Undulator Control Module
65
Arturo Alarcon FAC, Undulator Controls [email protected] .edu June 17, 2008 Undulator Control Module Facility Advisory Committee June 17, 2008 SLAC - Controls Group
description
Undulator Control Module. Facility Advisory Committee June 17, 2008 SLAC - Controls Group. Undulator Controls - design team, APS. Josh Stein - Control System CAM Steve Shoaf - Lead engineer Eric Norum - RTEMS support / Consulting Bob Laird - Electronics Layout - PowerPoint PPT Presentation
Transcript of Undulator Control Module
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Control Module
Facility Advisory Committee
June 17, 2008
SLAC - Controls Group
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
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
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Controls, SLAC
Arturo Alarcon
Ernest Williams
Till Straumann
James Bong
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
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.
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Segment (Aisle side)
BPM
Quad/Corrector
Translation Stage
CAM Mover
Electronics Rack
BFW
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Segment (Wall side)
Vacuum chamber EIA(Raceway)
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator group
Short breaksLong break
The entire LCLS undulator hall consists of 33 total Undulator segments broken into 11 groups of three.
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
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 adjustmentsContains RTD modules to acquire temperature inputs from 12 RTD’sHoused in a 3U high, 12 inch deep, 19 inch rack chassis
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Chassis Layout
J1
J2
RTD’S
POTS/MISC
J1RTD’S
J2 POTS/MISC
UCI 210
UCI 110
UCI 120
SCSI
SCSI
SCSI
SCSI
RTD’S
TRANSLATION LOGIC
SCSISCSI
J3J5
TO ADCTO I/O
TO ADC
TO I/O
MOTORSRS-232
40 VDC
P1
P8
P1
P724 VDC
FU
SE
FU
SE
FU
SE
FU
SE
FU
SE
FU
SE
FU
SE
CON 224VDC
TO I/OJ6
40V LEDs
J240V LEDs
J4
To Front Panel pcb UCI 300
J1
UCI 300
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Ribbon cable connectors on back side of pcb’s
RTD’s/PositionSCSI To ADC IP
SCSI to I/O IP
RTD’SPots / Misc
BFW
Stop
42 VDC
1
50
1
50
Bus Bar AWG#12(x7 on solder side)
LemoEGG.0B.304.CLL
Amphenol97-3102A-22-22P
50 Pin Male shrouded header50 Pin Male shrouded header
Tyco 5747299-8Tyco 5747150-8
DB9
MotorsSCSI To RS-232 IP
DB15
UCI 110
UCI 120
50 Pin connectors mount on back side of
UCI 110 pcb
Panel mounted SCSI connectors are ribbon cable type
P1P2P3P4P5P6P7P8
J1J2
6.0"2.5"2.5"
AMP5390379-5
(x3)
3M 2550-6002UB 3M 2550-6002UB
A1
A2
A1
A2
A1
A2
A1
A2
A1
A2
A1
A2
A1
A2
MotorsSCSI To RS-232 IP
P1P2P3P4P5P6P7
J1AMP
5749721-5
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSE
FUSEFUSE
FUSE
FUSE
A
AD
B
BC
Amphenol97-3102A-12S-3P
24 VDC
Bus Bar AWG#8(x4 on solder side)
Amphenol (x7)L77TWA7W2SP2SYRM54
1
J2
J1 and J2 mount on back side of UCI 120
UCI 120
Rear Panel
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCMI Temperature Monitor
Uses DataForth 12 RTD modulesProvides excitation for 3-Wire RTD’s using matched current sourcesIsolationFilteringAmplifiesLinearization
Inputs from 3 DB15 connectors12 RTD’s
Connection to UCM via SCSI II cable
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Front Panel
+5V
LCLS Undulator Control Module Interface
UCMI Front PanelBob Laird 9-25-07
X-Ray view of front panel – showing pcb mounted with L-brackets behind the panel
Top view of pcb
UCI 300
0.6" 1.0"0.6"0.6"
11.6"
13.6"
0.6"0.6"
-5V+5VRef 24V 42VA
Level 1Fault
StopLevel 2Fault42VB
AlignOffset
Adj
Level 1Thresh
Adj
Level 2Thresh
Adj
AlignOffset +TP
AlignOffset-TP
Level1Thresh
TPTDS0
TPTDS1
TP GND
Level2Thresh
TP
Pin 1
5.0"
R1 R2 R3
J2 J3 J4 J5 J6 J7 J8D1 D2 D3 D4 D5 D6 D7 D8 D9
J1
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCMI Motion Control
Motor InterfaceInterface between UCM, 42 Volts Motor Power Supply and 7 Motors
Five CAM movers motorsTwo Translation stage motorsAll motors fused with 10A Slow-blow fusesUse of bus bar wire for 42 VDC from Power connector to individual motor connectors and fuses.
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Translation Stage Position Monitoring
Translation error logic detects excessive skewLevel 1 error signal relayed to UCMLevel 2 error signal relayed to UCM and opens solid state relay contacts to Interlock ChassisAlignment procedure uses front panel trim pots, voltage monitor test points and LED’s.
Trim pots adjust reference voltage to comparators
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Beam Finder Wire (BFW)
Connects 24VDC CMD Signal from UCM to BFW connectorConnects 2 limit switches from BFW to UCMConnects BFW potentiometer signals to UCMProvides precision 5VDC reference signal to BFW position potentiometerProvides 24VDC to BFW
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
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.
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Front Panel Adjustments, Indicators and Test pointsAlignment Offset Adjust
Adjusted for Zero Volts when the Translation stages are aligned
Level 1 Threshold AdjustAdjusted for the desired skew
Level 2 Threshold AdjustAdjusted for the desired skew
Alignment Offset +TP/-TP Test pointsTest 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
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Cont. -Front Panel Adjustments, Indicators and Test points
LED Level 1 FaultLED Level 2 FaultLED Stop. Indicates E-Stop signal received from Interlock chassisLED +5V. Directly connected through resistor to 5VDC regulatorLED -5V. Directly connected through resistor to -5VDC regulatorLED 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.
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Wiring Configuration
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
EIA - Electronic Interface Assembly
PurposeProvide interface for electronic cabling from undulator hardware to instrumentation rack
Accommodate miscellaneous undulator wiring by means of auxiliary cabling channel
Design CriteriaProvide 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
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
EIA - Electronic Interface Assembly
Cabling FunctionsMotion control - 2 translation stages & 5 CAM moversPosition readout - 5 rotary & 8 linear potentiometersEmergency stop - 4 pushbuttons & 4 translation limit switchesTemperature monitoring - 12 Resistive Thermal Devices (RTD’s)Beam Finder Wire (BFW) - solenoid control & position readout
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Segment (Wall side)
EIA (Raceway)
UIR (Undulator Instrumentation Rack)
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
EIA - Electronic Interface Assembly
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Hardware Cabling Design
Assessing Cabling RequirementsUndulator hardware identification
establish nomenclature
Determination of routing (thru EIA or direct) to rackIntroduction of emergency stop capability (motor power)Determining EIA & Undulator Instrumentation Rack (UIR) location
Specifications of Connector & Cable TypeChoosing connector types
Quality & ease of installation/removalConnector type varies per function requirements
Choosing cable typesSelected for function (power, signal, control, etc.)Specifying custom cable where applicable
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Hardware Cabling Design
Planning for Cable RoutingDetermination of appropriate routing along girder support systemRouting 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 pushbutton2 translation limit switch5 rotary potentiometer8 linear potentiometer12 temperature (RTD’s)2 Beam Finder Wire (BFW)9 Instrumentation Rack
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Hardware System Wiring
Overall Wiring PlanHardware to electronic interface assemblyHardware to instrumentation rack cablingEIA to instrumentation rack cabling
Electronic Interface Assembly Internal WiringAll cables route thru EIA with exception of motor cablesReduction of cables to instrumentation rack
Emergency stop - from 6 to 1Rotary potentiometers - from 5 to 2Linear potentiometers - from 8 to 2RTD’s - from 12 to 3Beam Finder Wire (BFW) - from 2 to 1
Reduced total quantity by 24 / undulator
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Hardware System Wiring
Junction Box ‘A’ & ‘B’ CablingHardware cable entry to junction boxes
18 cables entering junction box ‘B’15 cables entering junction box ‘A’
EIA to Instrumentation Rack Cables1 emergency stop2 rotary potentiometers2 linear potentiometers3 temperature (RTD’s)1 Beam Finder Wire (BFW)
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Electronic Interface Assembly/Junction Box ‘A’
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Electronic Interface Assembly/Junction Box ‘B’
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Motor Power/Interrupt Chassis Design
Chassis FunctionsProvide motor power for translation stages & CAM moversProvide power for Undulator Control Module Interface (UCMI)Emergency motor power interrupt / status indicationInteracts with UCMI - status & control
Power Supply Selection & Power Distribution2 42V DC / 20A power supplies for 7 motors1 24V DC / 1.2A power supply for UCMI chassis
Emergency Stop Circuitry4 emergency stop pushbuttons (key reset) on girder support4 translation limit switches - in / out (upstream & downstream)Translation stage skew signal - level 2 fault from UCMI
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Motor Power/Interrupt Chassis Design
Interfacing With The UCMIPowers UCMI chassis with 24V DCProvides 42V DC to UCMI for powering 7 motorsReceives fault status (normally closed contact) from UCMISends ‘E-Stop’ status (motor power normal / interrupted) to UCMI
Status Indicators / Test PointsFront panel LED’s to indicate status
1 24V DC supply2 42V DC suppliesLED’s to indicate status (normal / fault) of motor power
Front panel test points to monitor all 3 power supplies
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Smart Motor / Power Supply Information
Smart Motor SpecificationsAnimatics Model SM2320D - PLS
Integrates a motion controller, amplifier, and feedback encoder in the back of a high quality brushless DC servo motor
Animatics Motor RatingsContinuous Torque - Tc 38 oz - in
Peak Torque - Tp 90 oz - in
Torque Constant - Kt 8.92 oz - in/A
No Load Speed 7820 rpmVoltage Constant 6.6 V / K rpmPeak Current Ip = Tp / Kt
Ip = (90 oz - in) / (8.92 oz - in/A)
Ip = 10.09 A
Continuous Torque Ic = (38 oz - in) / (8.92 oz - in/A)
Ic = 4.26 A
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Smart Motor / Power Supply Information
Power Supply RequirementsLinear unregulated DC voltage 22 to 48 Volts DCAnimatics model PS42V20AF110 42 Volts DC @ 20 Amps
Only one supply required to operate all 7 Smart Motors
Shunt recommended for back EMF protection12.5 OHM 100 Watt shunt (2)1 for each power supply
24 Volt DC linear regulated power supply for UCMI powerPowerOne HB24-1.2-A 24 Volt DC @ 1.2 Amps
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Circuit - Motor Power/Interrupt Chassis
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Motor Power / Interrupt Chassis
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Motor Power/AC Interrupt Chassis
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Control Module (UCM) - Functionality Overview
Motion control of five undulator CAM movers and two translation stagesPosition readback of various potentiometers distributed around the undulator girder, including interlocking logic of the translation stagesTemperature monitoring of RTDs distributed around the undulatorControl of the Beam Finder Wire diagnostic including position readback
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Requirements
Limitation of motor positioning “soft limits” imposed by softwareLimit switches to disable motor movementLimit switches to remove motor drive powerEmergency stop signal from the AC interrupt/interlock chassis
Translation stage control and skew interlocksControl of two independent translation stagesInterlock function to prevent unintentional skew of the strongback
Internal diagnostics to monitor the operation of the undulator controls
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Hardware Design
Commercially available VME hardware for IOCMotorola processorIndustry Pack Modules (ADC, RS-232, Digital I/O)Responsible for
motion controlposition readbackstranslation stage position monitoringtemperature monitoringBeam Finder Wire control and position readback
Undulator Control Module Interface (UCMI ) ChassisField wiring connection interfaceConnects to IOC via high density 50 pin SCSI-II cables
Motor Power/AC Interrupt ChassisTerminates motor power for emergency stop buttons or translation stage skew
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Motion Control
LCLS Undulator Support/Mover System Engineering Specification (#1.4-112)
CAM motion detailsTranslation stage motion details
APS EPICS motor record device supportAnimatics SmartMotors
UCMI ChassisField wiring interfaces directly to all motors, not through junction boxHouses 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
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Position Readbacks
Eight linear potentiometers for girder position monitoringManufacturer: novotechnikModel: TR10
Animatics Smart Motor internal encoder readback for CAM positionFive Rotary potentiometers for CAM position monitoring
Manufacturer: novotechnikModel: P2200
Two linear potentiometers for translation stage position monitoring
Manufacturer: novotechnikModel: TRS100
Two undulator translation limit switchesManufacturer : Micro-Switch (Honeywell)Model: 11SM1
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Girder Position MonitoringEight linear potentiometers monitoring girder position
Independent position feedback of the girder at each location1kΩ potentiometerIndependent 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 compensationDedicated ADC channel to monitor precision power supply output
Loopback configuration for motion control is possibleNot currently implemented, SUT results showed single motion always in spec.
Characterization with 16-bit ADCNeed 13 bits of resolution to obtain ±2 micron readback over 10 mm rangeCharacterization will be done during Long Term Test (LTT)
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - CAM Position MonitoringRotary potentiometers monitor CAM positions (indirectly monitor quad position)
5 kΩ potentiometer360° of mechanical travel345° of electrical travelIndependent linearity of ± 0.1%Independent repeatability of less than 0.01 degrees
Transformation matrix used to calculate the center of the downstream quadPrecision voltage source used for potentiometers for accurate measurementsLong term power supply drift compensation
Dedicated ADC channel to monitor precision power supply output
Characterization with 16-bit ADCNeed 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°
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Translation Stage Position MonitoringTwo linear potentiometers monitoring translation stage positions
Independent position feedback of the two translation stages5kΩ potentiometerIndependent linearity of ± 0.075%Independent repeatability of 10µm
Precision voltage source used for the potentiometers for accurate measurementsLong term power supply drift compensation
Dedicated ADC channel to monitor precision power supply output
Characterization with 16-bit ADCNeed 13 bits of resolution to obtain ±15 micron readback over 100 mm rangeCharacterization will be done during Long Term Test (LTT)
Two undulator translation limit switchesConnected to the Animatics Smart Motor limit switch inputsTwo additional limits wired directly to the AC Interrupt Chassis
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Translation Stage Skew Monitoring
Translation stage comparator circuit inside the UCMI ChassisTwo 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 interventionOne motor individually moved to match other motors position
Level 2 threshold, if the magnitude of the skew continuesAC interrupt chassis is tripped, cuts power to all motorsUCM enters alarm state which requires engineering intervention
Calibrated alignment of stage positionsLevel 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 ChassisAllows movement of translation stages to clear the fault
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Temperature Monitoring
Twelve RTD sensors positioned on girder assemblyVendor: OmegaModel: RTD-830 surface mount
UCMI ChassisField wiring interface for all RTD’sInterfaced to Dataforth RTD modules inside chassis
RTD excitation voltageIsolates, filters, amplifies and linearizes a single channel of temperature input
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Temperature Monitoring
Ambient temperature monitoring around girder3 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 effectsPlatinum element
High accuracy (a typical 100 ohm sensor is nominally 0.385 ohm/°C) Low driftFast response (extremely thin film)Linear resistance-temperature relationshipWide temperature operating range (-60 to 260 °C)
Characterization with 16-bit ADCNeed 13 bits of resolution to obtain ±0.05 °C readback over 320 °C rangeCharacterization will be done during Long Term Test (LTT)
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Beam Finder Wire Controls
A 24V dc signal activates BFW solenoidTwo limit switches for IN/OUT position readbackLinear potentiometer used to verify “IN” position accuracy
Same linear potentiometer as used to monitor the girder position
UCMI ChassisField wiring interface for solenoidField wiring interface for IN/OUT limit switchesField wiring interface for linear potentiometer
Position verification
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Segment (Aisle side)
T10
T11
T12 T04
T06TM2 TM1
CM5CM2 CM3
RP5
RP3
RP2
LP2-YLP3-X
LP6-YLP7-X LP8-TR LP4-TR
CMx = CAM Motor
TMx = Translation Motor
RPx = Rotary Potentiometer
LPx = Linear Potentiometer
Txx = Temperature RTD
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
Undulator Segment (Wall side)
T03
T02
T01
T08
T09
T07
T05
CM1CM4
RP4
RP1
LP1-Y
LP5-Y
CMx = CAM Motor
TMx = Translation Motor
RPx = Rotary Potentiometer
LPx = Linear Potentiometer
Txx = Temperature RTD
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Hardware Platform
VME IOC HardwareHybricon Crate (SLAC specifications)
Remote console accessRemote monitoring of voltage and fanRemote reboot and power cycling
Motorola mvme3100 Processor (approved by SLAC) RTEMS based IOC
Currently testing with a MVME6100 processorBSP 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
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM - Rack Space Sketch (front view)
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM Software - Development environment
Subversion (SVN) controlled software repositoryEPICS base R3.14.9
asyn R4-9 rs232 communications to motorsautosave R4-2-1 ioc pv savingip330 R2-5 potentiometer and RTD readbacksipUnidig R2-5 BFW solenoid and limit switchesipac R2-9 industry pack modules supportmotor R6-3 Animatics smart motorsseq 2.0.11* smart monitor sequence programs
RTEMS 4.7.1 in IOCVisualDCT (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
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM Software - Motion Equations Configuration Control
Motor Algorithm DocumentControlled documentReferences mechanical drawings of CAM wedge angles/configurationMechanical drawings will reference Motor Algorithm Document
Mechanical changes impact the controls motion algorithm
EPICS databaseRelevant process variables will reference the Motor Algorithm Document
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM Software - CAM Motion Equations
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM Software - Controls Displays
EDM display manageredm 1-11-0sUsing templates provided by SLAC
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM Software - EDM Display/Undulator Motion
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM Software - EDM Display/Girder and CAM Parameters
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM Software - EDM Display/CAM Calibration
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
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 potentiometersOut-of-range RTD readingsBFW inserted
Test FacilitiesCalibration and testing of translation stage “skew” interlock
Arturo Alarcon
FAC, Undulator Controls [email protected]
June 17, 2008
UCM Software - Access Security
Channel Access Security will be implemented during LTT developmentCalibration parameters will be READ only
CAM rotary potentiometer gain and zero offsetCAM wedge anglesLinear potentiometer gain and zero offsetGirder fixed distance parameters
Machine operating mode restrictionsCAM calibration procedure prohibited during normal operationsBFW operation prohibited during normal operations
