# Presentation: 699237

## The EPICS Brick development, application, status

*EPICS Collaboration Meeting – Embedded Controllers*
*David Kline*
*June 12–16, 2006*

## Topics

- Hardware and supported modules
- Basic hardware solution
- Supported software
- Application development, IOC, boot environments
- Examples
- Status and future development

## Hardware and supported modules

***Hardware and supported modules***

- Low-cost IOC, soft real-time, localized control
- PC104 bus based
- Fabricated for reliability, rugged, used in military, aerospace,sea and land vehicles, oilfields, and traffic control applications
- Diamond systems – Athena (ATH660-128)
- 660Mhz (fan or fanless), 128MB (256MB)
- Integrated DAQ
*16 ADC @ 16-bits (-10V..10V)*
*4 DAC @ 12-bits (-10V..10V)*
*24-bits TTL digital IO bits (programmable direction)*
*Watchdog timer, 4 USB, IDE, 4 serial ports, printer,**VGA, mouse, keyboard, 10/100 Ethernet*
- $850 (USD)

## Hardware and supported modules

- Diamond systems – Ruby-MM-416 (RMM-416-XT)
- 4 channel 16-bits analog output
- -10V..10V 330uV resolution
- 24-bits TTL digital IO (programmable direction)
- $395 (USD)
- Diamond systems – Onyx-MM-DIO (OMM-DIO-XT)
- 48-bits TTL digital IO (programmable direction)
- $90 (USD)

## Hardware and supported modules

- Sensoray Smart A/D (MODEL 518)
- 8 channel sensor input @ 16-bits
- Individually programmable sensors
- Thermocouples (BCEJKNTSR), RTD’s, strain gauges,voltage, thermistors, and resistors
- 22mS or 13mS A/D conversion
- $295 (USD)
- Diamond systems – Pearl-MM (PMM-S)
- 16-bits relay output
- Screw terminals, pin headers
- NO, NC, C contacts
- AC / DC voltages
- 30VDC / 2A, 125VAC / 0.5A
- $175 (USD)

## Hardware and supported modules

- Diamond systems – Emerald-MM-8P/4P (EMM-8P-XT / EMM-4P-XT)
- 8 and 4 serial ports
- Configurable for RS232, RS485, RS422
- Maximum baud rate 460.8kbps
- /dev/ttySx
- 8 port $250 (USD)
- 4 port $130 (USD)
- Pro-dex (OMS) PC78 Multi-Axis Motion Controller
- 2/4 axis stepper control
- PC104 or RS232 communication
- Encoder feedback
- $1295 (USD)

## Hardware and supported modules

- Diamond systems –  IR-104 (IR104)
- 20 Opto-isolated inputs
- AC / DC voltages
- 3-24V
- 20-bits relay output
- SPST (form A), NO contacts
- AC / DC voltages
- 30VDC / 2A, 125VAC / 0.5A
- $270 (USD)

## Hardware and supported modules

- Pro-dex (OMS) PC68 Multi-Axis Motion Controller
- 8 axis stepper control, no encoders
- PC104 or RS232 communication(performance diff negligible)
- $1565 (USD)
- Diamond systems – Panel IO (PNL-EAP)
- Provides industry standard I/O connectors
- VGA, Ethernet, USB, Serial, Parallel, PS/2,and data acquisition, status LEDs.
- Power input options:
*Circular jack for an AC wall adapter*
*DB 9 connector*
- $85 (USD)

## Hardware and supported modules

- Weeder Technologies – Digital IO module (WTDIO-M)
- 14 I/O channels; individually configured for input or output.
- Programmable one-shot output pulse of 10 to 655,350 μS.
- Screw-terminal connectors used on all inputs and outputs.
- $59 (USD)
- Weeder Technologies – Solid state relay module (WTSSR-M)
- 5 optically isolated solid state relays.
- Programmable one-shot output pulse of 10 to 655,350 mS.
- Screw-terminal connectors used on all inputs outputs.
- $69 (USD)

## Hardware and supported modules

- Weeder Technologies – Thermocouple input (WTTCI-M)
- 4 thermocouple input channels.
- Accepts J, K, T or E thermocouple types.
- Selectable to read temperature in Fahrenheit or Celsius.
- Screw-terminal connectors used on all inputs.
- $109 (USD)
- INES Test and Measurement – GPIB-PC104
- GPIB interface for PC/104 embedded systems
- 512 Byte transfer FIFO for optimum performance

## Hardware and supported modules

- Hard disk drive
- Hard drive mount (ACC-HDDMOUNT)
- 40GB hard drive (HITACHI TRAVELSTAR 4K40 40GB)
- $110 (USD)
- Compact flash
- Compact flash mount (ACC-CFEXT)
- 2GB compact flash (SANDISK MEMORY CARD - 2 GB)
- $110 (USD)
- Other hardware
- AC adapter (PS-5V-03)
- $25 (USD)

## Hardware and supported modules

- Diamond systems – Pandora (PB-Z32-300-EA-K)
- Compact, lightweight
- Various depths, 1.7in,  3in, 5in, 7in, and 10in
- Available only in black (no purple, sorry)
- $80 (USD) 3in
- Rack mountable (BC-043)
- Uses faceplate of Pandora enclosure
- BNC connectors for Athena’s DAQ
- Application specific connectors in back

## Hardware and supported modules

- Generic Digital IO
- Developed by Steve Ross
- Altera FPGA-based *(FLEX10K)*
- 16 32-bit Up / Down counters
- Asyn-based serial link protocol
- Other supported hardware
- Love controllers
- MDrive
- XIA Huber slits
- Femto current amplifier
- Kohzu monochromator
- White beam slits
- Peizo motors

## Basic hardware solution

- Hardware,
- Athena 660Mhz processor board with fan, DAQ
- AC adapter
- Pandora enclosure
- Panel IO board
- Mass media
*40GB hard drive*
*2GB compact flash*
*Mounts*
- Total cost ~$1200 (USD)

- Pandora enclosure

## Supported software

- Corelinux, Fedora, DSC Slackware, VectorLinux distributions
- VectorLinux STD 5.1
- Slackware based
- Easy package, configuration management
- Active forum
- Small foot print (~1.2GB)
- Fast boot ~50s
- Development tools
- GNU compiler/linker
- Editors (nano, nedit, vi)
- CVS and TkCVS
- X11, XDMCP, DHCP client, ssh, scp, IceWM
- NFS client
- Mozilla Firefox web browser

## Supported software

- EPICS support
- Base 3.14.8.2
- synApps 5.1 modules
*asyn, autosave, calc, ccd, dxp, gensub, love,**mca, motor, optics, seq, sscan, std, xxx*
- Extensions, Probe, MEDM
- Asyn-based driver support
*Athena integrated DAQ*
*Supported hardware modules*
*Motor controller support (BT,RS)*
- IOC examples
- MEDM screens, diagnostics, commissioning, operations

## Supported software

- Screen application
- Remotely connect to an IOC, attach to iocsh, detach
- IOC application runs under screen, started in rc.local
- Logging
- “launch” application
- Taken from Eric Norum
- Wrapper app
- Opens IO ports
- IOC app passed to launch
- Logrotate application
- Daily cron job
- Compress, manage screen log files

## Application development, IOC, boot environments

- Development environment
- Uses the 40GB HDD
- Development tools
- EPICS base 3.14.8.2, synApps 5.1 modules
- epics application (xxx) or specific IOC application
- Accounts root, epics, epicsioc
- epics account hierarchy
- EPICS Base tree
- synApps support tree
- IOC tree
*epics application (xxx)*
*Specific IOC applications (makeBaseApp)*

- /home/epics     /EPICS          /base  3.14.7          /synApps              /support                  :          /ioc              /epics              /sector                  :                  :

## Application development, IOC, boot environments

- epicsioc account hierarchy
- epics directory
- IOC application
- IOC environment
- Uses the 40GB HDD or 2GB compact flash
- Application only, uses standard directory structure
- Accounts root, epicsioc
- Distribution
- Local copy (mounted mass media)
- USB-based Pendrive
- tar / gzip scp

- /home/epicsioc    /epics        /db        /dbd        /iocBoot              :              :

## Application development, IOC, boot environments

- Boot environment
- Controlled by run-levels
- RL2 – IOC iocsh prompt @ serial, no X
- RL3 – IOC iocsh prompt @ VGA, no X
- RL5 – Development @ VGA, X, no IOC
- RL7 – IOC iocsh prompt available after login, X,
- Screen application

## Example: 26ID Beamline Kohzu Monochromator

- Basic configuration/w 40GB
- Motor control, serial to OMS Motion Controllers /wo encoders
- Standard EPICS support
- Motor record
- Kohzu sequencer
- MEDM displays
- Extra capacity
- ADC, DAC, digital IO, 2 serial ports...

## Example: 26ID Beamline White Beam Slits

- Basic configuration/w 40GB
- Motor control, serial to OMS Motion Controllers /w encoders
- Standard EPICS support
- Motor record
- MEDM screens
- Extra capacity
- ADC, DAC, digital IO,1 serial port

## Example: 33ID USAXS Instrument

- Basic configuration/w 40GB
- 19” rack mounted
- 2 DSC Ruby-MM-416
- DACs for PZT positioners
- Digital IO for Femto DLPCA current amplifiers
- Standard EPICS support
- Femto sequencer
- MEDM screens
- Extra capacity
- ADC, DAC, digital IO, 4 serial ports...
- Future:
- Digital IO for XIA PF4 filters
- DSC PMM-S module for shutter control

- Current amplifier

## Example: 33ID USAXS Instrument

## Status
Ready for prime time
Nano’s Kohzu, White-beam slits
USAXS instrument
Other sectors are interested, detector pool
Future
USAXS mirrors
PC104-based IP carrier
NFS or flash boot
Installation CD
Love controller replacement
USB-to-VME bridge
DSC Athena II, 800MHz, 256MB; Poseidon, 2GHz, 512MB

- Ready for prime time
- Nano’s Kohzu, White-beam slits
- USAXS instrument
- Other sectors are interested, detector pool
- Future
- USAXS mirrors
- PC104-based IP carrier
- NFS or flash boot
- Installation CD
- Love controller replacement
- USB-to-VME bridge
- DSC Athena II, 800MHz, 256MB; Poseidon, 2GHz, 512MB

***Status and future development***

## Beamline application demonstration

- Demonstration @ 15:00

## Acknowledgements

- Kurt Götze
- Pete Jemian
- John Maclean
- Nanoprobe (sector 26)
- Steve Ross
- Brian Tieman

*Thank You*