ATS Hardware Design

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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

  • Required Input/Output modules:

    • Ethercat Slave module IO750 (x2)

    • Digital IOs module IO306

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 (not really in use at the moment)

  • PSSu E F 4DO 0.5-T

Linux VMs

There are two Debian 12 VMs for the ATS.

ATS Bosch Dockers

For running the secondary axis (bosch axis) simulators in docker containers, no graphical interface installed.

This has the following software installed:

  • xe-guest-utilities -> for status reporting to the hypervisor

  • git

  • docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

  • vim

VM hardware config:

  • x4 cores

  • 4 GB RAM

  • 80 GB ROM

ATS Run Tests

For running the robot framework tests.

This has the following software installed:

  • xe-guest-utilities -> for status reporting to the hypervisor

  • git

  • vim

  • Python 3.11.2

  • requirements from here

  • KDE Plasma for graphical interface

  • Remote desktop for running the tests

VM hardware config:

  • x12 cores

  • 16 GB RAM

  • 80 GB ROM

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 9145

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.

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
VLAN 213
VLAN 211
VLAN 180
Switch config

Unmanaged Switch

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

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 9145" 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

Ethercat line device order

AXES PXI -> cRIO 9145 -> Speedgoat IO750 -> Speedgoat IO750(2)

Digital signals

Speedgoat IO306 card -> module with the 24V signals from the PILZ

More details see images here

Hardware configuration at Tekniker

Speedgoat modules

SpeedgoatCards

Pilz And Speedgoat Connections

PilzAndSpeedgoatConnections

PilzAndSpeedgoatConnectionsDetail_1

PilzAndSpeedgoatConnectionsDetail_2

PilzAndSpeedgoatConnectionsDetail_3

PilzAndSpeedgoatConnectionsDetail_4

PilzAndSpeedgoatConnectionsDetail_5