Download Undulator Controls

Undulator Control Module
Facility Advisory Committee
June 17, 2008
SLAC - Controls Group
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Controls - design team, APS
Josh Stein - Control System CAM
Steve Shoaf - Lead engineer
Eric Norum - RTEMS support / Consulting
Bob Laird - Electronics Layout
Ned Arnold - Technical supervision
Sharon Farrell - Technical support
Rich Voogd - Electronic Interface/Cable Design
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Controls, SLAC
Arturo Alarcon
Ernest Williams
Till Straumann
James Bong
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Controls
The LCLS undulator line consists of a series of 33 identical undulator segments.
The control and monitoring equipment for each segment will reside in a 19” rack
located beneath each undulator girder. Three separate units will be housed in that
rack – the Motor Power/AC interlock chassis, the Undulator Control Module,
and the Undulator Control Module Interface chassis.
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
BFW
Undulator Segment (Aisle side)
Quad/Corrector
BPM
Translation Stage
Electronics Rack
CAM Mover
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Segment (Wall side)
Vacuum chamber
June 17, 2008
FAC, Undulator Controls
EIA(Raceway)
Arturo Alarcon
[email protected]
Undulator group
The entire LCLS undulator hall consists of 33 total Undulator segments
broken into 11 groups of three.
Short breaks
June 17, 2008
FAC, Undulator Controls
Long break
Arturo Alarcon
[email protected]
Undulator Control Module Interface (UCMI)
Provides a wiring interface between the Undulator Control Module
(UCM), the interlock chassis, the Undulator motor power supplies and the
temperature, position and control field wiring.
Provides translation stage comparator circuits and calibration adjustments
Contains RTD modules to acquire temperature inputs from 12 RTD’s
Housed in a 3U high, 12 inch deep, 19 inch rack chassis
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Chassis Layout
TO ADC
SCSI
U
TO I/O
C
P1
I3
00
SCSI
UCI 110
MOTORS
RS-232
J1
J1
RT
D’S
RT
D’S
J2
To Front
Panel pcb
UCI 300
SCSI
P8
PO
TS
/M
J2
40V LEDs
ISC
J1
P1
RTD’S
SCSI
UCI 120
/M
TS
PO
J2
C
IS
TO I/O
24 VDC
FUSE
FUSE
FUSE
UCI 210
J6
40V LEDs
P7
FUSE
CON 2
24VDC
FUSE
TRANSLATION
LOGIC
J5
SCSI
TO I/O
FUSE
J3
TO ADC
SCSI
FUSE
J4
40 VDC
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Chassis – Rear Panel
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Rear Panel
Panel mounted SCSI connectors
are ribbon cable type
2.5"
B
A
Stop
AMP
5390379-5
(x3)
Amphenol
97-3102A-12S-3P
Motors
SCSI To RS-232 IP
UCI 120
P7
P6
RTD’s/Position
SCSI To ADC IP
SCSI to I/O IP
J1
Motors
SCSI To RS-232 IP
AMP
5749721-5
24 VDC
6.0"
2.5"
P5
UCI 120
J2
UCI 110
Amphenol (x7)
L77TWA7W2SP2SYRM54
P3
P2
P4
Lemo
EGG.0B.304.CLL
Tyco 5747299-8
DB15
Tyco 5747150-8
DB9
P1
BFW
Amphenol
97-3102A-22-22P
C
A2
A2
A2
A2
A2
A2
A2
A1
A1
A1
A1
A1
A1
A1
D
1
A
B
P8
P7
P6
50 Pin Male shrouded header
42 VDC
FU
SE
FU
SE
FU
SE
FU
SE
FU
SE
FU
SE
J1 and J2 mount on
back side of UCI 120
Bus Bar AWG#8
(x4 on solder side)
FUSE
Pots / Misc
SE
FU
FUSE
SE
FU
FUSE
SE
FU
FUSE
SE
FU
FUSE
SE
FU
FUSE
SE
FU
SE
FU
FU
SE
50
FUSE
P5
P4
J2
50
1
3M 2550-6002UB
Bus Bar AWG#12
(x7 on solder side)
P3
P2
P1
50 Pin Male shrouded header
RTD’S
J1
1
3M 2550-6002UB
50 Pin connectors
mount on back side of
UCI 110 pcb
Ribbon cable connectors on back side of pcb’s
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCMI Temperature Monitor
Uses DataForth 12 RTD modules
Provides excitation for 3-Wire RTD’s using matched current sources
Isolation
Filtering
Amplifies
Linearization
Inputs from 3 DB15 connectors
12 RTD’s
Connection to UCM via SCSI II cable
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Front Panel
X-Ray view of front panel – showing pcb
mounted with L-brackets behind the panel
UCMI Front Panel
Bob Laird 9-25-07
LCLS Undulator Control Module Interface
Align
Offset
Adj
Level 1 Level 2
Thresh Thresh
Adj
Adj
Align
Offset
+TP
Align
Offset
-TP
Level1
Thresh
TP
Level2
Thresh
TP
TDS0
TP
TDS1
TP
GND
+5V
-5V
+5V
Ref
24V
42VA
42VB
Level 1
Fault
Level 2
Fault
Stop
5.0"
UCI 300
R1
R2
J1
R3
J2
0.6"
Pin 1
J3
0.6"
J4
J5
J6
0.6"
J7
D1
J8
1.0"
D2
D3
D4
Top view of pcb
D5
D6
D7
D8
0.6"
D9
0.6"
11.6"
13.6"
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCMI Motion Control
Motor Interface
Interface between UCM, 42 Volts Motor Power Supply and 7 Motors
Five CAM movers motors
Two Translation stage motors
All motors fused with 10A Slow-blow fuses
Use of bus bar wire for 42 VDC from Power connector to individual motor
connectors and fuses.
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Translation Stage Position Monitoring
Translation error logic detects excessive skew
Level 1 error signal relayed to UCM
Level 2 error signal relayed to UCM and opens solid state relay contacts to
Interlock Chassis
Alignment procedure uses front panel trim pots, voltage monitor test points
and LED’s.
Trim pots adjust reference voltage to comparators
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Beam Finder Wire (BFW)
Connects 24VDC CMD Signal from UCM to BFW connector
Connects 2 limit switches from BFW to UCM
Connects BFW potentiometer signals to UCM
Provides precision 5VDC reference signal to BFW position potentiometer
Provides 24VDC to BFW
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Position Monitoring
Provides 5VDC precision voltage reference to 8 linear potentiometers that
monitor girder position and to 5 rotary potentiometers that monitor CAM
position. Connects potentiometer wipers to UCM.
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Front Panel Adjustments, Indicators and Test points
Alignment Offset Adjust
Adjusted for Zero Volts when the Translation stages are aligned
Level 1 Threshold Adjust
Adjusted for the desired skew
Level 2 Threshold Adjust
Adjusted for the desired skew
Alignment Offset +TP/-TP Test points
Test points to read the alignment offset from the positive and negative
reference voltages. Both should be Zero Volts when aligned.
Level 1 and Level 2 Threshold Test points
TDS0 and TDS1 Test points
Differential Analog signals proportional to the amount of skew between the
translation stages. Only one output will be non-zero, indicating the direction of
the skew
Ground - reference
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Cont. -Front Panel Adjustments, Indicators and Test
points
LED Level 1 Fault
LED Level 2 Fault
LED Stop. Indicates E-Stop signal received from Interlock chassis
LED +5V. Directly connected through resistor to 5VDC regulator
LED -5V. Directly connected through resistor to -5VDC regulator
LED 5V Reference. Directly connected through resistor to 5VDC precision
voltage reference.
LED 24V. Directly connected through resistor to 24VDC input.
LED 40VA. Directly connected through resistor to 42VDC input that powers
the CAM motors.
LED 40VB. Directly connected through resistor to 42VDC input that powers
the Translation motors.
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Wiring Configuration
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
EIA - Electronic Interface Assembly
Purpose
Provide interface for electronic cabling from undulator hardware to
instrumentation rack
Accommodate miscellaneous undulator wiring by means of auxiliary cabling
channel
Design Criteria
Provide orderly cable routing from undulator hardware to instrumentation rack
Provide natural grouping of specific cable types
Reduce total number of cables entering instrumentation rack from undulator
hardware
Reduce down time associated with cabling when repairing/replacing undulator
hardware
User friendly system cabling installation/removal
Aesthetically pleasing to overall system design
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
EIA - Electronic Interface Assembly
Cabling Functions
Motion control - 2 translation stages & 5 CAM movers
Position readout - 5 rotary & 8 linear potentiometers
Emergency stop - 4 pushbuttons & 4 translation limit switches
Temperature monitoring - 12 Resistive Thermal Devices (RTD’s)
Beam Finder Wire (BFW) - solenoid control & position readout
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Segment (Wall side)
EIA (Raceway)
UIR (Undulator Instrumentation Rack)
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
EIA - Electronic Interface Assembly
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Hardware Cabling Design
Assessing Cabling Requirements
Undulator hardware identification
establish nomenclature
Determination of routing (thru EIA or direct) to rack
Introduction of emergency stop capability (motor power)
Determining EIA & Undulator Instrumentation Rack (UIR) location
Specifications of Connector & Cable Type
Choosing connector types
Quality & ease of installation/removal
Connector type varies per function requirements
Choosing cable types
Selected for function (power, signal, control, etc.)
Specifying custom cable where applicable
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Hardware Cabling Design
Planning for Cable Routing
Determination of appropriate routing along girder support system
Routing to junction boxes ‘A’ & ‘B’
Motor cables routed directly to Undulator Instrumentation Rack (UIR)
Determination of individual cable lengths
Cables Types & Quantities (49 cables total / undulator)
7 motor power (2 Translation & 5 CAM movers)
4 emergency stop pushbutton
2 translation limit switch
5 rotary potentiometer
8 linear potentiometer
12 temperature (RTD’s)
2 Beam Finder Wire (BFW)
9 Instrumentation Rack
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
SUT Section Top View
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Typical Cable Drawing
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Hardware System Wiring
Overall Wiring Plan
Hardware to electronic interface assembly
Hardware to instrumentation rack cabling
EIA to instrumentation rack cabling
Electronic Interface Assembly Internal Wiring
All cables route thru EIA with exception of motor cables
Reduction of cables to instrumentation rack
Emergency stop - from 6 to 1
Rotary potentiometers - from 5 to 2
Linear potentiometers - from 8 to 2
RTD’s - from 12 to 3
Beam Finder Wire (BFW) - from 2 to 1
Reduced total quantity by 24 / undulator
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Hardware System Wiring
Junction Box ‘A’ & ‘B’ Cabling
Hardware cable entry to junction boxes
18 cables entering junction box ‘B’
15 cables entering junction box ‘A’
EIA to Instrumentation Rack Cables
1
2
2
3
1
emergency stop
rotary potentiometers
linear potentiometers
temperature (RTD’s)
Beam Finder Wire (BFW)
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Electronic Interface Assembly/Junction Box ‘A’
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Electronic Interface Assembly/Junction Box ‘B’
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Motor Power/Interrupt Chassis Design
Chassis Functions
Provide motor power for translation stages & CAM movers
Provide power for Undulator Control Module Interface (UCMI)
Emergency motor power interrupt / status indication
Interacts with UCMI - status & control
Power Supply Selection & Power Distribution
2 42V DC / 20A power supplies for 7 motors
1 24V DC / 1.2A power supply for UCMI chassis
Emergency Stop Circuitry
4 emergency stop pushbuttons (key reset) on girder support
4 translation limit switches - in / out (upstream & downstream)
Translation stage skew signal - level 2 fault from UCMI
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Motor Power/Interrupt Chassis Design
Interfacing With The UCMI
Powers UCMI chassis with 24V DC
Provides 42V DC to UCMI for powering 7 motors
Receives fault status (normally closed contact) from UCMI
Sends ‘E-Stop’ status (motor power normal / interrupted) to UCMI
Status Indicators / Test Points
Front panel LED’s to indicate status
1 24V DC supply
2 42V DC supplies
LED’s to indicate status (normal / fault) of motor power
Front panel test points to monitor all 3 power supplies
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Smart Motor / Power Supply Information
Smart Motor Specifications
Animatics Model SM2320D - PLS
Integrates a motion controller, amplifier, and feedback encoder in the back of a
high quality brushless DC servo motor
Animatics Motor Ratings
Continuous Torque - Tc
Peak Torque - Tp
Torque Constant - Kt
No Load Speed
Voltage Constant
Peak Current
Continuous Torque
June 17, 2008
FAC, Undulator Controls
38 oz - in
90 oz - in
8.92 oz - in/A
7820 rpm
6.6 V / K rpm
Ip = Tp / Kt
Ip = (90 oz - in) / (8.92 oz - in/A)
Ip = 10.09 A
Ic = (38 oz - in) / (8.92 oz - in/A)
Ic = 4.26 A
Arturo Alarcon
[email protected]
Smart Motor / Power Supply Information
Power Supply Requirements
Linear unregulated DC voltage
Animatics model PS42V20AF110
22 to 48 Volts DC
42 Volts DC @ 20 Amps
Only one supply required to operate all 7 Smart Motors
Shunt recommended for back EMF protection
12.5 OHM 100 Watt shunt (2)
1 for each power supply
24 Volt DC linear regulated power supply for UCMI power
PowerOne HB24-1.2-A
June 17, 2008
FAC, Undulator Controls
24 Volt DC @ 1.2 Amps
Arturo Alarcon
[email protected]
Circuit - Motor Power/Interrupt Chassis
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Motor Power / Interrupt Chassis
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Motor Power/AC Interrupt Chassis
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
Undulator Control Module (UCM) - Functionality
Overview
Motion control of five undulator CAM movers and two translation stages
Position readback of various potentiometers distributed around the undulator
girder, including interlocking logic of the translation stages
Temperature monitoring of RTDs distributed around the undulator
Control of the Beam Finder Wire diagnostic including position readback
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Requirements
Limitation of motor positioning
“soft limits” imposed by software
Limit switches to disable motor movement
Limit switches to remove motor drive power
Emergency stop signal from the AC interrupt/interlock chassis
Translation stage control and skew interlocks
Control of two independent translation stages
Interlock function to prevent unintentional skew of the strongback
Internal diagnostics to monitor the operation of the undulator controls
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Hardware Design
Commercially available VME hardware for IOC
Motorola processor
Industry Pack Modules (ADC, RS-232, Digital I/O)
Responsible for
motion control
position readbacks
translation stage position monitoring
temperature monitoring
Beam Finder Wire control and position readback
Undulator Control Module Interface (UCMI ) Chassis
Field wiring connection interface
Connects to IOC via high density 50 pin SCSI-II cables
Motor Power/AC Interrupt Chassis
Terminates motor power for emergency stop buttons or translation stage skew
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Motion Control
LCLS Undulator Support/Mover System Engineering Specification (#1.4112)
CAM motion details
Translation stage motion details
APS EPICS motor record device support
Animatics SmartMotors
UCMI Chassis
Field wiring interfaces directly to all motors, not through junction box
Houses circuit board to distribute power and serial I/O to each motor
Serial I/O and motor power via hybrid cable
Houses translation stage skew monitor circuit
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Position Readbacks
Eight linear potentiometers for girder position monitoring
Manufacturer: novotechnik
Model: TR10
Animatics Smart Motor internal encoder readback for CAM position
Five Rotary potentiometers for CAM position monitoring
Manufacturer: novotechnik
Model: P2200
Two linear potentiometers for translation stage position monitoring
Manufacturer: novotechnik
Model: TRS100
Two undulator translation limit switches
Manufacturer : Micro-Switch (Honeywell)
Model: 11SM1
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Girder Position Monitoring
Eight linear potentiometers monitoring girder position
Independent position feedback of the girder at each location
1kΩ potentiometer
Independent linearity of ± 0.25%
Independent repeatability of 10µm
Precision voltage source used for the potentiometers for accurate
measurements
Analog Devices AD586 (5V ± 2.5mV)
Long term power supply drift compensation
Dedicated ADC channel to monitor precision power supply output
Loopback configuration for motion control is possible
Not currently implemented, SUT results showed single motion always in spec.
Characterization with 16-bit ADC
Need 13 bits of resolution to obtain ±2 micron readback over 10 mm range
Characterization will be done during Long Term Test (LTT)
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - CAM Position Monitoring
Rotary potentiometers monitor CAM positions (indirectly monitor quad
position)
5 kΩ potentiometer
360° of mechanical travel
345° of electrical travel
Independent linearity of ± 0.1%
Independent repeatability of less than 0.01 degrees
Transformation matrix used to calculate the center of the downstream quad
Precision voltage source used for potentiometers for accurate measurements
Long term power supply drift compensation
Dedicated ADC channel to monitor precision power supply output
Characterization with 16-bit ADC
Need 13 bits of resolution to obtain ±0.05° readback over 360°
2µm of quad linear motion ~0.05° of CAM motion
Characterization results have yielded resolutions of 0.01°
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Translation Stage Position Monitoring
Two linear potentiometers monitoring translation stage positions
Independent position feedback of the two translation stages
5kΩ potentiometer
Independent linearity of ± 0.075%
Independent repeatability of 10µm
Precision voltage source used for the potentiometers for accurate
measurements
Long term power supply drift compensation
Dedicated ADC channel to monitor precision power supply output
Characterization with 16-bit ADC
Need 13 bits of resolution to obtain ±15 micron readback over 100 mm range
Characterization will be done during Long Term Test (LTT)
Two undulator translation limit switches
Connected to the Animatics Smart Motor limit switch inputs
Two additional limits wired directly to the AC Interrupt Chassis
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Translation Stage Skew Monitoring
Translation stage comparator circuit inside the UCMI Chassis
Two levels of transverse skew interlock intervention
Level 1 threshold, when motion begins to get outside of acceptable alignment
UCM enters alarm state which requires operator intervention
One motor individually moved to match other motors position
Level 2 threshold, if the magnitude of the skew continues
AC interrupt chassis is tripped, cuts power to all motors
UCM enters alarm state which requires engineering intervention
Calibrated alignment of stage positions
Level 1 and Level 2 have a single alignment adjustment
Level 1 and Level 2 have independent threshold adjustments
Level 2 violation will require a tunnel access to visually inspect the
problem
Motion interlock clear button on Motor Power/AC Interrupt Chassis
Allows movement of translation stages to clear the fault
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Temperature Monitoring
Twelve RTD sensors positioned on girder assembly
Vendor: Omega
Model: RTD-830 surface mount
UCMI Chassis
Field wiring interface for all RTD’s
Interfaced to Dataforth RTD modules inside chassis
RTD excitation voltage
Isolates, filters, amplifies and linearizes a single channel of temperature input
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Temperature Monitoring
Ambient temperature monitoring around girder
3 wire RTD’s
Longer wire operating lengths (not an issue with this installation)
2 wire configuration can be up to 100m, 3 wire configuration can be up to 600m
Minimizes lead wire resistance effects
Platinum element
High accuracy (a typical 100 ohm sensor is nominally 0.385 ohm/°C)
Low drift
Fast response (extremely thin film)
Linear resistance-temperature relationship
Wide temperature operating range (-60 to 260 °C)
Characterization with 16-bit ADC
Need 13 bits of resolution to obtain ±0.05 °C readback over 320 °C range
Characterization will be done during Long Term Test (LTT)
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Beam Finder Wire Controls
A 24V dc signal activates BFW solenoid
Two limit switches for IN/OUT position readback
Linear potentiometer used to verify “IN” position accuracy
Same linear potentiometer as used to monitor the girder position
UCMI Chassis
Field wiring interface for solenoid
Field wiring interface for IN/OUT limit switches
Field wiring interface for linear potentiometer
Position verification
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
LP2-Y
LP3-X
Undulator Segment (Aisle side)
LP6-Y
LP7-X
LP8-TR
TM2
T06
TM1
LP4-TR
T10
RP2
T11
RP5
CMx = CAM Motor
TMx = Translation Motor
RPx = Rotary Potentiometer
LPx = Linear Potentiometer
Txx = Temperature RTD
June 17, 2008
FAC, Undulator Controls
CM2
T12
CM5
CM3
RP3
T04
Arturo Alarcon
[email protected]
Undulator Segment (Wall side)
LP1-Y
T05
T03
T09
LP5-Y
T02
RP1
CMx = CAM Motor
TMx = Translation Motor
RPx = Rotary Potentiometer
LPx = Linear Potentiometer
Txx = Temperature RTD
T08
T01
June 17, 2008
FAC, Undulator Controls
CM1
T07
CM4
RP4
Arturo Alarcon
[email protected]
UCM - Hardware Platform
VME IOC Hardware
Hybricon Crate (SLAC specifications)
Remote console access
Remote monitoring of voltage and fan
Remote reboot and power cycling
Motorola mvme3100 Processor (approved by SLAC)
RTEMS based IOC
Currently testing with a MVME6100 processor
BSP for MVME3100 processor being developed at SLAC
Acromag IP330A Industry Pack Module (ADC)
GE Fanuc (SBS) IP-OCTAL-232 RS-232 Communications (Motors)
GE Fanuc (SBS) IP-OPTOIO-8 Digital I/O (BFW solenoid/limit switches)
4 industry pack slots with 3 populated by above modules
2U height
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM - Rack Space Sketch (front view)
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - Development environment
Subversion (SVN) controlled software repository
EPICS base R3.14.9
asyn R4-9
autosave R4-2-1
ip330 R2-5
ipUnidig R2-5
ipac R2-9
motor R6-3
seq 2.0.11*
rs232 communications to motors
ioc pv saving
potentiometer and RTD readbacks
BFW solenoid and limit switches
industry pack modules support
Animatics smart motors
smart monitor sequence programs
RTEMS 4.7.1 in IOC
VisualDCT (VDCT) for database development
Using .vdb file extension to denote VDCT database
* Library reference for iocsh needs to be removed from Makefile, it’s been consolidated into another library
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - Motion Equations Configuration
Control
Motor Algorithm Document
Controlled document
References mechanical drawings of CAM wedge angles/configuration
Mechanical drawings will reference Motor Algorithm Document
Mechanical changes impact the controls motion algorithm
EPICS database
Relevant process variables will reference the Motor Algorithm Document
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - CAM Motion Equations
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - Controls Displays
EDM display manager
edm 1-11-0s
Using templates provided by SLAC
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - EDM Displays
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - EDM Display/Undulator Motion
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - EDM Display/Girder and CAM
Parameters
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - EDM Display/CAM Calibration
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - Smart Monitors and Test Facilities
Smart Monitors will mostly be sequence programs running in the IOC
No change in requested motor position even though it is “moving”
Loss of excitation voltage to potentiometers
Out-of-range RTD readings
BFW inserted
Test Facilities
Calibration and testing of translation stage “skew” interlock
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]
UCM Software - Access Security
Channel Access Security will be implemented during LTT development
Calibration parameters will be READ only
CAM rotary potentiometer gain and zero offset
CAM wedge angles
Linear potentiometer gain and zero offset
Girder fixed distance parameters
Machine operating mode restrictions
CAM calibration procedure prohibited during normal operations
BFW operation prohibited during normal operations
June 17, 2008
FAC, Undulator Controls
Arturo Alarcon
[email protected]