Beckhoff Device Access via EPICS -
CBM RICH test mirror positioning system -
Summer Student Project 2011

Introduction

As part of the summer student program 2011 at GSI this projects objective is to develop, evaluate an exemplary motor control, on basis of basic existing components which will

• use Beckhoff devices
• be accessed via modBus
• be controlled via EPICS
• be displayed, e.g. with CSS
• (offered to be) used for TASCA, CBM, HADES

UPDATE

Meanwhile the project became more detailed, since CBM showed interest to have a RICH mirror setup motor controlled. This setup requires to have 2 servo motors with a gear reduction to tilt a gimbal mounted planar mirror element (400 mm × 400 mm) in 2 directions. It is foreseen to use this setup during CBM's next test beam time.

TASCA

Until the ordered parts have arrived, we could use spare equipment of TASCA to develop and test. Thank you.

People

Summer Student

• Jihye Song, Korea

Tutors

• B.Kolb, GSI, HADES/CBM (-2667)
• T.Torres de Heidenreich, GSI, EE/KS (-1335)
• P.Zumbruch, GSI, EE/KS (-1435)

CBM

• B.Kolb
• J.Eschke (CBM RICH)
• W.Niebur (CBM Cave)

Documents

The following documents are provided by the suppliers (Beckhoff, 3S - Smart Software Solution, etc) and download from the suppliers home page.

Programming

Examples

• PLC Program Example

TwinCAT

• TwinCAT Modbus TCP (Windows Help File (.chm)):
• TwinCAT Modbus TCP
• TwinCAT Modbus TCP , English

Technical documentations

Beckhoff Servo drive

• User Manual Servo drive AX5000 (Windows Help File (.chm))
• User Manual Servo drive AX5000

Beckhoff Motors

• Asynchronous Motor AM30xx, Beckhoff technical data (German)
• Asynchronous Motor AM30xx, Beckhoff technical data (English)

Wittenstein Gearhead TPK+10S

• Wittenstein, Gearhead TPK+10S technical data (German)
• Wittenstein, Gearhead TPK+10S technical data (English)

modbus EPICS

• modbus, Module Owner: Mark Rivers: University of Chicago
• Documentation

Project Description

Mechanical Setup

Requirements

C6915 Industrial PC setting and operation

• TwinCATandCEsystem.pdf: Short description of the initial operation and settings with the C6915 PC with windows CE; TwinCAT system configuration.

Solution

• For_test.pro: PLC program example (TwinCAT PLC programming)
• MirrorControlV3.pro: TwinCAT PLC programming for Mirror alignment version.0
• MirrorControlV3.tsm: TwinCAT System Manager for Mirror alignment version.0

Final versions

Note

the developments have been done on a system where instead of the final servo motors, step motors lent by TASCA have been used.
So the final final version for the CBM beamtime 10/2011 will have changes to adopt for the server motors and some minor improvements/bugfixes provided by Tanya Torres de Heidenreich for the TwinCAT system and minor changes for EPICS

Jihye Song's

• EPICS server
  • modbus_cbm.zip: EPICS IOC application code
• EPICS client (CSS)
  • cbm.opi: CSS control panel
• TwinCAT System
  • CBM_RICH_CE_js.zip: TwinCAT System Manager & PLC programming for mirror alignment : final version
• Summer Student reports/documentations
  • Project Report
  • Presentation for Summer Shool Student project

CBM

• EPICS server
  • modbus_cbm.tar: cbm modbus ioc
• EPICS client (CSS)
  • cbm_rich_position.opi: cbm version
• TwinCAT System

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-- PeterZumbruch - 30 Sep 2011