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Development of Embedded EPICS on F3RP61-2L

Learn how the F3RP61-2L PLC, running Linux and equipped with EPICS, can work as a reliable IOC for cost-effective application development. Discover the benefits and capabilities of this embedded EPICS solution.

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Development of Embedded EPICS on F3RP61-2L

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  1. Jun-ichi Odagiri Presented by Tadahiko Katoh Development of Embedded EPICS on F3RP61-2L

  2. Abstract • F3RP61-2L running Linux • A module of FA-M3 PLC • Can work as an IOC • Off-the-shell EPICS runs on it • Can work with/without PLC CPU • As reliable as PLC CPU • Boosts application development Embedded EPICS on F3RP61-2L

  3. Motivation • Implementation and maintenance of ladder programs costs us a lot • Having controller (PLC) under yet another controller (IOC) doubles the cost for application development • Few ladder programmers (at J-PARC site) • Emacs is better than any commercial ladder development tools Embedded EPICS on F3RP61-2L

  4. Embedded EPICS • Make an intelligent interface board an IOC • VxWorks, RTEMS, Linux, … • Make a Digital Storage Oscilloscope running Windows an IOC • Make the most front-end controller an IOC • CC/NET(CAMAC Crate Controller) and Others Embedded EPICS on F3RP61-2L

  5. New Hope • F3RP61-2L(for Yokogawa FA-M3 series PLC) • Standard Linux Kernel (2.6.24.3-based) • Preemption enabled • Target dependent code is available under GPL • I/O drivers is available under GPL • BSP includes ELDK-based build tool chains • All I/O modules of FA-M3 PLC are available • EPICS device/driver support is just a wrapper of the kernel level I/O drivers Embedded EPICS on F3RP61-2L

  6. F3RP61-2L F3RP61 running EPICS on Linux Embedded EPICS on F3RP61-2L

  7. Specifications of F3RP61-2L • CPU: MPC8347E, 533MHz • OS: Linux (kernel 2.6.24.3) • DDR2 SDRAM: 128MB • SRAM: 512KB (for system) • User SRAM: 4MB • I/F • Ethernet: 100BASE-TX (2ch) • RS-232C • IEEE1394 • CF Memory • JTAG • PCI • RAS support Embedded EPICS on F3RP61-2L

  8. EPICS on F3RP61-2L • No modification of source code required • Just add a new target to the configuration files • IOC core program and EPICS sequencer run stably • Implementation of EPICS device/driver support is a piece of cake • Feature of each I/O module is expressed not in device/driver support but in the EPICS runtime database Embedded EPICS on F3RP61-2L

  9. Real-time Responsiveness • Soft real-time based on kernel 2.6 feature • Preemptive option • Time critical application can rely on PLC CPU • Hard real-time extension may be available by using RTAI (under users responsibility) Embedded EPICS on F3RP61-2L

  10. Summary • F3RP61-2L can be used as an IOC with ease • Boosts application development for the front-end controller • Gives us a cost-effective solution • Hardware is as reliable as PLC CPU • Soft real-time on kernel 2.6 feature Embedded EPICS on F3RP61-2L

  11. ”The Japan Corporation” Embedded EPICS on F3RP61-2L

  12. The Fastest Takes All • Yokogawa offers discount prices on occasion • Do not miss it! Embedded EPICS on F3RP61-2L

  13. See you again in Kobe next year!! ICALEPCS 2009 Embedded EPICS on F3RP61-2L

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