1. CompactRIO System in Operation at GSI National Centre for Nuclear Research, Poland FP7 FutureJet PANDA Target TDR Meeting November 3 rd +4 th, 2011 1 Arkadiusz Chlopik GSI, 4th of November 2011

2. 2 Arkadiusz Chlopik AGENDA CompactRIO introduction - definition - CompactRIO controller - reconfigurable FPGA chassis - industrial I/O modules CompactRIO principles of work CompactDAQ CompactRIO at Cluster-Jet Target - hydrogen line control Interface Cluster - Cluster-Jet Source - Cluster Beam Dump GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

3. 3 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland CompactRIO INTRODUCTION Definition CompactRIO is a rugged, reconfigurable embedded control and acquisition system containing a real-time controller, a chassis with reconfigurable gate array (FPGA) and industrial I/O modules. CompactRIO uses LabVIEW graphical programming tools for rapid real-time, Windows and FPGA programming.

4. 4 Arkadiusz Chlopik CompactRIO INTRODUCTION CompactRIO Controller - industrial processor - execution of LabVIEW Real-Time applications - multirate control - execution tracing - onboard datalogging - communication with peripherals - hardware watchdog timers - real-time clock - dual Ethernet ports - RAM memory - built-in USB and RS232 GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

5. 5 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland CompactRIO INTRODUCTION Reconfigurable FPGA Chassis - direct connection of reconfigurable I/O FPGA to the I/O modules - almost no control latency for system response - high-performance access to the I/O circuitry of each module - unlimited timing, triggering and synchronization flexibility - FPGA automatically communicates with I/O modules - FPGA provides deterministic I/O to the real-time processor - FPGA runs custom code (reprogram ability) - high reliability and determinism - ideal for hardware-based interlocks, custom timing triggering or eliminating custom circuitry normally required with custom sensors

6. 6 Arkadiusz Chlopik CompactRIO INTRODUCTION GSI, 4th of November 2011 National Centre for Nuclear Research, Poland Industrial I/O Modules - analog inputs - analog outputs - thermocouple inputs - digital inputs (sinking and sourcing) and counter/timer - digital outputs (sinking and sourcing) and pulse generation - differential/TTL digital inputs - 24-bit IEPE accelerometer inputs - removable storage - motion - CAN and PROFIBUS communication - strain, RTD and power measurements - serial RS232 and RS485/RS422 - wireless (new!) - build own modules with cRIO-9951 CompactRIO Module Development Kit

7. 7 Arkadiusz Chlopik CompactRIO PRINCIPLES OF WORK GSI, 4th of November 2011 National Centre for Nuclear Research, Poland Reconfigurable FPGA for high-speed and custom I/O timing, triggering and control FPGA

8. 8 Arkadiusz Chlopik CompactRIO PRINCIPLES OF WORK GSI, 4th of November 2011 National Centre for Nuclear Research, Poland Reconfigurable FPGA for high-speed and custom I/O timing, triggering and control I/O modules with built-in signal conditioning for connection to sensors/actuators FPGA

9. 9 Arkadiusz Chlopik CompactRIO PRINCIPLES OF WORK GSI, 4th of November 2011 National Centre for Nuclear Research, Poland Reconfigurable FPGA for high-speed and custom I/O timing, triggering and control I/O modules with built-in signal conditioning for connection to sensors/actuators Real-time processor for reliable measurement, analysis, connectivity and control FPGA Real-Time Processor

10. 10 Arkadiusz Chlopik CompactRIO PRINCIPLES OF WORK GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

11. 11 Arkadiusz Chlopik CompactRIO PRINCIPLES OF WORK GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

12. 12 Arkadiusz Chlopik CompactRIO PRINCIPLES OF WORK GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

13. 13 Arkadiusz Chlopik CompactRIO PRINCIPLES OF WORK GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

14. CompactRIO PRINCIPLES OF WORK 14 Arkadiusz Chlopik Three Vis needed for: - FPGA - Real-Time Operating System - host GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

15. CompactDAQ 15 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

16. CompactDAQ 16 Arkadiusz Chlopik Chassis - 1-slot (Ethernet, USB, 802.11 Wi-Fi) - 4-slot (USB) - 8-slot (Ethernet, USB) - Wi-Fi C Series Single Module Carrier Modules - 83 Devices/Modules (including C Series Modules) Software - DAQmx - Measurement & Automation Explorer (MAX) - LabVIEW - Measurement Studio - LabWindows/CVI GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

17. 17 Arkadiusz Chlopik CompactRIO AT CLUSTER-JET TARGET GSI, 4th of November 2011 National Centre for Nuclear Research, Poland Valves to be controlled VP2, VP9 – crude hydrogen line VP8 – crude hydrogen evacuate line VP11 – pure hydrogen evacuate line VP20 – pure line nozzle VP21 – pure line bypass nozzle

18. 18 Arkadiusz Chlopik CompactRIO AT CLUSTER-JET TARGET Compact RIO - 8-slot chassis - controller NI-cRIO9004 - digital outputs NI-9477 - 4-port RS485 serial interface NI-9817 Self-built hardware - RS485 bus for pressure and temperature meters readout - cable connecting 5 pneumatic valves with NI-9477 digital outputs GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

19. 19 Arkadiusz Chlopik CompactRIO AT CLUSTER-JET TARGET GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

20. CompactRIO AT CLUSTER-JET TARGET 20 Arkadiusz Chlopik Used software - LabVIEW 2010 - FPGA module GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

21. 21 Arkadiusz Chlopik CompactRIO AT CLUSTER-JET TARGET GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

22. CompactRIO AT CLUSTER-JET TARGET 22 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

23. 23 Arkadiusz Chlopik CompactRIO AT CLUSTER-JET TARGET What’s next? - integrate application with Jet-target/Vacuum Control LabVIEW software - add interlocks (?) - add alarms (?) - make it working fully automatically (if possible) - build archiving system GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

24. 24 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER

25. 25 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER Device Cluster-Jet Source ModelCompanyInterfaceDODIDACADCQuantity CeravacCTR100Leybold 18 IonivacITR200Leybold 12 Operating UnitCenter 3Leybold(RS 232C ) 4 Baratron750B54MCB2GAMKS 11 Rotary Vane PumpSOGEVAC SV300BLeybold 11 2 Roots PumpRUVAC WS2001Leybold 1 Inverter for WS 2001RUVATRONIC RT 5/2001Leybold 11111 Roots PumpRUVAC WH7000Leybold 1 Inverter for WH7000CIRM-VCYaskawa 11111 Turbo PumpTURBOVAC SL 300Leybold 1 InverterTURBO.DRIVE 400LeyboldRS 232 C 1 Power SupplyTURBO.POWER 300Leybold 1 Turbo PumpTURBOVAC MAG W 200 CLeybold 2 InverterMAG.DRIVE digitalLeybold 15 2 Cold HeadCoolpower 10MDLeybold 1 CompressorCoolpak 6000MDLeyboldRS 232 1 Temperature ControllerModell 336LakeshoreEthernet, USB 1 Pressure ControllerBrooks 5866Brooks Instrument 111 Mass Flow ControllerBrooks Smart DMFCBrooks InstrumentRS 232 1 Shutter 12 4 Nozzle Shutter 12 1 Valve 1 6 12 5

26. 26 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER Device Beam Dump ModelCompanyInterfaceDODIDACADCQuantity CeravacCTR100Leybold 15 IonivacITR200Leybold 13 Operating UnitCenter 3Leybold(RS 232C ) 3 Rotary Vane Pump 11 1 Roots Pump 11 1 Turbo Pump 11 7 Shutter 12 2 Valve 1 3 12 3

27. 27 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER Data Links Quantity Cluster-Jet Source Quantity Beam Dump Total Ethernet1 1 ADC14822 DAC3 3 Digital Input341953 Digital Output221739 RS 2323 (+4)(+3)3 (+7)

28. 28 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER TypeDescriptionQuantityUnit priceTotal price NI cRIO-9074 Integrated 400 MHz Real-Time Controller and 2M Gate FPGA 22 625 €5 250 € NI cRIO-9076 Integrated 400 MHz Real-Time Controller and LX45 FPGA 11 862 € NI 9870 with (4) 10P10C to DE9 Cables 4-Port, RS232 Serial Interface Module for CompactRIO 3562 €1 686 € NI 9263 4-Channel, 100 kS/s, 16-bit, ±10V Analog Output Module 1375 € NI 9205 32-Channel, ±200 mV to ±10 V, 16-Bit, 250 kS/s Analog Input Module 2775 €1 550 € NI 9425 32-Channel, 24 V, 7 µs, Sinking Digital Input Module 3312 €936 € NI 9426 32-Channel, 24 V, 7 µs Sourcing Digital Input Module 3312 €936 € NI 9475 8-Channel, 60 V, 1 µs Sourcing Digital Output Module 6312 €1 872 € NI 9476 32-Channel, 24 V, 500 μs, Sourcing Digital Output Module 2312 €936 € NI 9477 32-Channel, 8 μs, 5 to 60 V Sinking C Series Digital Output Module 2412 €824 € NI ENET-232/2 2-Port Ethernet Interface for RS232 1700 € Total:16 927 € Prices in € are derived from PLN prices. Up to 24V digital outputs are needed and sinking digital outputs and inputs only What is missing are modules which take information from the temperature sensors and the hydrogen sniffer sensors [?]

29. 29 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER TypeDescriptionQuantityUnit priceTotal price NI cRIO-9074 Integrated 400 MHz Real-Time Controller and 2M Gate FPGA 22 625 €5 250 € NI 9870 with (4) 10P10C to DE9 Cables 4-Port, RS232 Serial Interface Module for CompactRIO 3562 €1 686 € NI 9263 4-Channel, 100 kS/s, 16-bit, ±10V Analog Output Module 1375 € NI 9205 32-Channel, ±200 mV to ±10 V, 16-Bit, 250 kS/s Analog Input Module 2775 €1 550 € NI 9425 32-Channel, 24 V, 7 µs, Sinking Digital Input Module 3312 €936 € NI 9477 32-Channel, 8 μs, 5 to 60 V Sinking C Series Digital Output Module 2412 €824 € NI ENET-232/2 2-Port Ethernet Interface for RS232 1700 € Total:11 321 € Prices in € are derived from PLN prices. List with modules which are going to be used

30. 30 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER TypeDescriptionQuantityUnit priceTotal price NI cRIO-9074 Integrated 400 MHz Real-Time Controller and 2M Gate FPGA 22 625 €5 250 € NI 9870 with (4) 10P10C to DE9 Cables 4-Port, RS232 Serial Interface Module for CompactRIO 4 562 €2 248 € NI 9263 4-Channel, 100 kS/s, 16-bit, ±10V Analog Output Module 2 375 €750 € NI 9205 32-Channel, ±200 mV to ±10 V, 16-Bit, 250 kS/s Analog Input Module 3 775 €2 325 € NI 9425 32-Channel, 24 V, 7 µs, Sinking Digital Input Module 4 312 €1 248 € NI 9477 32-Channel, 8 μs, 5 to 60 V Sinking C Series Digital Output Module 3 412 €1 236 € NI ENET-232/2 2-Port Ethernet Interface for RS232 2 700 €1400 € Total:14 457 € Prices in € are derived from PLN prices. List with spare modules added

31. 31 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER Transmitters readout using ADCs ANALOG NI USB-6009

32. 32 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER Transmitters readout using RS232 ANALOG RS232 Baud Rate 9600 19200 38400

33. 33 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER Transmitters readout using CompactRIO’s RS232 ANALOG

34. 34 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER Temperature Controller Model 336 Rear Panel Connections IEEE-488.2 Capabilities SH1, AH1, T5, L4, SR1, RL1, PP0, DC1, DT0, C0, E1 Reading rate To 10 rdg/s on each input Software support LabVIEW™ driver (contact Lake Shore for availability) USB Function Emulates a standard RS-232 serial port Baud Rate57,600 Connector B-type USB connector Reading rate To 10 rdg/s on each input Software support LabVIEW™ driver (contact Lake Shore for availability) Ethernet Function TCP/IP web interface, curve handler Connector RJ-45 Reading rate To 10 rdg/s on each input Software supportLabVIEW™ driver (contact Lake Shore for availability)

35. 35 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER NI ENET-232/2 Specification General Product Name NI ENET-232/2 Product Family Serial Form Factor Ethernet Operating System/Target Windows, Linux LabVIEW RT Support Yes Voltage 9 VDC Current 600 mA Source Externally Powered Serial Standard Compatibility RS-232 Ethernet Compatibility 100BaseT, 10BaseT Port Information Number of Ports 2 Max Cable Length 15,6 m I/O FIFO Buffer Size 128 B Max Device Connections / Port 1 Handles RTS/CTS Handshake Lines Yes Direct Memory Access (DMA) No Physical Specifications Length 21 cm Width 12,4 cm Height 3,7 cm I/O Connector 9-pin D-Sub (DB-9) Minimum Operating Temperature 0 °C Maximum Operating Temperature 65 °C

36. 36 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER Temperature Controller Model 336 LabVIEW Connection

37. 37 Arkadiusz Chlopik GSI, 4th of November 2011 National Centre for Nuclear Research, Poland INTERFACE CLUSTER FP7 HadronPhysics3: „Cryogenic Jets of Nano- to Micrometer- Sized Particles for Hadron Physics” A slow control system will be build up by the Andrzej Soltan Institute for Nuclear Studies (SINS) (from 1st of September, 2011 it is National Centre for Nuclear Research – NCBJ) supported by GSI Darmstadt, OeAW, INFN Genoa and WWU. …...

38. 38 Arkadiusz Chlopik INTERFACE CLUSTER Challenges - scheme of hardware connections with CompactRIO modules - CompactRIO modules completion - connection implementation with Interface Cluster - algorithms for LabVIEW control application - front panel project for control application (GUI) - alarms, alerts and warnings scheme - safety algorithms and interlocks - archiving algorithms - data exchange between LabVIEW and EPICS - tests of the final setup GSI, 4th of November 2011 National Centre for Nuclear Research, Poland

39. 39 Arkadiusz Chlopik MANY THANKS TO: Herbert Orth Bogdan Zwieglinski Jost Luehning Andreas Gerhardt Fabio Ravera GSI, 4th of November 2011 National Centre for Nuclear Research, Poland