akito uchiyama (shi accelerator service ltd.) jun-ichi odagiri
TRANSCRIPT
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PCaPAC 2008 in Ljubljana
Akito Uchiyama (SHI Accelerator Service Ltd.)
Jun-ichi Odagiri, Kazuro Furukawa,
Hidetoshi Nakagawa, Tatsuro Nakamura,
Masahito Tomizawa, Noboru Yamamoto, (KEK)
Makoto Takagi (KIS), Takuya Nakamura (MESS)
Misaki Komiyama (RIKEN)
Presented by Norihiko Kamikubota (KEK)
>KEK KEKB
and
J-PARC
>RIKEN / RIBF
>RIKEN / RIBF
>KEK / J-PARC
Kiichi Kameda, Toshiki Natsui, Hidetoshi Shiratsu >Yokogawa
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PCaPAC 2008 in Ljubljana
Background
� So many Yokogawa FA-M3 PLCs
– In KEKB – used over 10 years, showed high reliability
– In J-PARC – also many for Linac/RCS/MR
– In other institutes
• RIKEN-RIBF
• KURRI FFAG
by Tanigaki-san
• Shanghai SSRF
• and so on ..
2
A rack for J-PARC PPS
IO m
odules
Seq
uen
ce CP
U
Eth
er mod
ule
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PCaPAC 2008 in Ljubljana
F3RP61-2L (e-RT3 2.0/Linux)� Available from Yokogawa since Sept. 2008
as a product name “e-RT3 2.0/Linux”
� CPU: MPC8347E (PowerPC), 533MHz
� OS: Linux (kernel 2.6.24.3)
� DDR2 SDRAM: 128MB + user SRAM 4MB
� I/F– Ethernet: 100BASE-TX (2ch)– RS-232C, IEEE1394a– CF …
� RAS support� http://www.yokogawa.co.jp/rtos/rtos-index-ja.htm
(Japanese)
� Beta release version by Yokogawa in Feb. 2008– Discussion between KEK and Yokogawa before Sept.
� “Embedded EPICS” with this module - why not ?
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PCaPAC 2008 in Ljubljana
EPICS on e-RT3 2.0/Linux
� Yokogawa provided us :– ELDK (Embedded Linux Development Kit)
• Cross compiling environment for target (e-RT3)– Need a Linux PC - RedHat or CentOS or Scientific Linux
– BSP (C libraries) for I/O modules of FA-M3
� We did :– Install ELDK into a Linux PC
– Modify Makefile of EPICS Base (to include e-RT3)
• Make process succeeded without changing any part
– Implement EPICS device/driver supports by wrapping over BSP
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PCaPAC 2008 in Ljubljana
EPICS on e-RT3 2.0/Linux
� Wrapping over BSP is like this
• easy for those who have some experience of EPICS
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static long write_bo(boRecord *pbo)
{
F3RP61_BO_DPVT *dpvt = (F3RP61_BO_DPVT *) pbo->dpvt;
M3IO_ACCESS_RELAY_POINT *poutrlyp = &dpvt->outrlyp;
poutrlyp->data = (unsigned short) pbo->rval;
if (ioctl(f3rp61_fd, M3IO_WRITE_OUTRELAY_POINT, poutrlyp) < 0) {
errlogPrintf("devBoF3RP61: ioctl failed [%d]\n", errno);
return (-1);
}
pbo->udf=FALSE;
return (0);
}
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PCaPAC 2008 in Ljubljana
EPICS on e-RT3 2.0/Linux
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� What happened ?– After “Make” process of EPICS Base
• EPICS IOC-core with Soft Record, EPICS Sequencer run stably over a couple of days
– After code developing with BSP • I/O modules (AD/DA, DI/DO) become accessible
An e-RT3
running
EPICS I/O
modules
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PCaPAC 2008 in Ljubljana
Usages of e-RT3 with EPICS
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OP
I Client
IOC
PL
C
EPICS db
NetDev
D-register
Ladder
i/o modules
TCP/IP(Yokogawa
protocol)
CA protocol
So far
PL
C/IO
C
EPICS db
BSP
i/o modules
OP
I Client
With e-RT3
CA protocol
- No separated IOC
- Ladder is not used
e-RT3
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PCaPAC 2008 in Ljubljana
Two Styles with e-RT3
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Style (a)
PL
C
- Similar to the relationship between
VME-CPU and VME I/O modules
- No Ladder programming
- Can use highly reliable I/O modules
e-RT
3
I/O m
od
ule
I/O m
od
ule
I/O m
od
ule
Style (b)
PL
C
e-RT
3
I/O m
od
ule
I/O m
od
ule
Seq
.CP
U
- Keep original style with Sequence CPU
- Ladder in Sequence CPU
- e-RT3 works as an EPICS IOC
- suitable when high reliability is needed
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PCaPAC 2008 in Ljubljana
Application at Accelerators
� J-PARC MR
– Still under construction toward 1st beam acceleration (3GeV to 30 GeV) on Dec. 2008
– Will use 8 e-RT3 modules with style (a), mostly for power supplies
• Cost / Time effective
solution for us
9
Septum magnet control
with e-RT3 (in test)
EPICS CA protocol
Power supply
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PCaPAC 2008 in Ljubljana
”The Japan Corporation”
� Collaboration between academic institutes
and companies has worked very well
KEK - RIKEN - Yokogawa - SHI - MESS
Demonstration
at a meeting in
Japan
(Aug. 2008)
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PCaPAC 2008 in Ljubljana
Yet another collaboration with ..
� Three microIOCs/RS485 have been used
– For Vacuum system
of J-PARC MR
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PCaPAC 2008 in Ljubljana
Summary
� “Embedded EPICS” on F3RP61-2L (e-RT3
2.0/Linux) is very successful
� With e-RT3, we can use PLC I/O modules in “VME-like“ style without Ladder and a
separated IOC.
� e-RT3 modules will be used in controls of
power supplies in J-PARC MR
� microIOCs by COSYLAB have contributed J-PARC MR commissioning
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