2006/07/20 MJJ

Collimator control for theSPS beam test

Michel Jonker

AB/CO TC

2006/07/20

2006/07/20 MJJ

Dates of the SPS beam tests

Dedicated SPS MD to test the LHC collimators in

– TT40 (1 x 16 h. extracted beam, collimator robustness test)

– LSS5 (2 x 24h. circulating beam, test of collimation principles & physics)

Schedule

– W40 TT40 (October 2…)

– W42 LSS5 (October 16…)

– W44 LSS5 (October 30…)

– W46 reserve (November 13…)

Note:

Commissioning of collimators installed in transfer line and LHC Sector 8-1

Electronics available? (one moveable rack?)

2006/07/20 MJJ

Objectives of the SPS beam tests

TT40 (extracted beam: 6 shots of 3.3 1013, W40)

– Test with laser vibrometer

– Damage tests. (Note test of new jaw design following result of 2004 damage tests)

– BCT transmission to test alignment of collimators?

LSS5 (circulating beam W42 & W44)

– Commissioning of controls, test of sensors, etc.

– Collimator calibration (Beam based alignment, LHC BLM’s & electronics)

– Impedance measurement (Measure inductive bypass effect)

– Halo studies (Tail repopulation studies, LHC BLM’s & electronics)

– High current related measurements (Temperature, EM noise signals, cooling…)

– Beam loss maps (SPS BLM, recorded at a rate > 1 Hz)

– Vacuum pressure measurements ?

Detailed program will be worked out by collimation working group after holiday period.

2006/07/20 MJJ

Collimator Hardware

3rd TCS CERN prototype

Base supportBase support

Lower plug-inLower plug-in

Upper plug-inUpper plug-in

CollimatorCollimator

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Collimator Hardware

Side view at one endSide view at one end

Motor Motor

Temperature sensorsTemperature sensors

Gap opening (LVDT)Gap opening (LVDT)

Gap position (LVDT)Gap position (LVDT)ResolverResolverResolverResolver

Reference Reference

Microphone Microphone

Vacuum tank

+ switches for IN, OUT, ANTI-COLLISION+ switches for IN, OUT, ANTI-COLLISION

CF

C

CF

C

Sliding table

Movement for spare surface mechanism

(1 motor, 2 switches, 1 LVDT)

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Collimator HardwareMotor Control

StepperController

MotorPowerDrive

M

2 phases

StepUp/Down

Fault

Trigger

Power Drive control RS485

Motors: Ordered

Motor Power Drive: Tender sent out, result half September

Stepper Controller: Technology study finished, our choice to be approved

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P

SS

E

EEAPos 21

Collimator HardwarePosition Sensors

21

21

SS

SS

EE

EEAPos

Resolver

LVDT

~E1 - E2

Ep

Special “Conditioner” Electronics required to filter noise from the signal (sample over a few cycles)

i.e. output cannot be plugged into a regular PLC (= slow) ADC module

More complications with individual coil readout…

Sine waveGenerator

FRONT-END

P DACADC

LVDT electronics

LV

DT

.

PROFIBUS PLCADC

Sine waveGenerator

ADC

ADC

Processor

~E1

E2

2006/07/20 MJJ

Collimator Control for the LHC

– Architecture

– Milestones

– Where we stand today (in preparation of the SPS tests):• low level

– Options: PLC / VME / PXI

– `recommendations

• collimator supervisor

• control room applications

• link with BLM system

– For follow up

– Conclusions

2006/07/20 MJJ

LHC Collimator Control Architecture

• Control room software:• Management of settings (LSA)• Preparation for ramp• Assistance in collimator tuning

– Based on standard LSA components

– Dedicated graphical interface for collimator control and tuning

• Collimator supervisor:• Fesa Gateway to Control Room Software• Synchronization of movements• Beam Based Alignment

– Support building, VME

– Takes action on position errors (FB)

– Receives timing, send sync signals over fiber to low level (ramp & Alignment)

– Environmental Supervision

– Communication with BLM using UDP

• Low level control systems• Motor drive• Position readout and survey• Environment Survey

– Down stairs, PLC/VME/PXI?

– 3 distinct systems / combined?

2006/07/20 MJJ

Collimator Control Milestones

• August 2006: Basic command-driven controlBasic command-driven control of single collimators for SPS test, TT40 test and commissioning of transfer line collimators.

• March 2007: First tests on function-driven, synchronized controlfunction-driven, synchronized control of a collimator ensemble (several 10's of collimators), like required for the LHC.

• August 2007: Controls for collimator beam-based calibrationcollimator beam-based calibration. Function-driven, synchronized control for the LHC collimation system for commissioning (no automatic BLM-based setup).

• March 2008: First tests on automatic BLM-based collimator set-up.

• July 2008: Availability of fast automatic BLM-based collimator set-upAvailability of fast automatic BLM-based collimator set-up to allow for efficient machine set-up for luminosity of up to 1033 (up to 30% of nominal beam intensity).

2006/07/20 MJJ

Low level control

Study by A.Masi (+ A.Brielmann, M.Donze)

Requirements driving the choice for the low level system:

• Reliability (collimators protect the machine)

• Limited rack space (19” x 12U x 400 mm deep rack should house controls for two collimators

• The jaws positioning a few μ resolution, 20 μ reproducibility

• Two modes of operation:– Move a jaw by a predefined number of steps, with start synchronized by a

(repeatable) digital trigger from CSS (Beam based alignment).

– Download in the low level equipment a function (position-time table). Then all jaws will start after receiving the digital trigger (about 400 motors)

• Possibility to download a new function while the previous is running

2006/07/20 MJJ

Low level control

Requirements driving the choice for the low level system (cont)

Trigger delay

Start jitterProfile duration

Stop jitter

BLM based setup RampTrigger delay: <1ms <100ms

Start jitter: <1ms <10ms (<1ms on the same jaw!)

Stop jitter: <10ms (after 15 minutes)

Note: 10 ms error @ 1mm/s => 10 μ error

Acquire LVDT and resolvers within a 20ms cycle, 10 ms if possible, check in real time that the actual position is within a given limit function (synchronized with function execution).

2006/07/20 MJJ

low level control

1a. Siemens PLC: CPU S7300, + 1 x FM 357-2: 4-axis controller

1b. Siemens PLC: CPU 317, 4 x FM 353: 1 axis controller

2. VME crate Power PC RIO 3

3. PXI system National Instruments

• Controller Pentium IV 2.0 Ghz 1 Gb RAM, LabView RT

• 7833R FPGA 3M gates card that hosts the control for 10 stepping motor axis

• DAQ card 6289 18 bit multiplexed with 16 diff analog input to acquire the output signals of 7 LVDT

• Timing Card 6608 with 45 ppb clock stability-8 Timers for resolver reading

• CAN BUS card

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3–Performances-Costs Comparison3–Performances-Costs Comparison

PLC (FM 357-2) VME PXI

Motion Synchronization

Some tens ms <1 ms Some tens us

Motion Trigger Delay 50 ms 0.44 ms 84 us

Tuning: motion commands updating time

100 ÷150 ms 5 ÷10 ms 10÷20 ms

Position survey frequency

Some tens Hz > 50 Hz > 50 Hz

Reliability Solution tested for TDI

New cards used

VME downstairs

No in house experience

Space requirements 2 collimators in a rack

19”x12Ux300mm very difficult

Special 300 mm deepVME crate

Very compact solution

Drawbacks Special electronics to be developed for LVDT signals

conditioning

New cards used not supported

DIM is not AB/CO supported

Price for 2 coll. ask ask ask

Purchasing time No market survey (waiting

confirmation from FI)market survey No market survey (waiting

confirmation from FI)

is very well supported by IT/CO

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low level control

Conclusion low level

The last collimation project steering meeting, where A.Masi presented the results from the study, adopted the recommendation to proceed with the PXI solution, based on the following criteria:

Space, performance and delay for purchasing & implementation

Feedback and advice welcome before final decision.

Other recommendations:

• Use this option in the SPS beam test to gain further experience.

• investigate the user experience of this technology in other industrial domains.

• On the long term, in case DIM solution is inadequate, replace DIM with IEPLC or by corba/RDA/CMW

2006/07/20 MJJ

MotorsSynch

History Supervisor

ctrp

FESA

collimator supervisory system

Responsible: M.Sobczak

PLCEnvironmental

data

Environment

IEP

LC

FESA FESA

Low Level System,motor control, position acquisition

Fib

er li

nks cm

w

Position

cmw

NetRelay

Debugapplication

CCC applications:• Trim• Display• Loggingimplemented

projected

BLMUDP BLM

PrivateLogging

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collimator supervisory system

Current Status:Implementation of Collimator Supervisory System, controlling:

• Motor position (No function, no critical settings, no position survey)

• Motor Synchronisation

• History recording

• FESA Server for Control room applications

• Properties definitions to be finalized

• Position readout to be implemented

• BLM transient reading and recording to be implemented

• Environmental Parameter readout (integrate or resurrect old FESA classes)

• Replacement of FESA interface to low level (after beam test)

2006/07/20 MJJ

Control room application

Baseline solution (S.Redaelli)

Graphical interface that talks directly to the FESA class of the CSS

Single collimator control unit, graphical design (S.Redaelli)

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CSS

collimator

Control room application

Preferred solution (S.Redaelli + help of LSA team members):Graphical interface based on LSA core facilities (discrete Settings trim)

• Avoid creation of “exotically” structured control parameters(use a test server for discrete setting parameters as an example/template)

• Base this on the class structure and collimator data entered in the LSA database (as define by S.Redaelli).

2006/07/20 MJJ

BLM requirements

• Logging/recording of SPS BLMs with frequency > 1 Hz

– Precise time stamping

• Logging/recording of LHC BLM’s with same frequency

• Recording of motor movement induced transients:n samples over period of 20 – 500 ms. (B.Dehning et. Al.)

– LHC BLM electronics (prototype) with a history buffer of 32 samples over a selectable time period (20ms, 80 ms, 320 ms…) (C.Zamantzas)

– Sending history in UDP data packet upon timing interrupt (S.Jackson)

– Timing interrupt by common timing event or by external trigger from CSS.

To be provided by CO:

– Library to set up UDP communication with CSS (M.Jonker)

2006/07/20 MJJ

For Follow up

TT40:

• Collimator under construction (waiting for parts of Cerca, 3 hours access to install)

• Use midi electronics and control system of 2004

• Cables for microphone and Laser accelerometer (S.Redaelli +?)

• (Re)install local PC for remote access

• Resurrect environmental control PLC + Fesa Classes (R.Losito, M Sobczak)

• Microphone readout by NAOS, triggered by extraction event (NEW) Mr?In parallel to standard readout by sound card

• Logging of all measurement data

2006/07/20 MJJ

For Follow up

LSS5:

• Collimator already in place, need to be equipped with new LVDTs, new motors (if possible, under study by O.Aberle)

• Add cabling of new LVDT’s (R.Losito)

• Use similar power driver as the one that will be selected by tender

• Motor control and Acquisition based on IPX system (R.Losito, A.Masi)

• Environmental survey, use PLC system of 2004 (R.Losito)

• FESA classes for environmental survey data to be resurrected, possibly integrated into CSS (M.Sobczak)

2006/07/20 MJJ

For Follow up

CSS: (M.Sobczak)

• Define Fesa Interface with High Level (S.Redaelli)

• Add position readout and recording

• Add BLM transient recording client

• Install FESA Gateway PC with CTRP + timing in LSS5 (M Vanden Eynden)

• Install synchronisation signals with Low Level

• Add/install synchronisation mechanism with BLM recording

CCC applications: beyond the baseline solution (S.Redaelli)

• Interactive application based on LSA discrete setting trim application– Fesa test server for discrete (japc) setting parameters (template for Css Fesa Properties)

(M.Lamont)

– Help required for S.Redaelli to create interactive application based on LSA core (M.Lamont)

• Standard logging for all Collimator parameters

• Sequencing for repeated collimator movements?

2006/07/20 MJJ

For Follow up

BLM:

• Recording with > 1 Hz of SPS beam loss

• Recording of BLM transient data

• UDP communication library

Logging:

• Recording off all Collimator related data

Dry run:

• Test of all required software before the SPS MD’s

COCOST: (COllimator COntrol Specification Team) will start regular meetings. First priority SPS beam test

2006/07/20 MJJ

Conclusion

Still work to do for the SPS beam test

Most urgent decision to be taken:

Endorsement of the PXI solution for the SPS beam test

With the low level defined we can now proceed more clearly towards our goal.