Presentation is loading. Please wait.

Presentation is loading. Please wait.

ATLAS DCS ELMB Course1 Readout Chain CANopen Master/Slave node Object dictionary ELMB CANopen Slave node Object dictionary Voltage channels OPC Server.

Similar presentations


Presentation on theme: "ATLAS DCS ELMB Course1 Readout Chain CANopen Master/Slave node Object dictionary ELMB CANopen Slave node Object dictionary Voltage channels OPC Server."— Presentation transcript:

1 ATLAS DCS ELMB Course1 Readout Chain CANopen Master/Slave node Object dictionary ELMB CANopen Slave node Object dictionary Voltage channels OPC Server PC, VME, etc. PDO Exchange SCADA System OPC Client ELMB ELMB Digitization of analog inputs OPC Server OPC Server Client-server architecture Conversion to physical units Standard connection for any OPC Client PVSS PVSS Fine calibration and data display

2 ATLAS DCS ELMB Course2 Typical Application ELMB ELMB Maximum of 32 ELMBs in a branch Kvaser PCI card (2 or 4 port) Kvaser PCI card (2 or 4 port) CANbus cable from USA15 or US15 to UX15 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 CAN Power Crate or commercial Power Supply Patch panel Patch panel Rack (and wall) mounted ELMB motherboard Rack (and wall) mounted ELMB motherboard

3 ATLAS DCS ELMB Course3 Physical Distribution PS KvaserPCI-CAN Patch Panel Rack Mounted ELMBs ELMBsUSA15 UX15 s ~ 0.5 m s ~ 5 m

4 ATLAS DCS ELMB Course4 The CAN Bus Each node must have a unique ID Each node must have a unique ID 0 reserved; applies to all nodes in the CANbus Both ends of bus must be terminated Both ends of bus must be terminated 120 ohm resistor between CAN_H and CAN_L Straight Bus configuration Straight Bus configuration Star or Ring configurations are not possible Maximum of 63 ELMBs per bus Maximum of 63 ELMBs per bus Recommended maximum of 32 per bus Configurable baud rate Configurable baud rate Faster rates restrict bus length 125 Kbaud 500m 250 Kbaud 270m

5 ATLAS DCS ELMB Course5 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*10 10 neutrons per year Operation in field of 1.5 Tesla Remote diagnostics and loading of SW SEE detection and recovery Node ID DIP switches

6 ATLAS DCS ELMB Course6 ELMB Motherboard General purpose motherboard General purpose motherboard Allows for signal adaptation Connectors for analog and digital input and outputs Power connector CAN bus connector

7 ATLAS DCS ELMB Course7 Motherboard Bottom Side

8 ATLAS DCS ELMB Course8 Adapters Temperature sensors – 2 wire Temperature sensors – 2 wire For NTC 10K or PT1000 Temperature sensors – 4 wire Temperature sensors – 4 wire For PT100 Differential voltage attenuator Differential voltage attenuator Attenuates 1:100 Inline resistors Inline resistors 1Kohm resistors for simple voltage measurement Resistor values on adapters may be modified for greater accuracy over a known voltage range

9 ATLAS DCS ELMB Course9 Motherboard Top Side

10 ATLAS DCS ELMB Course10 ELMB 128 Block Diagram

11 ATLAS DCS ELMB Course11 Powering Ways to power the ELMB 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)

12 ATLAS DCS ELMB Course12 Installing Kvaser Card Download drivers from: Download drivers from: Then go to Support, Downloads and under heading Files for specific products click Files for PCIcan Run setup program Run setup program Shut-down PC Shut-down PC Check switches (SW-1 and SW-2) on CAN card and set as necessary (only for 4-port card) 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 Install Kvaser card in free PCI slot Start PC Start PC Last setup steps will be completed Last setup steps will be completed

13 ATLAS DCS ELMB Course13 Kvaser 4-port CAN Card SW-1 SW-1 To connect CAN ground to PC ground (switches 1 and 2 – switch 3 is unused) SW-2 SW-2 On-board terminators for common bus (switches 1 and 2) Connection of ports to common bus (switches 3 to 10)

14 ATLAS DCS ELMB Course14 Installing OPC Server (and diagnostic software) Download setup zip file from: Download setup zip file from: or, for a self extracting zip file Unzip to temporary folder Unzip to temporary folder Login as Administrator to local PC 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 Run setup.exe from the temporary folder Install required components Install required components Kvaser and/or NICAN component Help files Diagnostic Tools OPC Server

15 ATLAS DCS ELMB Course15 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 CAN/CANopen background

16 ATLAS DCS ELMB Course16 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 Communication Interface PDO, SDO, NMT Object Dictionary Data types, Communication and application objects Application Program, Device Profile implementation CANopen device SDO TxPDO RxPDO NG NMT SYNC EMCY Process IO CANopen device model

17 ATLAS DCS ELMB Course17 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 CANopen communication model

18 ATLAS DCS ELMB Course18 1. Process Data Objects (PDO): Real time transfers Unconfirmed in broadcast mode Up to 8 data bytes Two types: Received (RxPDO): Outputs Transmitted (TxPDO): Inputs 2. Service Data Objects (SDO): Mainly used for device configuration Access to object dictionary Peer-to-peer Confirmed data transfer of arbitrary length CANopen communication objects can be classified in four categories 3. Administrative Objects: Network Management (NMT) Node Guarding (NG) 4. Special Function Objects: Network synchronization (SYNC) Error conditions (EMCY) Time stamping CANopen communication objects

19 ATLAS DCS ELMB Course19 Initial Pre-operational OFF Power up Boot up EMCY Operational SDO PDO NMT = Start NMT = Reset NMT = Set to Pre-Op SDO PDO Stopped NMT = Stop NMT = Start PDO SDO NMT = Reset NMT = Stop CANopen state model

20 ATLAS DCS ELMB Course20 NMT: change node state 0cmdnodeId cmd: 0x01 => Start 0x02 => Stop 0x80 => Set to pre-operational 0x81 => Reset 0x82 => Reset CAN communication COB-ID012 Understanding the ELMB messages: NMT

21 ATLAS DCS ELMB Course21 SYNC: request synchronous inputs from nodes 0x80 COB-ID012 Understanding the ELMB messages: SYNC

22 ATLAS DCS ELMB Course22 SDO: read node configuration; SDO Upload 0x600 + IDSub-Idx Index 0x40 0x580 + IDSub-Idx Index data0data1data2data3 aaa aaa: 0x4f => 1 byte read 0x4b => 2 bytes read 0x43 => 4 bytes read request Confirmation Indication Response SDO Server SDO Client COB-ID Understanding the ELMB messages: SDO

23 ATLAS DCS ELMB Course23 SDO: write node configuration; SDO Download 0x600 + IDSub-Idx Index data0data1data2data3 aaa 0x580 + IDSub-Idx Index 0x60 aaa: 0x2f => 1 byte read 0x2b => 2 bytes read 0x23 => 4 bytes read (If accessed values are unsigned) request Confirmation Indication Response SDO Server SDO Client COB-ID Understanding the ELMB messages: SDO

24 ATLAS DCS ELMB Course24 Tx-PDO1: read digital inputs from the ELMB 0x180 + IDPort FPort A COB-ID01 Tx-PDO3: read analog inputs from the ELMB. Multiplexed PDO 0x380 + IDchN = 0status COB-ID01 aaabbbcccddd Value in Volts x380 + IDchN = 63statusaaabbbcccddd Understanding the ELMB messages: TPDO

25 ATLAS DCS ELMB Course25 Rx-PDO1: write digital outputs from the ELMB 0x200 + IDPort CPort A COB-ID01 Understanding the ELMB messages: RPDO

26 ATLAS DCS ELMB Course26 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 Saving ELMB settings

27 ATLAS DCS ELMB Course27 A Client/Server Architecture: – Server: – Holds process data – Client – Read/write/subscribe – Relation n-to-m. Items and Groups: – Server Address Space contains OPC Items – Client: Organize OPC Items in groups (active, polling-rate, dead-band etc). OPC Client 1 OPC Client 2 OPC Group 1 OPC Group 2 OPC Group 1 Address Space OPC Server 1 OPC Item Process Data Objects OPC Server 2 Address Space Data Access Mechanism: – Synchronous. – Asynchronous. – Refresh. – Subscribe. OLE for Process Control (OPC)

28 ATLAS DCS ELMB Course28 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/CANopen OPC Server

29 ATLAS DCS ELMB Course29 ELMB OPC default configuration OPC ItemDescriptionOD Index, SubindexType..hwVersionContains hardware version1009, 0VT_UI4..swVersionELMB software version100A, 0BSTR..serialNumberContains the serial number of the ELMB3100, 0VT_UI4..guardTimeRead only value set to 1000 (1s)100C, 0VT_UI2..lifeTimeLife guarding timeout in seconds100D, 0VT_UI1..rateADC conversion rate2100, 2VT_UI1..rangeADC range2100, 3VT_UI1..modeADC measurement mode2100, 4VT_UI1..channelMaxHighest ADC channel number in use2100, 1VT_UI1..aiTransmissionTypeTransmission type for analog inputs1802, 2VT_UI1..aiEventTimerEvent timer for analog inputs1802, 5VT_UI2..diDebounceTimerDebounce timer for digital inputs2200, 0VT_UI1..diTransmissionTypeTransmission type for digital inputs1800, 2VT_UI1..diEventTimerEvent timer for digital inputs1800, 5VT_UI2..digitalInEnableEnables asynchronous transmission of Digital Input signals6005, 0VT_BOOL..initHighCan be set to initialize digital outputs high after a hard reset2300, 0VT_UI1..saveSaves configuration to EEPROM1010, 1VT_UI4..loadLoads default configuration from EEPROM1011, 1VT_UI4..ErrorCurrent value of the error register1001, 0VT_UI1 Items accessed via SDO

30 ATLAS DCS ELMB Course30 ELMB OPC default configuration (2) OPC ItemDescriptionType..StateInteger value indicating current operating state of ELMBVT_UI1..NMTAllows Network ManagemenT commands to be given to the ELMBVT_UI1..bootupMessageValue increments when bootup message received from ELMBVT_UI4..ai_#Analog Input Channel # VT_UI2/VT_UI4[1][1]..di_F_# (#-0..7)Digital Inputs (ELMB Port F)VT_BOOL..do_C_# (#-0...7)Digital Outputs (ELMB Port C)VT_BOOL..do_A_# (#-0...7)Digital Outputs (ELMB Port A)VT_BOOL..emergencyErrorCodeGives emergency error code of last emergency messageVT_UI2..specificErrorCodeByte1First byte of specific error code given in last emergency message (actual byte 3 of emergency message) VT_UI1..specificErrorCodeByte2Second byte of specific error code given in last emergency message (actual byte 4 of emergency message) VT_UI1..specificErrorCodeByte3Third byte of specific error code given in last emergency message (actual byte 5 of emergency message) VT_UI1..specificErrorCodeByte4Fourth byte of specific error code given in last emergency message (actual byte 6 of emergency message) VT_UI1..specificErrorCodeByte5Fifth byte of specific error code given in last emergency message (actual byte 7 of emergency message) VT_UI1 [1][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 Items not in the ELMB OD

31 ATLAS DCS ELMB Course31 0x380 + IDchN = 11status COB-ID01 aaabbbcccddd Value in Volts 2345 ELMB/CANopen OPC Server


Download ppt "ATLAS DCS ELMB Course1 Readout Chain CANopen Master/Slave node Object dictionary ELMB CANopen Slave node Object dictionary Voltage channels OPC Server."

Similar presentations


Ads by Google