1. SPEAR Insertion Device Controls Upgrade Status Arturo Alarcon January, 2014

2. 2 SPEAR ID Controls Upgrade Status, Outline Outline Motivation for upgrade Requirements Scope Overview Schedule Trim tracking Arbitration, ID server replacement Motor controls Current Issues

3. 3 SPEAR ID Controls Upgrade Status, Motivation Move away from platforms with few maintenance resources VMS CAMAC Choose common ICD platforms for better support UNIX, EPICS VME

4. 4 SPEAR ID Controls Upgrade Status, Requirements Requirement is to maintain same functionality as VMS based ID server, same interface, API Trim tracking - Adjust trims based on breakpoint tables as gap changes Arbitration - Ownership transaction, allow control of any device by a remote beamline user when it is safe to do so. The SPEAR operator can directly monitor the actions of the remote user and lock out the remote control when necessary. Motor controls - Basic motor functions, encoder readback, virtual motors, interlocks

5. 5 SPEAR ID Controls Upgrade Status, Scope List of beamlines affected BL7, BL10, BL9, BL12-2, BL6, BL11, BL4, BL13, and new BL5 and BL15, all beamlines with insertion devices All insertion device CAMAC motor controls Additional analog and digital I/O in order to eliminate CAMAC crates

6. 6 SPEAR ID Controls Upgrade Status, Scope Trim tracking software Move from VMS ID server into Mcor soft IOC Arbitration software Move from VMS ID server into a new Insertion Device EPICS application soft IOC EPICS infrastructure Upgrade module drivers for motors Upgrade CPU Update databases for ease of use, share templates between beamlines

7. 7 SPEAR ID Controls Upgrade Status, Overview, Hardware Hardware Four VME IOCs - b131-iocmotor1, BL13, BL4, BL11 - b131-iocmotor2, BL5, BL6, BL15 - b120-iocmotor1, BL7, BL9, BL11 - b116-iocmotor, BL12-2 IOC CPUs are MVME3100s Motor driver is Pro-Dex MAXv-8000 Acromag digital input card, IP470A, for legacy encoders and status Kramert ECM-505/F for TR Electronic encoders Three CAMAC crates will be eliminated, b120-1006, b131- 1100, b131-601

8. 8 SPEAR ID Controls Upgrade Status, Overview, Software Trim tracking Adjusts trims as gap changes Moving from VME based ID server to new Mcor soft IOC, soft-iocmcortrim - Trim tracking databases - Break point tables - New sequence, idTrim.st, monitors gap values, updates trims

9. 9 SPEAR ID Controls Upgrade Status, Overview, Software Arbitration, ID server replacement, ownership transaction Moving from VMS based ID server to soft IOC, soft- iocidctrl, part of new Insertion Device EPICS application - New sequence to handle transaction, Arbitration.st - No changes to arbitration database

10. 10 SPEAR ID Controls Upgrade Status, Overview, Software Motor controls MVME3100 CPU - Running RTEMS 4.9.4 Pro-Dex MAXv-8000 EPICS driver module - Running motor-R6-7-1-spear1 TR Electronics EPICS driver module - Running vmeUtils-R0-0-0 IP470, digital status, EPICS driver module - ipac-R2-11-spear1

11. 11 SPEAR ID Controls Upgrade Status, Trim Tracking Released updated Mcor application Turned off ID server Add trim tracking setpoints for all correctors with trim tables and add all sequences. Change trim tracking sequence to update Des, if needed. Des adjustment for QSSs from database to sequence. Add configuration of trim PS attributes when trim tracking turned on. Using interpolation instead of cubic spline fit Only implemented while motors moving

12. 12 SPEAR ID Controls Upgrade Status, Trim Tracking Ops power supply monitor display will show red when trim is outside tolerance of desired trim tracking value.

13. 13 SPEAR ID Controls Upgrade Status, Trim Tracking Trim tracking changes value when There is a new trim value from the trim table. The trim setpoint got changed (possibly by somebody else outside this program). The trim reference (Des) value got changed (possibly by somebody else outside this program). Trim tracking has just been turned on or off. Trim state (HALT,ARM,RUN,etc) has changed. Gap moves.

14. 14 SPEAR ID Controls Upgrade Status, Arbitration Released Updated InsertionDevices Application Turned off VMS ID server New sequence, Arbitration.st, running for all IDs under soft-iocidctrl - Ownership transaction. - BL15 safety mode still not implemented Monitor CURMON, and open and set safety mode when stored beam is lost - API unchanged

15. 15 SPEAR ID Controls Upgrade Status, Arbitration

16. 16 SPEAR ID Controls Upgrade Status, Arbitration Status PV

17. 17 SPEAR ID Controls Upgrade Status, Arbitration Event log for logging all actions

18. 18 SPEAR ID Controls Upgrade Status, Arbitration

19. 19 SPEAR ID Controls Upgrade Status, Motor controls All necessary hardware installed New Insertion Device EPICS application thoroughly tested Run away issue has been mitigated, and ICD has resources committed to working on a further testing

20. 20 SPEAR ID Controls Upgrade Status, Current Issues Problem: Infinite loop in SW where an IOC reboot is needed to clear Activity (Allison): Add multiple line answer from controller on query Problem: Unable to move off limit when motor goes to SW limit BL13 was moved back in local mode. In remote mode we were clearing wrong switch. Activity (Kobal): Contact software manufacturer to fix bug in Motor Record (reverse motion after hitting software limit). Epics collaboration. Activity (Allison): Record more parameters in the Event Log to troubleshoot ID going beyond software limit Problem: Runaway problem with BL5 EPU phase. Activity (Alarcon): Turn on Debug during AP and test software Problem: Emergency switch button broken on BL11 ID Activity (Dell’Orco, MSG, Dao): Dell’Orco to buy emergency switch, MSG to install it, Tom Dao to wire it in January? Problem: 2 new emergency switch buttons on back of BL5 ID Activity (Dell’Orco, MSG, Dao): Dell’Orco to buy 2 more switches, MSG to install them, Tom Dao to wire them in February Problem: Early trip of BL6 inner gap limit switches. Replace inner gap limit switches on BL6 (from DT-2R-A7 microswitch with 1.5 x 2 mm differential travel with to optical). Activity (Dao): Procure limit switch cable for 3 switches, January? Activity (MSG, Dell’Orco, Dao): replace defective limit switches (1-2) in January (use identical switches, later we will switch to optical) Problem: Replacement of outer gap limit switches on BL6 (from microswitch to optical) Activity (Trautwein): Design flag system adjustable with micrometer for inner gap optical limit switches (1 upstream, 1 downstream). Problem: Encoder noise (electrical noise vs. software filtering).

21. 21 SPEAR ID Controls Upgrade Status, Current Issues Activity (Dell’Orco, Control Group): Look for Electrical Engineer to troubleshoot electronics & noise. May need drawings from Dao. Activity (Allison): Trim tracking ON only during ID moves, February? Activity (Dao): Make list of Electronics Documentation, Electrical Interconnect and Chassis drawings Problem: BL13 ID downstream lower gap optical inner limit switch is not wired because of lack of channels. The outer mechanical was found not working and later connected in series with upstream. Activity (Dao): Add 1 channel for BL13 ID Problem: We do not have a good set of spares for BL6 & BL10 encoder/converter (obsolete items). Activity (Trautwein, Dell’Orco): Design mounts to install new absolute linear encoders on BL6 and BL10 Problem: BL13 encoders to be repaired. 6 new encoders have been purchased. Activity: (Dao): Send encoders (# 41, 43, 49, 50) to TR Electronics in Germany to replace the encoder electronics. (Take #50 from Williams and give him #47). Problem: Status of ID test stand (ADC BL13?) Activity (Alarcon): Check for space availability, 40 k$ approval, borrow stages for quick testing Problem: Correction of Rack Labels for Local mode control needed by Operators. Activity (Dao): Apply corrected/improved labels. Problem: BL10 motor bracket problem came off and was reinstalled Activity (MSG): Periodically check torque on bracket Problem: Recommendations for BL12-1 encoders: rotary/linear/SSI – NSD vs. TR Electronics – Activity (Alarcon, Dell’Orco): Alarcon to talk to Andy Ringwall and get ID specifications.