SPEAR Insertion Device Controls Upgrade Status Arturo Alarcon January, 2014

SPEAR Insertion Device Controls Upgrade Status

Arturo Alarcon

January, 2014

2

SPEAR ID Controls Upgrade Status, Outline

Outline

• Motivation for upgrade

• Requirements

• Scope

• Overview

• Schedule

• Trim tracking

• Arbitration, ID server replacement

• Motor controls

• Current Issues

3

SPEAR ID Controls Upgrade Status, Motivation

• Move away from platforms with few maintenance

resources

• VMS

• CAMAC

• Choose common ICD platforms for better support

• UNIX, EPICS

• VME

4

SPEAR ID Controls Upgrade Status, Requirements

• Requirement is to maintain same functionality as VMS

based ID server, same interface, API

• Trim tracking- Adjust trims based on breakpoint tables as gap changes

• Arbitration- Ownership transaction, allow control of any device by a

remote beamline user when it is safe to do so. The SPEAR

operator can directly monitor the actions of the remote user

and lock out the remote control when necessary.

• Motor controls- Basic motor functions, encoder readback, virtual motors,

interlocks

5

SPEAR ID Controls Upgrade Status, Scope

• List of beamlines affected

• BL7, BL10, BL9, BL12-2, BL6, BL11, BL4, BL13, and new

BL5 and BL15, all beamlines with insertion devices

• All insertion device CAMAC motor controls

• Additional analog and digital I/O in order to eliminate

CAMAC crates

6

SPEAR ID Controls Upgrade Status, Scope

• Trim tracking software

• Move from VMS ID server into Mcor soft IOC

• Arbitration software

• Move from VMS ID server into a new Insertion Device

EPICS application soft IOC

• EPICS infrastructure

• Upgrade module drivers for motors

• Upgrade CPU

• Update databases for ease of use, share templates

between beamlines

7

SPEAR ID Controls Upgrade Status, Overview, Hardware

• Hardware

• Four VME IOCs- b131-iocmotor1, BL13, BL4, BL11

- b131-iocmotor2, BL5, BL6, BL15

- b120-iocmotor1, BL7, BL9, BL11

- b116-iocmotor, BL12-2

• IOC CPUs are MVME3100s

• Motor driver is Pro-Dex MAXv-8000

• Acromag digital input card, IP470A, for legacy encoders

and status

• Kramert ECM-505/F for TR Electronic encoders

• Three CAMAC crates will be eliminated, b120-1006, b131-

1100, b131-601

8

SPEAR ID Controls Upgrade Status, Overview, Software

• Trim tracking

• Adjusts trims as gap changes

• Moving from VME based ID server to new Mcor soft IOC,

soft-iocmcortrim- Trim tracking databases

- Break point tables

- New sequence, idTrim.st, monitors gap values, updates trims

9


• Arbitration, ID server replacement, ownership transaction

• Moving from VMS based ID server to soft IOC, soft-

iocidctrl, part of new Insertion Device EPICS application- New sequence to handle transaction, Arbitration.st

- No changes to arbitration database

10


• Motor controls

• MVME3100 CPU- Running RTEMS 4.9.4

• Pro-Dex MAXv-8000 EPICS driver module- Running motor-R6-7-1-spear1

• TR Electronics EPICS driver module- Running vmeUtils-R0-0-0

• IP470, digital status, EPICS driver module- ipac-R2-11-spear1

11

SPEAR ID Controls Upgrade Status, Trim Tracking

• Released updated Mcor application

• Turned off ID server

• Add trim tracking setpoints for all correctors with trim

tables and add all sequences.

• Change trim tracking sequence to update Des, if needed.

• Des adjustment for QSSs from database to sequence.

• Add configuration of trim PS attributes when trim tracking

turned on.

• Using interpolation instead of cubic spline fit

• Only implemented while motors moving

12


Ops power supply monitor display will show red when trim is outside tolerance of desired trim tracking value.

13


• Trim tracking changes value when

• There is a new trim value from the trim table.

• The trim setpoint got changed (possibly by somebody else

outside this program).

• The trim reference (Des) value got changed (possibly by

somebody else outside this program).

• Trim tracking has just been turned on or off.

• Trim state (HALT,ARM,RUN,etc) has changed.

• Gap moves.

14

SPEAR ID Controls Upgrade Status, Arbitration

• Released Updated InsertionDevices Application

• Turned off VMS ID server

• New sequence, Arbitration.st, running for all IDs under

soft-iocidctrl- Ownership transaction.

- BL15 safety mode still not implemented• Monitor CURMON, and open and set safety mode when stored

beam is lost

- API unchanged

15


16


Status PV

17


Event log for logging all actions

18


19

SPEAR ID Controls Upgrade Status, Motor controls

• All necessary hardware installed

• New Insertion Device EPICS application thoroughly

tested

• Run away issue has been mitigated, and ICD has

resources committed to working on a further testing

20

SPEAR ID Controls Upgrade Status, Current Issues

Problem: Infinite loop in SW where an IOC reboot is needed to clear

Activity (Allison): Add multiple line answer from controller on query

Problem: Unable to move off limit when motor goes to SW limit

BL13 was moved back in local mode. In remote mode we were clearing wrong switch.

Activity (Kobal): Contact software manufacturer to fix bug in Motor Record (reverse motion after hitting software limit). Epics

collaboration. Activity (Allison): Record more parameters in the Event Log to troubleshoot ID going beyond software limit

Problem: Runaway problem with BL5 EPU phase.

Activity (Alarcon): Turn on Debug during AP and test software

Problem: Emergency switch button broken on BL11 ID

Activity (Dell’Orco, MSG, Dao): Dell’Orco to buy emergency switch, MSG to install it, Tom Dao to wire it in January?

Problem: 2 new emergency switch buttons on back of BL5 ID

Activity (Dell’Orco, MSG, Dao): Dell’Orco to buy 2 more switches, MSG to install them, Tom Dao to wire them in February

Problem: Early trip of BL6 inner gap limit switches. Replace inner gap limit switches on BL6 (from DT-2R-A7 microswitch with 1.5 x 2 mm

differential travel with to optical).

Activity (Dao): Procure limit switch cable for 3 switches, January?

Activity (MSG, Dell’Orco, Dao): replace defective limit switches (1-2) in January (use identical switches, later we will switch to optical)

Problem: Replacement of outer gap limit switches on BL6 (from microswitch to optical)

Activity (Trautwein): Design flag system adjustable with micrometer for inner gap optical limit switches (1 upstream, 1 downstream).

Problem: Encoder noise (electrical noise vs. software filtering).

21

SPEAR ID Controls Upgrade Status, Current Issues

Activity (Dell’Orco, Control Group): Look for Electrical Engineer to troubleshoot electronics & noise. May need drawings from Dao.

Activity (Allison): Trim tracking ON only during ID moves, February?

Activity (Dao): Make list of Electronics Documentation, Electrical Interconnect and Chassis drawings

Problem: BL13 ID downstream lower gap optical inner limit switch is not wired because of lack of channels. The outer mechanical was

found not working and later connected in series with upstream.

Activity (Dao): Add 1 channel for BL13 ID

Problem: We do not have a good set of spares for BL6 & BL10 encoder/converter (obsolete items).

Activity (Trautwein, Dell’Orco): Design mounts to install new absolute linear encoders on BL6 and BL10

Problem: BL13 encoders to be repaired. 6 new encoders have been purchased.

Activity: (Dao): Send encoders (# 41, 43, 49, 50) to TR Electronics in Germany to replace the encoder electronics. (Take #50 from

Williams and give him #47).

Problem: Status of ID test stand (ADC BL13?)

Activity (Alarcon): Check for space availability, 40 k$ approval, borrow stages for quick testing

Problem: Correction of Rack Labels for Local mode control needed by Operators.

Activity (Dao): Apply corrected/improved labels.

Problem: BL10 motor bracket problem came off and was reinstalled

Activity (MSG): Periodically check torque on bracket

Problem: Recommendations for BL12-1 encoders: rotary/linear/SSI – NSD vs. TR Electronics –

Activity (Alarcon, Dell’Orco): Alarcon to talk to Andy Ringwall and get ID specifications.

Documents

SPEAR Insertion Device Controls Upgrade Status Arturo Alarcon January, 2014