Experimental Physics and
Industrial Control System

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<== Date ==>		<== Thread ==>

Subject:	Re: EPICS support for Julabo chiller
From:	Florian Feldbauer via Tech-talk <[email protected]>
To:	[email protected], "Neuman, Urszula (DLSLtd, RAL, LSCI) via Tech-talk" <[email protected]>
Date:	Tue, 25 May 2021 08:43:40 +0200

Hey Urszula,

we had some Julabo chillers in our labs controlled via RS232 interfaces.

I used Stream+Asyn to controll them.

I've attached the protocol file and database files for our two Julabo chillers.

HTH,
Florian

On 5/24/21 7:12 PM, Neuman, Urszula (DLSLtd, RAL, LSCI) via Tech-talk wrote:

Hi,

Does anyone have EPICS support for Julabo chillers?

We have one - Julabo FL4003 - that we would like to control remotely.

Thanks,
Urszula

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-- 
Ruhr-Universität Bochum
AG der Experimentalphysik I
Dr. Florian Feldbauer
NB 2/131 / Fach 125
Universitätsstr. 150
D-44801 Bochum

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Phone:  (+49)234 / 32-23563
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#################################################
# ###                                       ### #
# ### StreamDevice Protocol for             ### #
# ### Julabo FP50 / LH47                    ### #
# ###                                       ### #
# ### author: F.Feldbauer                   ### #
# ###                                       ### #
# ### Ref 1.0; 2011-05-19                   ### #
#################################################

###################
# ### Globals ### #
###################
OutTerminator = CR;
InTerminator  = CR LF DC1;
LockTimeout   = 5000;
ReplyTimeout  = 500;
ReadTimeout   = 500;
WriteTimeout  = 300;
ExtraInput    = Ignore;

##############################
# ### Exception Handlers ### #
##############################

#####################
# ### Protocols ### #
#####################
getStatus {
  # get status message
  # Example of command:
  # field (INP, "@Julabo.proto getStatus(PANDA:$(subsys):$(sector):JuFP50:$(ID)) JuFP50_$(ID)")

  out "status";
  in  DC3,"%(\$1:StatusNumber.VAL)i %39c";

  @mismatch {
    out "status";
    in  DC3,"%(\$1:StatusNumber.VAL)i %39c";
  }
  @replytimeout {
    out "in_pv_00";
    in  DC3,"%f";
  }
}

## pv

getBathTemp {
  # get bath temperature
  # Example of command:
  # field (INP, "@Julabo.proto getBathTemp JuFP50_$(ID)")

  out "in_pv_00";
  in  DC3,"%f";

  @mismatch {
    out "in_pv_00";
    in  DC3,"%f";
  }
  @replytimeout {
    out "in_pv_00";
    in  DC3,"%f";
  }
}

getHeatPower {
  # get used heat power
  # Example of command:
  # field (INP, "@Julabo.proto getHeatPower JuFP50_$(ID)")

  out "in_pv_01";
  in  DC3,"%f";

  @mismatch {
    out "in_pv_01";
    in  DC3,"%f";
  }
  @replytimeout {
    out "in_pv_01";
    in  DC3,"%f";
  }
}

getPT100Temp {
  # get temperature measured by external PT100
  # Example of command:
  # field (INP, "@Julabo.proto getPT100Temp JuFP50_$(ID)")

  out "in_pv_02";
  in  DC3,"%f";

  @mismatch{ in  DC3,"---.--";} 
}

getSafetySensor {
  out "in_pv_03";
  in  DC3,"%f";
}

getSafeTemp {
  out "in_pv_04";
  in  DC3,"%f";
}

getPumpPressure { #####################
  out "in_pv_05"; #                   #
  in  DC3,"%f";  # Julabo LH47 only! #
}                 #####################

## sp

getSetVal1 {
  out "in_sp_00";
  in  DC3,"%f";

  @mismatch {
    out "in_sp_00";
    in  DC3,"%f";
  }
  @replytimeout {
    out "in_sp_00";
    in  DC3,"%f";
  }
}

getSetVal2 {      #####################
  out "in_sp_01"; #                   #
  in  DC3,"%f";  # Julabo FP50 only! #
}                 #####################

getSetVal3 {      #####################
  out "in_sp_02"; #                   #
  in  DC3,"%f";  # Julabo FP50 only! #
}                 #####################

getOverTemp {
  out "in_sp_03";
  in  DC3,"%f";
}

getSubTemp {
  out "in_sp_04";
  in  DC3,"%f";
}

getUnit {
  out "in_sp_06";
  in  DC3,"%i";
}

getPumpStage {
  out "in_sp_07";
  in  DC3,"%i";

  @mismatch {
    out "in_sp_07";
    in  DC3,"%i";
  }
  @replytimeout {
    out "in_sp_07";
    in  DC3,"%i";
  }
}

## par

getTempDiff {
  out "in_par_00";
  in  DC3,"%f";
}

getTimeTe {
  out "in_par_01";
  in  DC3,"%f";
}

getTimeSi {
  out "in_par_02";
  in  DC3,"%f";
}

getTimeTi {
  out "in_par_03";
  in  DC3,"%f";
}

getCoSpeed {
  out "in_par_04";
  in  DC3,"%f";
}

getPkPh0 {
  out "in_par_05";
  in  DC3,"%f";
}

getParXpInt {
  out "in_par_06";
  in  DC3,"%f";
}

getParTnInt {
  out "in_par_07";
  in  DC3,"%f";
}

getParTvInt {
  out "in_par_08";
  in  DC3,"%f";
}

getParXpCas {
  out "in_par_09";
  in  DC3,"%f";
}

getProSharCas {
  out "in_par_10";
  in  DC3,"%f";
}

getParTnCas {
  out "in_par_11";
  in  DC3,"%f";
}

getParTvCas {
  out "in_par_12";
  in  DC3,"%f";
}

getMaxIntTempCas {
  out "in_par_13";
  in  DC3,"%f";
}

getMinIntTempCas {
  out "in_par_14";
  in  DC3,"%f";
}

getBandLimitUP {
  out "in_par_15";
  in  DC3,"%f";
}

getBandLimitLO {
  out "in_par_16";
  in  DC3,"%f";
}

getSelSetpoint {
  out "in_mode_01";
  in  DC3,"%i";
}

getSelftuneType {
  out "in_mode_02";
  in  DC3,"%i";
}

getTempControl {
  out "in_mode_04";
  in  DC3,"%i";
}

getCircCon {
  out "in_mode_05";
  in  DC3,"%i";
}

getControlDyn {
  out "in_mode_08";
  in  DC3,"%i";
}

getMaxCoolPower {
  out "in_hil_00";
  in  DC3,"%f";
}

getMaxHeatPower {
  out "in_hil_01";
  in  DC3,"%f";
}

setSelSetpoint {
  out "out_mode_01 %i";
}

setSelftuneType {
  out "out_mode_02 %i";
}

setTempControl {
  out "out_mode_04 %i";
}

setCircCon {
  out "out_mode_05 %i";

  @init {
    out "in_mode_05";
    in  DC3,"%i";
  }
}

setControlDyn {
  out "out_mode_08 %i";
}

setSetVal1 {
  out "out_sp_00 %3.2f";
}

setSetVal2 {
  out "out_sp_01 %3.2f";
}

setSetVal3 {
  out "out_sp_02 %3.2f";
}

setOverTemp {
  out "out_sp_03 %3.2f";
}

setSubTemp {
  out "out_sp_04 %3.2f";
}

setManVar {
  out "out_sp_06 %3.2f";
}

setPumpStage {
  out "out_sp_07 %i";
}

setCoSpeed {
  out "out_par_04 %1.1f";
}

setParXpInt {
  out "out_par_06 %2.1f";
}

setParTnInt {
  out "out_par_07 %i";
}

setParTvInt {
  out "out_par_08 %i";
}

setParXpCas {
  out "out_par_09 %2.1f";
}

setProSharCas {
  out "out_par_10 %2.1f";
}

setParTnCas {
  out "out_par_11 %i";
}

setParTvCas {
  out "out_par_12 %i";
}

setMaxIntTempCas {
  out "out_par_13 %i";
}

setMinIntTempCas {
  out "out_par_14 %i";
}

setBandLimitUP {
  out "out_par_15 %i";
}

setBandLimitLO {
  out "out_par_16 %i";
}

setMaxCoolPower {
  out "out_hil_00 -%i";
}

setMaxHeatPower {
  out "out_hil_01 %i";
}

############################################
# ###                                  ### #
# ### EPICS Database for               ### #
# ### Julabo FP50                      ### #
# ###                                  ### #
# ### author: F.Feldbauer              ### #
# ###                                  ### #
# ### Ref 2.0; 2011-12-19              ### #
# ###                                  ### #
# ### macros: subsys  PANDA subsystem  ### #
# ###         type    Cooling type     ### #
# ###         BUS     Asyn Interface   ### #
############################################

#######################
# ### in commands ### #
#######################
record (stringin, "PANDA:$(subsys):COOL:$(type):Status") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getStatus(PANDA:$(subsys):COOL:$(type)) $(BUS)")
  field (SCAN, "10 second")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):BathTEMP:Tmom")
}

record (ai, "PANDA:$(subsys):COOL:$(type):StatusNumber") {
  # Alarm Parameters
  field (LOLO, "-1")  field (LLSV, "MAJOR")
  field (ADEL, "0")
  field (MDEL, "0")
}

record (ai, "PANDA:$(subsys):COOL:$(type):BathTEMP:Tmom") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getBathTemp $(BUS)")
  field (EGU,  "degC")
  field (PREC, "2")
  field (HIHI, "-10")  field (HHSV, "MAJOR")
  field (LOLO, "-50")  field (LLSV, "MAJOR")
  field (HIGH, "-20")  field (HSV,  "MINOR")
  field (LOW,  "-40")  field (LSV,  "MINOR")
  field (ADEL, "0")
  field (MDEL, "0")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):HeatPower")
}

record (ai, "PANDA:$(subsys):COOL:$(type):HeatPower") {
  field (DTYP, "stream")
  field (EGU,  "p.c.")
  field (PREC, "0")
  field (INP,  "@Julabo.proto getHeatPower $(BUS)")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):PumpStage")
}

record (ai, "PANDA:$(subsys):COOL:$(type):PT100:Tmom") {
  field (DTYP, "stream")
  field (EGU,  "degC")
  field (PREC, "2")
  field (INP,  "@Julabo.proto getPT100Temp $(BUS)")
  field (ADEL, "0")
  field (MDEL, "0")
}

record (ai, "PANDA:$(subsys):COOL:$(type):Tset") {
  field (DTYP, "stream")
  field (EGU,  "degC")
  field (PREC, "2")
  field (INP,  "@Julabo.proto getSetVal1 $(BUS)")
  field (PINI, "YES")
}

record (bi, "PANDA:$(subsys):COOL:$(type):Unit") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getUnit $(BUS)")
  field (ZNAM, "degC")
  field (ONAM, "degF")
}

record (ai, "PANDA:$(subsys):COOL:$(type):PumpStage") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getPumpStage $(BUS)")
  field (ADEL, "0")
  field (MDEL, "0")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):Tset")
}

record (ai, "PANDA:$(subsys):COOL:$(type):ParXpInt") {
  field (DTYP, "stream")
  field (PINI, "YES")
  field (INP,  "@Julabo.proto getParXpInt $(BUS)")
}

record (ai, "PANDA:$(subsys):COOL:$(type):ParTnInt") {
  field (DTYP, "stream")
  field (PINI, "YES")
  field (INP,  "@Julabo.proto getParTnInt $(BUS)")
}

record (ai, "PANDA:$(subsys):COOL:$(type):ParTvInt") {
  field (DTYP, "stream")
  field (PINI, "YES")
  field (INP,  "@Julabo.proto getParTvInt $(BUS)")
}

record (mbbi, "PANDA:$(subsys):COOL:$(type):SelftuneType") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getSelftuneType $(BUS)")
  field (ZRST, "off")
  field (ONST, "once")
  field (TWST, "always")
  field (PINI, "YES")
}

record (bi, "PANDA:$(subsys):COOL:$(type):TempControl") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getTempControl $(BUS)")
  field (ZNAM, "Internal")
  field (ONAM, "External")
  field (PINI, "YES")
}

record (bi, "PANDA:$(subsys):COOL:$(type):CircCon") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getCircCon $(BUS)")
  field (ZNAM, "stop")
  field (ONAM, "start")
  field (PINI, "YES")
}

record (bi, "PANDA:$(subsys):COOL:$(type):ControlDyn") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getControlDyn $(BUS)")
  field (ZNAM, "aperiodic")
  field (ONAM, "standard")
  field (PINI, "YES")
}

########################
# ### out commands ### #
########################

record (mbbo, "PANDA:$(subsys):COOL:$(type):setSelftuneType") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setSelftuneType $(BUS)")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):SelftuneType")
  field (ZRST, "off")
  field (ONST, "once")
  field (TWST, "always")
}

record (bo, "PANDA:$(subsys):COOL:$(type):setTempControl") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setTempControl $(BUS)")
  field (ZNAM, "int")
  field (ONAM, "ext")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):TempControl")
}

record (bo, "PANDA:$(subsys):COOL:$(type):setCircCon") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setCircCon $(BUS)")
  field (ONAM, "Start")
  field (ZNAM, "Stop")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):CircCon")
}

record (ao, "PANDA:$(subsys):COOL:$(type):setTset") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setSetVal1 $(BUS)")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):Tset")
}

record (ao, "PANDA:$(subsys):COOL:$(type):setPumpStage") {
  field (DTYP, "stream")
  field (VAL,  "4")
  field (OUT,  "@Julabo.proto setPumpStage $(BUS)")
  field (FLNK, "PANDA:$(subsys):COOL:$(type):PumpStage")
  field (DRVH, "4")
  field (DRVL, "0")
  field (PREC, "0")
  field (EGU,  "a.u.")
}

record (ao, "PANDA:$(subsys):COOL:$(type):setParXpInt") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setParXpInt $(BUS)")
}

record (ao, "PANDA:$(subsys):COOL:$(type):setParTnInt") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setParTnInt $(BUS)")
}

record (ao, "PANDA:$(subsys):COOL:$(type):setParTvInt") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setParTvInt $(BUS)")
}

############################################
# ###                                  ### #
# ### EPICS Database for               ### #
# ### Julabo LH47                      ### #
# ###                                  ### #
# ### author: F.Feldbauer              ### #
# ###                                  ### #
# ### Ref 2.2; 2011-12-19              ### #
# ###                                  ### #
# ### macros: subsys  PANDA subsystem  ### #
# ###         BUS     Asyn Interface   ### #
############################################


#######################
# ### in commands ### #
#######################
record (stringin, "PANDA:$(subsys):COOL:MAIN:Status") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getStatus(PANDA:$(subsys):COOL:MAIN) $(BUS)")
  field (SCAN, "10 second")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:BathTEMP:Tmom")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:StatusNumber") {
  # Alarm Parameters
  field (LOLO, "-1")  field (LLSV, "MAJOR")
  field (ADEL, "0")
  field (MDEL, "0")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:BathTEMP:Tmom") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getBathTemp $(BUS)")
  field (EGU,  "degC")
  field (PREC, "2")
  field (HIHI, "-10")  field (HHSV, "MAJOR")
  field (LOLO, "-50")  field (LLSV, "MAJOR")
  field (HIGH, "-20")  field (HSV,  "MINOR")
  field (LOW,  "-40")  field (LSV,  "MINOR")
  field (ADEL, "0")
  field (MDEL, "0")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:HeatPower")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:HeatPower") {
  field (DTYP, "stream")
  field (EGU,  "p.c.")
  field (PREC, "0")
  field (INP,  "@Julabo.proto getHeatPower $(BUS)")
  field (ADEL, "0")
  field (MDEL, "0")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:PumpStage")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:PT100:Tmom") {
  field (DTYP, "stream")
  field (EGU,  "degC")
  field (PREC, "2")
  field (INP,  "@Julabo.proto getPT100Temp $(BUS)")
  field (ADEL, "0")
  field (MDEL, "0")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:Tset") {
  field (DTYP, "stream")
  field (EGU,  "degC")
  field (PREC, "2")
  field (INP,  "@Julabo.proto getSetVal1 $(BUS)")
  field (ADEL, "1")
  field (MDEL, "1")
  field (PINI, "YES")
}

record (bi, "PANDA:$(subsys):COOL:MAIN:Unit") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getUnit $(BUS)")
  field (ZNAM, "degC")
  field (ONAM, "degF")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:PumpStage") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getPumpStage $(BUS)")
  field (ADEL, "0")
  field (MDEL, "0")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:Tset")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:P_Pump") {
  field (DTYP, "stream")
  field (EGU,  "bar")
  field (PREC, "2")
  field (INP,  "@Julabo.proto getPumpPressure $(BUS)")
  field (ADEL, "0")
  field (MDEL, "0")
}

record (mbbi, "PANDA:$(subsys):COOL:MAIN:SelftuneType") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getSelftuneType $(BUS)")
  field (ZRST, "off")
  field (ONST, "once")
  field (TWST, "always")
  field (PINI, "YES")
}

record (bi, "PANDA:$(subsys):COOL:MAIN:TempControl") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getTempControl $(BUS)")
  field (ZNAM, "Internal")
  field (ONAM, "External")
  field (PINI, "YES")
}

record (bi, "PANDA:$(subsys):COOL:MAIN:CircCon") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getCircCon $(BUS)")
  field (ZNAM, "stop")
  field (ONAM, "start")
  field (PINI, "YES")
}

record (bi, "PANDA:$(subsys):COOL:MAIN:ControlDyn") {
  field (DTYP, "stream")
  field (INP,  "@Julabo.proto getControlDyn $(BUS)")
  field (ZNAM, "aperiodic")
  field (ONAM, "standard")
  field (PINI, "YES")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:ParXpInt") {
  field (DTYP, "stream")
  field (PINI, "YES")
  field (INP,  "@Julabo.proto getParXpInt $(BUS)")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:ParTnInt") {
  field (DTYP, "stream")
  field (PINI, "YES")
  field (INP,  "@Julabo.proto getParTnInt $(BUS)")
}

record (ai, "PANDA:$(subsys):COOL:MAIN:ParTvInt") {
  field (DTYP, "stream")
  field (PINI, "YES")
  field (INP,  "@Julabo.proto getParTvInt $(BUS)")
}

########################
# ### out commands ### #
########################

record (mbbo, "PANDA:$(subsys):COOL:MAIN:setSelftuneType") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setSelftuneType $(BUS)")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:SelftuneType")
  field (ZRST, "off")
  field (ONST, "once")
  field (TWST, "always")
}

record (bo, "PANDA:$(subsys):COOL:MAIN:setTempControl") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setTempControl $(BUS)")
  field (ZNAM, "int")
  field (ONAM, "ext")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:TempControl")
}

record (bo, "PANDA:$(subsys):COOL:MAIN:setCircCon") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setCircCon $(BUS)")
  field (ONAM, "Start")
  field (ZNAM, "Stop")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:CircCon")
}

record (ao, "PANDA:$(subsys):COOL:MAIN:setTset") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setSetVal1 $(BUS)")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:Tset")
}

record (ao, "PANDA:$(subsys):COOL:MAIN:setPumpStage") {
  field (DTYP, "stream")
  field (VAL,  "5")
  field (OUT,  "@Julabo.proto setPumpStage $(BUS)")
  field (FLNK, "PANDA:$(subsys):COOL:MAIN:PumpStage")
  field (DRVH, "5")
  field (DRVL, "0")
  field (PREC, "0")
  field (EGU,  "a.u.")
}

record (ao, "PANDA:$(subsys):COOL:MAIN:setParXpInt") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setParXpInt $(BUS)")
}

record (ao, "PANDA:$(subsys):COOL:MAIN:setParTnInt") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setParTnInt $(BUS)")
}

record (ao, "PANDA:$(subsys):COOL:MAIN:setParTvInt") {
  field (DTYP, "stream")
  field (OUT,  "@Julabo.proto setParTvInt $(BUS)")
}

References:: EPICS support for Julabo chiller Neuman, Urszula (DLSLtd, RAL, LSCI) via Tech-talk

Navigate by Date:: Prev: Re: Issue with FPGA based encoder box when running with EPICS 7.0.5 Heinz Junkes via Tech-talk; Next: Re: Issue with FPGA based encoder box when running with EPICS 7.0.5 Torsten Bögershausen via Tech-talk; Index: 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 <2021> 2022 2023 2024 2025 2026
Navigate by Thread:: Prev: EPICS support for Julabo chiller Neuman, Urszula (DLSLtd, RAL, LSCI) via Tech-talk; Next: "Starter Kit" for learning EPICS? Feister, Scott via Tech-talk; Index: 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 <2021> 2022 2023 2024 2025 2026

ANJ, 19 Mar 2026

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Experimental Physics and Industrial Control System

Experimental Physics and
Industrial Control System