9.1 KiB
New ISTTOK Slow Control System
Intro
The new ISTTOK slow control system is designed to replace the former vacuum/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.
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.
All software stored in IPFN GIT server
Team and responsabilities
- Horácio Fernandes (ISTTOK Leader)
- Bernardo Carvalho (Project Leader)
- Humberto Figueiredo (ISTTOK Session Leader)
- Hugo Alves (ISTTOK Session Leader, State Machine development)
- Tiago Pereira (dsPIC development, RS232 protocol/ Sensor Interface/ Wiring)
- Paulo F. Carvalho ( Epics Applications), CS-S Gui Panels)
System description
Presently there are two instances of EPICS IOC Server implemented. One responsible for the Temperature 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: 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.
Hardware Platform
- Thermocouple Sensor
- ELCO voltage measurement
- One PC Controller
- Intel(R) Atom(TM) CPU330 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 and baco.ipfn.tecnico.ulisboa.pt (193.136.136.129)
- Local Control
- One or more dsPic board running an embedded firmware
Temperature Sensors and ELCO Voltage Measurement Systems -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.
Protocol for communication between dspics and PC
- 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
- Messages are sent periodically (1s)
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 word fields
| N | A |
|---|---|
| VLxx_ | Valve |
| TExx_ | Temperature |
| UP_ | Uptime |
| PRDxx_ | Wave Period |
| PRxx_ | Pressure |
Software Platform
- EPICS V3.15.7 (instaled in
/opt/epics/base-3.15.7)- IOC sources (versioned) in
/home/codac-dev/ISTTOK/epics/iocs/ISTTOKdsPIC - IOC binaries in
/opt/epics/apps/ISTTOK - Init IOC script in
/etc/rc.local
- IOC sources (versioned) in
- Modules ( (instaled in
/opt/epics/modules)- ASYN git package
- STREAM git
- CS-Studio
- Archive [Engine] (http://cs-studio.sourceforge.net/docbook/ch11.html)
- Init script in
/etc/init.d/isttok-archive-engine - MySQL server (user: report )
- ArchiveConfigTool in
/home/bernardo/css/ArchiveConfigTool
Process Value in this IOC Server:
| PV Name | PV Type | Archive |
|---|---|---|
| ISTTOK:temperature:Uptime | longin | no |
| ISTTOK:temperature:Last_Uptime | ai | no |
| ISTTOK:temperature:Temperature_0 | ai | yes |
| ISTTOK:temperature:Temperature_1 | ai | no |
| ISTTOK:temperature:Temperature_2 | ai | no |
| ISTTOK:temperature:Temperature_3 | ai | no |
| ISTTOK:temperature:Capbank_Voltage | ai | no |
Central Control/Vacuum Node
- Vacuum Sensors
- Pffeifer rotatory vacuum pump
- Edwards electro valve
- Seiko Seiki turbomolecular pump and control unit
- Main State Machine
Hardware Platform
- A Raspberry Pi 3, running a linux distribution
- Has a USB/RS485 port for monitoring pressure (to be connected soon)
- Two 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)
- 4 isolated outputs connected to SEIKO unit controller
- Indicator leds for the relays in the front panel
- 24 V power supply
Software Platform
- Linux Raspian "Stretch" (user :pi):
- IP addr:192.168.1.110 ( ISTTOK private network)
- NTP/timedatectl time conected to IPFN Gps NTP/PPS server IP:10.136.227.237 193.136.136.129 (this is mandatory, Rpi does not have a Real Time clock see https://www.raspberrypi.org/forums/viewtopic.php?t=178763)
- 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/'
- Running in
screen deamon(see/etc/rc.local)
- Running in
For installation EPICS in Rpi see this link
Process Variables
Process Variables in this IOC Server:
- State machine PVs
| PV Name | PV Type | Archive |
|---|---|---|
| ISTTOK:central:AUTHORISATION | bo | no |
| ISTTOK:central:OPREQ | bo | no |
| ISTTOK:central:PROCESS-MODE | bo | no |
| ISTTOK:central:PROCESS-REQ | bo | no |
| ISTTOK:central:COUNTER | calc | no |
| ISTTOK:central:COUNTDOWN | mbbi | no |
| ISTTOK:central:PULSE-NUMBER | longout | yes |
| ISTTOK:central:OPSTATE | longout | yes |
| ISTTOK:central:CurrentTime | stringin | no |
| ISTTOK:central:TraceMessage | stringout | yes |
| ISTTOK:central:LogMessage | stringout | yes |
- Connected to PCF8574 Address = 56 (Bottom Valleman)
PV Name PV Type Bit ISTTOK:central:TMPump1-ControllerOn bo 0 ISTTOK:central:TMPump1-ControllerOff bo 1 ISTTOK:central:TMPump1-MotorOn bo 2 ISTTOK:central:TMPump1-MotorOff bo 3 ISTTOK:central:TMPump1-Power bi 4 ISTTOK:central:TMPump1-Acceleration bi 5 ISTTOK:central:TMPump1-Emergency bi 6 ISTTOK:central:TMPump1-NormalOperation bi 7
- Connected to PCF8574 Address = 57
PV Name PV Type Bit ISTTOK:central:TMPump2-Emergency bi 0 ISTTOK:central:TMPump2-Acceleration bi 1 ISTTOK:central:TMPump2-MotorOn bo 2 ISTTOK:central:Buzzer bo 3 ISTTOK:central:TTSystem-tzero bo 7 ISTTOK:central:EmergencyButton bo 2
- Connected to PCF8574 Address = 60 (Top Valleman)
PV Name PV Type Bit ISTTOK:central:RPump1-Motor bo 0 ISTTOK:central:RPump1-Valve bo 1 ISTTOK:central:RPump2-Motor bo 2 ISTTOK:central:RPump2-Valve bo 3 ISTTOK:central:VVessel-Filament bo 4
|ISTTOK:central:Clean-TorContactor| bo | 7 |
- Connected to RS484 Bus
PV Name PV Type Archive ISTTOK:central:RPump1-Pressure ai yes ISTTOK:central:RPump2-Pressure ai yes ISTTOK:central:TMPump1-PressureAdmission ai yes ISTTOK:central:VVessel-Pressure ai yes ISTTOK:temperature:VVessel-Temperature ai yes ai yes
ISTTOK:central:TMPump1-ControllerOn ISTTOK:central:TMPump1-ControllerOff ISTTOK:central:TMPump1-MotorOn ISTTOK:central:TMPump1-MotorOff ISTTOK:central:TMPump2-Motor ISTTOK:central:Buzzer ISTTOK:central:Emergency-UserButton ISTTOK:central:RPump1-Motor ISTTOK:central:RPump1-Valve ISTTOK:central:RPump2-Motor ISTTOK:central:RPump2-Valve ISTTOK:central:VVessel-Filament
Start the IOC on power up
1. Make sure `screen` is installed in Linux
2. Include following Line in /etc/rc.local
* `screen -dm bash -c "cd [..]/ISTTOKrpi/iocBoot/iocISTTOKrpi; ../../bin/linux-arm/ISTTOKrpi st.cmd"`
3. To access EPICS console run
* `sudo screen -r`
EPICS Channel Access Configuration
export EPICS_CA_ADDR_LIST="192.168.1.110 192.168.1.152"
export EPICS_CA_AUTO_ADDR_LIST="NO"
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