Deployment

Requested by:	LSST
Doc. Code:	3151_MCS_0036
Editor:	Julen Garcia
Approved by:	Alberto Izpizua

Introduction

This document describes the deployment procedure for all elements in TMA.

The document has a section for each element in the TMA that needs deployment actions. In this sense the are deployment sections for:

• Mount Control Computer (MCC)

• Development PC

• Handheld device (HHD)

• TMA PXI

• Axes PXI

  • cRIO 9144

• AuxSystems PXI

• Closing the Ethercat Ring

• Bosch Rexroth drive system

• Watlow RMC

• Phoenix Contact IOs

Mount Control Computer

The computer in the control room is the responsible of running the Engineering User Interface, EUI, and the MtMount_operation_manager (developed in C++).

This computer also contains the database for the settings.

All those elements are described in next subsections.

The computer operating system is Centos 7 (centos-release-7-3.1611.el7.centos.x86_64).

EUI

The EUI is based on LabVIEW 2020 64 bits for Linux.

For deploying the EUI software the project called LSST_HMIs.lvproj is needed. It can be found in this git repository.

Steps to run the EUI code:

1. Open the LSST_HMIs.lvproj.

2. Navigate to the Main folder at the project browser.

3. Open the HMIMain_EUI.vi and run it.

4. This will launch the required tasks to run the EUI.

Configuration file

This file contains the general configuration of the application, the file can be found inside the git repo HMIComputers/Configuration/HMIConfig.xml. As part of the deployment procedure, it is important to check that the following items are correct before launching the app:

• IPs values are correct. Check the value of the IPs and verify that the values are correct. The main IPs are:

  • TMAConnectionData.Remote_Adress here the IP must point to the MCC machine, where the MTMount Operation Manager is going to run.

  • AlarmsForHHDClientConnectionData.Remote_Adress here the IP must point to the MCC machine, where the EUI will be running, this is used by the HHD.

  • Database_Settings.Host_IP here the IP must point to the MCC machine, where the settings database is located.

  • TekNsvClientConfiguration0.Remote_Adress here the IP must point to the TMA PXI, for reading the variables from it.

  • TekNsvClientConfiguration1.Remote_Adress here the IP must point to the AuxSystems PXI, for reading the variables from it.

  • Actual_Commander_Data.Actual_commader_url here the IP of the commander variable must point to the TMA PXI.

• Path values are correct. Check the value of the paths and verify that the values are correct. The main paths are:

  • Alarm_History_Path this path refers to a directory where the alarm/warning history files will be stored.

  • UsersDefinitionPath this path refers to the file where the users for the EUI are defined.

  • ErrorTaskDirectoryPath this path refers to a directory where the software error files will be stored, this path is built as an array of folders, but works in the same way as the others.

  • File_Saving_directory_path this path refers to a directory where the telemetry history files will be stored.

  • HMIWindowsTelemetryVariables_file_path this path refers to the file that defines the variables for each window.

  • TelemetryTopics_file_path this path refers to the file that defines the variables for each topic.

  • WindowTelemetryDirectoryPath this path refers to a directory where the window telemetry files will be stored, this path is built as an array of folders, but works in the same way as the others.

Installing everything from scratch

This section describes how to install all the required software for the MCC. Each main task is explained in a specific section.

Requirements before starting the installation

For following the upcoming sections first get the following:

• Centos 7 ISO image version: centos-release-7-3.1611.el7.centos.x86_64

• LabVIEW 2015 32 bit installation files

• LabVIEW 2020 32 & 64 bit installation files

• WireFlow User Toolkit installation files

• LabVIEW libraries from Tekniker

• VI Package Manager

Configure the PC to be RAID 0

• Open boot menu by pressing ESC on startup.

• Select “SCU” from the menu.

• In the “SCU” go to Advanced > SATA Configuration.

• Select HDC Configure as “RAID”.

• Save and exit.

• The system reboots, now press crtl + I

• The RAID configuration will appear, select “Create RAID Volume”.

• Select RAID 1 as the image bellow and press Create Volume:

• Exit the RAID menu.

• The RAID 1 is now configured, the Centos 7 installation can start.

Install Centos 7

• Download the Centos 7 version: centos-release-7-3.1611.el7.centos.x86_64. Install it following the installation steps:

  • Run the Centos image from a USB drive.

  • Click install.

  • Select time zone.

  • Select keyboard layout.

  • Software selection: Gnome Desktop.

  • Installation Destination, select the RAID set and “I will configure partitioning”.

  

  • Select partitioning scheme LVM and create the partitions as the image bellow:

  

  • Network.

    • Host name: lsst.

    • Enable networks.

      • Internet interface set to DHCP

        • IP: DHCP

        • Mask: 255.255.255.0

        • Interface: enp0s25

      • TMA PXI interface set to:

        • IP: 192.168.209.200

        • Mask: 255.255.0.0

        • Interface: enp4s0

      • Telescope network interface:

        • IP: 192.168.2.200

        • Mask: 255.255.255.0

        • Interface: enp5s0

  • Begin installation.

  • Create root password.

  • Create admin user.

    • Name: lsst.

    • Set a password.

    • Select make this user admin.

  • Installation complete.

  • Check that the partitions are okay.

    • Execute:

    lsblk
    

    • The result should look like the following:

Install git

The following steps were taken from this source.

• Prerequisites: Before you start installing Git on CentOS 7. You must have the non-root user account on your Server or Desktop with sudo privileges.

• Install Git on Centos: To install latest Git in CentOS you will need to enable GIT repository in CentOS.

  • First, create a new file inside /etc/yum.repos.d/ directory using following command:

  sudo nano /etc/yum.repos.d/wandisco-git.repo
  

  • Copy the lines bellow inside the created file:

  [wandisco-git]
  
  name=Wandisco GIT Repository
  
  baseurl=http://opensource.wandisco.com/centos/7/git/$basearch/
  
  enabled=1
  
  gpgcheck=1
  
  gpgkey=http://opensource.wandisco.com/RPM-GPG-KEY-WANdisco
  

  • Now save and exit the editor typing CTRL+X then typing ‘Y’.

  • Next, Import GPG key for added repository key typing below command:

  sudo rpm --import http://opensource.wandisco.com/RPM-GPG-KEY-WANdisco
  

  • Now install Git by typing following command:

  sudo yum install git
  

  • Confirm the installation and check the version executing the following command:

  git --version
  

  • The output should be:

  git version 2.18.0
  

• Setting up git. To prevent warning every time you should configure it perfectly by using your Git information.

  • Set the global username for Git:

  git config --global user.name "User Name"
  

  • Set global email for Git:

  git config --global user.email "username@domain.com"
  

  • You can also change above configuration by editing .gitconfig file. To edit gitconfig file type:

  nano ~/.gitconfig
  

Install the MtMount Operation Manager

Follow the steps defined at the doc of this repository.

Install LabVIEW prerequisites

For installing LabVIEW installing the VI package manager is required, is a third-party tool used to install LabVIEW libraries. At the time this was made the VI package manager required the LabVIEW 2015 installed to run properly. A previous LabVIEW version as 2015 must be installed before installing a newer version, otherwise it throws an error. That’s why LV 2015 is installed as a prerequisite. VI package manager will be installed in this section.

• Required libraries

sudo yum install glibc.i686 libstdc++.so.6 libXinerama.i686
sudo yum upgrade gnome-packagekit-common
sudo yum install libglvnd-glx-1.0.1-0.8.git5baa1e5.el7.i686

• Install the full version of LabVIEW 2015 32 bit, this is the base that the VI package manager uses.

  • Follow the LabVIEW installation script and install everything.

sudo sh ./INSTALL

LabVIEW 2015 32 bit
labview-2015-appbuild-32bit-15.0.1-1.i386
labview-2015-core-32bit-15.0.1-1.i386
labview-2015-desktop-32bit-15.0.1-1.i386
labview-2015-examples-32bit-15.0.1-1.i386
labview-2015-exe-32bit-15.0.1-1.i386
labview-2015-help-32bit-15.0.1-1.i386
labview-2015-pro-32bit-15.0.1-1.i386
labview-2015-ref-32bit-15.0.1-1.i386
labview-2015-rte-15.0.1-1.x86_64
labview-2015-rte-32bit-15.0.1-1.i386

Install LabVIEW 2020 64 bit Professional

For Linux there are multiple packages available when executing the installation script, install all the packages available. For doing so follow the installation script and say yes to all the packages.

• Mount the iso:

sudo mkdir /mnt/iso
sudo mount -t iso9660 -o loop <LabVIEW_ISO_FileName>.iso /mnt/iso/
cd /mnt/iso
sudo ./INSTALL

• When finished unmount the iso:

sudo umount /mnt/iso

LabVIEW 2020 64 bit
labview-2020-appbuild.x86_64-18.0.1-1
labview-2020-core.x86_64-18.0.1-1
labview-2020-desktop.x86_64-18.0.1-1
labview-2020-examples.x86_64-18.0.1-1
labview-2020-exe.x86_64-18.0.1-1
labview-2020-help.x86_64-18.0.1-1
labview-2020-pro.x86_64-18.0.1-1
labview-2020-ref.x86_64-18.0.1-1
labview-2020-rte.x86_64-18.0.1-1

LabVIEW dependencies installation

• Install VI package manager.

  • Download the VI package manager for Linux link.

  • Follow the installation guide. (As LabView 2015 runtime was installed previously, do not install LabView 2015 runtime again).

• Download the latest VIPM configuration from here

  • Note that the file is big and is uploaded using git-lfs

• Execute VI Package Manager.

• Verify that VI Package Manager can connect to LabVIEW. If not:

  • Open LabView 2020 and change the LabVIEW configuration, going to Tools/options/VI Server and active the TCP/IP port and ensure that the port corresponds with the port at the VI Package Manager.

    • On the VI Package Manager, got to Tools->Options->LabView

• Install the configuration file downloaded from github repo.

Making data sockets (NSVs) work when compiling the LabVIEW application

When building the compiled version of the LabVIEW application the data sockets were not working properly, we use data sockets to read the Network Shared Variables. For solving this problem a link to certain library must be created, for doing so, execute the following command (the solution comes from this LabVIEW forum):

sudo ln -s /usr/local/lib64/LabVIEW-2020-64/liblksock_impl.so /usr/local/lib64/liblksock_impl.so

Install docker

Docker installation steps, source

Install using the repository. Before you install Docker CE for the first time on a new host machine, you need to set up the Docker repository. Afterward, you can install and update Docker from the repository.

• Set up the repository.

  • Install required packages. yum-utils provides the yum-config-manager utility, and device-mapper-persistent-data and lvm2 are required by the devicemapper storage driver.

  sudo yum install -y yum-utils \
  device-mapper-persistent-data \
  lvm2
  

  • Use the following command to set up the stable repository.

  sudo yum-config-manager \
  --add-repo \
  https://download.docker.com/linux/centos/docker-ce.repo
  

• Install docker ce.

  • Install the latest version of Docker CE and containerd.

  sudo yum install docker-ce docker-ce-cli containerd.io
  

  • Start docker.

  sudo systemctl start docker
  

  • Verify that Docker CE is installed correctly by running the hello-world image.

  sudo docker run hello-world
  

  This command downloads a test image and runs it in a container. When the container runs, it prints an informational message and exits.

Install database

Follow the steps below (source Readme):

• Set up the repository:

sudo yum install -y yum-utils

sudo yum-config-manager \
--add-repo \
https://download.docker.com/linux/centos/docker-ce.repo

• Install:

sudo yum install docker-ce docker-ce-cli containerd.io

• Add the user to docker users:

sudo usermod -aG docker $USER

• Activate docker to automatically launch

sudo systemctl start docker
sudo systemctl enable docker

• Reboot machine

sudo reboot

• Install docker compose

sudo curl -L "https://github.com/docker/compose/releases/download/1.24.0/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose

sudo chmod +x /usr/local/bin/docker-compose

• Clone the repository to /home/lsst/LSST

cd /home/lsst/LSST

git clone git@github.com:lsst-ts/ts_tma_mariadb-docker.git

• Update repository:

cd /home/lsst/LSST/mariadb-docker

git pull

• Go to /home/lsst/LSST/mariadb-docker

• Start the docker service:

docker-compose up -d

• Get the last backup database available and copy it to: ./backup

  Copy the three files:

  • lsst_AppData-XXX.sql.gz

  • lsst_events-XXX.sql.gz

  • lsst_settings-XXX.sql.gz

• Create database

sudo ./createdatabases.pl

• Restore last backup database. The script will choose the most recent backup.

sudo ./restoredatabases.pl

• Edit contrab file to execute the python code that generates the backups:

sudo crontab -e

• Add the following lines (Note: that the paths may change for each specific installation.):

5 12 * * * /home/lsst/LSST/mariadb-docker/createbackup.pl

5 13 * * * docker run --rm -v /home/lsst/LSST/mariadb-docker/python:/script -v /home/lsst/LSST/mariadb-docker/backup:/backup python:3.7 python /script/main.py

• Save and exit crontab editor.

Clone the HMI repository

Clone the code from the HMI repository.

cd /home/lsst/LSST/

git clone git@github.com:lsst-ts/ts_tma_labview_hmi-computers.git

cd HMIComputers

git submodule update --init --recursive --remote

Create soft link to the *.so that gets the TAI time:

sudo ln -s /home/lsst/LSST/HMIComputers/getclockslabview/getclockssharedobject/libGetClocks.so /usr/local/lib/libGetClocks.so

Follow the steps to run the EUI code:

• Open the LSST_HMIs.lvproj.

• Navigate to the Main folder at the project browser.

• Open the HMIMain_EUI.vi and run it.

• This will launch the required tasks to run the EUI.

Install the ptp protocol

Firewall configuration for allowing the PTP protocol to work (source).

• Get firewall zones

sudo firewall-cmd --get-zones

• Get active zones

sudo firewall-cmd --get-active-zones

• List everything in the active zone, in this case it was public

sudo firewall-cmd --zone=public --list-all

• Configure the system firewall to allow access by PTP event and general messages to UDP ports 319 and 320 in the appropriate zone, in this case public zone.

sudo firewall-cmd --zone=public --add-port=319/udp --add-port=320/udp

sudo firewall-cmd --permanent --zone=public --add-port=319/udp --add-port=320/udp

Follow the steps defined here to configure the PTP (source).

• Download the PTP libraries:

sudo yum install linuxptp

• The ptp will be used as a service so the options file will manage the behavior of the ptp. The options file must be located in /etc/sysconfig/ptp4l

  OPTIONS="-f /etc/ptp4l.conf"

  • For connection as master or slave (actual configuration) the file is shown in next lines

    [global]
    
    verbose 1
    
    time_stamping hardware
    
    priority1 200
    
    priority2 200
    
    [enp4s0]
    

    • The priority1 and priority2 are chosen to be 200 to use as masterclock when running in standalone with PXIs, since the pxi will is set to 254 and the switch to 250. See

    • The section [enp4s0] defines the nic to use for ptp and it’s configuration.

• Enable and start the service

sudo systemctl enable ptp4l

sudo systemctl start ptp4l

• To synchronize the system clock with the ptp clock or vice versa the phc2sys service is used. The configuration of this service is done in the /etc/sysconfig/phc2sys

  OPTIONS="-a -r -r"

  • The second -r allows to sync the system clock with ptp clock when it is the master

• Enable and start the service

sudo systemctl enable phc2sys

sudo systemctl start phc2sys

• To check ptp status

systemctl status phc2sys

systemctl status ptp4l

sudo cat var/log/messages

Create shared folder

Clone the shared folder repository and follow the steps at the readme file.

Open ports for HHD communication

For sending and receiving data from/to the HHD some tcp ports must be opened. To do so follow these steps:

• Execute this command to open the right ports:

sudo firewall-cmd --zone=public --add-port=50006/tcp --permanent --zone=public --add-port=40005/tcp --permanent --zone=public --add-port=50005/tcp --permanent --zone=public --add-port=40006/tcp --permanent --zone=public --add-port=7500/tcp --permanent --zone=public --add-port=3306/tcp --permanent --zone=public --add-port=3015/tcp --permanent --zone=public --add-port=50013/tcp --permanent --zone=public --add-port=50015/tcp --permanent --zone=public --add-port=50035/tcp --permanent --zone=public --add-port=50016/tcp --permanent --zone=public --add-port=50017/tcp --permanent --zone=public --add-port=30005/tcp --permanent

• Reload the firewall:

sudo firewall-cmd --reload

• Check that the ports are opened:

$ sudo firewall-cmd --list-all

public (active)

target: default

icmp-block-inversion: no

interfaces: enp0s25 enp4s0 enp5s0

sources:

services: dhcpv6-client ssh

ports: 50006/tcp 40005/tcp 50005/tcp 40006/tcp 7500/tcp 3306/tcp 3015/tcp 50013/tcp 50015/tcp 50035/tcp 319/udp 320/udp 50016/tcp 50017/tcp 30005/tcp

protocols:

masquerade: no

forward-ports:

source-ports:

icmp-blocks:

rich rules:

Install VNC

• Install VNC server

sudo yum install tigervnc-server

• Set a password for the user

vncpasswd

• Copy the template for the Systemd service

sudo cp /lib/systemd/system/vncserver@.service /etc/systemd/system/vncserver@:1.service

• Edit the systemd service, here replace the <USER> in the file with the user that is going to run it, in our case lsst.

sudo nano /etc/systemd/system/vncserver@\:1.service

• Change the display resolution, for doing so modify the vncserver_wrapper file.

  • Open de vncserver_wrapper file:

  sudo nano /usr/bin/vncserver_wrapper
  

  • Modify the following line from the vncserver_wrapper file adding -geometry 1920x1080

  /usr/sbin/runuser -l "$USER" -c "/usr/bin/vncserver ${INSTANCE} -geometry 1920x1080"
  

• Enable and launch the service

sudo systemctl daemon-reload

sudo systemctl start vncserver@:1

sudo systemctl status vncserver@:1

sudo systemctl enable vncserver@:1

Remove old log files from the telemetry directory

• Download the main.py script from this repo

• Make 4 copies, name and modify them as follows :

  • removeOldAlarmFiles.py: in this copy replace the global variables as shown below:

    files_directory = "/mnt/telemetry/AlarmHistory"
    date_search_pattern = 'Alarm_File_(\d\d\d\d)_(\d\d)_(\d\d)'
    months_to_keep = 12
    

  • removeOldErrorFiles.py: in this copy replace the global variables as shown below:

    files_directory = "/mnt/telemetry/ErrorHistory"
    date_search_pattern = 'SoftwareErrorFile_(\d\d\d\d)_(\d\d)_(\d\d)'
    months_to_keep = 12
    

  • removeOldMemoryLoggingFiles.py: in this copy replace the global variables as shown below:

    files_directory = "/mnt/telemetry/MemoryLogging"
    date_search_pattern = 'MemoryLogging_(\d\d\d\d)_(\d\d)_(\d\d)'
    months_to_keep = 2
    

  • removeOldWindowNavigationFiles.py: in this copy replace the global variables as shown below:

    files_directory = "/mnt/telemetry/MemoryLogging"
    date_search_pattern = 'WindowNavigationLogging_(\d\d\d\d)_(\d\d)_(\d\d)'
    months_to_keep = 4
    

• Call this 4 scripts from crontab

  • Edit crontab for the default user crontab -e

  • Add the following lines:

    35 9 * * * python3 /mnt/telemetry/AlarmHistory/removeOldAlarmFiles.py
    40 9 * * * python3 /mnt/telemetry/ErrorHistory/removeOldErrorFiles.py
    45 9 * * * python3 /mnt/telemetry/MemoryLogging/removeOldMemoryLoggingFiles.py
    50 9 * * * python3 /mnt/telemetry/MemoryLogging/removeOldWindowNavigationFiles.py
    

    Note that in this case the 4 scripts are placed in different places, for this crontab task to work the scripts must be placed there or the path to them must be changed when editing the crontab task

Connect to the VNC in the MCC

• Connect to the Rubin VPN, if we are not in the local network already

• Open a SSH tunnel to the server, use the following command:

ssh -L 5901:localhost:5901 -N lsst@139.229.178.30

• Open the VNC client and connect to the following direction: 127.0.0.1:5901

• Enter the VNC server password.

• Done you are now in the server user interface.

Development PC

This section refers to the computer used to deploy the code to the PXIs. This computer must be a Windows computer. It needs to have LV 2020 installed, as well as the following packages (version of packages not updated):

INSTALLED SOFTWARE	VERSION
CompactRIO	20.0.0
C Series Module Support	20.0.0
CVI Runtime	17.0.0
NI-DAQmx Device Driver	20.0.0f0
NI-DAQmx ADE Support	20.0.0
NI-DAQmx MAX Configuration	20.0.0
NI Script Editor	20.0
NI-DMM
NI 408x Device Support	20.0
Configuration Support	20.0
Development Support	20.0
NI 407x, NI 406x, and NI 4050 Device Support	20.0
Runtime Support	20.0
NI-FGEN
Configuration Support	20.0
Development Support	20.0
Runtime	20.0
FGEN Soft Front Panel	20.0
NI-488.2 Runtime	20.0.0
NI-488.2	20.0.0
Vision Common Resources	20.0.0
Image Processing and Machine Vision	20.0.0.49152
Image Services	20.0.0.49152
NI-Industrial Communications for EtherCAT	20.0.0f0
NI I/O Trace	20.0.0f0
IVI Compliance Package	20.0
LabVIEW 2020 (64-bit)	20.0.0
Control Design and Simulation Module	20.0.0
MathScript RT Module	20.0.0
Report Generation Toolkit For Microsoft Office	20.0.0
Sound and Vibration Measurement Suite	20.0.0
Sound and Vibration Toolkit	20.0.0
Unit Test Framework Toolkit	20.0.0
VI Analyzer Toolkit	20.0.0
LabVIEW Run-Time 2012 SP1 f9	12.0.1
LabVIEW Runtime 2012 SP1 f9 (64-bit)	12.0.1
Measurement & Automation Explorer	20.0.0f0
Measurement Studio	Visual Studio 2005 Support - See individual versions below.
DotNET
Common	12.0.20.258
Vision
Measurement Studio	Visual Studio 2008 Support - See individual versions below.
DotNET
Common	13.5.35.173
Common (64-bit)	13.5.35.173
Vision
Measurement Studio	Visual Studio 2010 Support - See individual versions below.
DotNET
Common	15.1.40.49152
Common (64-bit)	15.1.40.49152
NI-USI	15.0.2.6343
NI-DCPower
Configuration Support	16.0
Development Support	16.0
Runtime	16.0
NI-DCPower Soft Front Panel	15.2
NI-HSDIO
Configuration Support	16.0
Development Support	16.0
Runtime	16.0
NI-HWS	16.0.0
NI PXI Platform Services Configuration	16.0.0f0
NI PXI Platform Services Runtime	16.0.0f0
NI-RIO	16.0.0
NI R Series Multifunction RIO	16.0.0
NI-Sync Runtime	16.0.0f0
NI-Sync	16.0.0f0
NI-TimeSync	16.0.0f0
FlexRIO	16.0.0f0
NI-PAL Software	16.0.0
NI 1588-2008 Network Management 16.0.0	16.0.0f0
NI Reconfigurable Oscilloscopes
Runtime 16.0	16.0
NI-SCOPE
Configuration Support	16.0
Development Support	16.0
Runtime	16.0
SCOPE Soft Front Panel	15.1
NI-Serial Runtime	15.0.0f0
NI-Serial Configuration	15.0.0f0
NI SignalExpress	15.0
NI-SWITCH	16.0
SwitchCA1, 2 & 3 Device Support	16.0
SwitchCA4 Device Support	16.0
Configuration Support	16.0
Development Support	16.0
Runtime	16.0
Soft Front Panel	16.0
Switch Executive	15.1.0.49152
NI System Configuration	16.0.0f0
NI-TClk	16.0
TestStand 2016	2016
TestStand Runtime	16.0.0.185
TestStand Sequence Editor	16.0.0.185
TestStand 2016 (64-bit)	2016
TestStand Runtime	16.0.0.185
TestStand Sequence Editor	16.0.0.185
TestStand AddOns	TestStand Shared AddOns
NI-VISA	16.0
NiVisaServer.exe	16.0.0.49152
NIvisaic.exe	16.0.0.49152
NI-VISA Runtime	16.0
Vision Builder AI 2015 f1 (64-bit)	15.1.0
Vision Builder AI 2015 f1 (32-bit)	15.1.0
Vision Development Module	16.0.0
Runtime Support 2016	16.0.0
Development Support 2016	16.0.0
Vision Assistant (32-bit)	16.0.0
Vision Assistant (64-bit)	16.0.0
LabVIEW	20.0.0
Advanced Signal Processing Toolkit	16.0.0
Control Design and Simulation Module	16.0.0
Database Connectivity Toolkit	16.0.0
DataFinder Toolkit	16.0.06357
Datalogging and Supervisory Control	16.0.0
Digital Filter Design Toolkit	16.0.0
FPGA	16.0.0
MathScript RT Module	16.0.0
NI SoftMotion	16.0.0
Real-Time	16.0.0
Real-Time Trace Viewer - LabVIEW 2016 Support	16.0.0
Report Generation Toolkit For Microsoft Office	16.0.0
Sound and Vibration Measurement Suite	16.0.0
Sound and Vibration Toolkit	16.0.0
Statechart Module	16.0
Unit Test Framework Toolkit	16.0.0
VI Analyzer Toolkit	16.0.0
Vision Development Module	16.0.0
LabVIEW Run-Time 2013 SP1 f6	13.0.1
LabVIEW Run-Time 2014 SP1 f5	14.0.1
LabVIEW Run-Time 2015 SP1 f3	15.0.1
LabVIEW Run-Time 2016	16.0.0
LabVIEW Runtime 2013 SP1 f6 (64-bit)	13.0.1
LabVIEW Runtime 2014 SP1 f6 (64-bit)	14.0.1
LabVIEW Runtime 2015 SP1 f3 (64-bit)	15.0.1
LabVIEW Runtime 2016 (64-bit)	16.0.0

The following modules are not included with the LabVIEW installer and must be downloaded:

• Ethercat module (v 20.0.0)

LabVIEW dependencies

• Install VI package manager if it was not installed when installed LabVIEW

  • Download the VI package manager for Windows.

  • Follow the installation guide

• Execute VI Package Manager.

• Verify that VI Package Manager can connect to LabVIEW. If not:

  • Open LabVIEW 2020 and change the LabVIEW configuration, going to Tools/options/VI Server and active the TCP/IP port and ensure that the port corresponds with the port at the VI Package Manager.

    • On the VI Package Manager, got to Tools->Options->LabVIEW

• Install the packages contained in the VIPM configuration file located at this repo

  Note that as the file is big it is uploaded as a Git LFS this means that when pulling the file the Git extension for versioning large files must be installed and configured for the repo.

Fix WireFlow addon for the HHD

There is a bug when building the WireFlow user management library for the HHD OS. To solve it follow these steps:

1. WF User Access Toolkit (FUNDACION TEKNIKER) must be installed using the VIPM configuration package from the previous step

2. Locate the VI that needs to be updated:

   1. VI is: C:\Program Files (x86)\National Instruments\LabVIEW 2020\vi.lib\addons\WireFlow\_AD0078-UAT (TEKNIKER)\runtime\EasyAccess\CheckUserGroups_wf_TEKNIKER.vi

   2. Password: rodastenrodasten

   3. Once unlocked it should look like this:

   

3. Modify the code inside the VI.

   1. Remove the cluster constant below the unbundle by name that says GroupInfo Lookup and place a I32 constant

   2. Create an I32 indicator

   3. Once the changes are done, the block diagram should look like this:

   

HHD

Steps for setting up the Handheld Device.

• Download the HMI repository

• Open the HMI project.

• Build the HHD application.

• Build the HHD installer.

• Execute the installer at the HHD.

• Configure the HHD IP using the “CommArchitecture” document.

• Configure the HHD application to run on start up.

TMA PXI

TMA PXI set up

Ensure that the PXI is configured as shown in Table 3 and has the software from Table 4 installed.

SYSTEM CONFIGURATION
Hostname	TMA-PXI
DNS Name	TMA-PXI
Vendor	National Instruments
Model	PXIe-8880
Serial Number	2F23AA3D
Firmware Version	8.8.0f0
Operating System	NI Linux Real-Time x64 4.14.146-rt67-cg-8.0.0f1-x64-139
System Start Time	05/09/2022 15:48:05
Comments	None
Locale	English
Halt on IP failure	False

INSTALLED SOFTWARE	VERSION
NI Scan Engine	9.0.0.49152-0+f0
LabVIEW Real-Time	20.0.0.49154-0+f4
Network Streams	20.0.0.49156-0+f4
Run-Time Engine for Web Services	20.0.0.49152-0+f0
Variable Legacy Protocol Support	5.12.0.49154-0+f2
NI PXI Platform Services	20.0.0.49152-0+f0
NI-Watchdog	20.0.0.49152-0+f0
Variable Legacy Server Support	5.12.0.49154-0+f2
Variable Client Support for LabVIEW RT	20.0.0.49153-0+f1
NI-RIO IO Scan	20.0.0.49152-0+f0
NI System Configuration	20.0.0.49152-0+f0
NI-Industrial Communications for EtherCAT	20.0.0.49152-0+f0
NI System Configuration Remote Support	20.0.0.49152-0+f0
NI-RIO	20.0.0.49153-0+f1
NI-RIO Server	20.0.0.49153-0+f1
WebDAV Server	20.0.0.49152-0+f0
NI Scan Engine	9.0.0.49152-0+f0

TMA Copy required files to the PXI

In addition to what is described in this section, check here

TMA Libraries

Copy the following libraries to the /usr/local/lib folder inside the PXI.

Library list:

• EIB8Driver32.so*

• libEIB8Driver.so*

• libGetClocks.so*

• libaci.so*

• libcrypto.so.1.0.0*

• libmlpi.so*

• libssl.so.1.0.0*

• libtrajectory.so*

• lvimptsl.so*

MLPI files

First copy the libmlpi.so to /usr/local/lib and then create a softlink in the /c/ni-rt folder called system, as follows.

cd /c/ni-rt

ln -s /usr/local/lib/ system

TMA PTP configuration

Follow next steps to configure the ptp in the PXI.

• Install ptp

opkg install linuxptp

• Copy the ptp4l.conf to /etc/ folder. In the configuration file shown next the eno1 is the name of the main network interface

[global]

verbose 1

time_stamping hardware

priority1 250

priority2 250

[eno1]

• Copy the ptpScript to the folder etc/init.d

#!/bin/bash

NAME="PTP DAEMON"
PIDFILE=/var/run/ptpdaemon.pid
do_start() {
/sbin/start-stop-daemon --start --pidfile $PIDFILE --make-pidfile --background --chuid admin --exec /usr/bin/ptp4l -- -f /etc/ptp4l.conf
}
do_stop() {
/sbin/start-stop-daemon --stop --pidfile $PIDFILE --verbose
}
case "$1" in
start)
echo "Starting $NAME"
do_start
;;
stop)
echo "Stopping $NAME"
do_stop
;;
restart)
echo "Restarting $NAME"
do_stop
do_start
;;
*)
echo "Usage: $0 {start|stop|restart}"
exit 1
;;
esac
exit 0

• Copy the phcScript to the folder etc/init.d

#!/bin/bash

NAME="PHC DAEMON"
PIDFILE=/var/run/phcdaemon.pid
do_start() {
/sbin/start-stop-daemon --start --pidfile $PIDFILE --make-pidfile --background --chuid admin --exec /usr/bin/phc2sys -- -a -r
}
do_stop() {
/sbin/start-stop-daemon --stop --pidfile $PIDFILE --verbose
}
case "$1" in
start)
echo "Starting $NAME"
do_start
;;
stop)
echo "Stopping $NAME"
do_stop
;;
restart)
echo "Restarting $NAME"
do_stop
do_start
;;
*)
echo "Usage: $0 {start|stop|restart}"
exit 1
;;
esac
exit 0

• Make the files executables with chmod +x (both files)

chmod +x /etc/ptp4l.conf

chmod +x /etc/init.d/ptpScript

chmod +x /etc/init.d/phcScript

• Install as startup script with default settings using

/usr/sbin/update-rc.d -f ptpScript defaults

• Reboot target and check that PTP is running

pmc -u -b 0 'GET TIME\_STATUS\_NP'

cat /var/log/messages

TMA Deploying the code to the PXI

Steps for deploying the code to the TMA PXI:

• Download the PXI repository

• Open the LSST_MainControllerPXI.lvproj.

  • Open the Main.

  • Solve the requested dependencies if they appear.

  • Close the main.

  • Save all the request files.

• Configure etherCAT ring.

  • Connect just 1 end of the etherCAT ring, recommended 4 slot B port cable connected and 3 slot B port disconnected.

  • To ensure that the ethercat line is displayed correctly the ESI files from the repo must be imported to labview.

    • Right click on the ethercat master -> Utilities -> Import Device Profiles…

    • Here select the ESI files to import. Import all the files from the this folder

    • Select only the import to the host computer option.

    • Click import.

    • Close the window.

  • Deploy the etherCAT master to the PXI.

  • Connect the etherCAT ring, if the recommended port was disconnected connect the 3 slot B port cable.

  • Execute the EtherCAT_RingConfig.vi, from this folder

    • Check if the redundancy is active, if active skip next 2 steps, usually is not.

  • Restart PXI.

  • Execute the EtherCAT_RingConfig.vi, from this folder

    • Check if the redundancy is active, at this step it must be active.

  • Check online master state to ensure that all devices are okay.

  • If all the devices are okay the ring is ready.

• Build the rtexe.

• Deploy the rtexe to the target and set it to run on start up.

EIB Configuration files

For using the EIB TMA PXI must have the EIB configuration file located inside the PXI. The default path is: /c/Configuration/EIB multi_ext.txt this can be changed by a setting from the database.

Copy the file from the PXIController\ESIFiles\EIB folder to the PXI using scp.

Axes PXI

Axes PXI set up

Ensure that the PXI is configured as shown in Table 5 and has the software from Table 6 installed.

SYSTEM CONFIGURATION
Hostname	AxesPXI
DNS Name	AxesPXI
Vendor	National Instruments
Model	PXIe-8880
Serial Number	2F23EB99
Firmware Version	8.8.0f0
Operating System	NI Linux Real-Time x64 4.14.146-rt67-cg-8.0.0f1-x64-139
System Start Time	27/06/2019 11:42:28
Comments	None
Locale	English
Halt on IP failure	False

INSTALLED SOFTWARE	VERSION
NI Scan Engine	9.0.0.49152-0+f0
LabVIEW Real-Time	20.0.0.49154-0+f4
Network Streams	20.0.0.49156-0+f4
Network Variable Engine	20.0.0.49153-0+f1
Run-Time Engine for Web Services	20.0.0.49152-0+f0
NI PXI Platform Services	20.0.0.49152-0+f0
NI-Watchdog	20.0.0.49152-0+f0
Variable Client Support for LabVIEW RT	20.0.0.49153-0+f1
NI-RIO IO Scan	20.0.0.49152-0+f0
NI System Configuration	20.0.0.49152-0+f0
NI-Industrial Communications for EtherCAT	20.0.0.49152-0+f0
NI System Configuration Remote Support	20.0.0.49152-0+f0
NI-RIO	20.0.0.49153-0+f1
NI-RIO Server	20.0.0.49153-0+f1
WebDAV Server	20.0.0.49152-0+f0

Axes Copy required files to the PXI

In addition to what is described in this section, check here

Axes Libraries

Copy the following libraries to the /usr/local/lib folder inside the PXI.

Library list:

• libGetClocks.so*

• libaci.so*

• libssl.so.1.0.0*

• libtrajectory.so*

• lvimptsl.so*

PTP configuration Axes

The PTP is configured in the same way as done for the TMA-PXI, see here.

Axes Deploying the code to the PXI

Steps for deploying the code to the TMA PXI:

• Download the PXI repository

• Open the MainAxesPXI.lvproj.

  • Open the Main.

  • Solve the requested dependencies if they appear.

  • Close the main.

  • Save all the request files.

• Configure etherCAT ring.

  • Connect just 1 end of the etherCAT ring, recommended 4 slot B port cable connected and 3 slot B port disconnected.

  • To ensure that the ethercat line is displayed correctly the ESI files from the repo must be imported to labview.

    • Right click on the ethercat master -> Utilities -> Import Device Profiles…

    • Here select the ESI files to import. Import all the files from the this folder

    • Select only the import to the host computer option.

    • Click import.

    • Close the window.

  • Deploy the etherCAT master to the PXI.

  • Connect the etherCAT ring, if the recommended port was disconnected connect the 3 slot B port cable.

  • Execute the EtherCAT_RingConfig.vi, from this folder

    • Check if the redundancy is active, if active skip next 2 steps, usually is not.

  • Restart PXI.

  • Execute the EtherCAT_RingConfig.vi, from this folder

    • Check if the redundancy is active, at this step it must be active.

  • Check online master state to ensure that all devices are okay.

  • If all the devices are okay the ring is ready.

• Build the rtexe.

• Deploy the rtexe to the target and set it to run on start up.

Ethercat cRIO 9144

Steps for setting up the cRIO:

• Open the LSST_MainControllerPXI.lvproj.

• Connect to the PXI and change it to Configuration.

• Navigate to the cRIO at the etherCAT line build the MainFPGA.

• Download the MainFPGA.

Trajectory generation

The trajectory generation is developed by Tekniker. The code is stored in this repo.

AuxSystems PXI

AuxSystems PXI set up

Ensure that the PXI is configured as shown in Table 5 and has the software from Table 6 installed.

SYSTEM CONFIGURATION
Hostname	AuxSystems
DNS Name	AuxSystems.local
Vendor	National Instruments
Model	PXIe-8880-Beckhoff
Serial Number	2F23EB99
Firmware Version	8.8.0f0
Operating System	NI Linux Real-Time x64 4.14.146-rt67-cg-8.0.0f1-x64-139
System Start Time	27/06/2019 11:42:28
Comments	None
Locale	English
Halt on IP failure	False

INSTALLED SOFTWARE	VERSION
LabVIEW Real-Time	20.0.0.49154-0+f4
Network Variable Engine	20.0.0.49153-0+f1
Run-Time Engine for Web Services	20.0.0.49152-0+f0
Variable Legacy Protocol Support	5.12.0.49154-0+f2
Variable Legacy Server Support	5.12.0.49154-0+f2
Variable Client Support for LabVIEW RT	20.0.0.49153-0+f1
NI System Configuration Remote Support	20.0.0.49152-0+f0
WebDAV Server	20.0.0.49152-0+f0

AuxSystems Copy required files to the PXI

In addition to what is described in this section, check here

AuxSystems Libraries

Copy the following libraries to the /usr/local/lib folder inside the PXI.

Library list:

• libGetClocks.so*

AuxSystems PTP configuration

The PTP is configured in the same way as done for the TMA-PXI, see here.

AuxSystems deploying the code to the PXI

Steps for deploying the code to the TMA PXI:

• Download the PXI repository

• Open the AuxSystemsController.lvproj.

  • Open the Main.

  • Solve the requested dependencies if they appear.

  • Close the main.

  • Save all the request files.

• Build the rtexe.

• Deploy the rtexe to the target and set it to run on start up.

Closing the ethercat ring

Hardware configuration

Note that for closing the ethercat ring, two compatible ports of the PXI must be used, these ports must be configured as follows (for this step the NI MAX must be used):

• Master port, the one that will be wired to the first IN port of the first slave, the ethercat ID must be smaller than the one for the return. For example ID = 1.

• Redundancy port, the one that will close the ring coming from the last slave’s OUT port, the ethercat ID must be higher than the one for the master port. For example ID = 2.

Software steps

Steps for closing the ethercat ring:

• Connect the ethercat line start point to the master port and DON’T connect anything to the redundancy port.

• Create a blank project with the scan engine configuration for the target copied from the final project (TMA-PXI or AXES-PXI projects depending on the target).

• Deploy the empty target configuration, just with the scan engine configuration to the target and reboot. This is to have a clean start, with no ethercat masters on the target.

• Open the project that corresponds to the current target and deploy the master configuration to the master port ID from the LabVIEW project. Leave the scan engine in ACTIVE after the deploy

• Using the NI Distributed System Manager, check that the target has the ethercat master deployed and that is in active

• Disconnect the LabVIEW project from the target

• Using the NI Distributed System Manager, set the scan engine to configuration

• Connect the ethercat return wire to the redundancy port in the target

• Using the NI Distributed System Manager, do a refresh modules

• If everything went correctly the redundancy should be active now. There is a property from the ethercat master that can be read from LabVIEW that tells if the redundancy is active or not.

  

• Using the NI Distributed System Manager, set the scan engine to active and now the ring is complete and active

After a reboot the PXI is not changed to active automatically and the redundancy is not active. Code in the target is implemented to perform the refresh modules, activate the redundancy, and set the scan engine to active.

Bosch Rexroth drive system

First the Ethernet configuration in the MLC must be set. Follow next steps to perform the IP change

• Power on MLC

• Move with Enter from the standard display BB STOP to the ETHERNET display.

• Press Enter again to go to the IP address.

• Press Enter again to change the preset address. The IP address must be 192.168.212.3

• Change its section of the IP address value with DOWN or UP and continue to next section with Enter. The individual blocks flash to visualize the change. This is first change the section XXX. to 192., then 192.XXX. to 192.168. and so on.

• After the fourth block, press Enter to trigger the query: “OK : ?. Confirm with Enter. The change is applied and the ETHERNET display opens. If Esc is pressed during the change, the change is discarded!

• Change the subnet mask to 255.255.255.0 and the gateway to 192.168.212.253 address analogously

• Reboot MLC to apply Ethernet settings.

Now, Indraworks Engineering tool is able to connect to MLC. Follows next steps for setting up the configuration in the MLC.

• Download the Indraworks repository

• Open the indraworks project

• Connect to the MLC from the indraworks tool and deploy the project

Watlow temperature controller

In this section steps for setting up the temperature controller can be found. The temperature controller is composed by two different components

• RMC. The temperature controller itself

• RMA. A communication module for RMC, that makes the RMC accessible using modus TCP.

Both are configured in the same way

• Connect a RS485 cable to RMC or RMA

  • Connection to RMC in the button of the RMC

    • Data+ to Pin

    • Data- to Pin

    • Common to Pin

  • Connection to RMC in the button of the RMC

    • Data+ to Pin

    • Data- to Pin

    • Common to Pin

• Download the configuration files placed in the repository

• Open the tool EZ-Zone Configurator 6.1 and click Next in the welcome window with the option Download a configuration file in to a device

• Select the proper com and click Next

• Chose the element to connect, RMC or RMA and click Next

• Chose the file

  • RMC_Configuration.wcf for RMC

  • RMA_Configuration.wcf for RMA

Phoenix Contact IOs

• Download the configuration files placed in the repository in the folder \PXIController\ESIFiles\Phoenix\IOConfiguration.

• Connect to the desired header using a usb to micro usb cable. See images bellow to find the connection point in the IO header

• Open startup+ from Phoenix Contact, v2.6.

• When opening chose to load an existing project or click open project form file menu or task bar

• Navigate to file corresponding to connected IOs. The files are named with the name of the cabinet, and for cabinet TMA-AZ-CS-CBT-0101 there are two files, one with suffix 220A1 and the other with suffix 220A2 for modules with the same name inside this cabinet.

• Chose the header and right click.

  • Select parameters->Download all parameters