marco lonza, “the control system of the elettra booster injector” icalepcs2005, geneva 10-14...
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Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
The Control System of the ELETTRA Booster InjectorMarco Lonza
L. Battistello, D. Bulfone, V. Forchi', F. Giacuzzo, G. Gaio, R. Marizza, R. Passuello, L. Pivetta, C. Scafuri, L. Zambon
Sincrotrone Trieste, ELETTRA
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
The Booster Project
Control System Requirements and
Guidelines
Hardware Architecture
Software Infrastructure
Interlock and Personnel Safety
Systems
Conclusions
Outline
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
ELETTRA is the third generation light source based in Trieste, ITALY, since 1992
Present injector: 1.2 GeV Linac, energy ramping to 2 - 2.4 GeV
New injector: 150 MeV Linac pre-injector + 2.5 GeV Booster synchrotron at 3 Hz
Full energy injection at up to 2.5 GeV, rapid refills, top-up injection, reliability, stability
The 1.2 GeV Linac will be used for the Free Electron Laser FERMI@ELETTRA
Booster construction just started: completion by end 2007
The Booster Project
Booster Synchrotron
Linac Pre-Injector
ELETTRA Storage Ring
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
Booster Control System Requirements and Guidelines
Requirements the Booster control system will be an extension of the existing ELETTRA machine control system (same network, control room computers and servers)
stable and reliable for top-up continuous injection
diagnosis and fixing capabilities implemented remotely (technical gallery inaccessible during operations)
performance and real-time capabilities (3 Hz operations)
Guidelines deployment of off-the-shelf components, open standards and free open-source software
adoption of existing control system software in the frame of a collaboration with other institutes (Tango)
Following the above guidelines, the development time can be noticeably reduced and the overall cost lowered
The existing control system (early ’90s technology): VME, 68k, OS-9, MIL-1553, Ethernet, Unix, Motif, RPC
After partial upgrades of used technology and systems, a new foundation is necessary
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
Control System Architecture
I/OI/O
Ethernet LAN
LinuxServers
Control Room WorkstationsLinux PC
Equipment Controllers (EC)VME Crates, Power-PC Boards
with Linux-RTAI
M o d u l e S t a t u s
x
M o d u l e R e s e t D i s p l a y M e n u
C o n s o l e P o r t1 0 B a s e - T
A c t i v i t y
L i n k
M 5 5 0 0 - S U P
1 2 3 4T X T X T X T X
F D / H D F D / H D F D / H D F D / H DR X R X R X R X
P o r t P o r t P o r t P o r tM o d u l e S t a t u s
P o r t S t a t u s M 5 5 0 4 - 1 0 0 0 S X - F1 2 3 4
S t a t u sS t a t u s / A c t i v i t y 4
1 27 1 1
1 91 4 1 8
61
8
1 5
9
2
1 6
3
1 0
1 7
5
1 3
2 0
9 x 1 0 x 1 1 x 1 3 x 1 4 x 1 5 x 1 6 x 1 7 x 1 8 x 1 9 x 2 0 x1 2 x1 x 2 x 3 x 4 x 5 x 6 x 7 x 8 x M 5 5 2 0 - 1 0 0 T X
P o r t S t a t u s
M o d u l e S t a t u s
T X
F D / H DR X
P o r t1
T X
F D / H DR X
P o r t2
M 5 5 0 2 - 1 0 0 0 S X - F21
S t a t u sS t a t u s / A c t i v i t y 4
1 27 1 1
1 91 4 1 8
61
8
1 5
9
2
1 6
3
1 0
1 7
5
1 3
2 0
9 x 1 0 x 1 1 x 1 3 x 1 4 x 1 5 x 1 6 x 1 7 x 1 8 x 1 9 x 2 0 x1 2 x1 x 2 x 3 x 4 x 5 x 6 x 7 x 8 x M 5 5 2 0 - 1 0 0 T X
S t a t u sS t a t u s / A c t i v i t y 4
1 27 1 1
1 91 4 1 8
61
8
1 5
9
2
1 6
3
1 0
1 7
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1 3
2 0
9 x 1 0 x 1 1 x 1 3 x 1 4 x 1 5 x 1 6 x 1 7 x 1 8 x 1 9 x 2 0 x1 2 x1 x 2 x 3 x 4 x 5 x 6 x 7 x 8 x M 5 5 2 0 - 1 0 0 T X
S Y S E OT M K
M o d u l e S t a t u s
6
21
7 8
3 4 5
9 1 0
M 5 5 1 0 - 1 0 0 F XS t a t u s / A c t i v i t y
Embedded Controllers
Equipment
PLCs
Wi-FiLocal Client
Wireless
Access
Point
Upgrade of the existing Unix workstations and servers with Linux PCs accomplished by the beginning of 2006
Existing control room programs (based on Motif and RPC) ported to Linux
The new booster applications will run on the same PCs
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
Most of the machine equipment will be interfaced
to the control system through diskless VME
systems called Equipment Controllers (EC)
VME crate: 16-slot VME64x backplane, two hot-swap
redundant power supplies, local controller with Ethernet
for remote monitoring and reset
CPU board: Motorola MVME5100 with PowerPC G4 at
400 MHz
Software: Linux + Tango control system software
Real-time: RTAI real-time extension for deterministic
response
(20 s max latency jitter)
Equipment Controllers
RTAI Kernel(Interrupt Dispatcher)
Hardware
RTAITask1
RTAITask2
Linux
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
I/O: analog and digital signals, RS-232/422/485, GPIB,
etc.
I/O hardware: Industry Pack (IP) modules mounted on
VME carriers
PMC modules and VME boards employed where
performance or special features are required
Special I/O: ex. V/F conversion in the Linac klystron
room to reject electromagnetic interferences. VME board
developed in-house
Transition Modules: provide signal conditioning and
clean cabling of I/O signals
I/O
PMCIP
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
GNU/Linux already used at ELETTRA for two years
reliable and robust
deployed in both Intel PCs and PPC VME systems
common source code base for all platforms
CVS used for source repository and revision managing
Software: GNU/Linux
Linux is a good choice
Keep on this way for the booster control system
elettra
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
CORBA as basic middleware for distributed applications
TANGO control system software framework: joined the international collaboration which is developing it (ESRF, Soleil, ELETTRA and Alba) [WE2.3-6O]
Tango meets all our requirements in terms of capabilities, technologies and performance
mature and well tested: ~30 Tango Devices developed and deployed at ELETTRA
the object model helps software development and maintenance: man power reduced
Software: CORBA and TANGO
Tango Meeting at Elettra
active and fruitful collaboration between partners: the developed software is made available to the Tango community
ELETTRA developments: an alarm system [WE3B-1-7O], database redundancy, Qt integration, a Web based browser of historical data, a Web interface to Tango control system, etc.
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
Software: GUI and Qt
Qt graphical toolkit (by Trolltech)
C++ and Python Tango APIs
Developed three packages to ease GUI
developments:
Ttk (Tango Toolkit): a non graphical
library that provides some classes to
handle the most common Tango client
read and write actions (device proxy,
event subscription, polling threads,
error logs, etc.)
QTango eases writing graphical
control applications by associating a
Tango device attribute or command with
a viewer or a controller
QtControls custom Qt based widgets
suitable for controls and not yet
supported by existing Qt widgets
Tango
QtControls
QTango
Qt
TTK
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
Software: database, scripts and Web
Database: Tango relies on Mysql for device configuration handling. We will also use it
for the Tango archiving system (HDB) and to store machine settings (Save/Restore
application )
Scripting languages
for machine physics measurements and commissioning of new equipment
Matlab and Python will be provided (both supported by Tango)
Web Applications
E-Giga: data browser of historical data archived by HDB
Canone: generic Web interface to the Tango control system
PHP based Web server acts as a buffered client of the Tango control system
browsing of the operating Tango devices and display of device attributes
composition of custom Web pages with configurable widgets. Pages saved
as cookies
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
Interlock and Personnel Safety Systems
autonomous systems based on a PLC and distributed I/O connected
through Profibus
the control system communicate with the PLCs via Ethernet TCP/IP
and dedicated Tango devices
client applications and operator panels built in the Tango
framework (no SCADA)
Interlock System
machine protection (vacuum system, magnets, etc.)
PLC: Siemens S7 series 300
control room panel to manage alarm messages and display I/O
points
Personnel Safety System
protection of people from radiation hazards
protection of beamline users during top-up injections with
front-ends open
Fail-Safe components: PLC (Siemens S7 315F), Profisafe, I/O
peripherals
sensors and actuators: standard devices in redundant
configuration
PLC
Local Control
Ethernet
Command Reading
TCP/IP
Valve
Valve
Valve
BeamStopp
er
Control Room
Machine Gallery Access Panel
Marco Lonza, “The Control System of the ELETTRA Booster Injector”
elettra
ICALEPCS2005, Geneva 10-14 October 2005
Conclusions
construction and commissioning of the booster in parallel to ELETTRA
operations
completion of the project by the end of 2007
control system structure defined, hardware and software components
chosen
adopted the Tango control system: made the necessary integrations to be
deployed at Elettra
in-house hardware developments almost completed
controls developers can concentrate on the specific equipment application
GOAL: control system available from the beginning of the booster
commissioning
the presented control system infrastructure will also be the basis for the
new projects like FERMI@ELETTRA and the upgrade of the existing ELETTRA
control system