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Introduction and Purpose

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.

Definitions

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

Grades

 Level 1 (Up to Bulkhead Termination)

• 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 2 (Up to Drives)

• 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 3 (Up to Controllers)

• 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

Level 4 (EPICS Integrated)

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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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