Application of software and hardware components of CAN-technology for accelerator control
CAN-technology was developed for embedded hard real time automotive applications. CAN-bus together with high-level application protocols is used now to control large experimental installations and particle accelerators. CAN-technology includes fieldbus, universal and specialized controllers, senso...
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irk-123456789-793352015-04-01T03:02:08Z Application of software and hardware components of CAN-technology for accelerator control Chepurnov, A. Nedeoglo, F. Etenko, A. Sabelnikov, A. Элементы ускорителей CAN-technology was developed for embedded hard real time automotive applications. CAN-bus together with high-level application protocols is used now to control large experimental installations and particle accelerators. CAN-technology includes fieldbus, universal and specialized controllers, sensors and actuators. Software components of CAN-technology consist of high level application protocols, programs for testing, monitoring and configuring of CAN-nodes as well as the components which bind CAN-components with SCADA systems and ensure control through the WEB-browsers. CAN-technology is used in INP to control accelerators, for beam diagnostic and, in cooperation with the RRC Kurchatov Institute, in automation of the large neutrino detector Borexino. CAN-bus adapters for PC have been constructed. Such software components as drivers for PC adapters, the bus emulator and protocol analyzers have been developed under Linux. Original specialized high level protocols have been developed for closed specialized systems. Source codes have been developed and verified for compatibility with international standards such as DeviceNet and CANopen for use in the systems that are supposed to be extended with commercially available software and hardware components. Long-term positive experience of CAN-technology usage allows us to recommend this technology for accelerator control especially if industrial style and compatibility is desired. CAN технологія була розроблена для застосування як убудовану мережу жорсткого реального часу для автоелектроніки. У НІДЯФ МГУ технологія CAN застосовується для контролю і керування прискорювачами, діагностики пучка і, разом із РНЦ Курчатовський Інститут, для автоматизації великого нейтринного детектора Borexino. Багаторічний позитивний досвід роботи з CAN і експлуатація систем керування з CAN дозволяє рекомендувати цю технологію для побудови систем керування прискорювачами. CAN технология была разработана для применения в качестве встроенной сети жесткого реального времени для автоэлектроники. В НИИЯФ МГУ технология CAN применяется для контроля и управления ускорителями, диагностики пучка и, совместно с РНЦ Курчатовский Институт, для автоматизации большого нейтринного детектора Borexino. Многолетний позитивный опыт работы с CAN и эксплуатация систем управления с CAN позволяют рекомендовать эту технологию для построения систем управления ускорителями. 2004 Article Application of software and hardware components of CAN-technology for accelerator control / A. Chepurnov, F. Nedeoglo, A.Etenko, A. Sabelnikov // Вопросы атомной науки и техники. — 2004. — № 2. — С. 75-77. — Бібліогр.: 15 назв. — англ. 1562-6016 PACS: 07.05.Dz http://dspace.nbuv.gov.ua/handle/123456789/79335 en Вопросы атомной науки и техники Національний науковий центр «Харківський фізико-технічний інститут» НАН України |
| institution |
Digital Library of Periodicals of National Academy of Sciences of Ukraine |
| collection |
DSpace DC |
| language |
English |
| topic |
Элементы ускорителей Элементы ускорителей |
| spellingShingle |
Элементы ускорителей Элементы ускорителей Chepurnov, A. Nedeoglo, F. Etenko, A. Sabelnikov, A. Application of software and hardware components of CAN-technology for accelerator control Вопросы атомной науки и техники |
| description |
CAN-technology was developed for embedded hard real time automotive applications. CAN-bus together with
high-level application protocols is used now to control large experimental installations and particle accelerators.
CAN-technology includes fieldbus, universal and specialized controllers, sensors and actuators. Software
components of CAN-technology consist of high level application protocols, programs for testing, monitoring and
configuring of CAN-nodes as well as the components which bind CAN-components with SCADA systems and
ensure control through the WEB-browsers. CAN-technology is used in INP to control accelerators, for beam
diagnostic and, in cooperation with the RRC Kurchatov Institute, in automation of the large neutrino detector
Borexino. CAN-bus adapters for PC have been constructed. Such software components as drivers for PC adapters,
the bus emulator and protocol analyzers have been developed under Linux. Original specialized high level protocols
have been developed for closed specialized systems. Source codes have been developed and verified for
compatibility with international standards such as DeviceNet and CANopen for use in the systems that are supposed
to be extended with commercially available software and hardware components. Long-term positive experience of
CAN-technology usage allows us to recommend this technology for accelerator control especially if industrial style
and compatibility is desired. |
| format |
Article |
| author |
Chepurnov, A. Nedeoglo, F. Etenko, A. Sabelnikov, A. |
| author_facet |
Chepurnov, A. Nedeoglo, F. Etenko, A. Sabelnikov, A. |
| author_sort |
Chepurnov, A. |
| title |
Application of software and hardware components of CAN-technology for accelerator control |
| title_short |
Application of software and hardware components of CAN-technology for accelerator control |
| title_full |
Application of software and hardware components of CAN-technology for accelerator control |
| title_fullStr |
Application of software and hardware components of CAN-technology for accelerator control |
| title_full_unstemmed |
Application of software and hardware components of CAN-technology for accelerator control |
| title_sort |
application of software and hardware components of can-technology for accelerator control |
| publisher |
Національний науковий центр «Харківський фізико-технічний інститут» НАН України |
| publishDate |
2004 |
| topic_facet |
Элементы ускорителей |
| url |
http://dspace.nbuv.gov.ua/handle/123456789/79335 |
| citation_txt |
Application of software and hardware components of CAN-technology for accelerator control / A. Chepurnov, F. Nedeoglo, A.Etenko, A. Sabelnikov // Вопросы атомной науки и техники. — 2004. — № 2. — С. 75-77. — Бібліогр.: 15 назв. — англ. |
| series |
Вопросы атомной науки и техники |
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| first_indexed |
2025-07-06T03:24:55Z |
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| fulltext |
APPLICATION OF SOFTWARE AND HARDWARE COMPONENTS
OF CAN-TECHNOLOGY FOR ACCELERATOR CONTROL
A. Chepurnov1, F. Nedeoglo2, A.Etenko3, A. Sabelnikov3
1Skobeltsyn Institute of Nuclear Physics, Lomonosov Moscow State University,
Vorob'evy Gory, Moscow 119992, Russia
E-mail: chas@rtm-cs.sinp.msu.ru;
2«Marathon», 117330 Russia, Moscow, Mosfilmovskaja 17b
E-mail: fedor@marathon.ru);
3RRC Kurchatov Institute, 123182, Russia, Moscow, Kurchatov Sq. 1
E-mail: sab@dnuc.polyn.kiae.su
CAN-technology was developed for embedded hard real time automotive applications. CAN-bus together with
high-level application protocols is used now to control large experimental installations and particle accelerators.
CAN-technology includes fieldbus, universal and specialized controllers, sensors and actuators. Software
components of CAN-technology consist of high level application protocols, programs for testing, monitoring and
configuring of CAN-nodes as well as the components which bind CAN-components with SCADA systems and
ensure control through the WEB-browsers. CAN-technology is used in INP to control accelerators, for beam
diagnostic and, in cooperation with the RRC Kurchatov Institute, in automation of the large neutrino detector
Borexino. CAN-bus adapters for PC have been constructed. Such software components as drivers for PC adapters,
the bus emulator and protocol analyzers have been developed under Linux. Original specialized high level protocols
have been developed for closed specialized systems. Source codes have been developed and verified for
compatibility with international standards such as DeviceNet and CANopen for use in the systems that are supposed
to be extended with commercially available software and hardware components. Long-term positive experience of
CAN-technology usage allows us to recommend this technology for accelerator control especially if industrial style
and compatibility is desired.
PACS: 07.05.Dz
1. CAN-BUS AS A FIELDBUS FOR
ACCELERATOR CONTROL
CAN-bus is a real-time fieldbus originally developed
by BOSCH for automotive applications. It is widely
used for industrial automation, as embedded network in
industry, in railway coaches and locomotives, in
building automation and security systems as well as for
data acquisition and control in big installations for
nuclear physics. It was approved by CERN as one of the
perspective fieldbus for present and future projects [1].
We consider CAN-bus as a framework technology
which consists of the following components:
- feildbus specification CAN 2.0B [2];
- standardised high level protocols CANopen [3]
and DeviceNet [4] for “open” applications;
- non-standard high level protocols for proprietary
applications;
- set of CAN-bus hardware interfaces for
computers;
- set of intelligent distributed and/or embedded
controllers with CAN-bus;
- software which consists of the CAN-bus drivers,
CAN-bus hardware abstraction interface (CHAI)
with standardised API and application software
tools for monitoring and tuning of CAN-bus.
CAN-bus interfaces for X86-compatible computers
with ISA-8/16 interfaces [5] (including microPC and
PC104), PCI, USB have been designed. The following
stand alone and embedded CAN-controllers are
supported by software: Philips SJA1000, Infinion C16x,
Fujitsu MB90F54x, Texas Instrument TMS320C2x.
CHAI is implemented as under the Linux as under the
different versions of the MS Windows.
The following decisions have been used for the
describing systems: diskless PC running under Linux
with real-time extension RTLinux [5,6]; stand-alone
intelligent controllers [7]; CAN-bus technology [8].
2. CONTROL SYSTEM FOR COMPACT
ELECTRON LINAC
A control system (CS) has been developed for a small
industrial CW linac with the following parameters [9]:
- output beam energy 1.2 MeV;
- maximum beam current 50 mA;
- maximum beam power 60 kW;
- length 1.3 m;
- gun/ klystron high voltage 15 kV;
- plug power consumption ~150 kW;
- electric efficiency ~40%.
The accelerator and CS fit the requirements imposed
by installations for industrial applications.
The CS (Fig.1) [10] consisted of two levels – non-
real-time top level and front-end level with fast real-
time algorithms. CAN-bus is used to control embedded
intelligent controllers which support functions of real-
time digital feedback control and data acquisition [7].
___________________________________________________________
PROBLEMS OF ATOMIC SIENCE AND TECHNOLOGY. 2004. № 2.
Series: Nuclear Physics Investigations (43), p.75-77. 75
mailto:sab@dnuc.polyn.kiae.su
mailto:fedor@marathon.ru);
mailto:chas@rtm-cs.sinp.msu.ru;
Fig.1. Layout of the control system
3. BEAM DIAGNOSTIC SYSTEM FOR
RACETRACK MICROTRON
Very compact pulse 70 MeV racetrack microtron
(RTM) is under operation now since 2001 year [11]:
- injection energy 50 keV;
- energy gain/orbit 5 MeV;
- output beam energy 10-70 MeV;
- number of orbits 14;
- output beam current at 70 MeV 40 mA;
- pulse length ~6-10 µs;
- pulse repetition rate 150 Hz;
- dimensions 2.2x1.8x0.9 m;
- weight 3200 kg.
To measure amplitudes of the beam current in each orbit
a multi-channel distributed data acquisition beam
diagnostic system is used. Beam current monitor (BCM)
is a passive wide-band current transformer with
sensitivity up to 4,9 V/A and double-ended 50 Ohm-
coupled output. The diagnostic system provides data
necessary for control algorithms and human-machine
interface (HMI) of control system of the RTM [12].
CS has a traditional three level architecture. Front-
end level consists of diskless PC with data acquisition
boards. Middle level consists of diskless PC running
under Linux together with real-time extension of the
Linux - RTLinux. Linux is used to implement static and
soft real-time algorithms whereas RTLinux is used to
run hard real-time algorithms. HMI and the data bases
are implemented in the third level. The beam diagnostic
system looks from the top level of CS like one more
dedicated acquisition subsystem.
The output signal of BCM is measured by a stand-
alone intelligent controller [13]. The digitising process
is synchronised by a dedicated pulse generated by the
general synchronisation system of the RTM. CAN-bus
is used to connect controllers with the diskless x86-
compatible host computer running under Linux (Fig.2).
BOOTP protocol is used to download the operating
system to the host. It is equipped with CAN-bus
adapter.
The pulsed nature of the data allows transfer of the
data in time gaps between two following beam pulses.
Fig.2. Structure of the beam diagnostic system
Application software of the system was developed in
ANSI C and consists of the low level software of the
slave controller running on the DSP and the high level
software of master. The dedicated high level CANdiag
protocol is used [12].
Software for slave part of the CANdiag protocol was
completely created, tested and debugged under Linux in
emulation mode. Software of the master consists of a
loadable module for RTLinux 3.0 and application
software running under Linux on the same host
computer.
4. LINEAR COUNTERS FOR BOREXINO
Borexino is a real-time device for low energy
neutrino spectroscopy which is under completion of
construction in the underground laboratories at Grand
Sasso, Italy (LNGS). The experiment’s goal is the direct
measurement of the flux of 7Be solar neutrinos of all
flavours via neutrino-electron scattering in an ultra-pure
liquid scintillator [14]. Borexino detector has fiducial
volume of about 300 m3, filled with a liquid scintillator,
which is viewed by more than 2400 photomultipliers.
The phenomenon of a one-photoelectric pulse in the
photomultiplier (PMT) lies in the fundamentals of event
registration techniques used in Borexino. Only
coincidence of many such pulses from different PMTs
during short period allows the conclusion about the
presence of a substantial physical event in the detector
volume to be made. But the essential property of PMT
is to produce sporadic pulses; each one taken separately
is almost indistinguishable from the one bearing the
information on physical event. These spurious pulses,
being mainly a result of photocathode thermoemission,
followed by departure of electrons with the subsequent
amplification, are called photocathode dark noise. Other
sources of dark noise are radioactive decay in the glass
bulb of PMTs, cosmic rays, auto emission under
electrical field supplement etc. Therefore a problem of
the dark noise PMT inspection is of special importance.
The dark noise should be registered separately for each
data channel during all the experiment. For this purpose
the system of dark noise monitoring has been designed
in addition to the main events registration system.
Monitoring of dark noise means continuous analysis of
a pulse rate generated by every single PMT or group of
several PMTs. The large volume of the arriving
information defines the requirements for the
performance of the real-time system, its stability and
76
controller
diskless PC with
Linux+RTLinux
CAN-bus-ISA
RTM orbits / RF system / High Voltage
CAN-bus
Ethernet
to Control System
controller controller. . .
usability. The architecture of the system is a set of
multi-channel counters which are connected via CAN-
bus. DeviceNet compatible high level protocol over
CAN-bus is used in the system. The system of a dark
noise monitoring has the following parameters:
- measured values - frequency of dark noise
pulses;
- number of acquisition channels - 256;
- frequency range - 10 Hz - 1 MHz;
- period of frequency averaging - 1 s.
The system consists of up to 16 independent
modules with 16 independent counter channels each.
The actual value of dark noise for each counter channel
and results of the analysis are available in a real-time
through the Web.
5. CONCLUSIONS
Positive experience of the application allows one to
consider the components of CAN-bus technology as a
framework useful for development of distributed real-
time control systems as for accelerators as for big
experimental installations.
Wide accessibility of the knowledge, standards and
specifications, hardware and software decisions [15]
allow to construct complete control system on the base
of CAN-bus technology quickly and successfully. Due
to the standardisation of the CAN all the efforts in the
field of software and hardware design have a high level
of a reusability if one follows standards during a design.
This work is partly supported from the grant of the
President of Russian Federation - NF-1619.2003.2 and
by The Foundation for Assistance to Small Innovative
Enterprises - Project #3209/ Contract #1515.
REFERENCES
1. G. Baribaud et al. Recommendations for the use
of fieldbuses at CERN // CERN-ECP/96-11.
2. CAN Specification Version 2.0, 1991, Robert
Bosch GmbH, Postfach 50, D-7000 Stuttgard 1.
3. M.Farci, M.Barbosa CANopen Implementation:
application to industrial networks, Research
Studies. Press Ltd. 2000, p.210.
4. DeviceNet Specifications. Volume 1, Release 2.0,
Volume 2, Release 2.0.
5. A. Chepurnov, F. Nedeoglo, et al. Simple CAN-
bus adapter for accelerator control running under
Linux and RTLinux CD-ROM // Proc. of
PCAPAC’2000.
6. F. Nedeoglo, A. Chepurnov, D. Komissarov.
Linux and RT-Linux for accelerator control - pros
and cons, application and positive experience //
Proc. of ICALEPCS’99, Trieste, Italy. 1999,
p.520-522.
7. A.S. Chepurnov, A.A. Dorokhin et al. Control
System for Accelerator with distributed
Intelligence Based on a "Family of Smart
Devices" // Proc. of the Vth EPAC, Sitges. 1996,
Institute of Physics Publish. Bristol and
Philadelfia, p.1794-1796.
8. W. Lawrenz, CAN System Engeneering. Springer-
Verlag, NY, 1997 p.468.
9. A.S. Alimov, D.I. Ermakov et al. A compact
industrial high-current continuous wave electron
linac // Proc. of the PAC, New York. 1999,
p.2555.
10. A. Chepurnov, A. Alimov, et. al. Control System
for New Compact Electron Linac // Proc. of
ICALEPCS’99, Trieste, Italy. 1999, p.84-86.
11. V.I. Shvedunov et al. 70 MeV Electron racetrack
microtron commissioning” // Proc. of PAC,
Chicago, June 18-22, 2001.
12. I.V. Gribov et. al. RaceTrack Microtron Control
System // Proc. of PAC, Chicago June 18-22,
2001.
13. A. Chepurnov, I. Gribov, et. al. Distributed CAN-
bus based beam diagnostic system for pulse race-
track microtron // Accelerator and large
experimental physics control systems, San Jose.
2001, p.635-637; e-Print Archive:
physics/0111197.
14. Borexino collaboration, Science and Technology
of BOREXINO: a real-time Detector for Low
Energy Solar Neutrinos, hep-ex/0012030 //
Astroparticle Physics. 2002, v.16, p.205.
15. CAN in Automation Organization - www.can-
cia.org.
ПРИМЕНЕНИЕ ПРОГРАММНЫХ И АППАРАТНЫХ КОМПОНЕНТ CAN ТЕХНОЛОГИИ ДЛЯ
УПРАВЛЕНИЯ УСКОРИТЕЛЯМИ
А. Чепурнов, Ф. Недеогло, А. Етенко, А. Сабельников
CAN технология была разработана для применения в качестве встроенной сети жесткого реального
времени для автоэлектроники. В НИИЯФ МГУ технология CAN применяется для контроля и управления
ускорителями, диагностики пучка и, совместно с РНЦ Курчатовский Институт, для автоматизации большого
нейтринного детектора Borexino. Многолетний позитивный опыт работы с CAN и эксплуатация систем
управления с CAN позволяют рекомендовать эту технологию для построения систем управления
ускорителями.
ЗАСТОСУВАННЯ ПРОГРАМНИХ І АПАРАТНИХ КОМПОНЕНТІВ CAN ТЕХНОЛОГІЇ ДЛЯ
КЕРУВАННЯ ПРИСКОРЮВАЧАМИ
А. Чепурнов, Ф. Недеогло, А. Етенко, А. Шабельників
CAN технологія була розроблена для застосування як убудовану мережу жорсткого реального часу для
автоелектроніки. У НІДЯФ МГУ технологія CAN застосовується для контролю і керування
прискорювачами, діагностики пучка і, разом із РНЦ Курчатовський Інститут, для автоматизації великого
нейтринного детектора Borexino. Багаторічний позитивний досвід роботи з CAN і експлуатація систем
керування з CAN дозволяє рекомендувати цю технологію для побудови систем керування прискорювачами.
___________________________________________________________
PROBLEMS OF ATOMIC SIENCE AND TECHNOLOGY. 2004. № 2.
Series: Nuclear Physics Investigations (43), p.75-77. 77
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