The standardised modular beamline control system of ANKA.doc

the standardised modular beamline control system of anka w. mexner, k.-h. cerff, r. butzbach institut fr synchrotronstrahlung, forschungszentrum karlsruhe gmbh, karlsruhe, germany abstract for the synchrotron radiation source anka, karlsruhe/germany 9 beamlines have been constructed simultaneously. this resulted in the unique possibility to design a standardised beamline control system for all 9 beamlines. due to the standardisation, all beamlines have the same look and feel. the integration of new beamlines is easily and effectively done by reusing beamline standard components. the solution is based on a vme crate with the real time operating system os/9 running on a power pc or 68k system as a server. the i/o signals and the stepper motors are controlled by the vme crate via can-field bus. the different beamline components like slits, dcm, mirrors, vacuum controller etc. were developed as independent standardised nodes for the os/9 system using the pc based integrated process control development system “gamma” from rst, munich/germany. for the automatic experiment control as well as for the gui for manual control, all functions can be called over the lan via dll from multiple pcs simultaneously. 1 the anka facility the synchrotron radiation facility anka is embedded in the forschungszentrum karlsruhe, germany 1. based on a 2.5 gev electron storage ring, photons are delivered essentially from the hard x-ray, xuv to the infrared range out of dipole sources. the inclusion of wiggler and undulator devices will provide a cost effective 2nd+ generation facility of high brilliance for research and industry to the middle of 2003. 2 hardware layout the demand for the control system was to provide a reliable installation which should be capable to operate more than 10 years. the maintenance costs should be as low as possible. because the lifetime of a normal pc is approximately 5 years, it was decided to use a server/client concept. the servers, which controls the beamline parts, should be based on components, for which also in 10 years spare parts are available. therefore for the beamline control servers vme-crates with the real time operating system os/9 running with a power pc or 68k processor board were chosen. on the other hand, the clients should be independent from a specific hardware. thus any commercial pc with a ethernet connection can be used as a client. the vme crate is located at the beamline in the control rack together with other electronics. the beamline control server is the central supervising component of the beamline. the beamline status is continuously monitored and written to history logfiles by this server. security sensitive parts are separately controlled by plcs. the beamline safety plc acts as an interlock system which prohibits opening a valve to a evacuated beamline section or overheating a valve by synchrotron light. personnel safety issues (hutches and shutters) are handled by a second separated plc, the beamline personnel safety system, which had been approved by legal authority. the interfacing to the synchrotron machine control system is done via a special server, which distributes machine and beamline specific information in both directions. the experiment control is done by windows or linux pc- clients. for practical reasons, these clients are also controlling hardware, for which no os/9 (or os/9000) driver is available. figure 1: hardware layout beamline control system 2 server/client software structure the beamline control server software is developed with the pc based case tool gamma (rst industrial automation, munich 2), which allows to develop a multi-tasking and multi processing application. the server has its own gui, which can be mirrored to a java based pc client (see figure 3). also a low level debugging of the complete system is possible via an terminal based tool via lan or serial line. figure 2: server client software structure the connection to the clients is done with a proprietary tcp/ip based network protocol developed by rst. an application interface (api) allows the access of all variables and functions of the server simultaneously by multiple clients. experiment control on a pc is possible via a beamline application dll, or via an opc interface. based on this dll and the opc interface, every process control software for the pc can be used to write experimental applications. at anka, the clients are based on the borlands c+ builder and research systems idl. under linux, certified scientific softwares experiment control system spec 3 can access the beamline control server via its own built-in gamma interface. spec allows a very quick application development due to its easy to learn c-like macro language. graphical interfaces can be easily adapted to spec due to specs large bunch of interfaces. figure 3: gui for manual beamline control performance measurements show for the windows- dll an average completion time for read or write operations of about 195 ms, nearly independent of the amount of data which is transported. the same network protocol for linux and os/9 systems shows a much better performance of 20 to 25 ms for the same operations. detailed investigations indicate that this astonishing long transport time for the windows client is caused by the reentrant interface for the data transport which is using windows messages for signals. future releases based on libraries without the reentrant interfaces are expected to speed up the communication by a factor of two. nevertheless the total time for an experiment often depends essentially only on the measuring time itself, e.g. the total time for a typical exafs measurement with a windows client (figure 4) takes at anka about 45-60 min, which is comparable to other installations. figure 4: windows client for exafs 3. standardised beamline components the smallest stand alone working unit of the gamma system is a node. each standard beamline component like slits, intensity monitor, double crystal monochromator, etc is represented by such a node (figure 5). figure 5: gamma data model with standardised beamline components new beamlines can be assembled by selecting the required nodes from the library. the configuration of a single node is done via a database. all nodes have a common i/o abstraction layer and a common central node. message management, window-handling and calling of the other nodes are done from this central module. most of the i/o and the motors are handled with the canopen field bus 4. for the i/o connection beckhoff bus terminals 5 are used, for the motors mclennan stepper motor controllers 6. the global data of a node is accessed via a data abstraction layer. therefore it is invisible to a node, where its data are stored and it is no difference, whether a variable is accessed which is stored on the local system or on a remote system. thus if the processor load is too high, all nodes can be redistributed to several processor boards without the need to change the gamma code. 4 conclusion nine beamline control systems were setup and commissioned simultaneously in less than 2 years. this was possible only because of standardised beamline components and software. the os/9 beamline control servers operated several months without failure. the server/client concept works well, although further optimization of the windows network driver is required. 5 references 1 http:/www.fzk.de/anka 2 / 3 4 http:/www.can-cia.de/ 5 / 6 http:/www.mclennan.co.uk/ 我的大学爱情观我的大学爱情观 1 1、什么是大学爱情：、什么是大学爱情： 大学是一个相对宽松，时间自由，自己 支配的环境，也正因为这样，培植爱情之花 最肥沃的土地。大学生恋爱一直是大学校园 的热门话题，恋爱和学业也就自然成为了大 学生在校期间面对的两个主要问题。 恋爱关系处理得好、正确，健康，可以 成为学习和事业的催化剂，使人学习努力、 成绩上升；恋爱关系处理的不当，不健康， 可能分散精力、浪费时间、情绪波动、成绩 下降。因此，大学生的恋爱观必须树立在健 康之上，并且树立正确的恋爱观是十分有必 要的。因此我从下面几方面谈谈自己的对大 学爱情观。 2 2、什么是健康的爱情：、什么是健康的爱情： 1) 尊重对方，不显示对爱情的占有欲，不 把爱情放第一位，不痴情过分； 2) 理解对方，互相关心，互相支持，互相 鼓励，并以对方的幸福为自己的满足; 3) 是彼此独立的前提下结合； 3 3、什么是不健康的爱情：、什么是不健康的爱情： 1)盲目的约会，忽视了学业; 2)过于痴情，一味地要求对方表露爱的 情怀，这种爱情常有病态的夸张; 3)缺乏体贴怜爱之心，只表现自己强烈 的占有欲; 4)偏重于外表的追求; 4 4、大学生处理两人的在爱情观需要、大学生处理两人的在爱情观需要 三思：三思： 1. 不影响学习： 大学恋爱可以说是一种必要的经历，学习是 大学的基本和主要任务，这两者之间有错综 复杂的关系，有的学生因为爱情，过分的忽 视了学习，把感情放在第一位；学习的时候 就认真的去学，不要去想爱情中的事，谈恋 experiment control pcs (windows, linux) vme beamline control server (realtime operating system os/9) beamline interface server (windows) machine control system (windows) bl safety plc personnel safety plc hutches shutter vacuum, cooling stepper motors, monitors experiment control beamline hardware layout hardware layout the solution is based on a vme-crate with the realtime operating system os/9 running on a power pc or 68k processor board as a beamline control server. the vme crate is located in the control rack together with the other electronics at the beamline the beamline control server is the central supervising component of the beamline. the beamline status is continuously monitored and written to history logfiles by this server. security sensitive parts are separately controlled by plcs. the beamline safety plc acts as an interlock system which prohibits reopening a valve to a vented beamline section or to overheat a valve by synchrotron light. personnel safety issues (hutches and shutters) are handled by a separatet plc, the beamline personnel safety system, which has been approved by legal authority. the interfacing to the synchrotron control system is done via a special server, which distributes machine and beamline specific informations in both directions. the experiment control is done with windows or linux pc-clients. these clients are also controlling hardware, for which no os/9 driver is available. experiment control pcs (windows, linux) vme beamline control server (realtime operating system os/9) beamline interface server (windows) machine control system (windows) bl safety plc personnel safety plc hutches shutter vacuum, cooling stepper motors, monitors experiment control beamline hardware layout hardware layout the solution is based on a vme-crate with the realtime operating system os/9 running on a power pc or 68k processor board as a beamline control server. the vme crate is located in the control rack together with the other electronics at the beamline the beamline control server is the central supervising component of the beamline. the beamline status is continuously monitored and written to history logfiles by this server. security sensitive parts are separately controlled by plcs. the beamline safety plc acts as an interlock system which prohibits reopening a valve to a vented beamline section or to overheat a valve by synchrotron light. personnel safety issues (hutches and shutters) are handled by a separatet plc, the beamline personnel safety system, which has been approved by legal authority. the interfacing to the synchrotron control system is done via a special server, which distributes machine and beamline specific informations in both directions. the experiment control is done with windows or linux pc-clients. these clients are also controlling hardware, for which no os/9 driver is available. 爱的时候用心去谈，也可以交流下学习，互 相鼓励，共同进步。 2. 有足够的精力： 大学生活，说忙也会很忙，但说轻松也是相 对会轻松的！大学生恋爱必须合理安排自身 的精力，忙于学习的同时不能因为感情的事 情分心，不能在学习期间，放弃学习而去谈 感情，把握合理的精力，分配好学习和感情。 3、有合理的时间； 大学时间可以分为学习和生活时间，合理把 握好学习时间和生活时间的“度”很重要； 学习的时候，不能分配学习时间去安排两人 的在一起的事情，应该以学习为第一；生活 时间，两人可以相互谈谈恋爱，用心去谈， 也可以交流下学习，互相鼓励，共同进步。 5 5、大学生对爱情需要认识与理解，、大学生对爱情需要认识与理解， 主要涉及到以下几个方面：主要涉及到以下几个方面： （1）明明确确学学生生的的主主要要任任务务 “放弃时间的人，