PLC Embedded IOC< kazuro.furukawa @ kek.jp >F3RP61-based Embedded IOCs
for Accelerator Controls at KEK
Kazuro Furukawa< kazuro . furukawa @ kek . jp >For KEKB and Linac Control Groups
Jun.10.2009.

KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

KEK :Accelerator Facilities forParticle & Nuclear Physics,
Material Structure Science

Mt. Tsukuba

J-PARC(at Tokai Site)

KEKB
PF-AR

ATF

STF
cERL

PF
Linac

KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC(Initial) PLC usage at KEK!At e–/e+ Linac"We enforced that all the new controllers should be connected overIP/Ethernet since 1993 (instead of other field networks)"PLC was much cost-effective compared with VME#if the speed requirement allows"Products from OMRON, Mitsubishi, Yokogawa, etc. were installed#Only Yokogawa (FAM3) remained and others were removed, because
maintenance capability over network was better$Ladder software downloadable over IP/Ethernet, etc.
$(Recently Mitsubishi also added that feature)"170 PLCs (with Ethernet) used for RF, Magnets, Vacuum, (Safety), etc!At J-PARC"Many installations with the same reasons as e-Linac!At KEKB
"Used indirectly at many devices, over serial or GPIB links!Even custom hardware modules can be designed (I/O Open)KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

Vacuum Controller Internal

Magnet Controller Internal

Safety Controller

Touch Panel Display for RF

KSTAR - KEK EPICS Meeting

RF Controller Internal

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

Software management with PLCs!Ideal at the beginning"Separate software development at control group, atequipment group, or at industrial company"Later, integration test with IP/Ethernet!Logic management, however"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"Interrupts were possible, but slow and complicated!Thus, hoped to run EPICS on PLC
KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

EPICS on PLC!VxWorks CPU was available on PLC (Yokogawa, Mitsubishi)#Besides normal sequence / ladder CPU!Yokogawa starts to provide Linux (2.6) on PLC CPU (F3RP61)"Brave enough to choose open source environment#We negotiate with Yokogawa to remove any license issues"Odagiri/KEK, Uchiyama/SHI-RIKEN, Yamada/KEK made much effort torealize EPICS implementation, (but no need for asynchronous records)"Takuya-Nakamura/MSC-KEK, et al, tailored the environment for KEKB
#Procserv, pcmon, NFS, …

!Four F3RP61-based IOCs are used in KEKB operation"Three since September 2008, and another later, four in total"Beam mask controllers and Pulsed-quad controllers"No trouble at all, they run more than 8 months!~20 new IOCs are also used in J-PARC operation now
KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

F3RP61 (e-RT3 2.0)
Linux 2.6.24
PPC 533MHz
128Mbyte RAM
100BaseTx x2
USBIEEE1394
SerialKEKB Beam mask controller
PCI
I/O Bus for FAM3 Module Interface
can access to mature FAM3 I/O Modules
Can be combined with conventional ladder CPU
Software development environment (ELDK)KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

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

KSTAR - KEK EPICS Meeting

F3RP61IOC

LadderCPU

FAM3 PLC
I/O Modules

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

Device Support!No need for asynchronous access"Direct access to all I/O modules!Can access to registers on ladder CPU"If necessary!Interrupts also possible!Logics can be database links or sequencers!Did extend the number of EPICS developers!Source code and documents"http://www-linac.kek.jp/cont/epics/f3rp61/"Local development, PREEMPT_RT realtime (Yamada, et al)
KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

Other EPICS Development Activities at KEK!By A. Akiyama, et al"Embedded IOC on FPGA-based controller!By M. Satoh, et al"Embedded IOC on oscilloscopes!By A. Kazakov, et al"Redundant IOC (RIOC with OSI supports)"Redundant caGateway"ATCA IOC with HPI/SAF support for RIOC
#ATCA for STF/ILC-LLRF and µTCA for ERL-LLRF"Automatic test system environment!By K. Zagar, et al"Wireshark protocol analyzer for CA!By K. Furukawa, et al"Event-based fast control system
KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

Summary!Many PLC systems are used at KEK!PLC-embedded IOCs simplified the EPICScontrol architecture at KEK!FAM3-RP61 will replace some of VME IOCs
"RP61s behave like VME with embedded IOC and IO
open modules

KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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PLC Embedded IOC

Thank you

KSTAR - KEK EPICS Meeting

Kazuro Furukawa, KEK, Jun.2009.

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