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Figure 7
Upgraded integration topology between the APU22 and the HD-DCM at EMA and MANACÁ. The APU22 uses a Beckhoff controller with a Windows Embedded CE operating systems (OS) and an external virtual machine (VM) with a Debian OS for the EPICS IOC server. The HD-DCM is based on an NI linux real-time operating system (RTOS), with an embedded EPICS IOC server for EPICS process variables (PVs). A direct Ethernet (Eth) link using UDP (user datagram protocol) for setpoint streaming is now available for follower mode operation. Further details can be found in the text.

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