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Notice on CPU combination
RP61/RP71 CPUs are often utilized alongside ladder CPUs on the same backplane
sharing the same I/O modules. Such a combination enables the implementation
of dual control design approaches of EPICS/Linux and ladder programming.
However, there are limitations when combining Linux CPUs and ladder CPUs.
For more details please consult Page 34 of the
General Specification manual.
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EPICS device support for F3RP71/F3RP61
The device support for F3RP71/F3RP61 enables embedded EPICS IOC on
Yokogawa's FA-M3 PLC platform. Here are links to documents and
downloadable package (tar) files by J.Odagiri, T.Nakamoto and S.Yamada.
- Present version
- Version 2.0.0 (latest pre-relase is available from GitHub)
Document:
Documents on GitHub
Device support:
GitHub releases
The both of F3RP71 and F3RP61 are supported by a single release by S.Yamada.
- Previous version
- Version 1.6.0 (2016.07.19)
Document: See the manual of version 1.3.0 (
Wiki page on GitHub)
Device support:
f3rp61-1.6.0.tar.gz
This verion of device suppor was created by merging 1.3.0 and 1.5.0 manually.
So, it could be a little bit buggy.
- Older versions
- Version 1.5.0 (2016.02.05)
Document: None
Device support:
f3rp61-1.5.0.tar.gz [tar.gz]
A new command, f3rp61GetModuleInfo, which lists all the modules in every slot of every unit, has been added as an iocsh command.
- Version 1.4.0 (2016.02.05)
Document: None
Device support:
f3rp61-1.4.0.tgz [tar.gz]
Only internal implementation related to the configuration procedure of shared memory and FL-net was modified. User applications do NOT see any differences between this version and the previous viersion (1.2.0).
- Version 1.3.0 (2014.03.27)
Document (local copy):
Device and Driver Support for F3RP61 (Version 1.3.0) [pdf]
[word]
Document and device support:
Wiki page on GitHub managed by T. Nakamoto
- Version 1.2.1 (2012.08.24)
Document: None
Device support:
f3rp61-1.2.1.tgz [tar.gz]
Only internal implementation related to the configuration procedure of shared memory and FL-net was modified. User applications do NOT see any differences between this version and the previous viersion (1.2.0).
- Version 1.2.0 (2012.02.07)
Document:
Device and Driver Support for F3RP61 (Version 1.2.0) [pdf]
Device support:
f3rp61-1.2.0.tgz [tar.gz]
Ai/ao now be able to read/write float and double type values, as well as 32-bit long
interger (double words) from/to Shared Registers (R) and Link Registers (L).
Longin/longout are also able to read/write dobule words from/to those registers.
Waveform got supported for reading an array of Shared Registers, Link
Registers and 16-bit registers of intelligent I/O modules.
- Version 1.1.1 (2011.03.07)
Document:
Device and Driver Support for F3RP61 (Version 1.1.1) [pdf]
Device support:
f3rp61-1.1.1.tgz [tar.gz]
The EPICS device support V1.1.1 should be essentially the same with
the previous version (V1.1.0). Makefile under f3rp61-1.1.1/src was
modified so that it builds the library only if T_A=linux-f3rp61.
CONFIG-related files required to build IOC libraries for the target
are included in the .tgz file. The document was revised to remove (
reduce) errors and oversight in writing and make the installation
procedure clearer.
- Version 1.1 (2010.10.20)
Document:
Device and Driver Support for F3RP61 (Version 1.1) [pdf]
Device support:
f3rp61-1.1.0.tar.gz [tar.gz]
This EPICS device support V1.1 should work with Yokogawa's
BSP (Firmware) R2.01 on F3RP61.
This version supports more registers such as mode registers
and the FL-net communication module.
The support for the image processing module will be provided separately.
- Version 1.0 (2009.4.2)
Device and Driver Support for F3RP61 (Version 1.0) [pdf]
[word]
Device support: f3rp61_090402.tar.gz [tar.gz]
This EPICS device support V1.0 should work with Yokogawa's
BSP (Firmware) both R1.01 and R2.01
(See a patch for R2.01).
Board Support Package (BSP) R2.03 from Yokogawa (Internal only, dated Feb.3.2015.)
Board Support Package (BSP) R2.01 from Yokogawa (Internal only, dated Jun.3.2010.)
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Installation
Document:
Installation of F3RP61BSP R2.03 (Internal only, Japanese) [html] by T.Nakamura (Jun.2017)
Building F3RP61 BSD R2.03 CF card image (Internal only, Japanese) [html] by T.Nakamura (Jun.2017)
Multiplication of Linux CF (Internal only, Japanese) [html] by T.Nakamura (Jun.2017)
Testing F3RP61 BSP R2.03 initrd ramdisk image (Internal only, Japanese) [html] by T.Nakamura (Jun.2017)
Building Linux CF for SuperKEKB (Internal only, Japanese) [html] by T.Nakamura (Sep.2014)
Multiplication of Linux CF (Internal only, Japanese) [html] by T.Nakamura (Sep.2014)
Formatting CF card (Internal only, Japanese) [html] by T.Nakamura (Sep.2014)
How to make bootable CF for F3RP61 [html] (Oct.2011)
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Sample applications
Sample sequencer for F3YP18 motion controller module:
f3yp18.tar.gz [tar.gz]
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Testing software modules on F3RP61
Building and testing procServ-2.5.1 (in Japanese)
Building and testing autosave_R4-7 (in Japanese)
Formating User SRAM (ext2, in Japanese)
Formating disk with ext3
Testing ntp
Memory-consuming test program
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Presentations
New controller F3RP71 for EPICS IOC [powerpoint at kurri]
[pdf local-copy]
by Y. Kubota (Yokogawa), EPICS collaboration meeting, Osaka, Japan (May.2017)
Introduction of Device and Driver Support for Yokogawa F3RP71 [powerpoint at kurri]
[pdf local-copy]
by S. Yamada, EPICS collaboration meeting, Osaka, Japan (May.2017)
F3RP61 boot up with EPICS IOC [pdf]
by T. Nakamura (Jan.2013)
IOC performance on F3RP61 [pdf]
by H. Kaji, EPICS collaboration meeting, Postech, Korea (Oct.2012)
Application of Embedded EPICS to SuperKEKB Accelerator Control[pdf] (in Japanese)
by J. Odagiri, 9th Annual Meeting of PASJ, Osaka (Aug.2012)
Application of Embedded EPICS to SuperKEKB Vacuum Control System [pdf]
by S. Terui, EPICS Collaboration Meeting, San Francisco (Apr.2012)
The Performance Test of F3RP61 and Its Application in CSNS
Experimental Control System [pdf]
by J. Zhuang et al.,
ICALEPCS2011, Grenoble, France, WEPKN027 (Oct.2011)
Application of Embedded EPICS to LLRF Control System for SuperKEKB [pdf] (in Japanese)
by J. Odagiri, 8th Annual Meeting of PASJ, Tsukuba (Aug.2011)
Demonstration of Embedded EPICS on F3RP61 PLC [pdf]
by N. Kamikubota, EPICS Collaboration Meeting, NSRRC (Jun.2011)
Development of EPICS Embedded Image Processing System [pdf]
by T. Obina, EPICS Collaboration Meeting, NSRRC (Jun.2011)
Real-time Performance Improvement of EPICS on F3RP61 [pdf]
by H. Shiratsu (Yokogawa), EPICS Collaboration Meeting, NSRRC (Jun.2011)
New Screen Monitor Controls at KEK Electron Linac [pdf] (in Japanese)
by K. Mikawa, Gijutsu-Koryukai, KEK (Oct.2010)
F3RP61 Recipe [pdf] (in Japanese)
by J. Odagiri (Oct.2010)
Application of PLC with embedded Linux OS [pdf] (in Japanese)
by J. Odagiri, Gijutsu-Kenshukai, PASJ2010 (Aug.2010)
e-RT3 Real-time Linux Controller [pdf] (Internal only)
(in Japanese) by H. Shiratsu (Yokogawa), KEK (Jun.2010)
Development and Application of "EPICS on F3RP61" [pdf] (in Japanese)
by J. Odagiri, Gijutsu-Koryukai, KEK (Mar.2010)
Application of EPICS on F3RP61 to Accelerator Control [pdf]
by J. Odagiri et al., THD005, ICALEPCS2009 (Oct.2009)
Real-time Performance Improvement of "EPICS on F3RP61" [pdf]
by H. Shiratsu (Yokogawa), EPICS collaboration meeting, Kobe (Oct.2009)
Demonstration on EPICS on F3RP61 [pdf]
by J.Odagiri (Jun.2009)
F3RP61-based Embedded IOCs for Accelerator Controls at KEK [pdf]
by K.Furukawa (Jun.2009)
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Articles
Vacuum control system based on F3RP71 for SuperKEKB [pdf] (in Japanese)
N. Yoshifuji et al., Proc of PASJ2019, Kyoto, Japan,
Aug. 2019, pp.265-267, (WEPH002)
Development of high speed sampling system using Yokogawa F3HA12 [pdf] (in Japanese)
Y. Kameta et al., Proc of PASJ2017, Sapporo, Japan,
Aug. 2017, pp.617-621, (TUP098)
Integration of PLC with EPICS IOC for SuperKEKB Control System [pdf]
J. Odagiri et al., Proc of ICALEPCS2013, San Francisco, US,
Oct. 2013, pp.31-34, (MOCOBAB02)
Design and development of the CSNS ion source control system [pdf]
Y.H Lu et al., ArXiv:1304.2898
Development Status of SINAP Timing System [jacow]
M. Liu et al., Proc of IPAC2013, Shanghai, China, May. 2013, pp.2992-2994, (WEPME032)
The Performance Test of F3RP61 and Its Application in CSNS
Experimental Control System [pdf]
J. Zhuang et al.,
Proc of ICALEPCS2011, Grenoble, France, Oct. 2011, pp.763-766, (WEPKN027)
Development of Image Processing System on Embedded EPICS for Beam Diagnostics [pdf],
J. Odagiri et al., Proc of PCaPAC2010, Saskatoon, Canada,
Oct. 2010, pp.165-167, (THPL018)
STARS on PLC [pdf],
T. Kosuge and K. Nigorikawa, Proc of PCaPAC2010, Saskatoon, Canada,
Oct. 2010, pp.73-75, (WEPL022)
Control of the Pulse Magnet Power Supply by EPICS IOC Embedded PLC [jacow],
C.Y. Wu et al., Proc of IPAC2010, Kyoto, Japan,
May. 2010, pp.2731-2733, (WEPEB020)
Development and Applications of "EPICS on F3RP61" [pdf], (in Japanese)
J. Odagiri et al., Jan. 2010.
Application of EPICS on F3RP61 to Accelerator Control [pdf],
J. Odagiri et al., Proc of ICALEPCS2009, Kobe, Japan,
Oct. 2009, pp.916-918, (THD005).
Embedded EPICS Controller for KEKB Pulsed Quadrupole Magnet Power Supply [pdf],
K. Mikawa et al., Proc of ICALEPCS2009, Kobe, Japan,
Oct. 2009, pp.558-560, (WEP082).
Upgrading the Control System of the Movable Masks for KEKB [pdf],
T. Nakamura et al., Proc of ICALEPCS2009, Kobe, Japan,
Oct. 2009, pp.546-548, (WEP074).
Data Acquisition System of Beam Loss Monitors of the J-PARC Main Ring [pdf],
S. Motohashi et al., Proc of ICALEPCS2009, Kobe, Japan,
Oct. 2009, pp.537-539, (WEP070)
Control of the J-PARC Slow Extraction Line Based on Embedded EPICS [pdf],
M. Takagi et al., Proc of ICALEPCS2009, Kobe, Japan,
Oct. 2009, pp.549-551 (WEP076)
Upgrading the Control System of RIKEN RI Beam Factory for New Injector [pdf],
M. Komiyama et al., Proc of ICALEPCS2009, Kobe, Japan,
Oct. 2009, pp.277-279 (TUP084)
Development of Embedded EPICS on F3RP61-2L [jacow],
A. Uchiyama et al., Proc of PCaPAC2008, Ljubljana, Slovenia,
Oct. 2008, pp.145-147 (WEX03)
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Links
Yokogawa Technical Report :
The e-RT3 Plus Real-time-OS-based Controller with Excellent Usability (English)
Yokogawa Technical Report :
The e-RT3 Plus Real-time-OS-based Controller with Excellent Usability (Japanese)
F3RP61 (e-RT3)
Product Information (Japanese)
F3RP71 (e-RT3) Product Information (Japanese)
F3RP61/F3RP71 (e-RT3) Technical Information (Japanese)
F3RP61/F3RP71 (e-RT3) Technical Information (English/Korean/Portugues)
Channel Access (CA) Everywhere Controls
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Patches
If you use the BSP R2.01, that was released in June 2010,
with the device support V1.0 (f3rp61_090402.tar.gz),
you need to apply the following patch against drvF3RP61.c.
This was a minor bug which did not affect anything with the BSP R1.01.
(Jul.16.2010.)
--- drvF3RP61.c.org 2009-01-27 10:20:42.000000000 +0900
+++ drvF3RP61.c 2010-07-16 12:06:26.000000000 +0900
@@ -83,7 +83,7 @@
}
for (i = 0; i < M3IO_NUM_UNIT; i++) {
- for (j = 0; j < M3IO_NUM_SLOT; j++) {
+ for (j = 1; j < (M3IO_NUM_SLOT + 1); j++) {
f3rp61_module_info[i][j].unitno = i;
f3rp61_module_info[i][j].slotno = j;
ioctl(f3rp61_fd, M3IO_GET_MODULE_INFO, &f3rp61_module_info[i][j]);
