ISTTOK.git - Gitblit

Bernardo Carvalho

2020-01-27 21d175abcd2ae1e3e80abd5d15f2322c5ee35a16

commit \| author \| age
3533a3	1	# New ISTTOK Slow Control System
B	2	## Intro
	3
	4	The new ISTTOK slow control system is designed to replace the former vacuum/power/slow timing system based is the EDWARDS controller.
	5
	6	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.
	7	In the next figure is depicted the system structure.
	8	![Kiku](images/isttokepicssystem.png)
	9
	10	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.
	11
	12	All software stored in IPFN GIT [server](https://git.ipfn.tecnico.ulisboa.pt/summary/ISTTOK.git)
	13
	14	## Team and responsabilities
	15	- Horácio Fernandes (ISTTOK Leader)
	16	- Bernardo Carvalho (Project Leader)
	17	- Humberto Figueiredo (ISTTOK Session Leader)
	18	- Hugo Alves (ISTTOK Session Leader, State Machine development)
	19	- Tiago Pereira (dsPIC development, RS232 protocol/ Sensor Interface/ Wiring)
	20	- Paulo F. Carvalho ( Epics Applications), CS-S Gui Panels)
	21
	22	## System description
	23	Presently there are two instances of EPICS IOC Server implemented.
	24	One responsible for the Temperature Node.
	25	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.
	26
	27	### Temperature/Vacuum Node: Temperature Sensors and ELCO Voltage Measurement Systems
	28	- Thermocouple Sensor
	29	- ELCO voltage measurement
	30	- For communication was used a fiber optic
	31
	32	The dsPic uses the internal ADC to read the voltage signal from the thermocouple.
	33	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.
	34
	35
	36	#### Hardware Platform
	37	- Thermocouple Sensor
	38	- ELCO voltage measurement
	39
	40	1. One PC Controller
	41
	42	* Intel(R) Atom(TM) CPU330 1.60GHz, Dual Core, 1 Gbyte RAM, 4 RAM
	43	* 4 Serial Ports
	44	* IP addr: 192.168.1.152 ( ISTTOK private network)
	45	* Scientific [Linux CERN 6](http://linux.web.cern.ch/linux/scientific6) (SLC6)
	46	with MRG Realtime extensions
	47	*Linux kernel 3.2.33-rt50.66.el6rt.x86_64
	48	* NTP time conected to IPFN Gps NTP/PPS server IP:10.136.236.255 and
	49	baco.ipfn.tecnico.ulisboa.pt (193.136.136.129)
	50
	51	2. Local Control
	52	* One or more dsPic board running an embedded firmware
	53
	54	Temperature Sensors and ELCO Voltage Measurement Systems
	55	-For communication was used a fiber optic
	56
	57	The dsPic uses the internal ADC to read the voltage signal from the thermocouple.
	58	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.
	59
	60	#### Protocol for communication between dspics and PC
	61	* all bytes are readable ASCII
	62	* all messages all terminated with two bytes: \r\n (13 10)
	63	* messages have variable length
	64	* framing character for fields inside message is space (32)
	65	* individual fields inside each message have variable length
	66	* the last three characters before the terminator are the ASCII representation of the checksum of all other bytes, excluding the terminator
	67	* Messages are sent periodically (1s)
	68
	69	Examples:
	70	PIC -> PC
	71	`VL01_1 VL02_1 VL03_0 TE01_150.9 TE02_80.1 UP_7200 PR01_1.3e-4 CKS\r\n`
	72
	73	PC -> PIC
	74	`VL01_1 CKS\r\n`
	75
	76	Table of word fields
b2288e	77
BBC	78	\| N \| A \|
3533a3	79	\|:------\|-----\|
b2288e	80	\| VLxx_\| Valve\|
BBC	81	\| TExx_\| Temperature\|
	82	\| UP_ \| Uptime \|
	83	\| PRDxx_\| Wave Period \|
	84	\| PRxx_ \| Pressure \|
3533a3	85
B	86	#### Software Platform
	87
	88	1. EPICS V3.15.7 (instaled in `/opt/epics/base-3.15.7`)
	89	* IOC sources (versioned) in `/home/codac-dev/ISTTOK/epics/iocs/ISTTOKdsPIC`
	90	* IOC binaries in `/opt/epics/apps/ISTTOK`
	91	* Init IOC script in `/etc/rc.local`
	92	2. Modules ( (instaled in `/opt/epics/modules`)
	93	* ASYN [git package](https://github.com/epics-modules/asyn.git)
	94	* STREAM [git](https://github.com/paulscherrerinstitute/StreamDevice.git)
	95	3. CS-Studio
	96	* Archive [Engine] (http://cs-studio.sourceforge.net/docbook/ch11.html)
	97	* Init script in `/etc/init.d/isttok-archive-engine`
	98	* MySQL server (user: report )
	99	* ArchiveConfigTool in `/home/bernardo/css/ArchiveConfigTool`
	100
b2288e	101	Process Value in this IOC Server:
3533a3	102
B	103	\|PV Name \|PV Type \|Archive\|
	104	\|:----------\|-------\|---:\|
	105	\|ISTTOK:temperature:Uptime \|longin\| no\|
	106	\|ISTTOK:temperature:Last_Uptime \| ai \| no \|
	107	\|ISTTOK:temperature:Temperature_0 \|ai \|yes
	108	\|ISTTOK:temperature:Temperature_1 \|ai \| no \|
	109	\|ISTTOK:temperature:Temperature_2 \|ai \| no \|
	110	\|ISTTOK:temperature:Temperature_3 \|ai \| no \|
28e027	111	\|ISTTOK:temperature:Capbank_Voltage \| ai\| no \|
BBC	112	\|ISTTOK:temperature:VVessel-Temperature \| ai \| yes \|
3533a3	113	----------
B	114
	115	### Central Control/Vacuum Node
	116	- Vacuum Sensors
	117	- Pffeifer rotatory vacuum pump
	118	- Edwards electro valve
	119	- Seiko Seiki turbomolecular pump and control unit
	120	- Main State Machine
	121
	122	#### Hardware Platform
96807b	123	1. A Raspberry Pi 3, running a linux distribution..
BBC	124	* Has a USB/RS485 port for monitoring pressure (to be connected soon)
	125	2. Two Interface Boards, Velleman Model [k8000](https://www.velleman.eu/products/view/?id=9383)..
3533a3	126	* connected to raspberry Pi through I2C interface;
B	127	* 8 isolated output connected to the relays (6 relays installed for the rotatory control)
	128	* 4 isolated outputs connected to SEIKO unit controller
	129	* Indicator leds for the relays in the front panel
	130	* 24 V power supply
	131
	132	#### Software Platform
	133	[//]: # (This may be the most platform independent comment)
	134
	135	1. Linux Raspian "Stretch" (user :pi):
	136	* IP addr:192.168.1.110 ( ISTTOK private network)
	137	* NTP/timedatectl time conected to IPFN Gps NTP/PPS server IP:10.136.227.237 193.136.136.129
	138	(this is mandatory, Rpi does not have a Real Time clock see https://www.raspberrypi.org/forums/viewtopic.php?t=178763)
	139	* EPICS v. base-3.15.5 (in /usr/local/epics) including modules:
	140	* synApps_5_8
	141	* asyn-4-26
	142	* seq-2-2-1
	143	* autosave-5-6-1
	144	* IOC installed in '/opt/epics/iocs/'
	145	* Running in `screen deamon` (see `/etc/rc.local`)
	146
	147	For installation EPICS in Rpi see this [link](prjemian.github.io/epicspi)
	148
b2288e	149	#### Process Variables
BBC	150	Process Variables in this IOC Server:
	151
d230af	152	* State machine PVs
b2288e	153
BBC	154	\|PV Name \|PV Type \|Archive\|
	155	\|:----------\|-------\|---:\|
	156	\|ISTTOK:central:AUTHORISATION \| bo \| no \|
	157	\|ISTTOK:central:OPREQ \| bo \| no \|
	158	\|ISTTOK:central:PROCESS-MODE \| bo \| no \|
	159	\|ISTTOK:central:PROCESS-REQ \| bo \| no \|
	160	\|ISTTOK:central:COUNTER \| calc \| no \|
	161	\|ISTTOK:central:COUNTDOWN \| mbbi \| no \|
	162	\|ISTTOK:central:PULSE-NUMBER \| longout \| yes \|
	163	\|ISTTOK:central:OPSTATE \|longout \| yes \|
	164	\|ISTTOK:central:CurrentTime \| stringin \| no \|
	165	\|ISTTOK:central:TraceMessage \| stringout \| yes \|
	166	\|ISTTOK:central:LogMessage \| stringout \| yes \|
	167	----------
1c1efe	168
38c96c	169	* Connected to PCF8574 I2C Address = 56 (Bottom Valleman)
1c1efe	170
b2288e	171	\|PV Name \| PV Type \| Bit \|
BBC	172	\|:----------\|-------\|---:\|
	173	\| ISTTOK:central:TMPump1-ControllerOn \| bo \| 0 \|
	174	\|ISTTOK:central:TMPump1-ControllerOff \| bo \| 1 \|
	175	\|ISTTOK:central:TMPump1-MotorOn \| bo \| 2 \|
	176	\|ISTTOK:central:TMPump1-MotorOff \| bo \| 3 \|
	177	\|ISTTOK:central:TMPump1-Power \| bi \| 4 \|
	178	\|ISTTOK:central:TMPump1-Acceleration \| bi \| 5 \|
	179	\|ISTTOK:central:TMPump1-Emergency \| bi \| 6 \|
	180	\|ISTTOK:central:TMPump1-NormalOperation \| bi \| 7 \|
	181	----------
	182
d230af	183	* Connected to PCF8574 I2C Address = 57
1c1efe	184
b2288e	185	\|PV Name \| PV Type \| Bit \|
BBC	186	\|:----------\|-------\|---:\|
	187	\|ISTTOK:central:TMPump2-Emergency \| bi \| 0 \|
	188	\|ISTTOK:central:TMPump2-Acceleration \| bi \| 1 \|
	189	\|ISTTOK:central:TMPump2-MotorOn \| bo \| 2 \|
	190	\|ISTTOK:central:Buzzer\| bo \| 3 \|
d230af	191	\|ISTTOK:central:Emergency-PhysButton\| bi \| 4 \|
21d175	192	\|ISTTOK:central:TTSystem-tzero\| bi \| 7 \|
b2288e	193	----------
BBC	194
d230af	195	* Connected to PCF8574 Address = 60 (Top Valleman)
1c1efe	196
b2288e	197	\|PV Name \| PV Type \| Bit \|
BBC	198	\|:----------\|-------\|---:\|
	199	\|ISTTOK:central:RPump1-Motor\| bo \| 0 \|
	200	\|ISTTOK:central:RPump1-Valve\| bo \| 1 \|
	201	\|ISTTOK:central:RPump2-Motor\| bo \| 2 \|
	202	\|ISTTOK:central:RPump2-Valve\| bo \| 3 \|
	203	\|ISTTOK:central:VVessel-Filament\| bo \| 4 \|
	204	\|ISTTOK:central:Clean-TorContactor\| bo \| 7 \|
	205	----------
	206
	207
9a933d	208	* Connected to TDA8444 DAC @ address 0x20=d32 (Bottom Valleman)
28e027	209
BBC	210	\|PV Name \|PV Type \|Archive\|
	211	\|:----------\|-------\|---:\|
d230af	212	\| ISTTOK:central:TDA8444:32:DAC_CH0\| longout \| no \|
BBC	213	\| ISTTOK:central:TDA8444:32:DAC_CH1\| longout \| no \|
	214	\| ISTTOK:central:TDA8444:32:DAC_CH2\| longout \| no \|
	215	\| ISTTOK:central:TDA8444:32:DAC_CH3\| longout \| no \|
	216	\| ISTTOK:central:TDA8444:32:DAC_CH5\| longout \| no \|
	217	\| ISTTOK:central:TDA8444:32:DAC_CH6\| longout \| no \|
9a933d	218	\| ISTTOK:central:Shot-TorPSCurrent\| longout \| no \|
bd1328	219	----------
BBC	220
9a933d	221	* Connected to PCF8591 ADC / DAC register @ address 0x48=d72
bd1328	222
BBC	223	\|PV Name \|PV Type \| CH \|Archive\|
	224	\|:----------\|-------\|---:\|
097fad	225	\| ISTTOK:central:TMPump2-Speed\| ai \| ch1 \| no \|
BBC	226	\| ISTTOK:central:TMPump2-Current\| ai \| ch2 \| no \|
9a933d	227	\| ISTTOK:central:Shot-TorPSCurrentImage"\| ai \| ch3 \| no \|
28e027	228	----------
BBC	229
d230af	230	* Connected to RS485 Bus
1c1efe	231
b2288e	232	\|PV Name \|PV Type \|Archive\|
BBC	233	\|:----------\|-------\|---:\|
	234	\| ISTTOK:central:RPump1-Pressure \| ai \| yes \|
	235	\|ISTTOK:central:RPump2-Pressure \| ai \| yes \|
	236	\|ISTTOK:central:TMPump1-PressureAdmission \| ai \| yes \|
e44d20	237	ISTTOK:central:VVessel-Pressure \| ai \| yes
b2288e	238
BBC	239
3533a3	240	##### Start the IOC on power up
B	241	1. Make sure `screen` is installed in Linux
	242	2. Include following Line in /etc/rc.local
	243	* `screen -dm bash -c "cd [..]/ISTTOKrpi/iocBoot/iocISTTOKrpi; ../../bin/linux-arm/ISTTOKrpi st.cmd"`
	244	3. To access EPICS console run
	245	* `sudo screen -r`
	246
	247
	248	### EPICS Channel Access Configuration
	249	```
	250	export EPICS_CA_ADDR_LIST="192.168.1.110 192.168.1.152"
	251	export EPICS_CA_AUTO_ADDR_LIST="NO"
	252	```
	253
	254	### References
	255	"EPICS IOC module development and implementation for the ISTTOK machine subsystem operation and control"
	256	Paulo Carvalho, André Duarte, Tiago Pereira, Bernardo Carvalho, Jorge Sousa, Horácio Fernandes, Carlos Correia, Bruno Gonçalves, Carlos Varandas
	257
	258	Fusion Engineering and Design 86 (2011) 1085–1090