EPICS Device and Driver Support for Yokogawa's F3RP71/F3RP61 PLC (Version 1.6/2.0)


[Software]   [Install]   [Example]   [Software tests]   [Presentations]   [Articles]   [Links]  


Beam mask controller at KEKB

F3RP71/F3RP61 CPU on Yokogawa's FA-M3 PLC platform enables an embedded EPICS IOC in PLC (programmable logic controller) environment. The F3RP71/F3RP61 (or e-RT3 2.0) CPU for FAM3 PLC provides an ideal platform with the combination of realtime Linux, digital/analog I/O and embedded EPICS. The vender-supported Linux with PREEMPT_RT ensures the latency less than 100 microseconds. FAM3 I/O bus access enables the integration of various FAM3 I/O modules. The embedded EPICS greatly reduces the system development efforts with standard EPICS facilities without the need for asynchronous driver. Furthermore, the system can accommodate a conventional ladder CPU if needed.

Even customized modules can be designed for our specific needs under the Yokogawa's support called I/O-Open.

Yokogawa succeeded in developing such an ideal controller based on the request from KEK control groups in 2008. Since then, many controllers in EPICS systems were implemented.

A newer PLC CPU F3RP71 is also available with modern chip and tools. It is being developed by S.Yamada. The next version of the device support was released at github covering the both F3RP71/61.

Please send your comments and questions to S.Yamada, K.Furukawa or J.Odagiri.


EPICS device support for F3RP71/F3RP61

The device support for F3RP71/F3RP61 enables embedded EPICS IOC on Yokogawa's FA-M3 PLC platform. Here are links to documents and downloadable package (tar) files by J.Odagiri, T.Nakamoto and S.Yamada.

Next version

Version 2.0.0 (latest pre-relase is available from GitHub)

Document: Documents on GitHub

Device support: GitHub releases

The both of F3RP71 and F3RP61 are supported by a single release by S.Yamada.

Current version

Version 1.6.0 (2016.07.19)

Document: See the manual of version 1.3.0 ( Wiki page on GitHub)

Device support: f3rp61-1.6.0.tar.gz

This verion of device suppor was created by merging 1.3.0 and 1.5.0 manually. So, it could be a little bit buggy.

Older versions

Version 1.5.0 (2016.02.05)

Document: None

Device support: f3rp61-1.5.0.tar.gz [tar.gz]

A new command, f3rp61GetModuleInfo, which lists all the modules in every slot of every unit, has been added as an iocsh command.

Version 1.4.0 (2016.02.05)

Document: None

Device support: f3rp61-1.4.0.tgz [tar.gz]

Only internal implementation related to the configuration procedure of shared memory and FL-net was modified. User applications do NOT see any differences between this version and the previous viersion (1.2.0).

Version 1.3.0 (2014.03.27)

Document (local copy): Device and Driver Support for F3RP61 (Version 1.3.0) [pdf] [word]

Document and device support: Wiki page on GitHub managed by T. Nakamoto

Version 1.2.1 (2012.08.24)

Document: None

Device support: f3rp61-1.2.1.tgz [tar.gz]

Only internal implementation related to the configuration procedure of shared memory and FL-net was modified. User applications do NOT see any differences between this version and the previous viersion (1.2.0).

Version 1.2.0 (2012.02.07)

Document: Device and Driver Support for F3RP61 (Version 1.2.0) [pdf]

Device support: f3rp61-1.2.0.tgz [tar.gz]

Ai/ao now be able to read/write float and double type values, as well as 32-bit long interger (double words) from/to Shared Registers (R) and Link Registers (L). Longin/longout are also able to read/write dobule words from/to those registers. Waveform got supported for reading an array of Shared Registers, Link Registers and 16-bit registers of intelligent I/O modules.

Version 1.1.1 (2011.03.07)

Document: Device and Driver Support for F3RP61 (Version 1.1.1) [pdf]

Device support: f3rp61-1.1.1.tgz [tar.gz]

The EPICS device support V1.1.1 should be essentially the same with the previous version (V1.1.0). Makefile under f3rp61-1.1.1/src was modified so that it builds the library only if T_A=linux-f3rp61. CONFIG-related files required to build IOC libraries for the target are included in the .tgz file. The document was revised to remove ( reduce) errors and oversight in writing and make the installation procedure clearer.

Version 1.1 (2010.10.20)

Document: Device and Driver Support for F3RP61 (Version 1.1) [pdf]

Device support: f3rp61-1.1.0.tar.gz [tar.gz]

This EPICS device support V1.1 should work with Yokogawa's BSP (Firmware) R2.01 on F3RP61. This version supports more registers such as mode registers and the FL-net communication module. The support for the image processing module will be provided separately.

Version 1.0 (2009.4.2)

Device and Driver Support for F3RP61 (Version 1.0) [pdf] [word]

Device support: f3rp61_090402.tar.gz [tar.gz]

This EPICS device support V1.0 should work with Yokogawa's BSP (Firmware) both R1.01 and R2.01 (See a patch for R2.01).


Board Support Package (BSP) R2.03 from Yokogawa (Internal only, dated Feb.3.2015.)

Board Support Package (BSP) R2.01 from Yokogawa (Internal only, dated Jun.3.2010.)


Installation

Document:

Installation of F3RP61BSP R2.03 (Internal only, Japanese) [html] by T.Nakamura (Jun.2017)

Building F3RP61 BSD R2.03 CF card image (Internal only, Japanese) [html] by T.Nakamura (Jun.2017)

Multiplication of Linux CF (Internal only, Japanese) [html] by T.Nakamura (Jun.2017)

Testing F3RP61 BSP R2.03 initrd ramdisk image (Internal only, Japanese) [html] by T.Nakamura (Jun.2017)

Building Linux CF for SuperKEKB (Internal only, Japanese) [html] by T.Nakamura (Sep.2014)

Multiplication of Linux CF (Internal only, Japanese) [html] by T.Nakamura (Sep.2014)

Formatting CF card (Internal only, Japanese) [html] by T.Nakamura (Sep.2014)

How to make bootable CF for F3RP61 [html] (Oct.2011)


Sample applications

Sample sequencer for F3YP18 motion controller module: f3yp18.tar.gz [tar.gz]


Testing software modules on F3RP61

Building and testing procServ-2.5.1 (in Japanese)

Building and testing autosave_R4-7 (in Japanese)

Formating User SRAM (ext2, in Japanese)

Formating disk with ext3

Testing ntp

Memory-consuming test program


Presentations

New controller F3RP71 for EPICS IOC [powerpoint at kurri] [pdf local-copy] by Y. Kubota, EPICS collaboration meeting, Osaka, Japan (May.2017)

Introduction of Device and Driver Support for Yokogawa F3RP71 [powerpoint at kurri] [pdf local-copy] by S. Yamada, EPICS collaboration meeting, Osaka, Japan (May.2017)

F3RP61 boot up with EPICS IOC [pdf] by T. Nakamura (Jan.2013)

IOC performance on F3RP61 [pdf] by H. Kaji, EPICS collaboration meeting, Postech, Korea (Oct.2012)

Application of Embedded EPICS to SuperKEKB Accelerator Control[pdf] (in Japanese) by J. Odagiri, 9th Annual Meeting of PASJ, Osaka (Aug.2012)

Application of Embedded EPICS to SuperKEKB Vacuum Control System [pdf] by S. Terui, EPICS Collaboration Meeting, San Francisco (Apr.2012)

The Performance Test of F3RP61 and Its Application in CSNS Experimental Control System [pdf] by J. Zhuang et al., ICALEPCS2011, Grenoble, France, WEPKN027 (Oct.2011)

Application of Embedded EPICS to LLRF Control System for SuperKEKB [pdf] (in Japanese) by J. Odagiri, 8th Annual Meeting of PASJ, Tsukuba (Aug.2011)

Demonstration of Embedded EPICS on F3RP61 PLC [pdf] by N. Kamikubota, EPICS Collaboration Meeting, NSRRC (Jun.2011)

Development of EPICS Embedded Image Processing System [pdf] by T. Obina, EPICS Collaboration Meeting, NSRRC (Jun.2011)

Real-time Performance Improvement of EPICS on F3RP61 [pdf] by H. Shiratsu (Yokogawa), EPICS Collaboration Meeting, NSRRC (Jun.2011)

New Screen Monitor Controls at KEK Electron Linac [pdf] (in Japanese) by K. Mikawa, Gijutsu-Koryukai, KEK (Oct.2010)

F3RP61 Recipe [pdf] (in Japanese) by J. Odagiri (Oct.2010)

Application of PLC with embedded Linux OS [pdf] (in Japanese) by J. Odagiri, Gijutsu-Kenshukai, PASJ2010 (Aug.2010)

e-RT3 Real-time Linux Controller [pdf] (Internal only) (in Japanese) by H. Shiratsu (Yokogawa), KEK (Jun.2010)

Development and Application of "EPICS on F3RP61" [pdf] (in Japanese) by J. Odagiri, Gijutsu-Koryukai, KEK (Mar.2010)

Application of EPICS on F3RP61 to Accelerator Control [pdf] by J. Odagiri et al., THD005, ICALEPCS2009 (Oct.2009)

Real-time Performance Improvement of "EPICS on F3RP61" [pdf] by H. Shiratsu (Yokogawa), EPICS collaboration meeting, Kobe (Oct.2009)

Demonstration on EPICS on F3RP61 [pdf] by J.Odagiri (Jun.2009)

F3RP61-based Embedded IOCs for Accelerator Controls at KEK [pdf] by K.Furukawa (Jun.2009)


Articles

Integration of PLC with EPICS IOC for SuperKEKB Control System [pdf] J. Odagiri et al., Proc of ICALEPCS2013, San Francisco, US, Oct. 2013, pp.31-34, (MOCOBAB02)

Design and development of the CSNS ion source control system [pdf] Y.H Lu et al., ArXiv:1304.2898

Development Status of SINAP Timing System [jacow] M. Liu et al., Proc of IPAC2013, Shanghai, China, May. 2013, pp.2992-2994, (WEPME032)

The Performance Test of F3RP61 and Its Application in CSNS Experimental Control System [pdf] J. Zhuang et al., Proc of ICALEPCS2011, Grenoble, France, Oct. 2011, pp.763-766, (WEPKN027)

Development of Image Processing System on Embedded EPICS for Beam Diagnostics [pdf], J. Odagiri et al., Proc of PCaPAC2010, Saskatoon, Canada, Oct. 2010, pp.165-167, (THPL018)

STARS on PLC [pdf], T. Kosuge and K. Nigorikawa, Proc of PCaPAC2010, Saskatoon, Canada, Oct. 2010, pp.73-75, (WEPL022)

Control of the Pulse Magnet Power Supply by EPICS IOC Embedded PLC [jacow], C.Y. Wu et al., Proc of IPAC2010, Kyoto, Japan, May. 2010, pp.2731-2733, (WEPEB020)

Development and Applications of "EPICS on F3RP61" [pdf], (in Japanese) J. Odagiri et al., Jan. 2010.

Application of EPICS on F3RP61 to Accelerator Control [pdf], J. Odagiri et al., Proc of ICALEPCS2009, Kobe, Japan, Oct. 2009, pp.916-918, (THD005).

Embedded EPICS Controller for KEKB Pulsed Quadrupole Magnet Power Supply [pdf], K. Mikawa et al., Proc of ICALEPCS2009, Kobe, Japan, Oct. 2009, pp.558-560, (WEP082).

Upgrading the Control System of the Movable Masks for KEKB [pdf], T. Nakamura et al., Proc of ICALEPCS2009, Kobe, Japan, Oct. 2009, pp.546-548, (WEP074).

Data Acquisition System of Beam Loss Monitors of the J-PARC Main Ring [pdf], S. Motohashi et al., Proc of ICALEPCS2009, Kobe, Japan, Oct. 2009, pp.537-539, (WEP070)

Control of the J-PARC Slow Extraction Line Based on Embedded EPICS [pdf], M. Takagi et al., Proc of ICALEPCS2009, Kobe, Japan, Oct. 2009, pp.549-551 (WEP076)

Upgrading the Control System of RIKEN RI Beam Factory for New Injector [pdf], M. Komiyama et al., Proc of ICALEPCS2009, Kobe, Japan, Oct. 2009, pp.277-279 (TUP084)

Development of Embedded EPICS on F3RP61-2L [jacow], A. Uchiyama et al., Proc of PCaPAC2008, Ljubljana, Slovenia, Oct. 2008, pp.145-147 (WEX03)


Links

Yokogawa Technical Report : The e-RT3 Plus Real-time-OS-based Controller with Excellent Usability (English)

Yokogawa Technical Report : The e-RT3 Plus Real-time-OS-based Controller with Excellent Usability (Japanese)

F3RP61 (e-RT3) Product Information (Japanese)

F3RP71 (e-RT3) Product Information (Japanese)

F3RP61/F3RP71 (e-RT3) Technical Information (Japanese)

F3RP61/F3RP71 (e-RT3) Technical Information (English/Korean/Portugues)

Channel Access (CA) Everywhere Controls


Patches

If you use the BSP R2.01, that was released in June 2010, with the device support V1.0 (f3rp61_090402.tar.gz), you need to apply the following patch against drvF3RP61.c. This was a minor bug which did not affect anything with the BSP R1.01. (Jul.16.2010.)



--- drvF3RP61.c.org     2009-01-27 10:20:42.000000000 +0900
+++ drvF3RP61.c 2010-07-16 12:06:26.000000000 +0900
@@ -83,7 +83,7 @@
   }
 
   for (i = 0; i < M3IO_NUM_UNIT; i++) {
-    for (j = 0; j < M3IO_NUM_SLOT; j++) {
+    for (j = 1; j < (M3IO_NUM_SLOT + 1); j++) {
       f3rp61_module_info[i][j].unitno = i;
       f3rp61_module_info[i][j].slotno = j;
       ioctl(f3rp61_fd, M3IO_GET_MODULE_INFO, &f3rp61_module_info[i][j]);


[Page top]   [Software]   [Install]   [Example]   [Software tests]   [Presentations]   [Articles]   [Links]  


Tweet Clip to Evernote    
Kazuro Furukawa <kazuro.furukawa AT kek.jp>, Junichi Odagiri, Apr.25.2009 - Jun.22.2018.
[ EPICS ]   [ Linac ]   [ KEKB ]   [ Accelerator ]   [ KEK ]   [ EPICS-Home ]