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EPICS Experience at Fermilab. Geoff Savage August 2005 Controls and Monitoring Group. Outline. Fermilab and D Ø What is EPICS? EPICS at D Ø - RunIIa EPICS at D Ø – RunIIb EPICS and the CFT EPICS at Fermilab EPICS lessons. Chicago . p. p. 1.96 TeV. Booster. p. CDF. DØ.

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EPICS Experience at Fermilab

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Epics experience at fermilab

EPICS Experience at Fermilab

Geoff Savage

August 2005

Controls and Monitoring Group


Outline

Outline

  • Fermilab and DØ

  • What is EPICS?

  • EPICS at DØ - RunIIa

  • EPICS at DØ – RunIIb

  • EPICS and the CFT

  • EPICS at Fermilab

  • EPICS lessons

MICE DAQ and Controls Workshop


Fermilab

Chicago

p

p

1.96 TeV

Booster

p

CDF

Tevatron

p

p source

Main Injector

& Recycler

Fermilab

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D detector

DØ Detector

Forward Muon

Layer C

Liquid Argon/Uranium

Calorimeter

Superconducting Solenoid

Scintillating Fibers

Central Muon

Layer A

Silicon Tracker

Central Muon

Layer B

Central Muon

Layer C

Muon Toroid

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What is epics

What is EPICS?

  • Experimental Physics and Industrial Control System

    • Collaboration

    • Control System Architecture

    • Software Toolkit

  • Integrated set of software building blocks for implementing a distributed control system

  • www.aps.anl.gov/epics

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Why epics

Why EPICS?

  • Availability of device interfaces that match or are similar to our hardware

  • Ease with which the system can be extended to include our experiment-specific devices

  • Existence of a large and enthusiastic user community that understands our problems and are willing to offer advice and guidance.

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Epics architecture

EPICS Architecture

OPI – a workstation running EPICS tools.

Operating Systems: Linux and Windows XP.

Operator

Interface

(OPI)

LAN – communication path for Channel Access (CA), the EPICS communication protocol.

Local Area Network (LAN)

Input Output

Controller

(IOC)

IOC – platform supporting EPICS run-time database.

Example: VME based PPC processor running vxWorks, Linux workstation.

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Ioc architecture

IOC Architecture

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Ioc database

IOC Database

  • Collection of records

  • Each record represents a system parameter (process variable, PV)

    • Unique name

    • Set of attributes

    • Attributes and value can be modified

  • Records must process to do something

    • An input record can read a value every 10 seconds

    • A CA write to an output record causes the record to process

    • Either input or output, not both

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Epics records

EPICS Records

  • Input

    • Analog In (AI)

    • Binary In (BI)

    • String In (SI)

  • Algorithm/control

    • Calculation (CALC)

    • Subroutine (SUB)

  • Output

    • Analog Out (AO)

    • Binary Out (BO)

  • Custom – only needed when existing record types or a collection of existing record types are inadequate

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Channel access

Channel Access

EPICS Tool

(CA Client)

  • One client can connect to many servers.

  • A channel connects to the value or an attribute of a PV.

  • Each channel has a unique name = record name + attribute.

  • CA Services:

    • Search – find a channel by name

    • Get – retrieve a channel value

    • Put – modify a channel value

    • Add monitor – notification of state change

LAN

IOC

(CA Server)

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Epics at d runiia

EPICS at DØ - RunIIa

  • Support for new devices and additional field busses

  • Centralized database with supporting tools for defining the control system configuration

  • Report EPICS alarms to our global event reporting system

  • Interface to the Python programming language used to develop host tools for downloading and monitoring

  • Detector configuration management - COMICS

  • Archiving

  • Gateways

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Mil std 1553b bus

MIL-STD-1553B Bus

  • Restricted detector access while running

  • Provides a robust and highly reliable connection to electronics in the remote collision hall

  • Developed a queuing driver, device support, and a generic record

  • 12 IOCs with ~70 1553 busses from the counting house to the detector and ~10 busses within the counting house

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D specific records

DØ Specific Records

  • SVX sequencer - configures and controls the ADCs in the tracking detectors

  • High voltage

    • Implemented using a state machine model

    • Linear ramping with retries

    • Trip condition recovery

    • Limits control

  • Rack monitor - Generic I/O module

    • 64 A/D inputs, 4 D/A output, 4 16-bit I/O words

  • MIL-1553 – debugging/testing on a 1553 bus

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D specific device support

DØ Specific Device Support

  • Access hardware registers across the MIL-1553 bus and VME backplane using standard EPICS records – long input, long output, …

  • Support for DZERO specific records

    • Bira 4877 power supplies

    • SVX sequencers

    • Rack monitor

  • Complex MIL-1553 bus transactions

    • Dual port memory on the AFE boards

    • Write the address to access followed by a read or write of the data

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Describe a device with records

Describe a Device with Records

Template

File

Multiple record definitions with substitution

parameters This defines a device.

Instances of records read by IOC

to create record database.

ASCII file

EPICS

tool

EPICS

Database

Database

Load

Generator

File

Define instances of a template. Assign values

to the substitution parameters in the template file.

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Centralized database system

Template

File

Generator

File

EPICS

Database

Instance

Creation

DB

Creation

Oracle

Hardware

Database

Python

Scripts

Web

Access

Record

Extract

Template

Extract

EPICS

Database

Generator

File

IOC Id

Centralized Database System

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Pv naming convention

PV Naming Convention

  • <det>[subdet]_<devtype>_<loc>/<attr>[:io][.field]

    • <det>  - Required detector system

      • CTL, SMT, CFT, CPS, CAL, FPS, ICD, MUO

    • [subdet] - Optional subdetector

      • North, South, East, West, Forward, Test

    • <devtype> - Required Device Type

      • ADC, BLS, HV, PLS, CETEC, ...

    • <loc>  - Required Location indicator

      • For example a crate number: M201, PC03, F313

    • <attr> - Required device attribute

      • PEDS, MODE, SFM, CTEC, HEAD, VER, ...

    • [:io] - Optional Input/Output designation         Direction is from the viewpoint of the front end crate

    • [.field] - Optional Epics field name, default is .VAL

  • Example: CTL_LV_M201/P5V

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Global event reporting

Global Event Reporting

  • Collect and distribute significant events from detector and DAQ

    • Run control

    • Alarms - data corruption

  • Added a connection to EPICS

    • Allows for notification of all EPICS alarms

    • Otherwise a user must register an event

  • Significant Event System (SES)

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Epics experience at fermilab

L1

L2

L3

Collector

/Router

Data

Logger

Disk

Front

Ends

Host

Apps

SE

SE

SE

SE

COOR

SE

SE

SES

Server

RC

FM

SE

Logger

Alarm

Watcher

SE Log

File

SE

FIL

Message Key:

SE = Significant Event

FIL = Filter configuration

RC = Run Control

FM = Filtered SE Message

 = Filter

FM

Alarm

Display

Guidance

Files

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Alarm display

Alarm Display

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Python interface

Python Interface

  • “Python is an interpreted, interactive, object-oriented programming language.”

  • A Python interface to Channel Access (C library) has been developed and extended to be almost object oriented

  • Tkinter and Python Mega Widgets used to develop graphical user interfaces (GUI)

  • Developed a GUI framework to speed development time and provide a consistent look and feel

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Epics experience at fermilab

IOC Resource Monitor Display

Left click each tab tomove between displays.

Each box is a PV

Look for statusinformation.

Processor name.

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Epics experience at fermilab

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Detector configuration management

Detector Configuration Management

  • The COMICS server manages the configuration of the detector

  • Receives load requests from:

    • Run control

    • Expert GUIs

    • Program APIs

  • Load map is a directed graph (tree)

    • Tree node (intermediate)

      • Establishes a layered hierarchy

      • Establishes an execution order

    • Action node (leaf)

      • Issues EPICS CA requests

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Configuration management tree

S0

S2

S1

MUO

SMT

CAL

CFT

T0

DEV0

DEV1

DEV2

DEV3

Configuration Management Tree

Root Node

Links determine the order of execution

Intermediate

Tree Node

Configuration Data

Action Node

Uses EPICS

Channel Access

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Comics expert gui

Comics Expert GUI

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Archiving data

Archiving Data

  • Maintain a history of PV values

  • Channel Archiver – EPICS tool

    • Fast sampling rates

    • Immediate analysis

    • Infrequent access to old historical data

    • Large files

    • Stored to tape once a week

  • EPICS/Oracle Archiver - DØ

    • Long-term studies

    • Slow sampling rates

    • Easy access to data at any moment

    • Minimal maintenance

    • Data stored directly in an Oracle database

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Gateways

Gateways

  • Accelerator

    • Gateway link to ACNET system

    • Bidirectional

    • Data access only (no control)

  • Cryogenics and Gas systems

    • Gateway link to DMACS system

    • Portable Channel Access Server – EPICS tool

    • Read-only

    • Data access only (no control)

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Acnet gateway

CLIENTS

xmlrpc Server

CLIENTS

xmlrpc

REMOTE

ToACNET

ToFromITC

CLIENTS

xmlrpc

ITC

CACHE

ToEPICS

EPICS

RECORDS

CA

EXPORT

FromACNET

xmlrpc

FromEPICS

CA

D0

BD

ACNET Gateway

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Epics at d runiib

EPICS at DØ - RunIIb

  • CanBus driver for EPICS

    • Weiner power supplies

  • Ethernet driver for EPICS

    • Gigabit Ethernet communication

    • Raw Ethernet protocol

  • Both use support from asynDriver – EPICS tool

    • Asynchronous Driver Support

    • “asynDriver is a general purpose facility for interfacing device specific code to low level communication drivers.”

    • “A primary target for asynDriver is EPICS IOC device support but, other than using libCom, it is independent of EPICS.”

  • Framework reduces development time.

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Support for cft

Support for CFT

  • Device support for the AFE board using the MIL-1553 driver

  • AFE and AFE power supply templates

  • Record and device support for the SVX sequencers

  • Expert GUI for downloading

    • Does not use COMICS

  • Calibration software

    • Runs on processor in VRB crate

    • Communicates with AFE

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Analog front end

Analog Front End

Fiber

MIL-1553

Communication

Analog Front End

Stereo Board

Cryostat

Wave guide

VLPC

Cassette

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Svx sequencer

S

e

q

u

e

n

c

e

r

S

e

q

u

e

n

c

e

r

S

e

q

u

e

n

c

e

r

S

e

q

u

e

n

c

e

r

P

r

o

c

e

s

s

o

r

V

R

B

C

V

R

B

SVX Sequencer

AFE

MIL-1553

Communication

V

B

D

Calibration

Software

VME

Level 3

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Epics at fermilab

EPICS at Fermilab

  • SMTF

    • Superconducting module test facility

    • Cavity test in October

    • DOOCS for LLRF – speaks CA

    • EPICS for everything else

    • No ACNET – beams division controls system

  • ILC

    • Control system to be decided

    • Management structure now forming

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Epics lessons

EPICS Lessons

  • Three Layers

    • Tools

      • EPICS tools

      • OPI development - CA library

    • Applications

      • Build base

      • Build application - combine existing pieces

      • Develop device templates

    • Development

      • Records, device, and driver support

  • EPICS is not simple to use

    • Need expertise in each layer

    • Support is an email away

  • IOC operating system selection

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The end

The End

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