ELMB Course 1

ATLASDCS

Readout ChainReadout Chain

CANopenMaster/SlavenodeO

bjec

tdi

ctio

nary

ELMB CANopenSlave node O

bjec

tdi

ctio

nary

Voltage channelsOPC Server

PC, VME, etc.

PDO Exchange

SCADA System OPC Client

ELMBELMB Digitization of analog inputs

OPC ServerOPC Server Client-server architecture Conversion to physical units Standard connection for any OPC Client

PVSSPVSS Fine calibration and data display

ELMB Course 2

ATLASDCS

Typical ApplicationTypical Application

ELMBELMB Maximum of 32 ELMBs in a branch

Kvaser PCI card (2 or 4 port)Kvaser PCI card (2 or 4 port) CANbus cable from USA15 or US15 to UX15CANbus cable from USA15 or US15 to UX15

TIS qualified Shielded Length ≈ 150m Including remote powering, 7 lines:

GND CAN signals CAN power (20 mA/ELMB) Digital + Analog power (15 + 9 mA/ELMB)

CAN Power Crate or commercial Power SupplyCAN Power Crate or commercial Power Supply Patch panelPatch panel Rack (and wall) mounted ELMB motherboardRack (and wall) mounted ELMB motherboard

ELMB Course 3

ATLASDCS

Physical DistributionPhysical Distribution

PSPS Kvaser Kvaser PCI-CANPCI-CAN

Patch PanelPatch Panel

Rack MountedRack Mounted ELMBsELMBs

USA15USA15

UX15UX15

s ~ 0.5 ms ~ 0.5 ms ~ 5 ms ~ 5 m

ELMB Course 4

ATLASDCS

The CAN BusThe CAN Bus

Each node must have a unique IDEach node must have a unique ID 0 reserved; applies to all nodes in the CANbus

Both ends of bus must be terminatedBoth ends of bus must be terminated 120 ohm resistor between CAN_H and CAN_L

Straight Bus configurationStraight Bus configuration Star or Ring configurations are not possible

Maximum of 63 ELMBs per busMaximum of 63 ELMBs per bus Recommended maximum of 32 per bus

Configurable baud rateConfigurable baud rate Faster rates restrict bus length

125 Kbaud ≈ 500m 250 Kbaud ≈ 270m

ELMB_0x01 ELMB_0x03

ELMB_0x02

ELMB_0x3f

ELMB_0x3e

120Ω Terminator

120Ω Terminator

CAN Master (PC)

L >> l

l

L

ELMB Course 5

ATLASDCS

The ELMBThe ELMB(Embedded Local Monitor Board)(Embedded Local Monitor Board)

General purpose CAN node using CANopen Flexible I/O functions

Multiplexed ADC, 16 bit, 64 channels with signal adaptation. Configurable for rate, range, mode and number of channels

8 input, 8 output and 8 definable I/O ports SPI bus Low power consumption, opto-isolated Add-ons: DAC, 12 bit, 16-64

channelsInterlock facility

Data sent periodically, on-request or on-change Radiation tolerant

0.5 Gy and 3*1010 neutrons per year Operation in field of 1.5 Tesla Remote diagnostics and loading of SW SEE detection and recovery

Node ID DIP

switches

ELMB Course 6

ATLASDCS

ELMB MotherboardELMB Motherboard

General purpose motherboardGeneral purpose motherboard Allows for signal adaptation Connectors for analog and digital input and outputs Power connector CAN bus connector

ELMB Course 7

ATLASDCS

Motherboard Bottom SideMotherboard Bottom Side

J23Ch. 56-59

J24Ch. 48-51

J27Ch. 24-27

J28Ch. 16-19

J20Ch. 32-35

J18Ch. 36-39

J14Ch. 0-3

J16Ch. 4-7

J21Ch. 60-63

J22Ch. 52-55

J25Ch. 28-31

J26Ch. 20-23

J17Ch. 40-43

J19Ch. 44-47

J13Ch. 8-11

J15Ch. 12-15

ELMB Course 8

ATLASDCS

AdaptersAdapters

Temperature sensors – 2 wireTemperature sensors – 2 wire For NTC 10K or PT1000

Temperature sensors – 4 wireTemperature sensors – 4 wire For PT100

Differential voltage attenuatorDifferential voltage attenuator Attenuates 1:100

Inline resistorsInline resistors 1Kohm resistors for simple voltage measurement

Resistor values on adapters may be modifiedfor greater accuracy over a known voltage range

ELMB Course 9

ATLASDCS

Motherboard Top SideMotherboard Top Side

ADC inputch 48 - 63

ADC inputch 16 - 31

ADC inputch 32 - 47

ADC inputch 0 - 15

ResetCAN busJ11

Power cable

J10

Port A

Port F SPI

Port C

J4J3

ELMB Course 10

ATLASDCS

ELMB 128 Block DiagramELMB 128 Block Diagram

ELMB Course 11

ATLASDCS

PoweringPowering Ways to power the ELMBWays to power the ELMB

CAN and Digital power supplied through the CAN bus Need to connect Analog power to Digital or CAN Recommended to connect Analog power to Digital as

CAN draws more current Useful for highly distributed systems

Supply power through motherboard using up to three different supplies

Possible to connect the three power sections together and supply only one voltage (not recommended)

ADC Input Ch 48-63

ADC Input Ch 16-31

ADC Input Ch 32-47

ADC Input Ch 0-15

Reset CAN bus

J10 J4 J3 J11 Port C Port F Port A

SPI Port

Power Supply

10V + -

VAP VDP

VAG VDG

10V + -

VCP VCG

Analog Digital

CAN

Example showing ELMB connections with two power supplies

VCP

VCG

VDP

VDG

VAP

VAG

Power Cable

Analog

CAN

Digital

ELMB Course 12

ATLASDCS

Installing Kvaser CardInstalling Kvaser Card

Download drivers from:Download drivers from:www.kvaser.comThen go to ‘Support ▼’, ‘Downloads’ and under heading ‘Files for specific products’ click ‘Files for PCIcan’

Run setup programRun setup program Shut-down PCShut-down PC Check switches (SW-1 and SW-2) on CAN card and Check switches (SW-1 and SW-2) on CAN card and

set as necessary (only for 4-port card)set as necessary (only for 4-port card) Pay special attention to ‘common bus’

Install Kvaser card in free PCI slotInstall Kvaser card in free PCI slot Start PCStart PC Last setup steps will be completedLast setup steps will be completed

ELMB Course 13

ATLASDCS

Kvaser 4-port CAN CardKvaser 4-port CAN Card

SW-1SW-1 To connect CAN

ground to PC ground (switches 1 and 2 – switch 3 is unused)

SW-2SW-2 On-board

terminators for “common bus” (switches 1 and 2)

Connection of ports to “common bus” (switches 3 to 10)

ELMB Course 14

ATLASDCS

Installing OPC ServerInstalling OPC Server(and diagnostic software)(and diagnostic software)

Download setup zip file from:Download setup zip file from:http://atlas.web.cern.ch/Atlas/GROUPS/DAQTRIG/DCS/ELMB/DIST/OPC/OPCSetup.zipor, for a self extracting zip filehttp://atlas.web.cern.ch/Atlas/GROUPS/DAQTRIG/DCS/ELMB/DIST/OPC/OPCSetupZip.exe

Unzip to temporary folderUnzip to temporary folder Login as ‘Administrator’ to local PCLogin as ‘Administrator’ to local PC

Do NOT login to network Do NOT login with a different user name (even if the user has

administration rights) Run ‘setup.exe’ from the temporary folderRun ‘setup.exe’ from the temporary folder Install required componentsInstall required components

Kvaser and/or NICAN component Help files Diagnostic Tools OPC Server

ELMB Course 15

ATLASDCS

• CAN is one of the three recommended fieldbuses at CERN

• Defines two first layers of the OSI communication model

• Physical: Communication medium

• Data link: How the data frames look like

• CANopen is a High-level communication protocol on top of CAN

• Defines how CAN frames are used

• CANopen chosen on the basis of its flexibility and acceptance

The ELMB framework will try to hide CAN/CANopen from the users

However, a small background on the technologies will help you to understandwhy things have to be executed in a given sequence

CAN/CANopen backgroundCAN/CANopen background

ELMB Course 16

ATLASDCS All device parameters are stored in an object dictionary.

The object dictionary contains the description, data type and structure of a parameter, as well as its address

Co

mm

un

icat

ion

Inte

rfac

e

PD

O, S

DO

, NM

T Object Dictionary

Data types, Communicationand application

objects

Application

ApplicationProgram,

Device Profileimplementation

CANopen deviceSDOTxPDORxPDO

NGNMTSYNCEMCY

Pro

cess

IO

CANopen device modelCANopen device model

ELMB Course 17

ATLASDCS

• Master-slave and slave-slave communication modes• The ELMB standard readout chain implements the master-slave model

• PVSS application, using the OPC server, is CANopen master.

• A CANopen master as a network manager • node configuration

• network boot

• supervision

CANopen communication CANopen communication modelmodel

ELMB Course 18

ATLASDCS

1. Process Data Objects (PDO):

• Real time transfers

• Unconfirmed in broadcast mode

• Up to 8 data bytes

• Two types:

• Received (RxPDO): Outputs

• Transmitted (TxPDO): Inputs

2. Service Data Objects (SDO):

• Mainly used for device configuration

• Access to object dictionary

• Peer-to-peer

• Confirmed data transfer of arbitrary

length

CANopen communication objects can be classified in four categories

3. Administrative Objects:

• Network Management (NMT)

• Node Guarding (NG)

4. Special Function Objects:• Network synchronization (SYNC)

• Error conditions (EMCY)

• Time stamping

CANopen communication CANopen communication objectsobjects

ELMB Course 19

ATLASDCS

Initial

Pre-operational

OFF

Power up

Boot up EMCY

OperationalSDO

PDO

NMT = Start

NMT = Reset

NMT = Set to Pre-Op

SDO

PDO

Stopped

NMT = Stop

NMT = Start

PDO

SDO

NMT = Reset

NMT = Stop

CANopen state modelCANopen state model

ELMB Course 20

ATLASDCS

NMT: change node state

0 cmd nodeId

cmd: 0x01 => Start 0x02 => Stop 0x80 => Set to pre-operational 0x81 => Reset 0x82 => Reset CAN communication

COB-ID 0 1 2

Understanding the ELMB Understanding the ELMB messages: NMTmessages: NMT

ELMB Course 21

ATLASDCS

SYNC: request synchronous inputs from nodes

0x80

COB-ID 0 1 2

Understanding the ELMB Understanding the ELMB messages: SYNCmessages: SYNC

ELMB Course 22

ATLASDCS

SDO: read node configuration; SDO Upload

0x600 + ID Sub-IdxIndex0x40

0x580 + ID Sub-IdxIndex data0 data1 data2 data3aaa

aaa: 0x4f => 1 byte read 0x4b => 2 bytes read 0x43 => 4 bytes read

request

Confirmation

Indication

Response

SDO ServerSDO Client

COB-ID 0 1 2 3 4 5 6 7

COB-ID 0 1 2 3 4 5 6 7

Understanding the ELMB Understanding the ELMB messages: SDOmessages: SDO

ELMB Course 23

ATLASDCS

SDO: write node configuration; SDO Download

0x600 + ID Sub-IdxIndex data0 data1 data2 data3aaa

0x580 + ID Sub-IdxIndex0x60

aaa: 0x2f => 1 byte read 0x2b => 2 bytes read 0x23 => 4 bytes read(If accessed values are unsigned)

request

Confirmation

Indication

Response

SDO ServerSDO Client

COB-ID 0 1 2 3 4 5 6 7

COB-ID 0 1 2 3 4 5 6 7

Understanding the ELMB Understanding the ELMB messages: SDOmessages: SDO

ELMB Course 24

ATLASDCS

Tx-PDO1: read digital inputs from the ELMB

0x180 + ID Port F Port A

COB-ID 0 1

Tx-PDO3: read analog inputs from the ELMB. “Multiplexed” PDO

0x380 + ID chN = 0 status

COB-ID 0 1

aaa bbb ccc ddd

Value in Volts

2 3 4 5

0x380 + ID chN = 63 status aaa bbb ccc ddd

• • •

Understanding the ELMB Understanding the ELMB messages: TPDOmessages: TPDO

ELMB Course 25

ATLASDCS

Rx-PDO1: write digital outputs from the ELMB

0x200 + ID Port C Port A

COB-ID 0 1

Understanding the ELMB Understanding the ELMB messages: RPDOmessages: RPDO

ELMB Course 26

ATLASDCS

All configuration changes are written to the RAM

Volatile memory, i.e. lost when the program is reinitialized, e.g. power cut

When the program is initialized, default configuration parameters are read from the EEPROM

In order to make your changes permanent, you must explicitly save them

Saving ELMB settingsSaving ELMB settings

ELMB Course 27

ATLASDCS

A Client/Server Architecture:– Server:

– Holds process data– Client

– Read/write/subscribe– Relation n-to-m.

Items and Groups:

– Server Address Space contains OPC Items

– Client: Organize OPC Items in groups

(active, polling-rate, dead-band etc).

OPC Client 1 OPC Client 2

OPC Group 1 OPC Group 1 OPC Group 2 OPC Group 1

Address Space

OPC Server 1

OPC Item

OPC ItemOPC Item

OPC ItemOPC Item

OPC Item

OPC Item OPC ItemOPC Item

OPC Item

Process Data Objects Process Data Objects

OPC Server 2

Address Space

Data Access Mechanism:– Synchronous.

– Asynchronous.– Refresh.

– Subscribe.

OLE for Process Control OLE for Process Control (OPC)(OPC)

ELMB Course 28

ATLASDCS

• Generic CAN and CANopen OPC server

• Can be used with other CAN or CANopen devices

• Additional functionality to ease the work with the ELMB

• Default configuration

• Configuration file describe the network topology

When the ELMB default configuration is used, the OPC server

implements a default address space which contains all OPC items

required by standard users

e.g. items for SYNC, NMT, some SDO, PDO for AI, DI and DO, NG, EMCY

ELMB/CANopen OPC ServerELMB/CANopen OPC Server

ELMB Course 29

ATLASDCS

ELMB OPC default ELMB OPC default configurationconfiguration

OPC Item Description OD Index, Subindex Type

<bus>.<node>.hwVersion Contains hardware version 1009, 0 VT_UI4

<bus>.<node>.swVersion ELMB software version 100A, 0 BSTR

<bus>.<node>.serialNumber Contains the serial number of the ELMB 3100, 0 VT_UI4

<bus>.<node>.guardTime Read only value set to 1000 (1s) 100C, 0 VT_UI2

<bus>.<node>.lifeTime Life guarding timeout in seconds 100D, 0 VT_UI1

<bus>.<node>.rate ADC conversion rate 2100, 2 VT_UI1

<bus>.<node>.range ADC range 2100, 3 VT_UI1

<bus>.<node>.mode ADC measurement mode 2100, 4 VT_UI1

<bus>.<node>.channelMax Highest ADC channel number in use 2100, 1 VT_UI1

<bus>.<node>.aiTransmissionType Transmission type for analog inputs 1802, 2 VT_UI1

<bus>.<node>.aiEventTimer Event timer for analog inputs 1802, 5 VT_UI2

<bus>.<node>.diDebounceTimer Debounce timer for digital inputs 2200, 0 VT_UI1

<bus>.<node>.diTransmissionType Transmission type for digital inputs 1800, 2 VT_UI1

<bus>.<node>.diEventTimer Event timer for digital inputs 1800, 5 VT_UI2

<bus>.<node>.digitalInEnable Enables asynchronous transmission of Digital Input signals 6005, 0 VT_BOOL

<bus>.<node>.initHigh Can be set to initialize digital outputs high after a hard reset 2300, 0 VT_UI1

<bus>.<node>.save Saves configuration to EEPROM 1010, 1 VT_UI4

<bus>.<node>.load Loads default configuration from EEPROM 1011, 1 VT_UI4

<bus>.<node>.Error Current value of the error register 1001, 0 VT_UI1

Items accessed via SDO

ELMB Course 30

ATLASDCS

ELMB OPC default ELMB OPC default configuration (2)configuration (2)

OPC Item Description Type

<bus>.<node>.State Integer value indicating current operating state of ELMB VT_UI1

<bus>.<node>.NMT Allows Network ManagemenT commands to be given to the ELMB VT_UI1

<bus>.<node>.bootupMessage Value increments when bootup message received from ELMB VT_UI4

<bus>.<node>.ai_# Analog Input Channel # - 0...63 VT_UI2/VT_UI4[1]

<bus>.<node>.di_F_# (#-0..7) Digital Inputs (ELMB Port F) VT_BOOL

<bus>.<node>.do_C_# (#-0...7) Digital Outputs (ELMB Port C) VT_BOOL

<bus>.<node>.do_A_# (#-0...7) Digital Outputs (ELMB Port A) VT_BOOL

<bus>.<node>.emergencyErrorCode Gives emergency error code of last emergency message VT_UI2

<bus>.<node>.specificErrorCodeByte1 First byte of specific error code given in last emergency message (actual byte 3 of emergency message)

VT_UI1

<bus>.<node>.specificErrorCodeByte2 Second byte of specific error code given in last emergency message (actual byte 4 of emergency message)

VT_UI1

<bus>.<node>.specificErrorCodeByte3 Third byte of specific error code given in last emergency message (actual byte 5 of emergency message)

VT_UI1

<bus>.<node>.specificErrorCodeByte4 Fourth byte of specific error code given in last emergency message (actual byte 6 of emergency message)

VT_UI1

<bus>.<node>.specificErrorCodeByte5 Fifth byte of specific error code given in last emergency message (actual byte 7 of emergency message)

VT_UI1

[1] The type of these items depends on the setFlag. If the setFlag is “counts” the type is VT_IU2, otherwise it is VT_UI4

Items not in the ELMB OD

ELMB Course 31

ATLASDCS

0x380 + ID chN = 11 status

COB-ID 0 1

aaa bbb ccc ddd

Value in Volts

2 3 4 5

ELMB/CANopen OPC ServerELMB/CANopen OPC Server