EPICS Training PSI

1. EPICS Training @ PSI Controls Section PSI 2007

2. EPICS Training @ PSI

3. EPICS Training @ PSI Contents What is EPICS The Parts of EPICS What are Records An Example for a Record How to Solve Problems with EPICS

4. EPICS Training @ PSI What are we doing? We need to control an accelerator (SLS) with many components remotely (due to radiation and size of the machine). How can we do this? Our answer is EPICS

5. EPICS Training @ PSI What is EPICS? EPICS is: A collaboration A tool kit A control system architecture

6. EPICS Training @ PSI The History In1989 started a collaboration between Los Alamos National Laboratory (GTA) and Argonne National Laboratory (APS) (Bob Dalesio & Marty Kraimer) More than 150 licenses agreements were signed, before EPICS became Open Source in 2004 Team work on problems, for example over �Tech Talk� mailing list Collaborative efforts vary Assistance in finding bugs Share tools, schemes, and advice

7. EPICS Training @ PSI EPICS � who is using that? Some members of the collaboration (not complete!): ANL (APS Accelerator, APS Beamlines, IPNS) in Chicago, USA LANL in Los Alamos, USA ORNL (SNS) in Oak Ridge, USA SLAC (SSRL, LCLS) in Standford, USA JLAB (CEBAF) in Newport, USA DESY in Hamburg, Deutschland BESSY in Berlin, Deutschland PSI (SLS) in Villigen, Schweiz KEK in Tsukuba, Japan DIAMOND Light Source (Rutherford Appleton Laboratory) in Oxfordshire, England The Australian Synchrotron (AusSy) in Melbourne, Australien

8. EPICS Training @ PSI Are there alternatives to EPICS? Tango/Taco Developed at ESRF Used by ESRF, Elettra, Soleil DOOCS Developed and used by DESY Tine Developed and used by DESY ACS Developed and used at PSI

9. EPICS Training @ PSI Network based Client/Server Model (hence the EPICS logo) The architecture of EPICS

10. EPICS Training @ PSI What is Channel Access A protocol how to transfer data A single data unit is called Process Variable A Process Variable has a unique name, which is used to refer to the data The detailed operation of Channel Access is unimportant for most programmers (it already works�) Channel Access is not dependent on a single programming language

11. EPICS Training @ PSI Channel Access network flow

12. EPICS Training @ PSI Control System Architecture A network based �Client/Server� Model, whose smalest data set is a Process Variable The Channel Access Protocol defines, what data (Process Variable) is transferred between server and client The entire set of Process Variables establish a Distributed Real-time Database of machine status, information and control parameters

13. EPICS Training @ PSI What is EPICS - Conclusion EPICS is a control system architecture EPICS is the connection between accelerator and operator EPICS is based on a transfer protocol named Channel Access Channel Access works with data sets called Process Variables EPICS is used by many institutes all over the world

14. EPICS Training @ PSI Contents What is EPICS The Parts of EPICS What are Records An Example for a Record How to Solve Problems with EPICS

15. EPICS Training @ PSI Parts of EPICS

16. EPICS Training @ PSI Typical Realisation

17. EPICS Training @ PSI VME Computer VME is an abbreviation for VERSAmodule Eurocard Industry Computer Developed since 1980 It is not a PC Real-time capable (i.e. delays are calculable) Operating system is VxWorks from Wind River company Very expensive � search for new solutions in EPICS community

18. EPICS Training @ PSI What is an IOC A special CA Server and CA Client A computer running �IOC Core� This computer may be: VME based, operating system vxWorks (only possibility up to 3.14) or RTEMS PC, operating system Windows, Linux, RTEMS Apple, operating system OSX UNIX Workstation, operating system Solaris An IOC normally is connected to input and/or output hardware An EPICS control system is based on at least one Channel Access Server (normally an IOC) An IOC runs a record database, which defines what this IOC is doing

19. EPICS Training @ PSI Inside an IOC

20. EPICS Training @ PSI For what to use a Sequencer?

21. EPICS Training @ PSI Some CA Clients (from the EPICS Website - incomplete) ALH: Alarm Handler BURT: Backup and Restore Tool CASR: Host-based Save/Restore CAU: Channel Access Utility Channel Archiver (SNS) Channel Watcher (SLAC) EDM: Extensible Display Manager (ORNL) JoiMint: Java Operator Interface and Management INtegration Toolkit (DESY) Knobs: Knob Manager und KnobConfig, eine Schnittstelle zu SunDials MEDM: Motif Editor und Display Manager StripTool: Strip-chart Plotting Tool and many more �

22. EPICS Training @ PSI Example: ALH

23. EPICS Training @ PSI

24. EPICS Training @ PSI Example: ALH


26. EPICS Training @ PSI Examples: StripTool


28. EPICS Training @ PSI Examples: medm

29. EPICS Training @ PSI Channel Access Commands

30. EPICS Training @ PSI How does it do it? Let�s take an example: Suppose you had a particle accelerator to control. Among many other things, Let�s take an example: Suppose you had a particle accelerator to control. Among many other things,


32. EPICS Training @ PSI Close look at a Measured Value

33. EPICS Training @ PSI What are Records? A Record is an object with a unique name properties (fields) that contain information (data) the ability to perform actions on that data

34. EPICS Training @ PSI From Measured Value to Record

35. EPICS Training @ PSI A Process Variable name A PV name is comprised of two parts The record name, and the name of a field belonging to that record For example�

36. EPICS Training @ PSI What do Records do? Records are active, they do things Get data from other records or from hardware Perform calculations Check values are in range and raise alarms Put data to other records or to hardware Activate or disable other records Wait for hardware signals (interrupts) What a record does depends upon its type and the values in its fields A wide range of records have already been created New record types can be added to a new application as needed A record does nothing until it is processed

37. EPICS Training @ PSI Some Record Types Analog in Analog out Binary in Binary out Calculation Calculation out Compression Data fanout Event Fanout Histogram Motor Multi bit binary input Multi bit binary output PID control Pulse counter Pulse delay Scan Select Sequence String in String out Subarray Subroutine Waveform

38. EPICS Training @ PSI IOC view of a Record

39. EPICS Training @ PSI The Record Reference Manual In English (American style) Explains database concepts and record types All fields are explained for common record types Test: What does the field HSV of an ai Record Common fields for all records are described in the first part The explained records are part of the EPICS base release More Records exist. Find their documentation in the internet


41. EPICS Training @ PSI Our First Database

42. EPICS Training @ PSI Switch on VME (on every VME a Record is created, which is connected to the first potentiometer) Type into a terminal: caget MTRT1-TEMP:READ (change the 1 for the number of your training station) Move the potentiometer Ask for another values Get values from a Record

43. EPICS Training @ PSI CA Commands Read a PV named <NAME> caget NAME Get information about that Record cainfo NAME Start a monitor camon NAME (Cancel with [Ctrl] + [c]) Try to remember at least ca

44. EPICS Training @ PSI Create a Graphical User Interface (GUI) Open the editor with the command medm Click to menu File and New Click with right mouse button in the new window and choose in Object > Monitors a "Text Monitor" (select the size of the window with the mouse) Type to "Readback Channel" the record name (MTRT1-TEMP:READ) Switch to "Execute"

45. EPICS Training @ PSI Say it with Pictures

46. EPICS Training @ PSI Files for the Temperature Example The local files are in the directory G/TRAINING/T1 The template file is named G_TRAINING_T1_TEMPERATUR.template The substitution file is named MTEST-VME-T1_example.subs The created record is MTRT1-TEMP:READ (rsp. MTRT2-TEMP-READ, MTRT3-TEMP:READ and MTRT4-TEMP:READ)

47. EPICS Training @ PSI Inside the Files

48. EPICS Training @ PSI Exercise: a Second Record Imagine we have a second temperature sensor � we need a second record:

49. EPICS Training @ PSI Installing an EPICS database Everything written correctly? Install to the boot directory of the IOC slsinstall �V -ioc IOC-NAME (enter command in the local directory which contains the files to be installed) Reboot IOC (press button = hard reboot) or Log into the IOC using rmc IOC-NAME and type in (soft reboot) reboot

50. EPICS Training @ PSI What happens at booting Boot Info (memory) VME-IOC: where to find the startup.script Load startup.script In startup.script: list of .subs files Load .subs files In .subs files: List of .template files Load .template files with substitutions Create all loaded records

51. EPICS Training @ PSI Commands on the VME Computer Get a list of all installed records (on this IOC) dbl View interesting fields of a record dbpr "Record-Name" dbpr "MTRT1-TEMP:READ" To get a list of VxWorks commands help

52. EPICS Training @ PSI SLS Naming Convention Records need unique names X=Beamline, A=Machine, M=Test (1 character) Project abbreviation (4 characters), e.g. 06SA, TEST, RI=Ring, DI=DIAGNOSE Optional: Device, Group, Component, e.g. OP, ID Device, e.g. MO Optional: Function (max. 11 characters), z.B. TRY1-SET

53. EPICS Training @ PSI Name of the Temperature Sensors (at SLS) M = Test TR = Training T1, T2, T3, T4 = Training IOCs TEMP = Temperature READ = Record for reading For a second sensor: TEMP1 for the first, TEMP2 for the second: MTRT1-TEMP1:READ und MTRT1-TEMP2:READ

54. EPICS Training @ PSI Exercise: medm Application Create an medm GUI, which shows: Your own Records All Records of the course The alarm states of all records More to do: Create a second GUI, which displays all records with names starting like MTEST-VME-T running on your IOC.

55. EPICS Training @ PSI IOC Status On every IOC there are some Status Records created automatically:


57. EPICS Training @ PSI Solve a Problem in EPICS

58. EPICS Training @ PSI

59. EPICS Training @ PSI The Template File Predefined records in the file G_TRAINING_T1_COOLER.template Would the IOC boot with this file? Please copy Record Fields from the notes �

60. EPICS Training @ PSI Useful Scripts Is everything spelled correctly? externalLinks subs-File What was the name of this record? findrecord Name-Part When was this IOC booted last time? bootinfo IOC-Name Some more information from the database: http://pc4860/testplan/hosts_iocs_list_pub.php

61. EPICS Training @ PSI Record Processing Record processing can be periodic or event driven Periodic: Standard scan rates are� 10, 5, 2, 1, 0.5, 0.2 and 0.1 seconds Custom scan rates can be configured up to speeds allowed by operating system and hardware Event driven: Events include Hardware interrupts Request from another record via links EPICS Events Channel Access Puts

62. EPICS Training @ PSI Develop medm GUIs What should be displayed: Both temperature sensors The alarm states of the sensors The switch state of the chiller should be given as text and with an �LED�, which is lighted yellow when the device is switched on A title text (never do a GUI without) A plot of the temperatures

63. EPICS Training @ PSI More Exercises Display the average temperature The temperature limit of 10 deg C should be accessible in medm using a new record There should be another temperature limit: a heater should be switched on if the temperature drops below a lower limit Another calc record Another bo record "#C2 S33 @" In the accelerator there are as well some chillers and heaters needed. Duplicate your settings.

64. EPICS Training @ PSI 10 really neat Things about EPICS It is free It is Open Source There are lots of users All a client needs to know to access data is a PV name You can pick the best tools out there � � or build your own The boring stuff is already done There is a lot of expertise available close by A good contribution becomes internationally known It does not matter, if you need 10 or 10 million PVs

65. EPICS Training @ PSI EPICS Web Page The central site for EPICS information - Documentation - CA Clients - Device support (driver) - Tech-talk (mailing list and archive) http://www.aps.anl.gov/epics

EPICS Training PSI

EPICS Training PSI

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EPICS

Epics

EPICS Training @ PSI

EPICS Training Client Tools

EPICS and EPICS@GSI

PSI

EPICS

PSI ■ ■

PSI

EPICS

EPICS Training Client Tools

EPICS Training Classes May 24, 2016