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Readout Chain ELMB OPC Server PVSS Digitization of analog inputs

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Presentation on theme: "Readout Chain ELMB OPC Server PVSS Digitization of analog inputs"— Presentation transcript:

1 Readout Chain ELMB OPC Server PVSS Digitization of analog inputs
Client-server architecture Conversion to physical units Standard connection for any OPC Client PVSS Fine calibration and data display CANopen Master/Slave node dictionary Object ELMB CANopen Slave node Voltage channels OPC Server PC, VME, etc. PDO Exchange SCADA System OPC Client ELMB Course

2 Typical Application ELMB Kvaser PCI card (2 or 4 port)
Maximum of 32 ELMBs in a branch Kvaser PCI card (2 or 4 port) CANbus cable from USA15 or US15 to UX15 TIS qualified Shielded Length ≈ 150m Including remote powering, 7 lines: GND CAN signals CAN power (20 mA/ELMB) Digital + Analog power ( mA/ELMB) CAN Power Crate or commercial Power Supply Patch panel Rack (and wall) mounted ELMB motherboard ELMB Course

3 Physical Distribution
Kvaser PCI-CAN PS USA15 UX15 Rack Mounted ELMBs s ~ 5 m s ~ 0.5 m Patch Panel ELMB Course

4 The CAN Bus Each node must have a unique ID
0 reserved; applies to all nodes in the CANbus Both ends of bus must be terminated 120 ohm resistor between CAN_H and CAN_L Straight Bus configuration Star or Ring configurations are not possible Maximum of 63 ELMBs per bus Recommended maximum of 32 per bus Configurable baud rate Faster rates restrict bus length 125 Kbaud ≈ 500m 250 Kbaud ≈ 270m ELMB Course

5 The ELMB (Embedded Local Monitor Board)
General purpose CAN node using CANopen Flexible I/O functions Multiplexed ADC, 16 bit, 64 channels with signal adaptation. Configurable for rate, range, mode and number of channels 8 input, 8 output and 8 definable I/O ports SPI bus Low power consumption, opto-isolated Add-ons: DAC, 12 bit, channels Interlock facility Data sent periodically, on-request or on-change Radiation tolerant 0.5 Gy and 3*1010 neutrons per year Operation in field of 1.5 Tesla Remote diagnostics and loading of SW SEE detection and recovery Node ID DIP switches ELMB Course

6 ELMB Motherboard General purpose motherboard
Allows for signal adaptation Connectors for analog and digital input and outputs Power connector CAN bus connector ELMB Course

7 Motherboard Bottom Side
ELMB Course

8 Adapters Temperature sensors – 2 wire Temperature sensors – 4 wire
For NTC 10K or PT1000 Temperature sensors – 4 wire For PT100 Differential voltage attenuator Attenuates 1:100 Inline resistors 1Kohm resistors for simple voltage measurement Resistor values on adapters may be modified for greater accuracy over a known voltage range ELMB Course

9 Motherboard Top Side ELMB Course

10 ELMB 128 Block Diagram ELMB Course

11 Powering Ways to power the ELMB
CAN and Digital power supplied through the CAN bus Need to connect Analog power to Digital or CAN Recommended to connect Analog power to Digital as CAN draws more current Useful for highly distributed systems Supply power through motherboard using up to three different supplies Possible to connect the three power sections together and supply only one voltage (not recommended) ELMB Course

12 Installing Kvaser Card
Download drivers from: Then go to ‘Support ▼’, ‘Downloads’ and under heading ‘Files for specific products’ click ‘Files for PCIcan’ Run setup program Shut-down PC Check switches (SW-1 and SW-2) on CAN card and set as necessary (only for 4-port card) Pay special attention to ‘common bus’ Install Kvaser card in free PCI slot Start PC Last setup steps will be completed ELMB Course

13 Kvaser 4-port CAN Card SW-1 SW-2
To connect CAN ground to PC ground (switches 1 and 2 – switch 3 is unused) SW-2 On-board terminators for “common bus” (switches 1 and 2) Connection of ports to “common bus” (switches 3 to 10) ELMB Course

14 Installing OPC Server (and diagnostic software)
Download setup zip file from: or, for a self extracting zip file Unzip to temporary folder Login as ‘Administrator’ to local PC Do NOT login to network Do NOT login with a different user name (even if the user has administration rights) Run ‘setup.exe’ from the temporary folder Install required components Kvaser and/or NICAN component Help files Diagnostic Tools OPC Server ELMB Course

15 CAN/CANopen background
CAN is one of the three recommended fieldbuses at CERN Defines two first layers of the OSI communication model Physical: Communication medium Data link: How the data frames look like CANopen is a High-level communication protocol on top of CAN Defines how CAN frames are used CANopen chosen on the basis of its flexibility and acceptance The ELMB framework will try to hide CAN/CANopen from the users However, a small background on the technologies will help you to understand why things have to be executed in a given sequence ELMB Course

16 All device parameters are stored in an object dictionary.
CANopen device model All device parameters are stored in an object dictionary. The object dictionary contains the description, data type and structure of a parameter, as well as its address CANopen device SDO Object Dictionary Data types, Communication and application objects Application Program, Device Profile implementation TxPDO RxPDO Communication PDO, SDO, NMT Interface Process IO NG NMT SYNC EMCY ELMB Course

17 CANopen communication model
Master-slave and slave-slave communication modes The ELMB standard readout chain implements the master-slave model PVSS application, using the OPC server, is CANopen master. A CANopen master as a network manager node configuration network boot supervision ELMB Course

18 CANopen communication objects
CANopen communication objects can be classified in four categories Process Data Objects (PDO): Real time transfers Unconfirmed in broadcast mode Up to 8 data bytes Two types: Received (RxPDO): Outputs Transmitted (TxPDO): Inputs Service Data Objects (SDO): Mainly used for device configuration Access to object dictionary Peer-to-peer Confirmed data transfer of arbitrary length Administrative Objects: Network Management (NMT) Node Guarding (NG) Special Function Objects: Network synchronization (SYNC) Error conditions (EMCY) Time stamping ELMB Course

19 CANopen state model NMT = Stop SDO Stopped NMT = Reset NMT = Start SDO
PDO NMT = Stop Operational SDO NMT = Start EMCY Boot up PDO Pre-operational NMT = Set to Pre-Op Initial PDO Power up OFF NMT = Reset ELMB Course

20 Understanding the ELMB messages: NMT
NMT: change node state COB-ID 1 2 cmd nodeId cmd: 0x01 => Start 0x02 => Stop 0x80 => Set to pre-operational 0x81 => Reset 0x82 => Reset CAN communication ELMB Course

21 Understanding the ELMB messages: SYNC
SYNC: request synchronous inputs from nodes COB-ID 1 2 0x80 ELMB Course

22 Understanding the ELMB messages: SDO
SDO: read node configuration; SDO Upload SDO Server SDO Client COB-ID 1 2 3 4 5 6 7 request Indication 0x600 + ID Sub-Idx 0x40 Index COB-ID 1 2 3 4 5 6 7 0x580 + ID Index Sub-Idx data0 data1 data2 data3 aaa Confirmation Response aaa: 0x4f => 1 byte read 0x4b => 2 bytes read 0x43 => 4 bytes read ELMB Course

23 Understanding the ELMB messages: SDO
SDO: write node configuration; SDO Download SDO Server SDO Client COB-ID 1 2 3 4 5 6 7 request Indication 0x600 + ID Index Sub-Idx data0 data1 data2 data3 aaa COB-ID 1 2 3 4 5 6 7 0x580 + ID 0x60 Index Sub-Idx Confirmation Response aaa: 0x2f => 1 byte read 0x2b => 2 bytes read 0x23 => 4 bytes read (If accessed values are unsigned) ELMB Course

24 Understanding the ELMB messages: TPDO
Tx-PDO1: read digital inputs from the ELMB COB-ID 1 0x180 + ID Port F Port A Tx-PDO3: read analog inputs from the ELMB “Multiplexed” PDO COB-ID 1 2 3 4 5 0x380 + ID chN = 0 status aaa bbb ccc ddd Value in mVolts 0x380 + ID chN = 63 status aaa bbb ccc ddd ELMB Course

25 Understanding the ELMB messages: RPDO
Rx-PDO1: write digital outputs from the ELMB COB-ID 1 0x200 + ID Port C Port A ELMB Course

26 Saving ELMB settings All configuration changes are written to the RAM Volatile memory, i.e. lost when the program is reinitialized, e.g. power cut When the program is initialized, default configuration parameters are read from the EEPROM In order to make your changes permanent, you must explicitly save them ELMB Course

27 OLE for Process Control (OPC)
A Client/Server Architecture: Items and Groups: Server: Holds process data Client Read/write/subscribe Relation n-to-m. Server Address Space contains OPC Items Client: Organize OPC Items in groups (active, polling-rate, dead-band etc). Data Access Mechanism: Synchronous. Asynchronous. Refresh. Subscribe. OPC Client 1 OPC Client 2 Address Space Address Space OPC Group 1 OPC Group 1 OPC Group 2 OPC Group 1 OPC Item OPC Item OPC Item OPC Item OPC Item OPC Item OPC Item OPC Item OPC Item OPC Item Process Data Objects Process Data Objects OPC Server 1 OPC Server 2 ELMB Course

28 ELMB/CANopen OPC Server
Generic CAN and CANopen OPC server Can be used with other CAN or CANopen devices Additional functionality to ease the work with the ELMB Default configuration Configuration file describe the network topology When the ELMB default configuration is used, the OPC server implements a default address space which contains all OPC items required by standard users e.g. items for SYNC, NMT, some SDO, PDO for AI, DI and DO, NG, EMCY ELMB Course

29 ELMB OPC default configuration
Items accessed via SDO OPC Item Description OD Index, Subindex Type <bus>.<node>.hwVersion Contains hardware version 1009, 0 VT_UI4 <bus>.<node>.swVersion ELMB software version 100A, 0 BSTR <bus>.<node>.serialNumber Contains the serial number of the ELMB 3100, 0 <bus>.<node>.guardTime Read only value set to 1000 (1s) 100C, 0 VT_UI2 <bus>.<node>.lifeTime Life guarding timeout in seconds 100D, 0 VT_UI1 <bus>.<node>.rate ADC conversion rate 2100, 2 <bus>.<node>.range ADC range 2100, 3 <bus>.<node>.mode ADC measurement mode 2100, 4 <bus>.<node>.channelMax Highest ADC channel number in use 2100, 1 <bus>.<node>.aiTransmissionType Transmission type for analog inputs 1802, 2 <bus>.<node>.aiEventTimer Event timer for analog inputs 1802, 5 <bus>.<node>.diDebounceTimer Debounce timer for digital inputs 2200, 0 <bus>.<node>.diTransmissionType Transmission type for digital inputs 1800, 2 <bus>.<node>.diEventTimer Event timer for digital inputs 1800, 5 <bus>.<node>.digitalInEnable Enables asynchronous transmission of Digital Input signals 6005, 0 VT_BOOL <bus>.<node>.initHigh Can be set to initialize digital outputs high after a hard reset 2300, 0 <bus>.<node>.save Saves configuration to EEPROM 1010, 1 <bus>.<node>.load Loads default configuration from EEPROM 1011, 1 <bus>.<node>.Error Current value of the error register 1001, 0 ELMB Course

30 ELMB OPC default configuration (2)
Items not in the ELMB OD OPC Item Description Type <bus>.<node>.State Integer value indicating current operating state of ELMB VT_UI1 <bus>.<node>.NMT Allows Network ManagemenT commands to be given to the ELMB <bus>.<node>.bootupMessage Value increments when bootup message received from ELMB VT_UI4 <bus>.<node>.ai_# Analog Input Channel # VT_UI2/VT_UI4[1] <bus>.<node>.di_F_# (#-0..7) Digital Inputs (ELMB Port F) VT_BOOL <bus>.<node>.do_C_# (#-0...7) Digital Outputs (ELMB Port C) <bus>.<node>.do_A_# (#-0...7) Digital Outputs (ELMB Port A) <bus>.<node>.emergencyErrorCode Gives emergency error code of last emergency message VT_UI2 <bus>.<node>.specificErrorCodeByte1 First byte of specific error code given in last emergency message (actual byte 3 of emergency message) <bus>.<node>.specificErrorCodeByte2 Second byte of specific error code given in last emergency message (actual byte 4 of emergency message) <bus>.<node>.specificErrorCodeByte3 Third byte of specific error code given in last emergency message (actual byte 5 of emergency message) <bus>.<node>.specificErrorCodeByte4 Fourth byte of specific error code given in last emergency message (actual byte 6 of emergency message) <bus>.<node>.specificErrorCodeByte5 Fifth byte of specific error code given in last emergency message (actual byte 7 of emergency message) [1] The type of these items depends on the setFlag. If the setFlag is “counts” the type is VT_IU2, otherwise it is VT_UI4 ELMB Course

31 ELMB/CANopen OPC Server
COB-ID 1 2 3 4 5 0x380 + ID chN = 11 status aaa bbb ccc ddd Value in mVolts ELMB Course

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