ATS Hardware Design

Code

Editor

3151_MCS_0050

Julen Garcia

Introduction

This document explains the hardware configuration used for the automatic test system (ATS).

Hardware configuration

In this section the needed hardware and its configuration is explained.

Windows Machine

This is a Windows 10 machine where LabVIEW simulators and tools run.

The configuration of the hardware is:

  • CPU: Intel i5-7500 @ 3.40GHz

  • RAM: 8 GB

  • Hard Drive: SSD 250 GB

  • OS: Windows 10 Pro version 1909

  • x2 Ethernet gigabit connection ports

Speedgoat

The Speedgoat is a real time target machine used to simulate the main axes behavior.

The configuration of the hardware is:

  • CPU: Intel i7-7700K @ 4.20GHz

  • RAM: 4 GB

  • Hard Drive: SSD 500 GB

  • Input/Output modules:

    • Ethercat Slave module IO750 (x2)

    • Digital IOs module IO306

    • Analog IOs module IO131

PILZ CPU

This is used to simulate and test the safety software.

The configuration of the hardware is:

  • PILZ PSSu 4000 ref 314070

  • PSSu E F 4DI-T

  • PSSu E F 4DO 0.5-T

Linux Machine

This is an Ubuntu 18.04 machine used to run the secondary axes simulators and execute the robot framework tests.

The configuration of the hardware is:

  • CPU: Intel i5-750 @ 2.67GHz

  • RAM: 4 GB

  • Hard Drive: HHD 500GB

  • x2 Ethernet gigabit connection ports

Mount Control Computer (MCC)

This is a CentOS 7 machine which replicates the one in the server room at the summit in Chile. It runs the EUI (Engineering User Interface), the database for the settings and events and the mtmount_operation_manager.

The configuration of the hardware is:

  • CPU: Intel i7-3770 @ 3.40 GHz

  • RAM: 16 GB

  • Hard Drive: HHD 500 GB

  • OS: CentOS 7

  • x2 Ethernet gigabit connection ports

    • Tekniker local and internet network

    • PXIs subnet

The configuration of the hardware for a ALMA9 OS version is:

  • Non-NI hardware: DELL Precision 3660

  • CPU: Intel i7-12700

  • RAM: 16 GB

  • Hard Drive: NVME 250 GB

TMA PXI

The PXI that contains the state machines for all the main systems and the communication with the MCC and AXES PXI.

The configuration of the hardware is:

  • Non-NI hardware: DELL Precision 3660

  • CPU: Intel i7-12700

  • RAM: 16 GB

  • Hard Drive: NVME 250 GB

AXES PXI

The PXI that contains the code for controlling the main axes, azimuth and elevation.

The configuration of the hardware is:

  • Non-NI hardware: DELL Precision 3660

  • CPU: Intel i7-12700

  • RAM: 16 GB

  • Hard Drive: NVME 250 GB

AUX PXI

The PXI that contains the code for the temperature controllers and the OSS state machines.

The configuration of the hardware is:

  • Non-NI hardware: DELL Precision 3660

  • CPU: Intel i7-12700

  • RAM: 16 GB

  • Hard Drive: NVME 250 GB

EIB 8791

The EIB is the encoder system used to monitor the heads of azimuth and elevation, same as in the summit, more info here

cRIO NI 9144

This cRIO + 8 DIO Module NI 9401 are used to trigger the EIB, same as in the summit, more info here

Ethernet Switches and Connections

The setup in Tekniker uses 2 switches, a managed one and an unmanaged one.

@startuml network connections nwdiag { tekniker_network [ shape = cloud, description = "Tekniker network"]; tekniker_network -- wall_port network d_link { address = "10.1.22.0/24" description = "Unmanaged Switch" wall_port router [description = "WiFi router"] ats_mcc [description = "MCC CentOS 7"] alma [description = "MCC ALMA 9"] ats_win [description = "ATS Windows"] speedgoat [description = "Speedgoat config port"] csc [description = "CSC running PC"] } network netgear_209 { address = "192.168.209.0/24" description = "Managed Switch\nVLAN 209" ats_linux [ description = "Linux Machine"] ats_win [ description = "Windows Machine"] ats_mcc [ description = "MCC CentOS 7"] ats_tma [ description = "TMA PXI"] ats_aux [ description = "AUX PXI"] } network netgear_213 { address = "192.168.213.0/24" description = "Managed Switch\nVLAN 213" ats_tma [ description = "TMA PXI"] ats_axes [ description = "AXES PXI"] } network netgear_211 { address = "192.168.211.0/24" description = "Managed Switch\nVLAN 211" ats_tma [ description = "TMA PXI"] ats_eib [ description = "EIB"] ats_axes [ description = "AXES PXI"] } network netgear_180 { address = "192.168.180.0/24" description = "Managed Switch\nVLAN 180" ats_tma [ description = "TMA PXI"] ats_pilz [ description = "PILZ PSS 4000"] } network netgear_config { address = "192.168.0.0/24" description = "Managed Switch\nConfig" ats_win [ description = "Windows Machine"] } } @enduml

Managed Switch

Netgear GS724Tv4 ProSafe 24-port Gigabit Ethernet Smart Switch. Managed switch ports and VLAN configuration:

Ports

VLAN

1 - 6

209

7 - 8

213

9 - 12

211

13 - 14

180

This is the main switch where the following items are connected:

  • MCC (VLAN 209: for HMI data communication)

  • TMA PXI (VLAN 209: for HMI data communication)

  • TMA PXI (VLAN 213: for communication between the two PXIs)

  • TMA PXI (VLAN 211: for communication with the EIB)

  • AXES PXI (VLAN 213: for communication between the two PXIs)

  • AXES PXI (VLAN 211: for communication with the EIB)

  • EIB (VLAN 211: for communication with the EIB)

VLAN 209

@startuml vlan 209 nwdiag { network netgear_209 { address = "192.168.209.0/24" description = "Managed Switch\nVLAN 209" ats_linux [address = "port 1\n192.168.209.131" description = "Linux Machine"] ats_win [address = "port 2\n192.168.209.130" description = "Windows Machine"] ats_mcc [address = "port 3\n192.168.209.200" description = "MCC CentOS 7"] ats_tma [address = "port 4\n192.168.209.10" description = "TMA PXI"] ats_aux [address = "port 5\n192.168.209.11" description = "AUX PXI"] } } @enduml

VLAN 213

@startuml vlan 213 nwdiag { network netgear_213 { address = "192.168.213.0/24" description = "Managed Switch\nVLAN 213" ats_tma [address = "port 7\n192.168.213.10" description = "TMA PXI"] ats_axes [address = "port 8\n192.168.213.11" description = "AXES PXI"] } } @enduml

VLAN 211

@startuml vlan 211 nwdiag { network netgear_211 { address = "192.168.211.0/24" description = "Managed Switch\nVLAN 211" ats_tma [address = "port 9\n192.168.211.10" description = "TMA PXI"] ats_eib [address = "port 10\n192.168.211.1" description = "EIB"] ats_axes [address = "port 11\n192.168.211.11" description = "AXES PXI"] } } @enduml

VLAN 180

@startuml vlan 180 nwdiag { network netgear_180 { address = "192.168.180.0/24" description = "Managed Switch\nVLAN 180" ats_tma [address = "port 13\n192.168.180.100" description = "TMA PXI"] ats_pilz [address = "port 14\n192.168.180.10" description = "PILZ PSS 4000"] } } @enduml

Switch config

@startuml switch config nwdiag { network netgear_config { address = "192.168.0.0/24" description = "Managed Switch\nConfig" ats_win [address = "port 23\n192.168.0.50" description = "Windows Machine"] } } @enduml

Unmanaged Switch

D-Link DGS-1024D 24 ports Gigabit Ethernet Switch for local network access, this connects to the local network in Tekniker.

@startuml network connections nwdiag { tekniker_network [ shape = cloud, description = "Tekniker network"]; tekniker_network -- wall_port network d_link { address = "10.1.22.0/24" description = "Unmanaged Switch" wall_port [address = "port 1"] router [address = "port 3" description = "WiFi router"] ats_mcc [address = "port 9\n10.1.22.39" description = "MCC CentOS 7"] alma [address = "port 10\n10.1.22.67" description = "MCC ALMA 9"] ats_win [address = "port 11\n10.1.22.158" description = "ATS Windows"] speedgoat [address = "port 12\n10.1.22.211" description = "Speedgoat config port"] csc [address = "port 13" description = "CSC running PC"] } } @enduml

Electrical connections

The setup for the ATS is very simple compared to the real one, but there are a couple of connections anyway.

@startuml rectangle axes_pxi as "AXES PXI" rectangle crio as "cRIO NI 9144" rectangle Speedgoat rectangle EIB rectangle PILZ as "PILZ PSS 4000" axes_pxi <--> crio #red crio <-> Speedgoat #red crio --> EIB #blue :trigger eib\nreadings PILZ --> Speedgoat #blue : manage model\nbrakes from PILZ ' set legend to have a white background skinparam legendBackgroundColor #FFFFFF ' remove box around legend skinparam legendBorderColor #FFFFFF ' remove the lines between the legend items skinparam legendEntrySeparator #FFFFFF legend right ' the <#FFFFFF,#FFFFFF> sets the background color of the legend to white <#FFFFFF,#FFFFFF>|<#red>| ethernet connection, for ethercat communication | ' the space between the | and <#blue> is important to make the color column wider |<#blue> | 24v connection, for digital signals | endlegend @enduml