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

2. Embedded EPICS on F3RP61-2L
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
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

3. Embedded EPICS on F3RP61-2L
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
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

4. Embedded EPICS on F3RP61-2L
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
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

5. Embedded EPICS on F3RP61-2L
New Hope
F3RP61-2L(for Yokogawa FA-M3 series PLC)
Standard Linux Kernel ( 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
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

6. Embedded EPICS on F3RP61-2L
F3RP61 running EPICS on Linux
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

7. Specifications of F3RP61-2L
CPU: MPC8347E, 533MHz
OS: Linux (kernel )
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
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

8. Embedded 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
Oct. 17, EPICS'08
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)
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

10. Embedded EPICS on F3RP61-2L
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
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

11. ”The Japan Corporation”
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

12. Embedded EPICS on F3RP61-2L
The Fastest Takes All
Yokogawa offers discount prices on occasion
Do not miss it!
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L

13. Embedded EPICS on F3RP61-2L
See you again
in Kobe
next year!!
ICALEPCS 2009
Oct. 17, EPICS'08
Embedded EPICS on F3RP61-2L