ATS Software Design

Code	Editor
3151_MCS_0052	Julen Garcia

Introduction

This document shows the software structure for the ATS.

Technical description

The simulation software is divided into different elements according to their nature. In this way all similar elements have a simulation software that can be configured to meet the specific telescope element represented. For example, all drives for auxiliary axes are simulated by one software that runs with several instances each with a different configuration. Each simulation software will is explained in this section.

Those simulation software modules need some communication tools to exchange data with the real controller. Those elements are tools that will be explained here.

For axes simulators we found two different solutions:

• For main axis, high speed simulation is needed and then a HIL solution with a specific hardware, Speedgoat, is used. This is explained here.

• For auxiliary axes, the simulation is based on a software simulation with a less demanding timing, running on a Linux (Ubuntu) machine, see.

Tests are programmed in robot framework and they run on the Linux machine.

In figure below the general overview of all elements is shown. The simulators are running in a windows machine, except all axes simulators.

Simulation software modules

In this section all the simulation software modules are explained. This simulation modules are designed to test a software component in the real controller. A software component can be tested using the full system with the controllers for both PXIs or just a small VI with only the required software modules. This test vi is indicated in each simulation software module.

Network Shared Variables Simulator (deprecated, no longer in use)

This module generates random data in the NSV that the EUI reads to make it work even without any code in any of the two PXIs. Data used only for telemetry is generated by this module when the code is running the PXIs. This is the case of temperature and pressure of ducts for instance. No software test is related with simulation module.

In the repository for the simulation module more information can be found.

Limit simulator (Limits_simulator)

This module simulates the behavior of the hardware limits that are wired to the IOs module. Since there are not physical limits the limits are simulated reading the position of the elements. The limit simulator reads data directly from the TMA-PXI using the TekNSV interface and then uses the tool for reading/writing NSV to the TMA PXI to write the network shared variables, that are used instead of ethercat variables in simulation mode. The safety variables that are implemented as TekNSV variables are written with the TekNSV interface.

This module is not valid by itself to test any control module. This is used with other simulators to test the complete behavior of a subsystem. For instance, locking pins needs the auxiliary axes simulators to simulate the position of the locking pins and this module with the configuration for locking pins to simulate when the limit switches are pressed or released.

In the repository for the simulation module more information can be found.

Temperature simulator over TCP (MotorThermal_simulators)

This module simulates the thermal behavior of the Phase Drives and the TMA_AZ_CS_CBT_0001 cabinet. This module uses the ReadWrite three instances.

• The instance to read and write NSVs from the Axes PXI allows to simulate the temperature of the motors.

• The instance to read and write NSVs from the TMA PXI allows to simulate the temperature of the TMA_AZ_CS_CBT_0001 cabinet.

• The instance to read and write TekNSVs allows reading the ambient temperature defined in the PXI.

In the repository for the simulation module more information can be found.

Temperature controllers for cabinets (ModbusTemperature_simulators)

This simulator is designed to simulate the temperature behavior in the main cabinet and other cabinets managed by a temperature controller. This temperature controller is a standalone controller that uses modbus to send/receive data from the AUX PXI controller.

This module needs the ReadTMA_PXI_NSV_tool module that reads the simulated ethercat variables.

In the repository for the simulation module more information can be found.

SecondaryAxisSil (secondary_axis_sil)

This simulator is designed to simulate the behavior of the auxiliary axes (bosch axes). This simulator is implemented in docker. There is a docker instance of the same docker image for each axis, each of them with the corresponding configuration.

In the repository for the simulation module more information can be found.

Safety simulator (Safety_Controller)

This simulator is designed to simulate the behavior of the TMA IS. The simulator is implemented in PILZ code, as well as the TMA IS, the difference with the real TMA IS is that the simulator instead of using real IOs wired to the controller, the value for this IOs comes over Modbus from the TMA PXI. There are only a couple of digital outputs to send the STO and brakes to the Speedgoat.

This module needs the TekNSV_tool module that read the safety variables hosted in the TMA PXI to simulate inputs for the Safety simulator, such us limits or ETPBs. This allows the tests to force limits or simulate ETPB being pressed.

In the repository for the simulation module more information can be found.

OSS simulator (OSS_simulator)

This simulator is designed to simulate the behavior of the Oil Supply system. The simulator is implemented in LabVIEW code. This simulator, as the real OSS, implements a modbus server to send/receive data from the AUX PXI controller.

This module needs an instance of the TekNSV_tool module to read the safety variables hosted in the TMA PXI to simulate inputs from the Safety simulator. The local variables at the windows machine are specific of this simulator and are used to simulate faults.

In the repository for the simulation module more information can be found.

Phase Power Supply simulator (MainPowerSupply_simulator)

This simulator is designed to simulate the behavior of the Phase Power Supply. The simulator is implemented in LabVIEW code. This simulator manages the variables that correspond to the power supply to simulate its behavior.

This module needs an instance of the TekNSV_tool module and the ReadTMA_PXI_NSV_tool module to read the ethercat variables hosted in the TMA PXI to simulate inputs from the power supply. The local variables at the windows machine are specific of this simulator and are used to simulate faults.

In the repository for the simulation module more information can be found.

Bosch Power Supply simulator (BoschPowerSupply_simulator)

This simulator is designed to simulate the behavior of the Bosch Power Supply. The simulator is implemented in LabVIEW code. This simulator manages the variables that correspond to the power supply to simulate its behavior.

This module needs an instance of the ReadTMA_PXI_NSV_tool module that read the simulated ethercat variables hosted in the TMA PXI to simulate inputs from the power supply. The local variables at the windows machine are specific of this simulator and are used to simulate faults.

In the repository for the simulation module more information can be found.

Deployable Extensions simulator (DeployableExtensions_simulator)

This simulator is designed to simulate the behavior of the deployable platforms extensions locks. To do so, this simulator manages the digital inputs that tell the Safety system the status of the extensions of the deployable platforms locks.

This module needs the TekNSV_tool module that reads/writes the Safety variables hosted in the TMA PXI to simulate inputs from the hardware that locks/unlocks the deployable extensions.

In the repository for the simulation module more information can be found.

Main axes simulator (MainAxes_sim)

This simulator is designed to simulate the mechanical behavior of Azimuth and Elevation. The simulator is implemented in matlab code and runs in the speedgoat. This simulator uses the Encoder and Drives simulators.

In the repository for the simulation module more information can be found.

Phase Drives simulator (Drives_sim)

This simulator is designed to simulate the behavior of the Phase Drives for Azimuth and Elevation. The simulator is implemented in matlab code and runs in the speedgoat. This simulator manages the variables that correspond to the drives to simulate their behavior.

In the repository for the simulation module more information can be found.

Encoder simulator (EIB_sim)

This simulator is designed to simulate the behavior of the Encoder system for Azimuth and Elevation. The simulator is implemented in matlab code and runs in the speedgoat. This simulator is different from the real EIB, here instead of publishing the position over UDP it is done over ethercat to tell the axes pxi the actual position of the Azimuth and Elevation axes, as implementing the simulated communication in ethercat was easier than recreating the UDP communication from the real EIB.

In the repository for the simulation module more information can be found.

Tools

Force EtherCAT (ForceEthercat_tool) DEPRECATED

This tool is no longer needed, as the variables that were forced/managed by it are now NSV variables

This is a tool that allows forcing etherCAT variables from the TMA PXI. The communication with this tool is done using a custom TCP protocol, this protocol is similar in all the different tools used for the ATS.

In the repository for the tool more information can be found, including the TCP protocol details.

Speedgoat manager (SpeedgoatManager)

This is a tool that allows managing the code running on the speedgoat: start/stop the model, cause alarm in the drives and cause alarms in the encoder. For interacting with the speedgoat from the robot framework there is a specific python interface available.

• Python interface repo

• Speedgoat Manager source code

• Speedgoat Manager compiled code

ReadVariables (ReadTMA_PXI_NSV_tool, ReadAXES_PXI_NSV_tool and ReadLocal_NSV_tool)

This is a tool that allows reading and writing variables from the different variable host: TMA PXI, Axes PXI and Window Machine. For each of the variable host a different instance of the tool must be launched, this means there must be 3 instances of the same application running. The configuration for each of the instances can be found inside the tool repo.

The communication with this tool is done using a custom TCP protocol, this protocol is similar in all the different tools used for the ATS.

In the repository for the tool more information can be found, including the TCP protocol details.

WriteTekNsvVariables

This is a tool to update the required TekNSV variables in the TMA-PXI with a default value or by manually providing one. This is used for setting the status of the deployable extensions as well as the AZ and EL brakes pressures, but more variables can be written by updating the config file of the tool.

In the repository for the tool more information can be found.

EtherCAT slave for IOs DEPRECATED

This is a cRIO (hardware) used to simulate the distributed input and output modules (hardware modules) connected to the TMA PXI. The variables here are read/written by the ReadVars tool. With this hardware the EtherCAT communication is included in the system in a simple way.

Scripts to start and stop the simulators on windows

There are some scripts to start and stop the simulators running on the windows machine.

The scripts can be found here

Tool ports Tekniker ATS

Tool	IP	Port
ReadTMA_PXI_NSV_tool	10.1.22.158	50040
ReadLocal_NSV_tool	10.1.22.158	50041
ReadAXES_PXI_NSV_tool	10.1.22.158	50042
TekNSV_tool	10.1.22.158	50044
SpeedgoatManager	10.1.22.158	52000