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The Detector Control of the PANDA Experiment Florian Feldbauer on behalf of the PANDA Collaboration Helmholtz-Institut Mainz Johannes Gutenberg-Universit at Mainz International Workshop on Antiproton Physics and Technology at FAIR BINP,

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The Detector Control of the PANDA Experiment

Florian Feldbauer

n behalf of the PANDA Collaboration

Helmholtz-Institut Mainz Johannes Gutenberg-Universit¨ at Mainz

International Workshop on Antiproton Physics and Technology at FAIR BINP, Novosibirsk November 19, 2015

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 1/24

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FAIR - Facility for Antiproton and Ion Research

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 2/24

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FAIR - Facility for Antiproton and Ion Research

p(¯ p) = 1.5 − 15 GeV/c ∆p/p = 5 · 10−5 L = 2 · 1031 cm−2 s−1

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 2/24

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The PANDA Detector

Muon Detector / Magnet Yoke Solenoid T arget Pipe EMC Dipole TOF/DIRC GEMs RICH TOF Wall EMC Muon Detector LMD STT MVD Disc Dirc EMC Straw T ubes IP Beam Pipe

T arget Spectrometer (TS) Forward Spectrometer (FS)

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 3/24

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PANDA DCS Centralized View

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 4/24

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Requirements of PANDA DCS

(Some) Requirements of PANDA DCS: Scalable, modular Autonomous operation of each sub-detector (calibration, physics runs, maintenance) Archiving Alarm handling Non-expert operation Graphical UI 16 sub-detectors, 2 magnets, targets, beam ⇒ order of 2 · 104 “slow” channels expected

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 5/24

SLIDE 7

PANDA DCS Overview

Field Layer (FL): Temperature monitoring, power supplies, valves,... Every device that is monitored or controlled

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 6/24

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PANDA DCS Overview

Control Layer (CL): Input/Output controller communicating with devices in FL Used protocols RS232, RS485, TCP/IP, SNMP, CAN bus, ... Communication with Supervisory Layer via Ethernet

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 6/24

SLIDE 9

PANDA DCS Overview

Supervisory Layer (SL): Databases for data storage LAN Clients for graphical user interfaces Interface to ”external” systems

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 6/24

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PANDA DCS Overview

EPICS - Experimental Physics and Industrial Control System Network protocol based on UDP and TCP (“Channel Access”) Decentralized architecture Freely scalable

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 6/24

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EPICS Channel Access

SL CL FL

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 7/24

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EPICS Channel Access

SL CL FL

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 7/24

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PANDA DCS Architecture - Sub-detector

PANDA DCS partitioning: Each sub-detector has it’s own DCS Partition CL FL

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 8/24

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PANDA DCS Architecture - Modularity

All partitions communicating with each other and supervisory layer via Gigabit Ethernet

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 9/24

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PANDA DCS Architecture - Sub-System

Example of sub-system Many sub-detectors of PANDA need temperature monitoring PbWO4 scintillating crystals cooled down to −25 ◦C Light yield strongly depend on temperature (4 %/K) ⇒ Temperature measurement with precision ≤ 0.05 K over wide range needed Example: EMC THMP FL CL

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 10/24

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Example for Sub-System

Temperature and Humidity Monitoring Board for PANDA (THMP) Developed for PANDA EMC by

F. Feldbauer, M. Fink, and P. Friedel

(Bochum University) Modular read out system for temperature, humidity, pressure, ... Mainboard with 8 piggyback boards 8 channels per piggyback board ⇒ 64 channels per THMP 14 bit, 8 channel ADC Read out via CAN bus Temperature measurement:

Using PT100 resistance temperature sensors with 4 wire measurement Constant current source with 1 mA Measurement range −50 ◦C – 50 ◦C

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 11/24

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PANDA Detector Safety

Critical systems can be shut down via interlocks in case of failure Indipendent of DCS software, completly implemented in hardware Example PANDA Luminosity Detector

400 HV-MAPS with P ≈ 3 W each Operated inside vacuum Low and high voltage power supply need to be switched off if cooling fails Compare voltage drop over PT100 with reference ⇒ generate interlock signal

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 12/24

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PANDA DCS Architecture - I/O Controller

I/O Controller (IOC) Any device (PC, micro-controller board, FPGA board etc.) able to manage the I/O of the sub-system Usage of IOCs running on embedded Linux devices ARM Development Boards currently used:

ARMv6: Raspberry Pi Computer ARMv7: PandaBoard ES

Example: STT Gas Flow ARM FL CL

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 13/24

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Linux Ready ARM IOC candidates

85.60 mm 53.98 mm

Raspberry Pi Computer ARMv6 CPU, 700 MHz 512 MB RAM 10/100 Ethernet 2x USB 2.0, GPIO expansion header

3.4 in 2.15 in

BeagleBone Black ARM Cortex-A8, 1 GHz 512 MB DDR3 RAM 10/100 Ethernet 1x USB 2.0, GPIO expansion header 2 CAN cores integrated

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 14/24

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Requirements for CAN Bus Interface

CAN bus as main interface to FL high data throughput needed Availability of hardware Easy maintainability of software Reliability Costs should be as low as possible Little space required Shielding Galvanic insulation CAN bus FL CL

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 15/24

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Available CAN Bus Interfaces

CAN bus interfaces available from Kvaser and Peak Systems: high data throughput + very expensive (200 e) – Need PC for read out ⇒ expensive – ⇒ needs lots of space – Driver support from company? ⇒ No easy maintainability of software! – All CAN interfaces from Kvaser and Peak Systems use SJA1000 stand-alone CAN Controller Parallel interface with 8 mulitplexed address/data lines, 5 control lines

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 16/24

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Are there other solutions?

Idea: Connect SJA1000 directly to an embedded Linux device Extension board connected to GPIOs of Raspberry Pi computer Socket-CAN based kernel module Data throughput/performance ∼ 1000 CAN frames/s sending/receiving at 125 kbit/s

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 17/24

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PANDA DCS Supervisory Layer

SL: PANDA specific version of Control System Studio (cs-studio) Collaboration between DESY, SNS, CLS, BNL, ITER, ... Toolkit based on Java and Eclipse RCP Modular infrastructure

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 18/24

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PANDA DCS Supervisory Layer

AlarmServer ArchiveEngine AlarmClient GUI DataBrowser Graphical UI

JMS read data Store data, load config Store alarm states, load config

Databases

GbE, CA Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 19/24

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PANDA DCS Supervisory Layer

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 20/24

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PANDA DCS Supervisory Layer

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 20/24

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PANDA DCS Supervisory Layer

SL: Interface to external systems and information dispatcher Some systems (e.g. magnets) have autonomous control system ⇒ ”external” Communication with HESR Info Dispatcher distributes informations to all PANDA subsystems

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 21/24

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PANDA DCS and interface with HESR

Need dedicated interface with HESR acting also as information dispatcher for all PANDA subsystems HESR:

⇔ LMD: Luminosity, background, detector position control, firmware ⇔ PANDA Magnets? ⇔ PANDA Target (feedback loop?) ⇔ Background levels from other detectors?

HESR status (filling, ramping, tuning, stable beam) ⇒ availabe to all PANDA subsystems HESR beam parameters (current, energy, etc) ⇒ availabe to all PANDA subsystems

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 22/24

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Summary

PANDA DCS based on EPICS and cs-studio Modularized architecture I/O Controller running on embedded Linux devices EPICS CA Gateway to reduce network traffic THMP for temperature measurement with high precision High performance, low cost CAN bus interface for Raspberry Pi and BeagleBone Black Independent safety system

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 23/24

SLIDE 30

Acknowledgement

Many of the pictures are courtesy of Alexandru-Mario Bragadireanu (IFIN-HH)

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 24/24

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BACKUP

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 25/24

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Ultra-Thin PT100 Sensors

Using polyimide foil coated with copper Etching traces with 1 mm pitch on polyimide foil as cable Using platinum wire with ø 25 µm Coating copper pads of cable with silver/gold Silver-plated conductor adhesive used to connect platinum wire to cable Using self-adhesive polyimide foil for insulation ⇒ 70 µm thick cable/sensor

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 26/24

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Channel Access Search and Connect Procedure

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 27/24

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Channel Access Search and Connect Procedure

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 27/24

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Channel Access Search and Connect Procedure

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 27/24

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Channel Access Search and Connect Procedure

Florian Feldbauer (HIM/JGU) FAIR15, 11/19/2015 PANDA DCS 27/24