Accelerator Controls at KEK< kazuro.furukawa @ kek.jp >Accelerator Controls at KEK
Mainly KEKB and Linac Evolution at Tsukuba Site
Kazuro Furukawa, KEK
KEKB and Linac Control Groups<kazuro.furukawa@kek.jp>
Jan. 28. 2009.

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK!Several aspects of Evolution of the
Accelerator Controls at the KEK"Communication Networks"Equipment Controllers"Gradual Approach to EPICS"Scripting Languages!Summary

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

Mt. Tsukuba

J-PARC(at Tokai Site)

KEKB
PF-AR

ATF

STF

PF
Linac

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

PF, PF-AR, ATF, STF!PF-AR"Mostly the same environment as KEKB
#Still many CAMAC installations!PF"Moved to EPICS environment#Mainly with Linux-VME!ATF"Vista environment with CAMAC"Linux and socket environment!STF"Test accelerator for ILC"Linux, ATCA test
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

Mt. Tsukuba
B-factory: Electron/Positron
Asymmetric Collider for CP-violation Study~3km Dual-rings: Electron(8GeV - 1.4A) /Positron(3.5GeV - 1.8A)

J-PARC

KEKB
PF-AR

ATF

STF

PF
Linac

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

5KEKB and Linac Accelerator

Accelerator Controls at KEKKEKB and Linac!KEKB B-factory: Electron/Positron
Asymmetric Collider for CP-violation Study"~3km Dual-rings: Electron(8GeV - 1.4A) /Positron(3.5GeV - 1.8A)#Stable and Robust Operation#Many Active Operation Parameters#Importance of Controls!Linac:"~600m, 50Hz
"8GeV 2nC Electron, 3.5GeV 1.2nC Positron#Beam switchings for PF and PF-AR rings

Increase of Luminosity with Crab Cavities
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

6KEKB and Linac Accelerator

Accelerator Controls at KEK

Increase of the Luminosity

percent by percent

Feb.2005
Continuous
Injections

May.2000

Apr.2003
Dual Bunch e+Now, Collision
with Crab Cavities andwith Quasi-simultaneous Injection
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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KEKB / Linac Controls

Accelerator Controls at KEKKEKB and Linac Control Systems!Linac"Controls Upgrade (1990~)1993#De-facto (and International) Standards, IP-only Networks#No long Shutdown for KEKB upgrade#3.5-times Energy increase, 10-times current increase"Three indirect User Facilities (KEKB, PF, PF-AR)"Fewer resources!KEKB"5-year Shutdown after TRISTAN 1994-1998#Precision requirements were much different for KEKB"Complete transition of Controls#from Nodal at TRISTAN to EPICS+SAD at KEKB
#from Energy frontier to Luminosity frontier"Basically Single-user (Belle)
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Linac Network

Accelerator Controls at KEK

Communication Network at Linac!Fiber-optic Networks (1982~)#Because of High-power modulators for rf systems"~30 Loops to connect many equipment controllers#However, the fiber-optic Technology was not mature enough yet$Often Failed and Loop Topology made it difficult to identify the trouble!All IP network (1993~)"Still all Fiber-optic#(Faster Ethernet enables shorter packets and less failures)"Inherited at J-PARC Controls as well

!Gradual Transition of Technologies"From FDDI + 10Base-FL to 1000Base-LX + 100Base-Fx!Redundancy (1996~)#At more than 40 Ethernet links"Helped continuous operation in spite of a failure at night#Redundant Transceivers, then Rapid Spanning-tree and HSRP/VRRPEPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

9KEKB Network

Accelerator Controls at KEK

Communication Network at KEKB
!TRISTAN"Token Ring and CAMAC Serial highways#Token ring between mini-computers#CAMAC serial highways to equipment controllers!KEKB"IP Network for EPICS#FDDI+10BaseT to GbE+100Base-Tx$Sometimes unnecessary excess broadcast"ARCNet for equipment controllers#More than 200 network segments"MXI-2 for VXI-based frames#20 segments"Keep some CAMAC Serial highways#About 50 Crates
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Linac Controller

Accelerator Controls at KEK

Equipment Controllers at Linac!1982~(1997) (1st generation)"300 microprocessor-based controllers#Linked together with home-grown fiber-optic network!1993~now (upgrade of controls)"150 PLCs (programmable logic controller)#Linked via only Fiber-optic Ethernet/IP$Control communication with servers and program development!1995~now (upgrade for KEKB)#Direct Fiber-optic Ethernet/IP to each Controllers"30 VXI for rf measurement"7 VME / 10 CAMAC for Timing (will retire soon)"20 VME for Beam monitors (will retire soon)!2007~ (upgrade for 50Hz beam switching)"13 (increasing) VME for “event” handling, timing, llrf controls, etc.
"24 Oscilloscopes with WindowsXP IOC for 100 BPMs
#10Gs/s, 50Hz acquisition, local processing with 20 calibration parameter/BPM
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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KEKB Controller

Accelerator Controls at KEK

Equipment Controllers at KEKB
!TRISTAN"Mostly CAMAC#Equipment group responsibility: CAMAC module and outside!KEKB"100 VME/IOC without Analog processing"200 VXI/MXI mainframes for 900 BPMs
"50 CAMAC crates are kept for rf and vacuum"ARCNet boards for Magnet ps. settings, and others"GPIB for Magnet ps. readback, and others"PLCs for Magnet interlocks, and others
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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EPICS at Linac

Accelerator Controls at KEK

EPICS Transition at Linac!Home-grown RPC at Linac (1990~/1993~)"Bad timing but no choice because of end of old mini-computer support!No real transition to EPICS yet at Linac"There are middleware and applications!LynxOS Transition was developed (1994~1996)"To cover both RPC and EPICS with pthread, posix#Mostly working, Failed to get funding for Hardware/Software upgrade!Gateways to EPICS in several ways
"Software-only IOC and Gateway (Clients to both RPC/CA)"Portable Channel Access Server of EPICS-3.12 (1995~)"Soft-IOC with device support to Linac RPC (2002~)!Real IOCs are increasing"PLC(rf,vacuum,magnet) and Linux, Oscilloscope(bpm) with Windows,
VME(llrf and timing)"RPC servers read EPICS IOCs, EPICS gateways read RPC servers
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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EPICS at KEKB

Accelerator Controls at KEK

EPICS Transition at KEKB
!Some candidates discussed after Nodal at TRISTAN"RPC/CORBA based control design"Reflective memory (hardware shared memory) design!No other choice than EPICS for KEKB
"No man-power for control system software"The choice at SSC"International collaboration was attractive

EPICS Workshop 2009, RRCAT, India

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ArchiverAccelerator Controls at KEK

Archiver/Logger!Linac"Several archivers with different filters and stored in ascii"Replaced with two EPICS archivers (2002)#Channel archiver, with Java viewer, and Web-based viewer#KEKBlog, SADscript-based viewer$Both ~500MB/day, Dynamic ADEL changes!KEKB"KEKBlog, since 1998
#Once there was a plan to replace it with Channel Archiver$Data conversion, no much performance difference#Only ADEL-based filter$~4GB/day#SADscript-based viewer is one of the most-used applications$With Data analysis capability, easy manipulations
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Scripting Language

Accelerator Controls at KEK

Scripting Languages!Heavy use because of rapid prototyping!Linac"(1992~) Tcl/Tk as Test tools on Unix"(1997~) Tcl/Tk as Main Operator Programming Tool"(Now) Mixture of Tcl/Tk, SADscript/Tk, Python/Tk#SADscript has most accelerator design capability$Covers many features like MATLAB, Mathematica, XAL, MAD!KEKB#(Nodal interpreter and Fortran covered everything at TRISTAN)"Python covers many areas which is not covered by medm
"SADscript is used by operators and physicists everyday#Realization of novel ideas in hours$Only some ideas are effective, so rapid prototyping is important
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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KEKB and Linac Operation

Accelerator Controls at KEK

SADScript!Accelerator Modeling Environment"MAD-like Environment was created during TRISTAN"Needs for Conditionals, Flow-controls, Data manipulations, Plot, GUI!Mathematica-like Language"Not Real Symbolic Manipulation (Thus fast)"Data Processing (Fit, FFT, …), List Processing (Mathematica-like)"EPICS CA (Synchronous and Asynchronous)
CaRead/CaWrite[ ], CaMonitor[ ], etc.

"Tk Widget#Canvas Draw and “Plot”#KBFrame on top of Tk#Greek Letters"Relational Database"Inter-Process Communication (Exec, Pipe, etc)
System[ ], OpenRead/Write[ ], BidirectionalPipe[ ], etc.

"Beam Operation with Full Accelerator Modeling Capability#Also Used for non-Accelerator Applications (Archiver viewer, Alarm handler, etc.)"Comparable to XAL, MATLAB, but very different architecture
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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SADscript

Accelerator Controls at KEK

Virtual Accelerator in SADscript!For Example in KEKB
"most Beam Optics Condition is
maintained in the Optics Panel"Other Panels Manipulate Parameters
Communicating with the Optics Panel(Oide, Koiso, Ohnishi et al)===>

Tune Measurement/Changer
EPICS Workshop 2009, RRCAT, India

Optics Panels
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Accelerator Controls at KEK

Recent Improvements!PLCs with Embedded EPICS (Linux)"from Ethernet-only to Channel-Access-only!Event system introduction"Single fiber to distribute synchronized, 10ps timing, 50Hz
interrupts, data, etc!EPICS-embedded Oscilloscopes (Windows)!FPGA-based EPICS-embedded controllers (Linux)!Zlog operation log improvements"Used also at J-PARC, RIKEN, and BINP

!Reliability improvement studies"Redundant IOC, ATCA and EPICS, Test systems
EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEKKEKB & Linac!Further Electron-Positron Collider Experiments at KEKB$Contributed Nobel Prize to Kobayashi-Maskawa"Maintenance Difficulties#In Software and Hardware after 10-years of Operation#Transition from CAMAC to PLC, etc.
#Transition to Newer versions of Software$After Stable Usage of VxWorks-5.3.1, EPICS-3.13.1.

"Still Intensive Use of Scripting Languages#SAD-script, Python, Tcl.

"Zlog operation log improvements#Used also at RIKEN, J-PARC, and BINP

"Adding New Devices

PLC with Embedded Linux/EPICS#For Improved Machine Performance#New Hardware like Linux-embedded
PLC Controller (F3RP61)
for Beam-mask, Pulsed-quad, etc.
$EPICS-3.14.9, Linux-2.6 , Procserv, Pcmon, AsynEPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

Linac & PF & KEKB
!Simultaneous Continuous Injection to PF, KEKB-HER and KEKB-LER"50Hz Beam Pulses are Shared between 3 Rings#With very different Beam Properties, in Energy, Charge, etc.

"50Hz Beam Instrumentation (Beam Position Monitor)#Only Passive Components other than Oscilloscope (Tek-DPO7104)$Windows-embedded (3GHz Intel), EPICS-3.14.9, VC++

#One Oscilloscope reads 2-5 BPMs, 24 Oscilloscopes Installed$Synchronized 100-BPM Read-out"Intruduction of Event System, EVG230-EVR230RF from MRF#10 EVR’s Installed, 1/3 of Old Timing Stations Replaced

EVG & Timing$VxWorks-5.5.1, EPICS-3.14.9, (Gave-up with RTEMS)#Event drives Low-level RF in VME, BPM Oscilloscopes over Network#Gun Parameters, Pulsed Magnets, Kickers, etc are Controlled 50Hz
#Beam Pattern Rules on Client Script, can be Downloaded every second"More Development Needed#Flavoured Beam Feedback Systems#Event System Integrity Monitor
EVR & LLRF
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK(previous) PLC usage at KEK!At Linac"We enforced that all the controllers should be connected over
IP/Ethernet"PLC was much cost-effective compared with VME#if the speed requirement allows"Products from OMRON, Mitsubishi, Yokogawa were installed#Only Yokogawa (FAM3) increased, because maintenance capability over
network was better$Ladder software downloadable over IP/Ethernet$(Recently Mitsubishi also added that feature)"150 PLCs used at Linac for RF, Magnets, Vacuum, Safety, etc!At J-PARC"Many installations with the same reason as Linac!At KEKB"Used indirectly at many devices, over serial or GPIB links
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

Software management!Ideal at the beginning"Separate software development at control group, atequipment group, or at industrial company"Later, integration test IP/Ethernet!Logic management"Same logics could be placed at ladder software, in EPICS
database/sequencer (or in high-level applications)!Speed requirement"Closed loop over Ethernet was slow, sometimes un-reliable"Socket-based interrupts were possible, but complicated!Thus, hoped to run EPICS on PLC
EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

Vacuum Controller Internal

Magnet Controller Internal

Safety Controller

Touch Panel Display for RF

EPICS Workshop 2009, RRCAT, India

RF Controller Internal

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

EPICS on PLC!VxWorks was available on PLC (Yokogawa, Mitsubishi)"We use VME for realtime performance with VxWorks"License management of vxWorks …

!Yokogawa starts to provide Linux (2.6) on PLC CPU"Brave enough to choose open source environment#We negotiate with Yokogawa to remove any license issues"Odagiri/KEK, Uchiyama/SHI, Yamada/KEK made much effort to realize
the EPICS implementation"Takuya-Nakamura/MSC tailored the environment for KEKB
#Procserv, pcmon, NFS, …

!Three of them are used in KEKB operation"Beam mask controller and Pulsed-quad controller"It already ran for three months without any troubles/stops

EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

F3RP61
Linux 2.6.24
PPC 533MHz
128Mbyte RAM
100BaseTx x 2
USB
IEEE1394
SerialBeam mask controller
PCI
I/O Bus for FAM3 Module Interface
Software development environment

EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

Event System!Quasi-simultaneous Injection"to KEKB-HER, KEKB-LER, and PF"2.5GeV to 8GeV, 0.1nC to 10nC

!Stable stored beam current at three rings"Should improve collision tuning with Crab cavities"Should improve the quality of experimental data at PF!Fast switching of many device parameters"In 20ms / 50Hz
"Should be reliable because beam power is much different!MRF Series 230 Event Generator / Receiver"VxWorks 5.5.1, MVME5500, (Originally with RTEMS but…)"Timing precision less than 10ps (TD4 provides 3ps)
"Multi-mode fiber and single-mode fiber for longer distance

EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

Basic synchronization outside of EVG

Control

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

Event system configuration, autumn 2008

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

Beam mode pattern generation!Every pulse (every 20ms) corresponds to a beam mode.
!10 different beam modes are defined (for KEKB e+, etc).
!One beam mode may contain many event codes.
!About 50 event codes are defined.
!Some events correspond to many functions, and others to specificdevices.
!Beam pattern buffer length (n) can be 2 to 500 (20ms x 500 = 10 seconds).
!A new pattern is loaded at the end of the previous pattern.
!Otherwise, the pattern repeats forever.
!Pattern generator software arbitrates requests from downstream rings.
!There are many pattern rules due to pulse device features andlimitations.

EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

Beam mode pattern generation

Manual pattern designer
EPICS Workshop 2009, RRCAT, India

A version for current operation
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Accelerator Controls at KEK

LLRF!Timing and analog signals are essential for absolute energy,
energy spread, and dual-bunch energy equalization.
!Signals can be switched pulse-by-pulse.
!Driver klystrons (SB), energy tuner klystron (KL), andsub-harmonic bunchers (SH) are managed
by the event system.

EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

BPM!DPO7104 can acquire data in 50Hz .
!Beam modes are recognized by events through network.
!Clients can monitor data of an interested beam mode.
!100 BPMs are synchronized.

EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

Parameters!Parameters switching via Event system"RF Timing x~35
"LLRF x~11
"Gun voltages, fast delays, x4"Pulsed magnets x~12
"Injection system x~4"BPM over channel access x~100!Basically sufficient for fast beam mode switching!More parameters next year
!Integrity monitors!Improved slow beam feedback, fast feedback, etc.

EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

Embedded EPICS with FPGA
!Suzaku/atmark-techno"FPGA Vertex-4"PPC Linux-2.6"EPICS 3.14

!J-PARC MPS!KEKB Magnet!Linac RF
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Accelerator Controls at KEK

J-PARC MR MPS Operational!Akiyama,
Nakagawa,
et al.
!SeveralDifferentInterfaces

EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

Near Future!SADscript"Will be maintained, but should look more at XAL - CSS!EPICS"Still many hopes waiting to be realized!More integration between control systems!PLC usage"IEC61131-3 Standards!FPGA usage"More embedded controllers / instrumentations!More reliability considerations"Testing environments, Surveillance, Redundancy, etc.

!More operation side developments
Linac and KEKB groups will share the tasks
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Accelerator Controls at KEK

Summary!Control system design needed balances between
many aspects!EPICS and Scripting Languages brought great
success to the both KEKB and Linac BeamOperations!Control Architecture Has Changed"Tried to establish unified controllers (before 15 years ago)
"Tried to use only Ethernet/IP networks (15 to 5 years ago)
"Trying to use only EPICS-embedded controllers (now)EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

Thank you

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Accelerator Controls at KEK

Thank you

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Linac Controls

Accelerator Controls at KEK

Linac; Physical Structure!Multi-tier, Multi-hardware, Multi-client, …

EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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Linac Controls

Accelerator Controls at KEK

Linac; Software Architecture! Base control software structure for Multi-platform" any Unix, OS9, LynxOS (Realtime), VMS, DOS, Windows, MacOS" TCP - UDP General Communication Library" Shared-Memory, Semaphore Library" Simple Home-grown RPC (Remote Procedure Call) Library" Memory-resident Hash Database Library! Control Server software" Lower-layer servers (UDP-RPC) for control hardware" Upper-layer server (TCP-RPC) for accelerator equipment" Read-only Information on Distributed Shared Memory" Works redundantly on multiple servers! Client Applications" Established applications in C language with RPC" Many of the beam operation software in scripting language,# Tcl/Tk# SADscript/Tk
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Available Technologies

Accelerator Controls at KEK

Network with only IP/Ethernet!The policy chosen when we upgrade Linac in 1993
"Make network management simpler#Faster switches, routing, network-booting, etc.

"Avoid Hardware failure and analysis effort with old field network#Home-grown field networks need much dedicated man-power"Cost for optical Ethernet went down at around 1995
#Linac has high-power modulator stations, noise source"Nowadays many facilities have this policy with GbE#J-PARC controls basically followed this"More and more intelligent network devices#ex. Oscilloscopes with Windows/3GHz-Pentium built-in#Even EPICS IOC, MATLAB, or others can be embedded"Network components can be replaced one-by-one"Security consideration will be more and more important

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Accelerator Controls at KEK

J-PARC at Tokai CanpusHD(hadron)

50GeV MRMLF

(0.75MW)(neutron& muon)3GeV RCS

NU(25Hz,1MW)(neutrino)

CCR (Central

Control Room)

Linac(181MeV)EPICS Workshop 2009, RRCAT, India

Kazuro Furukawa, KEK, Jan.2009.

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KEKB Network

Accelerator Controls at KEK

J-PARC Controls!We started the design in 1998
"But nobody was dedicated at the beginning!EPICS was chosen"The same reason as KEKB, EPICS was successful at KEKB

!IP/Ethernet-only field network was chosen"It was successful at Linac!Device support"Development was started with Network-based device supports"WE7000, FAM3 PLC, EMB-Lan etc.
"Later, Integrated into NetDev by Odagiri!Mixed application environment with Java, SAD, XAL, Python!Good practice for inter-institute developments with different
cultures!Under commissioning, soon to commission MR beam
EPICS Workshop 2009, RRCAT, India

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Accelerator Controls at KEK

EPICS Software Environment
Accelerator

Linac
RCS
MR

OPI Applications
Basic
High-Lvl.

Java

+MEDM

Java

+MEDM

MEDM
(or EDM)EPICS Workshop 2009, RRCAT, India

IOC/VME
OS,H/W

Drivers(slightly old)

VME I/O Modules
XAL VxWorks -mainly
by Advanet
PowerPC/JCE- TeraDev for PLC
Adv7501

SAD
SAD

PythonVxWorks - VME I/O Modules
PowerPC
Adv7501

mainly by Advanet- TeraDev for PLC

Linux(Network Devices)-NetDev for PLC,
BPMC, EMB-LAN-WE7000 Drivers

Intel-based
GE Funacand Sanritz

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