301 lines
11 KiB
Markdown
301 lines
11 KiB
Markdown
# New ISTTOK Slow Control System
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## Intro
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The new ISTTOK slow control system is designed to replace the former vacuum/power/slow timing system based is the EDWARDS controller.
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The new system uses the [EPICS](https://epics-controls.org) framework and the [Control System Studio](http://controlsystemstudio.org), below there is a detailed description of the used software.
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In the next figure is depicted the system structure.
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At the present the software are installed in two IOC servers with the exception of the Control System Studio that is also used for the GUI management.
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All software stored in IPFN GIT [server](https://git.ipfn.tecnico.ulisboa.pt/summary/ISTTOK.git)
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## Team and responsabilities
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- **Horácio Fernandes** (ISTTOK Leader)
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- **Bernardo Carvalho** (Project Leader)
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- **Humberto Figueiredo** (ISTTOK Session Leader)
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- **Hugo Alves** (ISTTOK Session Leader, State Machine development)
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- **Tiago Pereira** (dsPIC development, RS232 protocol/ Sensor Interface/ Wiring)
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## System description
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Presently there are two/three instances of EPICS IOC Server implemented.
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One responsible for the Temperature Node.
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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.
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A third one is dedicated for readind the Vacuum Sensore through the RS484 Interface
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### Temperature/Vacuum Node: Temperature Sensors and ELCO Voltage Measurement Systems
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- Thermocouple Sensor
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- ELCO voltage measurement
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- For communication was used a fiber optic
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The dsPic uses the internal ADC to read the voltage signal from the thermocouple.
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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.
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#### Hardware Platform
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- Thermocouple Sensor
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- ELCO voltage measurement
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1. One PC Controller
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* Intel(R) Atom(TM) CPU330 1.60GHz, Dual Core, 1 Gbyte RAM, 4 RAM
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* 4 Serial Ports
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* IP addr: 192.168.1.152 ( ISTTOK private network)
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* Scientific [Linux CERN 6](http://linux.web.cern.ch/linux/scientific6) (SLC6)
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with MRG Realtime extensions
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*Linux kernel 3.2.33-rt50.66.el6rt.x86_64
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* NTP time conected to IPFN Gps NTP/PPS server IP:10.136.236.255 and
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baco.ipfn.tecnico.ulisboa.pt (193.136.136.129)
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2. Local Control
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* One or more dsPic board running an embedded firmware
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Temperature Sensors and ELCO Voltage Measurement Systems
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-For communication was used a fiber optic
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The dsPic uses the internal ADC to read the voltage signal from the thermocouple.
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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.
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#### Protocol for communication between dspics and PC
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* all bytes are readable ASCII
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* all messages all terminated with two bytes: \r\n (13 10)
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* messages have variable length
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* framing character for fields inside message is space (32)
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* individual fields inside each message have variable length
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* the last three characters before the terminator are the ASCII representation of the checksum of all other bytes, excluding the terminator
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* Messages are sent periodically (1s)
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Examples:
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PIC -> PC
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`VL01_1 VL02_1 VL03_0 TE01_150.9 TE02_80.1 UP_7200 PR01_1.3e-4 CKS\r\n`
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PC -> PIC
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`VL01_1 CKS\r\n`
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Table of word fields
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| N | A |
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|:------|-----|
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| VLxx_| Valve|
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| TExx_| Temperature|
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| UP_ | Uptime |
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| PRDxx_| Wave Period |
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| PRxx_ | Pressure |
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#### Software Platform
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1. EPICS V3.15.7 (instaled in `/opt/epics/base-3.15.7`)
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* IOC sources (versioned) in `/home/codac-dev/ISTTOK/epics/iocs/ISTTOKdsPIC`
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* IOC binaries in `/opt/epics/apps/ISTTOK`
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* Init IOC script in `/etc/rc.local`
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2. Modules ( (instaled in `/opt/epics/modules`)
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* ASYN [git package](https://github.com/epics-modules/asyn.git)
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* STREAM [git](https://github.com/paulscherrerinstitute/StreamDevice.git)
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3. CS-Studio
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* Archive [Engine] (http://cs-studio.sourceforge.net/docbook/ch11.html)
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* Init script in `/etc/init.d/isttok-archive-engine`
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* MySQL server (user: report )
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* ArchiveConfigTool in `/home/bernardo/css/ArchiveConfigTool`
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Process Value in this IOC Server:
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|PV Name |PV Type |Archive|
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|:----------|-------|---:|
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|ISTTOK:temperature:Uptime |longin| no|
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|ISTTOK:temperature:Last_Uptime | ai | no |
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|ISTTOK:temperature:Temperature_0 |ai |yes
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|ISTTOK:temperature:Temperature_1 |ai | no |
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|ISTTOK:temperature:Temperature_2 |ai | no |
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|ISTTOK:temperature:Temperature_3 |ai | no |
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|ISTTOK:temperature:Capbank_Voltage | ai| no |
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|ISTTOK:temperature:VVessel-Temperature | ai | yes |
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----------
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### Central Control/Vacuum Node
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- Vacuum Sensors
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- Pffeifer rotatory vacuum pump
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- Edwards electro valve
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- Seiko Seiki turbomolecular pump and control unit
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- Main State Machine
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#### Hardware Platform
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1. A Raspberry Pi 3, running a linux distribution..
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* Has a USB/RS485 port for monitoring pressure (to be connected soon)
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2. Two Interface Boards, Velleman Model [k8000](https://www.velleman.eu/products/view/?id=9383)..
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* connected to raspberry Pi through I2C interface;
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* 8 isolated output connected to the relays (6 relays installed for the rotatory control)
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* 4 isolated outputs connected to SEIKO unit controller
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* Indicator leds for the relays in the front panel
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* 24 V power supply
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#### Software Platform
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[//]: # (This may be the most platform independent comment)
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1. Linux Raspian "Stretch" (user :pi):
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* IP addr:192.168.1.110 ( ISTTOK private network)
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* NTP/timedatectl time conected to IPFN Gps NTP/PPS server IP:10.136.227.237 193.136.136.129
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(this is mandatory, Rpi does not have a Real Time clock see https://www.raspberrypi.org/forums/viewtopic.php?t=178763)
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* EPICS v. base-3.15.5 (in /usr/local/epics) including modules:
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* synApps_5_8
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* asyn-4-26
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* seq-2-2-1
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* autosave-5-6-1
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* IOC installed in '/opt/epics/iocs/'
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* Running in `screen deamon` (see `/etc/rc.local`)
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For installation EPICS in Rpi see this [link](prjemian.github.io/epicspi)
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#### Process Variables
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Process Variables in this IOC Server:
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* State machine PVs
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|PV Name |PV Type |Archive|
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|:----------|-------|---:|
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|ISTTOK:central:AUTHORISATION | bo | no |
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|ISTTOK:central:OPREQ | bo | no |
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|ISTTOK:central:PROCESS-MODE | bo | no |
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|ISTTOK:central:PROCESS-REQ | bo | no |
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|ISTTOK:central:COUNTER | calc | no |
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|ISTTOK:central:COUNTDOWN | mbbi | no |
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|ISTTOK:central:PULSE-NUMBER | longout | yes |
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|ISTTOK:central:OPSTATE |longout | yes |
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|ISTTOK:central:CurrentTime | stringin | no |
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|ISTTOK:central:TraceMessage | stringout | yes |
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|ISTTOK:central:LogMessage | stringout | yes |
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----------
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* Connected to PCF8574 I2C Address = 56 (Bottom Valleman)
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|PV Name | PV Type | Bit |
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|:----------|-------|---:|
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| ISTTOK:central:TMPump1-ControllerOn | bo | 0 |
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|ISTTOK:central:TMPump1-ControllerOff | bo | 1 |
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|ISTTOK:central:TMPump1-MotorOn | bo | 2 |
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|ISTTOK:central:TMPump1-MotorOff | bo | 3 |
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|ISTTOK:central:TMPump1-Power | bi | 4 |
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|ISTTOK:central:TMPump1-Acceleration | bi | 5 |
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|ISTTOK:central:TMPump1-Emergency | bi | 6 |
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|ISTTOK:central:TMPump1-NormalOperation | bi | 7 |
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----------
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* Connected to PCF8574 I2C Address = 57
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|PV Name | PV Type | Bit |
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|:----------|-------|---:|
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|ISTTOK:central:TMPump2-Emergency | bi | 0 |
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|ISTTOK:central:TMPump2-Acceleration | bi | 1 |
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|ISTTOK:central:TMPump2-MotorOn | bo | 2 |
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|ISTTOK:central:Buzzer| bo | 3 |
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|ISTTOK:central:Emergency-PhysButton| bi | 4 |
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|ISTTOK:central:TTSystem-tzero| bi | 7 |
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----------
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* Connected to PCF8574 Address = 60 (Top Valleman)
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|PV Name | PV Type | Bit |
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|:----------|-------|---:|
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|ISTTOK:central:RPump1-Motor| bo | 0 |
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|ISTTOK:central:RPump1-Valve| bo | 1 |
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|ISTTOK:central:RPump2-Motor| bo | 2 |
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|ISTTOK:central:RPump2-Valve| bo | 3 |
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|ISTTOK:central:VVessel-Filament| bo | 4 |
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|ISTTOK:central:Clean-TorContactor| bo | 7 |
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----------
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* Connected to TDA8444 DAC @ address 0x20=d32 (Bottom Valleman)
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|PV Name |PV Type |Archive|
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|:----------|-------|---:|
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| ISTTOK:central:TDA8444:32:DAC_CH0| longout | no |
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| ISTTOK:central:TDA8444:32:DAC_CH1| longout | no |
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| ISTTOK:central:TDA8444:32:DAC_CH2| longout | no |
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| ISTTOK:central:TDA8444:32:DAC_CH3| longout | no |
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| ISTTOK:central:TDA8444:32:DAC_CH5| longout | no |
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| ISTTOK:central:TDA8444:32:DAC_CH6| longout | no |
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| ISTTOK:central:Shot-TorPSCurrent| longout | no |
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----------
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* Connected to PCF8591 ADC / DAC register @ address 0x48=d72
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|PV Name |PV Type | CH |Archive|
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|:----------|-------|---:|
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| ISTTOK:central:TMPump2-Speed| ai | ch1 | no |
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| ISTTOK:central:TMPump2-Current| ai | ch2 | no |
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| ISTTOK:central:Shot-TorPSCurrentImage"| ai | ch3 | no |
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----------
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* Connected to RS485 Bus (Not yet)
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|PV Name |PV Type |Archive|
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|:----------|-------|---:|
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|ISTTOK:central:RPump1-Pressure | ai | yes |
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|ISTTOK:central:RPump2-Pressure | ai | yes |
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|ISTTOK:central:TMPump1-PressureAdmission | ai | yes |
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|ISTTOK:central:VVessel-Pressure | ai | yes |
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----------
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### Central Control/Vacuum Node
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- Vacuum Pfeiffer Sensors (RS485)
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#### Hardware Platform
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1. A Raspberry Pi 3, running a linux distribution..
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* Has a USB/RS485 port for monitoring pressure
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#### Process Variables
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Process Variables in this IOC Server:
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* Connected to RS485 Bus
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|PV Name |PV Type |Archive|
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|:----------|-------|---:|
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| ISTTOK:vacuum:RPump1-Pressure | ai | yes |
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|ISTTOK:vacuum:RPump2-Pressure | ai | yes |
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|ISTTOK:vacuum:TMPump1-PressureAdmission | ai | yes |
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|ISTTOK:vacuum:VVessel-Pressure | ai | yes |
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----------
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#### Software Platform
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[//]: # (This may be the most platform independent comment)
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1. Linux Raspian "buster" (user :pi):
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* IP addr: 192.168.1.120 ( ISTTOK private network)
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* NTP/timedatectl time conected to IPFN Gps NTP/PPS server IP:10.136.227.237 193.136.136.129
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(this is mandatory, Rpi does not have a Real Time clock see https://www.raspberrypi.org/forums/viewtopic.php?t=178763)
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* EPICS 7. To install follow [EPICS Docs](https://docs.epics-controls.org/projects/how-tos/en/latest/getting-started/installation.html)
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## Download and configure CS-Studio
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* Install JAVA JDK (version Java SE Development Kit 8)
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* Download ISTTOK EPICS Files to a working folder
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* `git clone https://bernardo@git.ipfn.tecnico.ulisboa.pt/r/ISTTOK.git`
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* Goto site [CS-Studio](http://download.controlsystemstudio.org/release/4.5/) and download latest version to your OS
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* Uncompress folder
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* Run `cs-studio` executable
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* Choose a workplace folder
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* Goto to Menu EDIT->Preferences->CSS Core->Data Sources->Channel Access
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* On Address List replace `localhost` with `epics.ipfn.tecnico.ulisboa.pt`
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* Uncheck `Auto Address List`
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* Restart CS-Studio
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* Run File -> Import -> General-> Projects from folder
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* point to cloned folder
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* Navigate to `ISTTOK/epics/css/sys-mng-opi/CSS`
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* Open `SystemManagerIsttok.opi` with "OPI Display"
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### EPICS Channel Access Configuration
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```
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export EPICS_CA_ADDR_LIST=""192.168.1.110 192.168.1.120 192.168.1.152"
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export EPICS_CA_AUTO_ADDR_LIST="NO"
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```
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### References
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*"EPICS IOC module development and implementation for the ISTTOK machine subsystem operation and control"*
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Paulo Carvalho, André Duarte, Tiago Pereira, Bernardo Carvalho, Jorge Sousa, Horácio Fernandes, Carlos Correia, Bruno Gonçalves, Carlos Varandas
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Fusion Engineering and Design 86 (2011) 1085–1090
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