency bi -
    ISTTOK:central:Turbo_Acceleration bi -
    ISTTOK:central:Turbo_NormalOperation bi -
    ISTTOK:central:TMPManualValve bo -

    State machine description

    The developed state machine for EPICS uses the State Notation Language and Sequencer module. 

    This module implements a programming language specifically designed for programming finite state machines in such a way that it is easy for the program to interact with EPICS process variables (PVs), allowing to read and to write them and to react to changes in their value or status.

     

    In the next Figure is depicted the state machine flow,

     

    And the Process Value in the IOC Server for this system,

    PV Name PV Type Archive
    ISTTOK:central:AUTHORISATION bo -
    ISTTOK:central:OPREQ bo -
    ISTTOK:central:PROCESS-MODE bo -
    ISTTOK:central:PROCESS-REQ bo -
    ISTTOK:central:COUNTER calc -
    ISTTOK:central:OPCALCSTATE calc -
    ISTTOK:central:COUNTDOWN mbbi -
    ISTTOK:central:PULSE-NUMBER longout -
    ISTTOK:central:OPSTATE longout -
    ISTTOK:central:CurrentTime stringin -
    ISTTOK:central:TraceMessage stringout -
    ISTTOK:central:STARTINGSTATE mbbi -
    ISTTOK:central:STOPPINGSTATE mbbi -

    Hardware Platform

    Temperature/Vacuum Node

    One PC Controller

    • Intel(R) Atom(TM) CPU  330   @ 1.60GHz, Dual Core, 1 Gbyte RAM, 4 RAM
    • 4 Serial Ports
    • IP addr:192.168.1.152 ( ISTTOK private network)
    • Scientific Linux CERN 6 (SLC6) with MRG Realtime extensions
    • Linux kernel 3.2.33-rt50.66.el6rt.x86_64
    • NTP time conected to  IPFN Gps NTP/PPS server IP:10.136.236.255
    Local Control

    One or more dsPic board running an embedded firmware
    -

    Central Node
    • A Raspberry Pi, running a linux distribution

      • It also has a USB RS485 port for monitoring pressure (to be connected soon)

    • An Interface Board, velleman k8000:

      • connected to raspberry Pi through I2C interface;

      • 8 isolated output connected to the relays (6 relays installed for the rotatory control, 2 in use);

      • 4 isolated outputs connected to SEIKO unit controller;

      • 4 isolated inputs connected to SEIKO unit controller;

    • Indicator leds for the relays in the front panel
    • 24 V power supply

    Software Platform

    All software stored in IPFN SVN server: http://metis.ipfn.ist.utl.pt/svn/cdaq/ISTTOK/

    Temperature/Vacuum Node

    EPICS v. 3.14.12.3 including modules:

    CS-STUDIO

    Apache Tomcat

    Installed Scripts

    • epicsenv.sh                      directory: /etc/profile.d/epicsenv.sh
    • epicsenv                          directory: /usr/bin/epicsenv
    • epicsEnv                          directory: /etc/opt/epics/env.d/epicsEnv
    • epicsCaRepeater              directory: /etc/init.c/epicsCaRepeater
    • service-startup                 directory: /opt/epics/bin/services/service-startup
    • epicsIocLogServer            directory: /etc/init.c/epicsIocLogServer
    • epicsenv                           directory: /usr/bin/epicsenv
    • ioc-isttok                          directory: /etc/init.d/ioc-isttok
    • isttok-archive-engine       directory: /etc/init.d/isttok-archive-engine
    • isttok-css-alarm-server     directory: /etc/init.d/isttok-css-alarm-server
    Local Control

     

    Central Node

    Linux Raspian "Stretch"  (user :pi):

    EPICS v. base-3.15.5 (in /usr/local/epics) including modules:

    • synApps_5_8
      •  asyn-4-26
      •   seq-2-2-1
      • autosave-5-6-1 
    •  IOC installed in '/opt/epics/iocs/'

    For installation EPICS in Rpi see:

    Building EPICS base http://www.aps.anl.gov/epics/base/R3-14/12-docs/README.html#0_0_12
    Unpack file inside a folder named epics.
    Set environment variables:
    Run the perl script EpicsHostArch.pl in the base/startup directory to set EPICS_HOST_ARCH. 
     
    Do site-specific build configuratiom, site configuration:
            configure/CONFIG_SITE          Build choices. Specify target archs.
            configure/CONFIG_SITE_ENV  Environment variable defaults
            configure/RELEASE                 TORNADO2 full path location
     
    To build EPICS:
            gnumake clean uninstall
            gnumake
     
    Create a symbolic link for the base folder of EPICS called base/ inside the folder epics.
    Create a folder inside the epics folder named modules/.
     
    Download asyn and snl modules and unpack them inside epics/modules/.
    Create symbolic links for both unpack folders, asyn for the asyn module and seq for the snl module.
     
    To build asyn:
    Edit the config/RELEASE file and set the paths to your installation of EPICS_BASE (use the symbolic link base/).
    Then run make on top level directory.
     
    To build SNL:
    Edit the configure/RELEASE file and set the paths to your installation of EPICS_BASE  (use the symbolic link base/) and perhaps also configure/CONFIG_SITE.
    Then run make on top level directory.
    Note that make builds first in the configure directory, then the src tree, and finally the test and examples trees. A failure in the latter two will not impact your ability to write SNL programs.
     
    Channel Access configuration
    export EPICS_CA_ADDR_LIST=localhost

    echo $EPICS_CA_ADDR_LIST, it should say localhost.

    echo $EPICS_CA_SERVER_PORT, it should say 5064.
    echo $EPICS_CA_REPEATER_PORT, it should say 5065.
    This last values define ports used by EPICS and should be opened in firewall, iptable.

    Protocol for communication between dspics and PC in ISTTOK slow control

    • all bytes are readable ASCII
    • all messages all terminated with two bytes: \r\n (13 10)
    • messages have variable length
    • framing character for fields inside message is space (32)
    • individual fields inside each message have variable length
    • the last three characters before the terminator are the ASCII representation of the checksum of all other bytes, excluding the terminator
    Examples:                                                                                            
    PIC -> PC

    VL01_1 VL02_1 VL03_0 TE01_150.9 TE02_80.1 UP_7200 PR01_1.3e-4 CKS\r\n

    PC -> PIC

    VL01_1 CKS\r\n

    Table of words:
        VL   - Valve
        TE   - Temperature
        UP   - Uptime  
        PRD - Wave Periode  
        PR   - Pressure

    Archive System

    Main folder: /home/bernardo/css/

     

    References

    "EPICS IOC module development and implementation for the ISTTOK machine subsystem operation and control"
    Paulo Carvalho, André Duarte, Tiago Pereira, Bernardo Carvalho, Jorge Sousa, Horácio Fernandes, Carlos Correia, Bruno Gonçalves, Carlos Varandas

    Fusion Engineering and Design 86 (2011) 1085–1090

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    Files 5

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     FiniteStateMachine.png
    Installed state machine in the new slow control unit Rpi IOC Server
    		75.87 kB11:34, 2 Feb 2018fmouraoActions
     firmware.rar
    DsPic embedded firmware
    		188.54 kB15:58, 27 May 2011tpereiraActions
     front_panel_vb.rar
    GUI in visual basic
    		23.25 kB17:06, 29 Jun 2011tpereiraActions
     ISTTOK_protocol.ods
    Protocol between dsPic embedded firmware and high level application
    		16.25 kB15:58, 27 May 2011tpereiraActions
     systemdraw.png
    New slow control schematic
    		92.39 kB11:29, 4 Nov 2014gquintalActions
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