the use of ethercat with epics at diamond
DESCRIPTION
The use of EtherCAT with EPICS at Diamond. Ronaldo Mercado 22/10/2014. EtherCAT Diamond setup Hardware EPICS driver Recent work and work in-progress Screenshots from actual setup. Why EtherCAT ? How does it work? EtherCAT master startup of LRW cycle. - PowerPoint PPT PresentationTRANSCRIPT
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
The use of EtherCAT
with EPICS at Diamond
Ronaldo Mercado22/10/2014
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Contents
• EtherCAT• Diamond setup
– Hardware– EPICS driver
• Recent work and work in-progress– Screenshots from actual setup
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
• Why EtherCAT?• How does it work?
– EtherCAT master startup of LRW cycle
EtherCAT
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
• Open protocol, uses standard Ethernet hardware• Uses standard Ethernet cable and connectors. Can use standard
switches and routers. DLS uses separate cabling - fieldbus.• Available Linux open source master.• Faster than most other fieldbuses.
Why EtherCAT?
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
• IEC 61138 (Type 12)
EtherCAT frame structure
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
EtherCAT: Principle of operation
• Master – slave communications with a periodic scan cycle• All operations in hardware, using an FPGA or an ASIC• Global addressing•Messages processed on the fly. One pass on the way out and on return – used for distributed clocks timing..
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014Picture by EtherCAT Technology Group
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
• Configure FMMU for LRW packets
Master startup
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Contents
• EtherCAT• Diamond setup
– Hardware– EPICS driver
• Recent work and work in-progress– Screenshots from actual setup
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
ChannelAccessClients
ChannelAccessClients
Experimental Remote I/O
TCP/IPVarious
networks
TCP/IPVarious
networks
1U PC IOC PCIe EVR
Timing interface panel
Timing system
IOC Remote I/O
Network
IOC Remote I/O
Network
PLCEquipment
PLCEquipment
VideoVideo
MotionMotion
Remote IOModules
OtherOther
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Hardware: Master and slaves
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
IOCRemote I/O
Fieldbus(EtherCAT)
IOCRemote I/O
Fieldbus(EtherCAT)
Remote IOModules
Beamline network(TCP/IP)
Beamline network(TCP/IP)
View at the back of a server
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
View at the back of a Front End server
IOCRemote I/O
Fieldbus(EtherCAT)
IOCRemote I/O
Fieldbus(EtherCAT)
Remote IOModules
Instrumentation Network(TCP/IP)
Instrumentation Network(TCP/IP)
Controls Network(TCP/IP)
Controls Network(TCP/IP)
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Contents
• EtherCAT• Diamond setup
– Hardware– EPICS driver
• Recent work and work in-progress– Screenshots from actual setup
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
• EtherLab Master– www.etherlab.org– Open source, GPLv2– Realtime Linux (RTAI, Preempt_RT and others)– Part of Etherlab, marketed by IgH (Germany)
EtherCAT Scanner (Master)
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
• Kernel module• User space and kernel space API• Generic and hardware specific network driver• FMMU setup and slave state machine control• Scan timer not provided. Using 1 KHz. 10
KHz possible.• Configuration not provided
Etherlab Master
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Standard Ethernet Driver
Network Stack
Generic Ethernet Driver Module
EtherCAT Master Module
libethercat
Hardware (Network Interface Card)
Fieldbus Scanner
EPICS IOC
EPICS Records
Asyn Driver
KernelspacePreempt RT Linux Kernel
Userspace
Hardware
Etherlab(Master)
EPICS IOC
EPICS Records
Asyn Driver
EPICS IOC
EPICS Records
Asyn DriverDiamond ethercat
Diamond EtherCAT Driver
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
• EtherCAT integrated into EPICS. Uses– PREEMPT_RT Linux– Etherlab Ethercat Master for Linux– Asyn
• Scanner broadcast bus data to several Soft IOCs for segregation of areas. Automatic Asyn port creation– One port per slave– One port for master status
18
Diamond EtherCAT Driver
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Recent work and work in progress
• PDO assignments• SDO read/write• Worst Case Response Time patch• Interfacing to Beckhoff Embedded PC
CX9020
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
PDO assignment in screenshots
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
SDO configuration
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Worst Case Response Time
• Reduce WCRT from 3 to 2 (Damien Lynch, ANSTO)
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Interfacing to CX9020
• Work by Damien Lynch at ANSTO• Adds Float64 data type
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EPICS Collaboration Meeting, CEA, Saclay, Oct 2014
Thank you for listening!
http://controls.diamond.ac.uk/downloads/support/ethercat/
Thanks to:James RowlandLinda PrattPeter LeicesterTom CobbIan GillinghamAndy FosterDamien Lynch (Ansto)Kevin WilkinsonArmin Wagner