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The Mechatronics Procurement Grades are now a released document. The latest version is available from CDMS, and a copy is included here. |
This document outlines the different procurement grades for controls and mechatronics systems at LCLS. These grades define what a vendor (or group) is responsible for delivering, and at what point the SLAC Experiment Control Systems (ECS, formerly PCDS) group takes responsibility to finish integration. The grades are defined in order of increasing vendor effort, from level 1, which only delivers motors, encoders, and limit switches, to level 4, which delivers an operational control system fully integrated into the SLAC EPICS environment.
EPICS: Experimental Physics and Industrial Controls System
PCDS: LCLS Photon Control and Data Systems
LCLS: Linac Coherent Light Source
PMPS: Photon Machine Protection System
FAT: Factory Acceptance Testing
SAT: Site Acceptance Testing
SCADA: Supervisory Control and Data Acquisition
At this level, a mechatronic assembly will be delivered to SLAC with minimal to no drive or sensor electronics.
Utilize generic 2-phase stepper motor or servo motors
< 50VDC
< 5A
Utilize absolute (preferred) or relative encoders mounted to stage or actuator
Absolute encoders with a BiSS-C or EnDat 2.0 or EtherCAT interface
Among these, Renishaw is preferred
Relative encoders with RS-422 quadrature signals and index
Renishaw is the preferred encoder provider
Absolute encoders are required for devices that need protection from the x-ray beam through PMPS
Vendor will terminate motor, encoder, limit/home sensors, and any other sensors (as deemed necessary) to a strain-relief panel bulkhead connector specified by SLAC (L2SI-DS-0087-R0)
Terminations are verified by functional checkout, eg:
Motor commutates
Encoder value changes, absolute encoder interface is healthy
Home and limit sensors are functional
Final vendor design must be approved by SLAC review, including a review from PCDS
FAT/SAT
Executed by the vendor using their choice of driver and controller hardware
All details of FAT and SAT methodology are provided to a level of thoroughness that would allow SLAC to understand and reproduce the results
Results are provided as well-labelled plots and raw data
Level 1 requirements are satisfied, and further integration is accomplished to provide a fieldbus network interface to the mechatronics. This would leave the controller to be purchased and programmed by SLAC.
The vendor shall provide a solution using LCLS preferred platforms (selection through consultation with SLAC point of contact) for drives, and controller:
A Beckhoff EtherCAT solution must be used if it will meet the device’s functional requirements
An approved list of Beckhoff hardware and alternate hardware will be provided by SLAC
Vendor will provide mechatronics integration to a fieldbus/ logical level
Component mechatronics are interfaced to drives and sensor electronics
With all of level 1 verification
All drive configurations are set for functional operation and summarized in a document to be provided to SLAC
All actuator drives are tuned such that component functional specifications can be satisfied
Power supply
Design uses an external power source. as selected and provided by SLAC. (when possible). 48, 24, or 12VDC are acceptable levels.
Vendor will provide a bulkhead connector for power interface as specified by PCDS
DIN-rail circuit breakers or electronic fuses (SLAC can recommend preferred components) shall be included in vendor design.
FAT/SAT
Executed by the vendor using their controller and code
Meets all requirements from level 1
Level 2 requirements are satisfied and further integration is completed by the vendor to provide a SCADA-ready system
All functions specified by the component ESD are available via the following TwinCAT3 libraries:
lcls-twincat-general for logging
lcls-twincat-motion for motion
l2si-vacuum-lib for vacuum
Beckhoff-supplied TwinCAT3 built-ins for other functions
Non-Beckhoff systems must have interfaces approved in advance by PCDS
At a minimum, these must have available EPICS drivers compatible with R7
All software adheres to PCDS requirements for documentation and style
FAT/SAT
Motion control platform tools are utilized to record test results
The vendor shall provide controller routines/function blocks to automatically execute all components of the acceptance tests
Meets all requirements from level 1 and level 2
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Level 3 requirements are satisfied and further integration is completed by the vendor to provide an EPICS and beamline ready system
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All functions as specified by the component ESD are available through an EPICS interface approved in advance by PCDS
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The vendor shall provide an IOC which is built and functional using the PCDS EPICS environment
PCDS will provide a virtual environment for this process
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FAT/SAT
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The vendor shall provide testing scripts for the component to automatically qualify functional specifications via the EPICS interface
The scripts must be Python-based using ophyd
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