Finite State Machines (FSM) in Control Systems: getting started

1. Finite State Machines (FSM) in Control Systems: getting started • Why FSM? Partitioning, hierarchy and automation; • The method; • A given example • Practical instructions • Conclusions g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

2. Why FSM? To reduce the number of parameters exported and managed in the supervisory layer; • To give a certain level of automation at complex Detector Control System; • to integrate in the ALICE DCS the sub-detector C.S. with related hierarchy and partitioning features. g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

3. ALICE Bar Automation benefits For the LHC detectors with thousands of HV LV channels, gas , cooling, trigger, DAQ, ecc………systems, Maybe only a computer aided task (an automatic task !) could safe operate such apparatus. But how reliable is it ?? ALICE QGP Bar g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

4. RS 232 IF based devices The method: first step, a glance on the DCS hardware DCS Workstation With JCOP FW(PVSS), OPC’s… ECS Workstation Ethernet CANbus? NT Workstation PLC Some actuators ( as Liq. circ. Sub -system) HV Sub-system Physical Parameter FEE Sub-system g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

5. Second Step Satate Diagram definition, e.g. the HV OFF The yellow states are automatically left when all the related actions are accomplished. GO_STANDBY (Config Name) RESET The GO_STANDBYcommand provides to the HV control program the “Name” of the configuration to be downloaded. CONFIG ERROR GO_OFF STATES OFF: The HV power supply is switched ON but no VH is on the channel output; STANDBY: all the board and channel parameters have been configured but no VH are on the channel output ON: after the HV Ramp Up, all the enabled channels have the set Voltage on the output. ERROR: alarm conditions, e.g.:over-current, over-voltage,over-temperature,……, push the control system in the ERROR state. Once the alarm condition is removed and the operator acknowledgement is given, then it will be possible to issue the RESET command and restart the system Alarm Condition HVSS Configured ! STAND BY All Modules are in STANDBY ! GO_ON RMdw RMup ON All Modules are in READY ! GO_RDWn g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

6. DELPHY HV STATE DIAGRAM (by A. Augustinus) Crate(s) powered on and running,all channels “OFF”,no values loaded to hardware OFF Read values from databaseand write them to hardware CONFIGURING_LO Crate(s) powered on,all channels “OFF”,“standby” values loaded to hardware “Configured_lo” Channels ramping between offand intermediate (“Standby”) value (and v.v.) RAMPING_DOWN_LO RAMPING_UP_LO Crate(s) powered on,all channels on intermediate “Standby” values STANDBY Read values from databaseand write them to hardware CONFIGURING “Configured” <- Is this possible as stable state??? Channels ramping between “Standby” valueand operational (“On”) value (and v.v.) RAMPING_DOWN RAMPING_UP Crate(s) powered on,all channels on operational “On” values ON g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

7. HMPID DCS State Diagram OFF GO_STANDBY (Config Name) RESET The GO_STANDBY command provides to the control system the “Name” of the configuration to be downloaded. ERROR CONFIG GO_OFF Alarm Condition All Sub System are Configured ! STAND BY All Sub System are in STANDBY ! During the Count Down to READY State, in order to operate safely the detector, the READY commands to all the sub systems are dispatched according to a defined sequence. This synchronization is ensured by the DCS control program. GO_READY Count Down to READY Count Down to STANDBY All DCS Sub Systems are READY ! READY GO_RDWn g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

8. LCS Sub System State Diagram OFF GO_STANDBY (Config Name) RESET Alarm Condition ERROR CONFIG GO_OFF GO_STANDBY MANUAL LCS Configured ! STAND BY GO_MAN GO_FILL Empty ! PURGING FILLING GO_PURGE FILLEDUP Full ! GO_PURGE g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

9. third step with an example given : Control & Device Units Architecture SMI Control Unit HMPID DCS In order to design this architecture is required just a good detector knowledge Working in progress SMI Device Unit Advanced Status HVPS1 HMPID DCS PLC S300 Hardware Device HV LV LCS COOL GAS Phis. Par Cooling System Gas System HVMod 1 LVSctr 1 LCSMod 1 HVPS1 LVPS1 LCSMain LVPS1 CAEN SY1527 WIENER PL500F8 PLC S300 PLC S300 g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

10. How do we practically start ? • Tools in the JCOP FW, • PVSS provides tools to configure the CS, to log, archive and Graphic User Interface (basically monitoring), • SMI++ tools are used to model Devices and sub-system behaviour and to automate their operations. http://clara.home.cern.ch/clara/fw/FSMConfig.pdf SMI+ provides tools to buildDevice Units,Control Units, Domainsall behaving as finite state machine; to define the Partitioning mode:Included, Excluded,StandAlone, Command Disabled, ManualandIgnored; to define the Hierarchy rules:Exclusive or Shared mode. ALICE DCS TPC DCS HMPID DCS TPC HV ss TPC FEE ss HMPID HV ss g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

11. Configuring Hierarchy of FSM Working with the SMI++ toolkit Configuring FSM Domains. It is relevant for Patitioning purposes Control Unit definition Config. Panel for Device Type Config. Panel for Logical Object type g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

12. HMPID_1_domain.sml The beginning: definition objectset: HMPIDSUSY_FWSETSTATES {Cooling, GasDistribution, LiquidCirculation, LowVoltage, Physic } objectset: HMPIDSUSY_FWSETACTIONS {Cooling, GasDistribution, LiquidCirculation, LowVoltage, Physic } ************************ state: CONFIG when (( all_in HMPIDSUSY_FWSETSTATES in_state {STANDBY,DISABLED} ) and ( all_in HMPIDHVSS_FWSETSTATES in_state {STANDBY,DISABLED} ) ) do NV_GOTO_STANDBY * * * *********************** object: HVSS_1_FWM is_of_class HVSS_1_FwChildMode_CLASS objectset: FWCHILDMODE_FWSETSTATES {HVSS_1_FWM } objectset: FWCHILDMODE_FWSETACTIONS {HVSS_1_FWM } class: hmpidSUSY_CLASS/associated state: READY action: GO_STANDBY state: CONFIG state: ERROR action: RESET state: STANDBY action: GO_PHYSICS action: STOP state: RAMPUP state: RAMPDOWN state: OFF action: START state: DISABLED action: STOP object: Cooling is_of_class hmpidSUSY_CLASS object: GasDistribution is_of_class hmpidSUSY_CLASS object: LiquidCirculation is_of_class hmpidSUSY_CLASS object: LowVoltage is_of_class hmpidSUSY_CLASS object: Physic is_of_class hmpidSUSY_CLASS HMPID DCS The control program g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

13. THE HMPID DCS DEVICES LOCATION HMPID HMPIDDCS workstation PLC T,P HV, SY2527 Bld 581 g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

14. HMPID GUI: operation and monitoring panel g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

15. HV system monitoring and control g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari

16. Conclusions • The FSM approach to build the sub-detector and ALICE DCS with building blocks; • the PVSS+SMI++ toolkit (avail. In the JCOP F.W.)for the monitoring and automation respectively(http://clara.home.cern.ch/clara/fw/FSMConfig.pdf), • The HMPID prototype: first results and suggestions g de cataldo CERN CH-INFN sez Bari, A. Franco INFN Bari