Product Update

New controller F3RP71 for EPICS IOC

18 May. 2017

Yutaka Kubota
Edge Controller Section, International Sales Dep.,
Control Instruments Sales Division, Product Sales
Center, IAPS BHQYOKOGAWA ELECTRIC CORPORATION| Document Number | March 23, 2016 |© Yokogawa Electric Corporation1

Two types of Controller

n Real-time OS CPU

n Sequence CPU

u RTOS (Real time Linux)

u Cyclic execution Engine
Ø VITESSE Engine

u C/C++ Languageu Unique Ladderu Easy to reuse ProgramØ Object LadderØ Macro BlockØ Script CodingØ Library, Middlewareu Multi task functionu Sensor control blocku Standard interfaceu Unique environment| Document Number | March 23, 2016 |© Yokogawa Electric Corporation2

Product Roadmap
C Language Controller
Utility
ModuleF3RP9 Series / General-Purpose Processor( ARM A53: 1.3GHz x2 + R5 533MHz x2 )F3RP7 Series / General-Purpose Processor( ARM A9: 866MHz x2 )Utility
Module2015~

F3RP6 Series / General-Purpose Processor( PowerPC : 533MHz )2007~

F3RP5 Series / General-Purpose Processor( SH4 : 240MHz )2004~

F3RP4 Series / General-Purpose Processor( SH4 : 200MHz )2001~

Sequence Controller
LD
F3SP7 Series / Original ASIC
( SPU3 Vitesse Engine )F3SP6x Series / Original ASIC
( SPU2 )SP28/38/5x / Original ASIC
( SPU2 )H/W Logic

SP20/30/21/25/35 / Original ASIC
( SPU )

1995

2000

2005

2010
| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

3

S/W Logic

2015

2020

EPICS on e-RT3 2.0
EPICS built in F3RP61-2L gives us many benefit
It is the result of good collaboration with KEK and Yokogawa.

EPICSOPI

・Save engineering cost and time・Save production cost
・Save TCO
・Improve reliability of system
・Stable delivery of products

ProprietaryProtocolEPICSOPIChannelAccessChannelAccess

EPICS&Datahandler

F3RP61-2L

IOC

Network-BasedController

VME or PC

Network-BasedController(IOC)EPICS built in

EPICS (IOC)Linux & DriverHardware| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

Simple usage under EPICS
Conventional PLC usage
OPICA Clients

PLC usage with F3RP61

with asynchronous access
IOC(Logics)

LadderCPU(Logics)

FAM3 PLC
I/O Modules

with only synchronous access and maybe with sequencer

OPICA Clients

F3RP61
IOC

FAM3 PLC
I/O Modules

If necessary, we can combine
OPICA Clients

F3RP61
IOC| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

LadderCPU

FAM3 PLC
I/O Modules

Installation in Accelerator system| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

6

F3RP7X Series| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

7

Differences from existing products
CPU Setting Tool / Device Monitoring Tool
Smart Access / Preinstalled OS/OSS

Usability/Flexibility

Expandability

PCI Bus (32 bit)

PCI Bus (32 bit)
FPGA installed

Storage

PC Card
1 SlotCF Card
1 SlotSD Card (SDHC)
2 SlotNetwork

10BASE-T/100BASE-TX
1 Port10BASE-T/100BASE-TX
2 Port10BASE-T/100BASE-TX/1000BASE-T
2 PortProcessor

SH4 7750S 200MHz (RP4□)SH4 7750R 240MHz (RP5□)

PPC MPC8347E 533MHzARM Coretex-A9 866MHz Dual

VxWorks / NORTi / WinCE (RP4□)
VxWorks / NORTi / OS-9 (RP5□)

Linux / VxWorksLinux / VxWorks

Supported OS

4/5 Series

6 Series| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

7 SeriesNewSpecification
F3RP71-2L

F3RP71-1R

New

CPU

F3RP61-2R

New

Core

ARM Cortex-A9 MPCore（Dual Core）

MPC8347E

動作周波数866MHz533MHz

Cache

L1：32KB

拡張

NEON™および単精度／倍精度の不動⼩数点単精度／倍精度の不動⼩数点

Little endian

Big endian

EndianOSMemory

F3RP61-2L

I/D

L2：512KB

L1：32KB

I/DLinux3.18.16 + pach-3.18.16-rt13

Linux2.6.26.8 + pach-2.6.26.8-rt1

NOR FLASH

256MB

128MB

64MB

64MB

DDR3 SDRAM

1GB

256MB

128MB

128MB

SRAM

8MB

なし

4MBなし

Ethernet

1000BASE-T／100BASE-TX／10BASE-T 2 port

RS-232C

9.6kbps〜115.2kbps 1 portßStrage

SDHC（最⼤32GB） 2 slot

CF 1 slot

PCI

Utility module⽤（32bit）

ßその他

JTAG（専⽤10pin connector）

JTAG（専⽤10pin connector）、IEEE1394

電源断検出

⼊⼒電源断を検出、Applicationへ通知

Watch dog timer

Application software動作状態のmonitor

SD card異常検出

過電流保護回路搭載

ßFAIL信号出⼒あり

ßßRDY,RUN,ALM,ERR,COM,CF,LNK1,LNK2,100,BAT

Switch

年、⽉、⽇、時、分、秒、曜⽇（Battery backup）
RDY,RUN,ALM,ERR,COM,SD1,SD2,BAT,U1,U2,U3,OS,
1,2,4,8
MODE switch／SET switch

最⼤実装Module数

4 module／1 unitß

消費電流1200mA

ß

外形⼨法

28.9(W)×100(H)×83.2(D)mmß

質量220g

200g

I/F

RAS機能

RTC
Status LED

100BASE-TX／10BASE-T 2 portß

| Document Number | March 23, 2016 |© Yokogawa Electric Corporation9ßßCPU Block Diagram| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

10e-RT3 Plus “Basic Performance”※processor処理
性能比較（実測値）

n Dual Core Processorn Gigabit Ethernet [2 port]n SD Card[2 slot]
n I/O access speed upu Throughput speed 4.3x

n Real-time performance※Linux性能比較demou Latency（Up to 105x）u Jitter（≦ x1/2 ）n Memory capacity
u Flash ROM（max 4x）※Flash ROM
data使用用途

Maintenance
LED

MODE S/W

u SDRAM（max 8x）u SRAM（max 2x）Set S/W
10BASE-T/
100BASE-TX/
1000BASE-T
SDHC
PCI BusRS-232C

Performance Test
New| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

11SDHCe-RT3 Plus “Accessible / Visible”
n Preinstall Linux system（Kernel, Device, OSS etc.）
GOAL

START

F3RP61

Install time（Linux system）

Install time（OSS）

Application Development

STARTNew

F3RP71

Application Developmentn Application development on Windows
New

F3RP61

F3RP71

Windows OS

Linux OSLinux OShost machine

host machine| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

12Web maintenance toole-RT3 Plus “Applicable”
n Applicable controller by OSS
APACHE（HTTP Server ）PHP（script language）
TCPDF（Reporting）
CUPS（printer server）
PostgreSQL, SQLite3（Database）nds ofik09OverOSS…

uuuuuLogger※Open Source Software

Monitoring

Process Control

Inline Instrumental
Machine control

Intelligent gateway| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

13

Thank you for your attention.

| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

14

Appendix| Document Number | March 23, 2016 |© Yokogawa Electric Corporation15

Processor performance test
F3RP611000 Mips

4.3x speedNew

F3RP714330 Mips[sec]4541.301

40x３.133530

26.433252015

Executing Time of
10 Subtraction
Processes（0xFFFFFFFtimes）

13.2061050
F3RP71 SMPあり

F3RP71 SMPなし

866MHz Dual

F3RP61533MHz Single| Document Number | March 23, 2016 |© Yokogawa Electric Corporation16

Latency| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

17Performancen Drawing speed competition
XY Stageu Plot points
Ø 1266

u Load Application
Ø Subtractionprocess x 10

u Processing timeØ 1minペン
Pencil?
NewVS

挑戦者
2016 ~

2007 ~| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

18Performance
New2007 ~VS| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

192016 ~Jitter
RP6 Series

RP7 SeriesLinux
140[us]

VxWorks

60[us]

Reference data
90[us]

60[us]| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

20

I/O access timen Relay access time

[us]

Input

OutputRead
F3RP71
F3RP61

1 word8.602
12.712Read

2 word8.632
12.722

1 word
12.681n Register access time

F3RP71
F3RP61Write

2 word19.977

1 word13.78119.175x1.5
Readx1.4
Write

2 word24.47133.095≒ x1.3
Read ≒ x1.2
Write

[us]

[us]

ReadWrite

1 word 8 word 10 word 64 word 100 word
8.29650.491
472.436
11.119 51.701
376.048-

1 word 8 word 10 word 64 word 100 word
8.479
51.164477.343
10.903 50.008
363.036-

F3RP71
F3RP61n I/O interrupt response time[us]Linux
F3RP71
Response time（Min）
Response time（Max）
Average

94
136
107

F3RP61-

110
195

VxWorks

NORTi

F3RP62

F3RP5x-3P-

95
115| Document Number | March 23, 2016 |© Yokogawa Electric Corporation

21-

60
70

fast assadn
Respo VxWorks）
RP62（

Development host machine Environmentn Xilinx SDK（Windows／Linux）

oadDownl
Fromeblinx WiX
roawa
Yokogsite

u Application Developmentu Execution／Debug（Remote）
u File transfer etc.
eclipseXilinx SDKWindows OS（Windows 7 32bit/64bit）
Linux OS（CentOS 6.7 32bit）

User can download the install file,7 Xilinx SDK ‘ from below URL http://www.xilinx.com/support/download/index.htm
Software Development Kit（Vivado 2013.4: Stand alone SDK single package）
Install file size ： ≒2GB
| Document Number | March 23, 2016 |© Yokogawa Electric Corporation22

Web maintenance tool
Web browsern Device monitor

LANcableu CPU module monitor
u I/O device monitoru Comment filen CPUuuuuuuuu

config.

Top／LoginServiceUser setting
IP address setting
Calendar／Time setting
Start script
Memory・Log
Device settingn Display Instruction Manual| Document Number | March 23, 2016 |© Yokogawa Electric Corporation23

Web server mounted

Open Source Software list（90種類）
No.
1

Package nameapache2

Version
2.4.102

bash

4.3.30LicenseApacheLicense v2.0
GPLv3

3

bison

3.0.4

GPLv3

4

chkconfig

1.3.635

coreutils

8.23

6

cracklib

No.

Package namelibiconv

Version
1.11.1

LicenseLGPLv2

No.

31

61

Package namephp-fpm

Version
5.6.4

LicensePHP-3.01

32

eglibc-gconv

2.19

GPLv2, LGPLv2.1

62

php-fpm-apache2

5.6.4

PHP-3.01

33

libiodbc

3.52.10

BSD, LGPLv2.1

63

poppler

0.35.0

GPLv2

GPLv2

34

libsysfs (sysfsutils)

2.1.0

GPLv2, LGPLv2.1

64

popt

1.16

MITGPLv3

35

termcap

2.0.8

GPLv2

65

postgresql

9.4.0

PostgreSQL

2.9.2

LGPLv2.1

36

libuser

0.60

LGPLv266

postgresql-client

9.4.0

PostgreSQL

7

cups

2.0.2

GPLv2, LGPLv2

37

logrotate

3.8.8GPLv2

67

procps

3.2.8

GPLv2, LGPLv2

8dhclient

4.3.1

ISC38

mktemp

1.7

ISC

68

psmisc

22.21

GPLv2

9

diffutils

3.3

GPLv3

39

module-init-tools

3.15

GPLv2

69

pure-ftpd

1.0.36

BSD

10

dosfstools

3.0.26GPLv3

40

mtd-utils

1.5.1

GPLv2

70

python

2.7.3

PSFv2

11

e2fsprogs

1.42.1241

mtd-utils-jffs2

1.5.1

GPLv2

71

readline

6.3

GPLv3

12

e2fsprogs-libs

1.42.12

GPLv2, LGPLv2,BSD, MITGPLv2

42ncurses

5.9

MIT72

rpcbind

0.2.2

BSD13

ethtool

3.18GPLv2

43

net-tools

1.60+26

GPLv273rpm*1

5.4.14

LGPLv2.1

14

findutils

4.4.2

GPLv3

44

nfs-utils-client

1.3.1

GPLv2

74

sed

4.2.2

GPLv3

15

flex

2.5.39

BSD

45

ntp

4.2.8

NTP75

shadow

4.2.1

BSD, Artistic-1.0

16foomatic-filters

4.0.17GPLv2

46

ntp-utils

4.2.8

NTP76

sqlite3

3.8.8.3PD17freetds

0.92.79GPLv2

47

ntpdate

4.2.8

NTP77

sudo

1.8.9p5

ISC, BSD, Zlib

18

inetutils-ftp

1.9.2

GPLv3

48

ntpd

4.2.8

NTP78

sysklogd1.5

GPLv2, BSD

19

gawk

4.1.1

GPLv3

49

openssh

6.7p1

BSD

79

sysvinit

2.88dsf

GPLv2

20

gdbserver (gdb)

7.8.1

GPLv3

50

openssh-misc

6.7p1

BSD

80

tar

1.28

GPLv3

21

glib-2.0

2.43.2

GPLv2, LGPLv2

51

openssh-sftp

6.7p1

BSD

81

tcpdf

6.2.6

GPLv3

22

grep

2.21

GPLv3

52

openssh-sftp-server

6.7p1

BSD

82

inetutils-telnet

1.9.2

GPLv3

23

gzip

1.6

GPLv3

53

openssl

1.0.1jOpenSSL83

inetutils-telnetd

1.9.2

GPLv3

24

initscripts

1.0.0

GPLv254

libpam

1.1.8

BSD, GPLv2

84

unixodbc

2.3.2

GPLv2, LGPLv2.1

25

iproute2

3.18.0GPLv2

55

pam-plugin-cracklib

1.1.8

BSD, GPLv2

85

util-linux

2.25.226

iptables

1.4.21

GPLv2

56

passwd0.79

BSD, GPLv2

86

vim-tiny

7.4

GPLv2, LGPLv2.1,
BD
Vim

27

iputilss20121221

BSD, GPLv2

57

pciutils

3.3.0

GPLv2

87

cronie1.4.12

ISC, BSD, GPLv2

28

less

458

GPLv3, BSD

58

perl

5.14.388

xinetd

2.3.15BSD

29

libcap2.24

BSD, GPLv2

59

php

5.6.4

Artistic-1.0,GPLv1PHP-3.01

89

zile

2.4.11

GPLv330

libgcc

4.7.3

GCC RLE v3.1,GPLv3

60

php-cli

5.6.4

PHP-3.01

90

zlib

1.2.8

Zlib

| Document Number | March 23, 2016 |© Yokogawa Electric Corporation24