Annex E - Standard Parts

Transcription

1 IDM UID 4H8SJC VERSION CREATED ON / VERSION / STATUS 20 Jun 2012 / 2.0/ Approved EXTERNAL REFERENCE Handbook (not under Configuration Control) Annex E - Standard Parts This document contains the RH control system standard parts requirements. A DA review was held on a pre-release (RHCS Handbook Annex E v1.1 review report (A6TE26)) and the report comments have been applied in version 2.0. Approval Process Name Action Affiliation Author Hamilton D. 20-Jun-2012:signed IO/DG/DIP/CIE/AOP/RH CoAuthor Reviewers Choi C.- H. Friconneau J.- P. Nakahira M. Palmer J. Tesini A. Blackler K. 21-Jun-2012:recommended 04-Jul-2012:recommended 06-Jul-2012:recommended 21-Jun-2012:recommended 10-Jul-2012:recommended 27-Jul-2012:recommended IO/DG/DIP/CIE/AOP/RH IO/DG/DIP/CIE/AOP/RH IO/DG/DIP/CIE/AOP/RH IO/DG/DIP/CIE/AOP/RH IO/DG/DIP/CIE/AOP/RH IO/DG/DIP/CIE/AOP Approver Kondoh M. 27-Sep-2012:approved IO/DG/DIP/CIE Document Security: level 1 (IO unclassified) RO: Tesini Alessandro Read Access RO, project administrator, AD: ITER, AD: External Collaborators, AD: Section - Remote Handling, AD: Section - Remote Handling - EXT PDF generated on 27-Sep-2012 DISCLAIMER : UNCONTROLLED WHEN PRINTED PLEASE CHECK THE STATUS OF THE DOCUMENT IN IDM

2 Change Log Title (Uid) Version Latest Status Issue Date Description of Change Annex E - Standard Parts (4H8SJC_v2_0) v2.0 Approved 20 Jun 2012 The results of the RH standard parts evaluations and the CODAC updates to their catalogue items were taken into account in this major update of the Annex E - Standard Parts document. The Annex E document provides the function and interface requirements for the parts of the RH Control System architecture. The recommended solutions for these parts are provided in a separate catalogue document (ITER_D_A6CMLW). Annex E - Standard Parts (4H8SJC_v1_0) v1.0 Approved 28 Jun 2011 PDF generated on 27-Sep-2012 DISCLAIMER : UNCONTROLLED WHEN PRINTED PLEASE CHECK THE STATUS OF THE DOCUMENT IN IDM

3 RHCS Design Handbook Annex E Standard Parts Table of Contents 1 Introduction Overview Abbreviated terms, acronyms and definitions References RH Infrastructure File Network Control Network Real-time network Audio-Video Network Diagnostic network Communication Middleware Communication Protocol Video Signal Distribution Protocol Emergency Stop System Software Development Environment High-Level Control System One Arm Force-Feedback Master Device Two Arm Force-feedback Master device Joystick Device Emergency Stop Buttons Viewing Monitors Desktop Operating System Server Operating System Database System Operations Management System Command & Control Virtual Reality Computer Assisted Teleoperation Structural Simulator Synthetic Viewing System Remote Diagnostic Structured Language ITER Organization 1

4 4 Low-Level Control System Electrical Distribution Board Electrical Distribution Panel Cubicle External Connectors Penetration Connectors Field cabling Real-Time Operating System (RTOS) Operating Framework RH Library On-Line Condition Monitoring Control Cubicle Products General Purpose Processor Board Control Unit Communication Bus Field Communication Bus General I/O Programmable Logic Controller Motion Controller Resolver Driver Strain Gauge Driver Camera Driver Auxiliary Joint Driver Main Joint Driver Heavy Duty Joint Driver Hydraulic Servo Valve Hydraulic Solenoid Valve Power Relay ITER Organization 2

5 1 Introduction 1.1 Overview The project wishes to control the complexity of the I&C by encouraging the use of standard COTS parts. The CODAC section has defined a number of standard parts for ITER I&C [1], the electrical section has defined standards for electrical parts [2], and the RH section has instigated a programme of evaluation studies [3] to identify suitable standard parts for the functional roles defined in the RH specifications. This document will be used to identify the function and interface requirements of the RH control system standard parts. The actual standard parts shall be listed in a separate document (RH standard parts catalogue [4]) that will be updated as-and-when suitable parts are identified. The products specified in the RH standard parts catalogue to fulfil the standard part requirements are provided as guidelines to the suppliers. The IO will encourage and facilitate the use of the guideline products, but the supplier is responsible for taking due diligence in the selection of parts for use in the supply of a system. [RQ-E-001] The RH equipment system design parts shall be compatible with the function and interface requirements that are defined in this document. 1.2 Abbreviated terms, acronyms and definitions API CAT CODAC COTS C&C EDH HLCS HMI IO IT I/O LAN LLCS NTP OMS PBS PLC POSIX RH RHCS RT RTOS R&D SCS UML USB VR Application Programming Interface Computer Assisted Teleoperation Control, Data Acquisition, and Communication Commercial Off-The-Shelf Command & Control Electrical Design Handbook High-Level Control System Human Machine Interface ITER Organization Information Technology Input/Output Local Area Network Low-Level Control System Network Timing Protocol Operations Management System Plant Breakdown Structure Programmable Logic Controller Portable Operating System Interface Remote Handling Remote Handling Control System Real-Time Real-Time Operating System Research and Development Supervisory Control System Unified Modeling Language Universal Serial Bus Virtual Reality ITER Organization 3

6 1.3 References [1] Satellite documents to CODAC Plant Control Design Handbook (27LH2V). [SD12] Slow Controller catalogue (333J63 v1.7), [SD13] Guidelines for fast controllers (333K4C v1.3), [SD14] Fast Controller products catalogue (345X28 v1.3), [SD15] Cubicle products catalogue (35LXVZ v2.3), [SD16] Guidelines for the design of the PIS (3PZ2D2, v2.4), [2] Electrical Design Handbook (EDH) [3] RH standard parts evaluation folders (6UNJ3R), (6V9RJU). WP4-5 Controller Interface Protocol Evaluation Report (6UVMLD) [4] RH Control System Standard Parts Catalogue (A6CMLW) [5] ITER Process for Human Machine Interface (HMI) Development (3T9UK2). ITER Organization 4

7 2 RH Infrastructure The IO RH section will install a basic infrastructure for the RH equipment systems to integrate with in order to become part of the overall RH System. This integrating infrastructure is procured through the Supervisory Control System (23.07) and the compatibility with the infrastructure shall be handled through the interfaces between the RH equipment systems (23.01, 23.02, 23.03, 23.05, 23.06, 23.10) and The RH infrastructure parts include:- File Network Control Network Real-time Network Audio-Video Network Diagnostic Network Communication Middleware Communication Protocol Video Signal Distribution Protocol Emergency Stop System Software Development Environment ITER Organization 5

8 2.1 File Network Function [RQ-E-002] The File Network shall provide the general backbone for communication between high-level control system applications within the Plant Operating Zone. [RQ-E-003] The File Network shall support general application traffic such as file transfers, loading of applications from servers, server calls, and so on Interface [RQ-E-004] The interface shall be the general personal computer standard for gigabit Ethernet network. [RQ-E-005] The RH high-level control system applications shall connect to the File Network Standard Part ITER Organization 6

9 2.2 Control Network Function [RQ-E-006] The Control Network shall provide the mechanism for communication of RH operation control data between the high-level control system applications and the low-level control system applications. [RQ-E-007] The CODAC Network Timing Protocol (NTP) shall be implemented through the RH Control Network. [RQ-E-008] The traffic on the Control Network shall be controlled so that 99.9% of operator initiated command messages are processed with less than 50msec delay Interface [RQ-E-009] The RH equipment system interfaces with the Control Network shall be handled through the communications interface sheet with PBS Standard Part ITER Organization 7

10 2.3 Real-time network Function [RQ-E-010] The Real-time (RT) Network provides a mechanism for digital communication between RH controllers with high reliability deterministic timing. [RQ-E-012] The bandwidth of the Real-time Network shall support, as a minimum, 10 pairs of controllers sending and receiving 128 byte data packages at 1kHz cycle rate. [RQ-E-013] The average variation in timing of the reception of packages (jitter) shall be less than 20µsec. [RQ-E-014] The occurrence of a delay greater than 100 µsec in reception of a data package shall be less than 1 in (this is considered a missed deadline). [RQ-E-015] The occurrence of more than two consecutive missed deadlines shall be less than 1 in 10,000,000,000 (approximately a year of RH controller operation). [RQ-E-016] The RH controllers should be able to continue operation through 2 missed control cycles. The RH controllers should trip to safe state if the number of consecutive missed data packages exceeds the controller safe limits, and in any case if 5 consecutive deadlines are missed Interface [RQ-E-017] The RH equipment system interfaces with the Real-time Network shall be handled through the communications interface sheet with PBS Standard Part ITER Organization 8

11 2.4 Audio-Video Network Function [RQ-E-018] The Audio-Video Network shall provide the mechanism for communication of RH audio and video signal data. [RQ-E-019] The Audio-Video Network shall implement a mechanism for reserving bandwidth for point-topoint connections so that video data can be streamed at a regular rate with low jitter. [RQ-E-020] The Audio-Video Network shall be sized to support simultaneous viewing of up to one hundred and twenty 640x480 pixel resolution video signals at 30Hz update rate in each of the RH control rooms Interface [RQ-E-021] The RH equipment system interfaces with the Audio-Video Network shall be handled through the communications interface sheet with PBS Standard Part ITER Organization 9

12 2.5 Diagnostic network Function [RQ-E-022] The Diagnostic Network shall provide the mechanism for communication of RH equipment diagnostic data between the low-level control system applications and the high-level control system applications Interface [RQ-E-023] The RH equipment system interfaces with the Diagnostics Network shall be handled through the communications interface sheet with PBS Standard Part ITER Organization 10

13 2.6 Communication Middleware Function [RQ-E-024] The Communication Middleware shall provide a standard mechanism for communication between the heterogenous applications of the RH control system. [RQ-E-025] The Communication Middleware shall provide connection management. [RQ-E-026] The Communication Middleware shall support synchronous function calls (remote procedure calls). [RQ-E-027] The Communication Middleware shall support asynchronous messaging (events/alarms). [RQ-E-028] The Communication Middleware shall support bulk data transfers (file transfers) Interface [RQ-E-029] The Communication Middleware shall be compatible with the IO/RH standard communication protocol. [RQ-E-030] The RH equipment system interfaces with the Communication Middleware shall be handled through the communications interface sheet with PBS Standard Part ITER Organization 11

14 2.7 Communication Protocol Function [RQ-E-031] The Communication Protocol shall define a standard set of rules for RH operation control communications. [RQ-E-032] The Communication Protocol shall define the protocol for managing connections between applications. [RQ-E-033] The Communication Protocol shall define the protocol for managing the operator high-level behaviour commands to RH equipment controllers (complex list of commands with varying parameters). [RQ-E-034] The Communication Protocol shall define the protocol for reading and writing application control parameters. [RQ-E-035] The Communication Protocol shall define the protocol for managing periodic RH equipment controller status reports (complex data telegrams). [RQ-E-036] The Communication Protocol shall define the protocol for managing asynchronous reporting of events and alarms. [RQ-E-037] The Communication Protocol shall define the protocol for transferring bulk data. [RQ-E-038] The Communication Protocol shall define the primitive data types for RH operation control communications Interface [RQ-E-039] The RH equipment system operation control communications shall be compatible with the RH standard Communication Protocol [3]. [RQ-E-040] The RH equipment system diagnostic communications shall be compatible with the RH standard Communication Protocol [3] Standard Part ITER Organization 12

15 2.8 Video Signal Distribution Protocol Function [RQ-E-041] The Video Signal Distribution Protocol shall provide a standard and efficient way of distributing video signals over the audio-video network (to monitors or recording devices). [RQ-E-042] The Video Signal Distribution Protocol shall provide low-latency streaming of video over a local area network Interface [RQ-E-043] The Video Signal Distribution Protocol shall be compatible with the IO/RH Audio-Video Network. [RQ-E-044] The Video Signal Distribution Protocol shall be compatible with the RH standard for viewing monitors Standard Part ITER Organization 13

16 2.9 Emergency Stop System Function [RQ-E-045] The Emergency Stop System shall provide a hierarchical push-button network for tripping the emergency stop circuits of groups of RH equipment controllers. [RQ-E-046] The Emergency Stop System shall be compatible with French regulations in personnel safety. [RQ-E-047] The Emergency Stop System shall be compatible with a configuration involving two control rooms with:- Supervisor station with emergency stops to trip all controllers operating from control room, Six work-cells with emergency stops to trip all controllers operating from work-cell, Average of 16 controllers being operated from a work-cell. [RQ-E-048] The Emergency Stop System shall be configurable so that the controllers linked to a control room work-cell can be re-defined from one RH shutdown to another. [RQ-E-049] The Emergency Stop System shall be compatible with distributed RH controllers over distances up to 1km Interface [RQ-E-050] The Emergency Stop System distribution between controller locations and server room shall be compatible with a single 20mm diameter cable. [RQ-E-051] The RH equipment system interfaces with the Emergency Stop System shall be handled through the interface with PBS Standard Part ITER Organization 14

17 2.10 Software Development Environment Function [RQ-E-052] The Software Development Environment shall provide a standard environment for developing ITER/RH software applications. [RQ-E-053] The Software Development Environment shall be compatible with software development in Java, C/C++, Python programming languages. [RQ-E-054] The Software Development Environment shall provide build and debugging tools for the development of the RH high-level control system applications. [RQ-E-055] The Software Development Environment shall provide build and debugging tools for the development of the RH low-level control system applications. [RQ-E-056] The Software Development Environment shall provide a toolkit for developing graphical user interfaces. [RQ-E-057] The Software Development Environment shall provide a toolkit for developing embedded controller applications. [RQ-E-058] The Software Development Environment shall support the use of the Unified Modeling Language Interface [RQ-E-059] The Software Development Environment shall be compatible with the RH standard Desktop Operating System. [RQ-E-060] The Software Development Environment shall be compatible with the CODAC software management tools (Subversion, Bugzilla, Maven). [RQ-E-061] The RH equipment system software shall be compatible with the IO/RH Software Development Environment Standard Part ITER Organization 15

18 3 High-Level Control System The high-level control system concerns the operator interfaces in the RH control room(s). Each RH equipment system provides a high-level control system for operation of its RH equipment, and these shall contain the parts/modules defined by the RH control system architecture. The RH high-level control system parts include:- One Arm Force-Feedback Master Device Two Arm Force-Feedback Master Device Joystick Device Emergency Stop Buttons Viewing Monitors Desktop Operating System Server Operating System Database System Operations Management System Command & Control Virtual Reality Computer Assisted Teleoperation Structural Simulator Synthetic Viewing System Remote Diagnostic Structured Language ITER Organization 16

19 3.1 One Arm Force-Feedback Master Device Function [RQ-B-043] The 1 arm master-arm device shall fulfil the following technical requirements:- full 6 degree of freedom in Cartesian space plus gripper, workspace shall contain a 400mm sided cube as a minimum, capable of exerting a sustained maximum force in the range 30N to 60N, shall have a maximum tip speed in the range 600mm/sec to 1200mm/sec, static friction overcome with a force less than 2% of the arm maximum sustained force, shall move smoothly with a force ripple less than 1% of maximum sustained force, shall have a Cartesian position resolution of better than working range/10000, shall have a Cartesian velocity resolution of better than max speed/200. [RQ-E-062] The One Arm Force-feedback Master device shall be configurable for use with kinematically dissimilar slave devices. [RQ-E-063] The One Arm Force-feedback Master device shall support on-line modification (scaling, offsetting) of mapping between master and slave work spaces. [RQ-E-064] The One Arm Force-feedback Master device controller shall comply with the controller requirements expressed in the main body and Annex C of the RHCS Design Handbook. [RQ-E-065] The height of the master arm shall be adjustable to support operation of the device in operator sitting and standing positions Interface [RQ-E-066] The One Arm Force-feedback Master device controller shall be compatible with the space and mounting allowed in the RH standard work-cell. [RQ-E-067] The One Arm Force-feedback Master device controller shall communicate with high-level control system applications (such as Command & Control) using the RH Control Network. [RQ-E-068] The One Arm Force-feedback Master device Control Network communications shall be compatible with the RH standard middleware and communication protocols. [RQ-E-069] The One Arm Force-feedback Master device controller shall communicate with the slave arm controller using the RH real-time network Standard Part ITER Organization 17

20 3.2 Two Arm Force-feedback Master device Function [RQ-E-070] The Two Arm Force-feedback Master device shall provide high sensitivity force-feedback position control over two ITER servo-manipulator arms deployed in hazardous areas. [RQ-E-071] The Two Arm Force-feedback Master device shall provide force-feedback position control over single ITER power manipulator arms deployed in hazardous areas. [RQ-B-043] Each of the arms of the two arm master device shall fulfil the following technical requirements:- full 6 degree of freedom in Cartesian space plus gripper, workspace shall contain a 400mm sided cube as a minimum, capable of exerting a sustained maximum force in the range 30N to 60N, shall have a maximum tip speed in the range 600mm/sec to 1200mm/sec, static friction overcome with a force less than 2% of the arm maximum sustained force, shall move smoothly with a force ripple less than 1% of maximum sustained force, shall have a Cartesian position resolution of better than working range/10000, shall have a Cartesian velocity resolution of better than max speed/200. [RQ-E-072] The Two Arm Force-feedback Master device shall be configurable for use with kinematically dissimilar slave devices. [RQ-E-073] The Two Arm Force-feedback Master device shall support on-line modification (scaling, offsetting) of mapping between master and slave work spaces. [RQ-E-074] The Two Arm Force-feedback Master device controller shall comply with the controller requirements expressed in the main body and Annex C of the RHCS Design Handbook. [RQ-E-075] The height of the master arms shall be adjustable to support operation of the device in operator sitting and standing positions. [RQ-E-076] The separation between the two master arms shall be adjustable up to 2m Interface [RQ-E-077] The Two Arm Force-feedback Master device controller shall be compatible with the space and mounting allowed in the RH standard work-cell. [RQ-E-078] The Two Arm Force-feedback Master device controller shall communicate with high-level control system applications (such as Command & Control) using the RH Control Network. [RQ-E-079] The Two Arm Force-feedback Master device Control Network communications shall be compatible with the RH standard middleware and communication protocols. [RQ-E-080] The Two Arm Force-feedback Master device controller shall communicate with the slave arm controller using the RH real-time network Standard Part ITER Organization 18

21 3.3 Joystick Device Function [RQ-E-081] The Joystick requirements shall comply with input device requirements provided in annex B of the RHCS Design handbook (RQ-B-044, RQ-B-045, RQ-B-046, RQ-B-039, RQ-B-040, RQ-B-042, RQ-B- 095). [RQ-E-082] The Joystick Device shall provide a guiding force to assist operators in controlling a single degree of freedom at a time if required. [RQ-E-083] The Joystick Device shall a minimum resolution of 128 unique measurements linear over with working range of the 6 degrees of freedom Interface [RQ-E-084] The Joystick requirements shall comply with input device interface requirements provided in annex B of the RHCS Design handbook (RQ-B-047, RQ-B-048). [RQ-E-085] The Joystick device shall provide a USB interface to a Joystick controller that serves many joysticks. [RQ-E-086] The Joystick device shall include drivers compatible with integration to RH applications. [RQ-E-087] The Joystick device shall be compatible with mounting on RH control room desks Standard Part ITER Organization 19

22 3.4 Emergency Stop Buttons Function [RQ-E-088] The Emergency Stop Buttons shall provide operators with a single action pushbutton mechanism for activating an emergency stop trip. [RQ-E-089] Once pressed an Emergency Stop Button shall latch this state until released by an operator. [RQ-E-090] The Emergency Stop Buttons shall be compatible with French regulations in personnel safety Interface [RQ-E-091] The Emergency Stop Buttons shall be compatible with connection to the Emergency Stop System. [RQ-E-092] The Emergency Stop Buttons shall be compatible with fixing to RH control room desks. [RQ-E-093] The Emergency Stop Buttons shall be compatible with fixing to RH controller cubicles. [RQ-E-094] The Emergency Stop Buttons shall be compatible with attaching to a flying lead Standard Part ITER Organization 20

23 3.5 Viewing Monitors Function [RQ-E-095] The Viewing Monitors shall provide the display of video signals that are streamed over the audiovideo network. [RQ-B-076] The Viewing monitors shall provide the following camera signal display functionality:- Connection to video network, Display of viewing signal sent to monitor Interface [RQ-E-096] The Viewing Monitors shall connect to the RH audio-video network. [RQ-E-097] The Viewing Monitors shall be compatible with the RH standard for video signal distribution over the audio-video network Standard Part ITER Organization 21

24 3.6 Desktop Operating System Function [RQ-E-098] The Desktop Operating System shall provide general computer operating system support to RH high-level control system applications Interface [RQ-E-099] The Desktop Operating System shall install on and interface with desktop and laptop personal computers. [RQ-E-100] The Desktop Operating System shall be compatible with the RH standard Software Development Environment. [RQ-E-101] The Desktop Operating System shall interface with the RH networks. [RQ-E-102] The Desktop Operating System shall be compatible with the deployment of the RH standard communication middleware Standard Part ITER Organization 22

25 3.7 Server Operating System Function [RQ-E-103] The Server Operating System shall provide server computer operating system support to RH server applications. [RQ-E-104] The Server Operating System shall manage and facilitate use of the server computer hardware resources. [RQ-E-105] The Server Operating System shall provide a desktop environment with tools and services for the management of data and applications on the server computer Interface [RQ-E-106] The Server Operating System shall install on and interface with server computers. [RQ-E-107] The Server Operating System shall be compatible with providing server services to the RH standard Desktop Operating System. [RQ-E-108] The Server Operating System shall interface with the RH networks. [RQ-E-109] The Server Operating System shall be compatible with the deployment of the RH standard communication middleware. [RQ-E-110] The Server Operating System shall be compatible with the installation of RH standard database system Standard Part ITER Organization 23

26 3.8 Database System Function [RQ-E-111] The Database System shall provide relational database services to RH control system applications. [RQ-E-112] The Database System shall support a database size in excess of 100 gigabyte Interface [RQ-E-113] The Database System shall conform to the ANSI-SQL:2008 standard. [RQ-E-114] The Database System shall be compatible with the RH standard Server Operating System. [RQ-E-115] The Database System shall be compatible with developments using the RH standard Software Development Environment. [RQ-E-116] The Database System shall be compatible with integration to CODAC databases Standard Part ITER Organization 24

27 3.9 Operations Management System Function The Operations Management System (OMS) is a tool for managing the planning, execution, and reporting of RH operation campaigns. [RQ-E-117] The OMS shall support parallel use by a minimum of 10 client connections (operators working on different parts of RH operation procedures). The OMS requirements are provided in annex B of the RHCS Design handbook (RQ-B-011, RQ-B-012, RQ- B-013, RQ-B-014, RQ-B-015, RQ-B-016, RQ-B-017, RQ-B-018, RQ-B-019, RQ-B-020, RQ-B-021, RQ-B- 022, RQ-B-023, RQ-B-001, RQ-B-002, RQ-B-003, RQ-B-004, RQ-B-005, RQ-B-006, RQ-B-007, RQ-B-008, RQ-B-009, RQ-B-010) Interface OMS interface requirements are provided in annex B of the RHCS Design handbook (RQ-B-024, RQ-B-025, RQ-B-026, RQ-B-027). [RQ-E-118] The OMS shall be compatible with the RH standard Desktop Operating System. [RQ-E-119] The OMS software shall be compatible with the RH standard Software Development Environment. [RQ-E-120] The OMS shall support use of the RH standard Structured Language for recording operation procedures. [RQ-E-121] The OMS shall communicate the progression through operation procedures over the RH control network using the Structured Language format (so that other high-level control system applications such as Command & Control and Virtual Reality can be informed). [RQ-E-122] The OMS shall conform to the RH standard Database system. [RQ-E-123] The OMS shall be compatible with the ITER Engineering Database Standard Part ITER Organization 25

28 3.10 Command & Control Function The Command & Control (C&C) application provides a unified operator interface for commanding RH equipment system operations. The C&C requirements are provided in annex B of the RHCS Design handbook (RQ-B-094, RQ-B-028, RQ- B-029, RQ-B-030, RQ-B-031, RQ-B-032, RQ-B-033, RQ-B-034, RQ-B-084, RQ-B-085, RQ-B-086, RQ-B- 087, RQ-B-088, RQ-B-089, RQ-B-090, RQ-B-091, RQ-B-092, RQ-B-093) Interface C&C interface requirements are provided in annex B of the RHCS Design handbook (RQ-B-035, RQ-B-036, RQ-B-037, RQ-B-038). [RQ-E-124] The C&C shall be compatible with the RH standard Desktop Operating System. [RQ-E-125] The C&C software shall be compatible with the RH standard Software Development Environment. [RQ-E-126] The C&C communications with the low-level control system shall conform to the RH standard communication protocol. [RQ-E-127] The C&C shall support use of the RH standard Structured Language for recording RH equipment system automated sequences. [RQ-E-128] The C&C shall comply with the ITER process for human machine interface development [5] Standard Part ITER Organization 26

29 3.11 Virtual Reality Function The VR system provides live 3D monitoring of the remote handling operations. The VR requirements are provided in annex B of the RHCS Design handbook (RQ-B-049, RQ-B-050, RQ-B- 051, RQ-B-054, RQ-B-055, RQ-B-056) Interface VR interface requirements are provided in annex B of the RHCS Design handbook (RQ-B-059, RQ-B-060, RQ-B-061, RQ-B-062). [RQ-E-129] The VR shall be compatible with the RH standard Desktop Operating System. [RQ-E-130] The VR shall interface with the RH standard Computer Assisted Teleoperation in order to define the environment for the force calculations. [RQ-E-131] The VR shall interface with the RH standard Structural Simulator for structural position updates. [RQ-E-132] The VR shall be compatible with the RH standard Structured Language for tracking RH equipment operations Standard Part ITER Organization 27

30 3.12 Computer Assisted Teleoperation Function The Computer Assisted Teleoperation (CAT) provides force assistance to RH operations based on modelling of forces and collisions in a 3D virtual environment. The CAT requirements are provided in annex B of the RHCS Design handbook (RQ-B-053, RQ-B-054, RQ- B-058) Interface [RQ-E-133] The CAT shall be compatible with the RH standard Desktop or Server Operating System. [RQ-E-134] The CAT shall interface with the RH standard Virtual Reality system using the RH standard Communication Middleware. [RQ-E-135] The CAT shall interface with the RH equipment controllers for position and load updates using the RH standard Communication Protocol. [RQ-E-136] The CAT shall interface with the RH standard Structural Simulator system using the RH standard Communication Middleware Standard Part ITER Organization 28

31 3.13 Structural Simulator Function The Structural Simulator provides simulation of the RH equipment structures deformations under load in realtime to improve accuracy of virtual reality representation of RH equipment in the remote environment. The Structural Simulator requirements are provided in annex B of the RHCS Design handbook (RQ-B-052, RQ-B-054, RQ-B-057). [RQ-E-139] The Structural Simulator shall be capable of providing structural simulation calculations at a minimum rate of 2Hz with a maximum latency of 200msec and jitter of 50msec Interface [RQ-E-140] The Structural Simulator shall be compatible with the RH standard Desktop or Server Operating System. [RQ-E-141] Structural Simulator software that is specifically developed for IO shall be compatible with the RH standard Software Development Environment. [RQ-E-142] The Structural Simulator shall interface with the RH standard Virtual Reality system using the RH standard Communication Middleware. [RQ-E-143] The Structural Simulator shall interface with the RH equipment controllers or the Command & Control application for position and load updates using the RH standard Communication Protocol Standard Part ITER Organization 29

32 3.14 Synthetic Viewing System Function The Synthetic Viewing system provides optimized viewing of the remote environment based on a fusion of live sensor data and 3D model data. Synthetic Viewing is an element of the overall Viewing System and requirements are provided in annex B of the RHCS Design handbook (RQ-B-074) Interface [RQ-E-146] The Synthetic Viewing system shall interface with ITER 3D model data in order to load the RH equipment/tools and ITER environment models. [RQ-E-147] The Synthetic Viewing system shall interface with the RH standard Audio-Video Network to receive live streaming of environment sensing data. [RQ-E-148] The Synthetic Viewing system shall interface with the RH standard Audio-Video Network to output live streaming of optimized viewing images for display on RH standard Viewing Monitors. [RQ-E-149] The Synthetic Viewing system shall interface with the RH standard Control Network for sending/receiving control communications with the Viewing GUI and the camera sensor controllers. [RQ-E-150] The Synthetic Viewing system shall be compatible with the RH standard Communication Middleware and Communication Protocol for communication over the Control Network. [RQ-E-151] The Synthetic Viewing system shall be compatible with the RH standard Video Signal Distribution Protocol for communication over the Audio-Video Network Standard Part ITER Organization 30

33 3.15 Remote Diagnostic Function The Remote Diagnostic system is a high-level control system application that shall provide overall monitoring of RH equipment condition monitoring data and tools for assisting fault finding. The Remote Diagnostic requirements are provide in annex B of the RHCS Design handbook (RQ-B-063, RQ-B-064, RQ-B-065, RQ-B-066) Interface [RQ-E-152] The Remote Diagnostic system interface requirements are provide in annex B of the RHCS Design handbook (RQ-B-067, RQ-B-068, RQ-B-069, RQ-B-070). [RQ-E-153] The Remote Diagnostic system shall interface with the condition monitoring module of the RH equipment controllers over the RH Diagnostic Network. [RQ-E-154] The Remote Diagnostic system communications with the RH equipment controllers shall conform to the RH standard Communication Protocol. [RQ-E-155] The Remote Diagnostic system shall interface with CODAC for data archiving and retrieval Standard Part ITER Organization 31

34 3.16 Structured Language Function The Structured Language is a common language format to be adopted across all the RH equipment systems for programming RH operations (RQ-C-051). The Structured Language grammar and basic commands are provided in annex C of the RHCS Design handbook (section 4.2) Interface [RQ-E-156] The Structured Language shall be used within the Operations Management System for unambiguously recording RH task procedures. [RQ-E-157] The Structured Language shall be used within the Command & Control system for recording RH equipment automated sequences. [RQ-E-158] The Structured Language shall be compatible with tracking operations on the Virtual Reality system Standard Part ITER Organization 32

35 4 Low-Level Control System The low-level control system concerns the control cubicles that are typically located in dedicated cubicle rooms away from the hazardous environment. In some cases, the low-level control system can be distributed out to on-board controls. Each RH equipment system will contain a set of control cubicles for driving the RH equipment and tools. The RH low-level control system parts include:- Electrical Distribution Board Electrical Distribution Panel Cubicle External Connectors Penetration Connectors Field Cabling Real-Time Operating System Operating Framework RH Library On-Line Condition Monitoring Control Cubicle Products General Purpose Processor Board Control Unit Communication Bus Field Communication Bus General I/O Programmable Logic Controller Motion Controller Resolver Driver Strain Gauge Driver Camera Driver Auxiliary Joint Driver Main Joint Driver Heavy Duty Joint Driver Hydraulic Servo Valve Hydraulic Solenoid Valve Power Relay ITER Organization 33

36 4.1 Electrical Distribution Board Function [RQ-E-159] The Electrical Distribution Board shall connect to PBS 43 power from load centres and shall be capable of providing individually tripped power up to 25kVA for at least 30 loads. [RQ-E-160] The Electrical Distribution Board trip settings shall be configurable for each load. [RQ-E-161] The Electrical Distribution Board individual load supplies shall be lockable in the off position to allow safe maintenance of loads. [RQ-E-162] The Electrical Distribution Board shall comply with the low voltage standards defined in the Electrical Design Handbook [2] (see also EDH Guide A (ITER_D_2EB9VT)) Interface [RQ-E-163] The Electrical Distribution Board shall be self-standing and comply with the space reservation of 1000mm wide x 600mm deep x 2200mm height. [RQ-E-164] The interface between the Electrical Distribution Board and the power line from the load centre shall be as defined in the interface between PBS23 (Remote Handling) and PBS 43 (Steady-state power supply) Standard Part ITER Organization 34

37 4.2 Electrical Distribution Panel Function [RQ-E-165] The Electrical Distribution Panel shall connect to PBS 43 power from load centres and shall provide individually tripped power up to 25kVA for up to 10 loads. [RQ-E-166] The Electrical Distribution Panel trip settings shall be configurable for each load. [RQ-E-167] The Electrical Distribution Panel individual load supplies shall be lockable in the off position to allow safe maintenance of loads. [RQ-E-168] The Electrical Distribution Panel shall comply with the low voltage standards defined in the Electrical Design Handbook [2] (see also EDH Guide A (ITER_D_2EB9VT)) Interface [RQ-E-169] The Electrical Distribution Panel shall be wall mounted and comply with the space reservation of 600mm wide x 300mm deep x 800mm height. [RQ-E-170] The interface between the Electrical Distribution Board and the power line from the load centre shall be as defined in the interface between PBS23 (Remote Handling) and PBS 43 (Steady-state power supply) Standard Part ITER Organization 35

38 4.3 Cubicle External Connectors Function [RQ-E-171] The Cubicle External Connectors shall connect cubicles to the field cabling Interface [RQ-E-172] Cubicles for in-vessel operations shall interface with the standard cabling to the Cask service connectors in port cells Standard Part ITER Organization 36

39 4.4 Penetration Connectors Function [RQ-E-173] The Penetration Connectors shall provide remote handling compatible connectors for penetrations into red zones Interface [RQ-E-174] The Penetration Connectors shall be compatible with the design of the Hot Cell penetrations. [RQ-E-175] The Penetration Connectors shall be compatible with remote connect and disconnect by remote handling equipment Standard Part ITER Organization 37

40 4.5 Field cabling Function [RQ-E-176] The Field Cabling shall provide electrical connection between RH controllers and base connectors for RH equipment Interface [RQ-E-177] The Field Cabling shall be compatible with RH standards for connectors. [RQ-E-178] The Field Cabling shall be qualified for the environment conditions in which it will be deployed Standard Part ITER Organization 38

41 4.6 Real-Time Operating System (RTOS) Function [RQ-E-179] The Real-Time Operating System (RTOS) shall provide embedded computer operating system support to control system applications (computational processing, interrupt and timing services, networking services, file system access, peripheral device drivers). [RQ-E-180] The RTOS shall provide POSIX.1, POSIX.1b, and POSIX.1c functionality to control system applications. [RQ-E-181] The RTOS shall support deterministic timing with average interrupt latencies to user code of less than 70µsec for real-time processes. [RQ-E-182] The RTOS average jitter in the interrupt latency to user code shall be less than 30µsec. [RQ-E-183] The occurrence of interrupt latency greater than 100 µsec shall be less than 1 in (this is considered a missed deadline). [RQ-E-184] The occurrence of more than two consecutive missed deadlines shall be less than 1 in 10,000,000,000 (approximately a year of RH controller operation). [RQ-E-185] The RH controllers should be able to continue operation through 2 missed control cycles. The RH controllers should trip to safe state if the number of consecutive missed control cycles exceeds the controller safe limit, and in any case if 5 consecutive control cycles are missed Interface [RQ-E-186] The RTOS shall install on and interface with the RH General Purpose Processor Board. [RQ-E-187] The RTOS shall manage and facilitate application use of the embedded processor board hardware resources. [RQ-E-188] The RTOS shall be compliant with POSIX.1, POSIX.1b, and POSIX.1c for interfacing with RH control system applications. [RQ-E-189] The RTOS shall have an application development environment that is compatible with the RH Desktop Operating System Standard Part ITER Organization 39

42 4.7 Operating Framework Function [RQ-E-190] The Operating Framework is a software platform for the RH controllers that shall provide services in support of real-time modular control system applications. [RQ-E-191] The Operating Framework shall support a component oriented software engineering paradigm. [RQ-E-192] The Operating Framework shall support a separation of the following programming concerns:- Computation - to execute algorithms in modules running in a real-time framework, Communication - to communicate Process Data between modules, Configuration - to configure software modules (at run-time), Connection - to connect modules during deployment, Coordination - to orchestrate and monitor the execution of modules. [RQ-E-193] The Operating Framework shall provide a standard way to execute computations deterministically in a software module. [RQ-E-194] The Operating Framework shall provide a standard way of providing data inputs and outputs to computations. [RQ-E-195] The Operating Framework shall provide an abstraction of the interfaces to the underlying realtime operating system services. [RQ-E-196] The Operating Framework shall provide application components with an execution context. [RQ-E-197] The Operating Framework shall facilitate communication between application components. [RQ-E-198] The Operating Framework shall facilitate coordination of application components executing state machines (hierarchical state machine support, event handling, exposing of component operating states). [RQ-E-199] The Operating Framework shall offer tool support for component oriented application development (introspection, logging, monitoring, visualization, and code generation where possible). [RQ-E-325] The Operating Framework shall support components with the following interfaces:- Properties description and configuration of component internals Methods immediate calls, executed synchronously in caller execution context, Commands functions taking time, executed in components execution context, Events publishing of state changes, alarms, Dataflow support real-time streaming of data between components Interface [RQ-E-200] The Operating Framework shall be compatible with the RH standard for real-time operating system. [RQ-E-201] The Operating Framework shall be compatible with the RH standard for middleware communication. [RQ-E-202] The Operating Framework shall be compatible with development of RH applications using an RH standard programming language (Java/C/C++) Standard Part ITER Organization 40

43 4.8 RH Library Function [RQ-E-203] The RH library shall provide efficient small (dimension < 10) vector and matrix handling and operations. [RQ-E-204] The RH library shall provide common robotic mathematical functions:- Linear algebra, roots of polynomials, least squares fitting, B-splines, numerical differentiation, numerical integration, general vector and matrix operations, differential equations, random numbers. [RQ-E-205] The RH library shall provide common robotic calculation functions:- Position representation, coordinate frame transformations, rotations, representing robotic chains, forward kinematics, inverse kinematics, operations with velocities and forces (Jacobian), dealing with singularities, redundancies, solving robot dynamics, trajectory planning, interpolation in Cartesian space. [RQ-E-206] The RH library shall provide common signal conditioning functions:- Filtering and smoothing of signal data, deriving additional measurements from data, decomposing complex signal data into constituent parts Interface [RQ-E-207] The RH library module shall be compatible with the RH standard RTOS. [RQ-E-208] The RH library module shall be compatible with the RH standard operating framework component interfacing Standard Part ITER Organization 41

44 4.9 On-Line Condition Monitoring Function [RQ-097] The equipment controllers shall implement a condition monitoring system to continuously monitor equipment performance against nominal performance. [RQ-E-209] The on-line condition monitoring system shall continuously monitor equipment performance against nominal performance. [RQ-E-210] The on-line condition monitoring system shall report to high-level control system (events/alarms) regarding deviations from nominal performance. [RQ-E-211] The on-line condition monitoring system shall send equipment diagnostic data to the high-level control system at a minimum frequency of 3 Hz for archiving. [RQ-E-212] The on-line condition monitoring system shall provide functionality for configuring and running diagnostic tests. [RQ-E-213] The on-line condition monitoring system shall provide gathering of diagnostic data at high rates (minimum 20Hz) during diagnostic tests and afterwards sending the block of data to the high-level control system Interface [RQ-E-214] The on-line condition monitoring system shall be compatible with the RH standard for general purpose processing board (may be shared with control system or a dedicated processor board). [RQ-E-215] The on-line condition monitoring system shall operate as a software component separate from the equipment control system and interfacing through standard component interface structure. [RQ-E-216] The on-line condition monitoring system shall collect data (control signals, sensor feedback) from the control system where relevant for the condition monitoring functions. [RQ-E-217] The on-line condition monitoring system shall interface with the RH General I/O standard for gathering diagnostic data not available from the control system modules Standard Part ITER Organization 42

45 4.10 Control Cubicle Products Function [RQ-E-218] The control cubicle shall provide floor standing housing for the embedded controller parts. [RQ-E-219] The control cubicle shall provide electromagnetic protection. [RQ-E-220] The control cubicle shall provide ventilation. [RQ-E-221] The control cubicle shall provide full length access doors to the front and back of the cubicle. [RQ-E-222] The doors shall have locking by Front Securit key N o 405. [RQ-E-223] The control cubicle shall support mounting of external connectors on the top of the cubicle. [RQ-E-224] The control cubicle shall provide features to support transport of the cubicles. [RQ-E-225] The control cubicle shall have an external master switch for turning off the cubicle mains power. [RQ-E-226] The control cubicle shall provide an internal temperature measurement to the control system. [RQ-E-227] The control cubicle shall monitoring of the front and back door closed states. [RQ-E-228] The control cubicle shall provide a connection to earth. [RQ-E-229] The Electrical Distribution Board shall comply with the low voltage standards defined in the Electrical Design Handbook [2] (see also EDH Guide A (ITER_D_2EB9VT)) Interface [RQ-E-230] The control cubicle shall comply with space reservation of 0.8m x 0.8m base and 2.2m height. [RQ-E-231] The control cubicle shall provide support for 19 control system chassis modules. [RQ-E-232] The control cubicle shall provide cable trays for internal control system cable routing. [RQ-E-233] Door monitoring switches shall be compatible with 24V DC low current acquisition loop. [RQ-E-234] Cubicle temperature monitoring shall provide a 4-20mA current signal to control system Standard Part ITER Organization 43

46 4.11 General Purpose Processor Board Function [RQ-E-235] The General Purpose Processor Board shall provide computing services for RH control system applications (computational processing, memory, data storage, network interfacing, peripheral interfacing). [RQ-E-236] The General Purpose Processor Board shall provide board support package functionality allowing the operating system to interface with the processor board hardware Interface [RQ-E-237] The General Purpose Processor Board support package shall be compatible with the RH standard RTOS. [RQ-E-238] The General Purpose Processor Board shall provide output to support the connection of a computer monitor. [RQ-E-239] The General Purpose Processor Board shall provide at least one Ethernet connection. [RQ-E-240] The General Purpose Processor Board shall be compatible with the RH standard control unit communication bus. [RQ-E-241] The General Purpose Processor Board shall be compatible with a 4U chassis. [RQ-E-242] The General Purpose Processor Board shall be compatible with the CODAC Fast Controller platform (Fast Controllers Catalogue Datasheet - PICMG 1.3 PC 4U Industrial Computer (33ZH3R) ) Standard Part ITER Organization 44