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Fieldbus : : Fieldbus Industrial Network Industrial Network Real - - PowerPoint PPT Presentation

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Fieldbus : : Fieldbus Industrial Network Industrial Network Real Time Network Real Time Network Jean-Pierre Thomesse Institut National Polytechnique de Lorraine Nancy, France ETR 2005 - Fieldbus - Industrial Network - Real Time Network

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

Fieldbus Fieldbus : : Industrial Network Industrial Network Real Time Network Real Time Network

Jean-Pierre Thomesse Institut National Polytechnique de Lorraine Nancy, France

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

Who’s who Who’s who

EthernetWorldFIP

TTP Profibus-PA IEC 61158 Sercos BacNET Seriplex Unitelway P-NET CSMA-DCR Batibus EiBUS Interbus DeviceNet SDS ControlNet CiA CANOpen Profibus-FMS FieldBus Foundation Profibus-DP DWF Modbus TTP-A TTP-C EN 50170 EN 50254 TCP-IP MMS SNMP M-PCCN TASE2 IEC CASM FDDI ISO 8802.3 ISO 8802.4 ISO 8802.5 Sinec FIPIO FIPWay ControlFIP WDPF JBUS ASI PLAN Mini-MAP LON EHS CAN UCA ICCP CSMA-CA CSMA-BA CSMA-CD Hart Digital Hart Bitbus MAP TOP F8000 ARINC Profisafe UIC 556 IEC 6375 CIP M-Bus WITBUS Sycoway GENIUS VAN OPTOBUS Euridis J1850 LocaFIP FTT-CAN BlueTooth Anubis AFDX LIN IEEE 802.11 FlexRay TT-CAN FireWire EtherLink Ethercat EPA ModBus-RTPS Vnet/IP UWB PROFInet IEC 61784 ARCNET CAMAC MIL 1553B IEC 61 499

EN 50 295

Sensoplex Proway

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

content content

1st part : history and state of the art

– fieldbus origins

– development of fieldbus and standards

2nd part : technical aspects

– application relationships – Medium Access Control – Data Link Layer – architectures

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prehistory prehistory

60s : CAMAC in nuclear experiments 70s :

– MODBUS (PLC network) – WDPF (continuous process) – ARCNET (office communication and data acquisition) – Mil Std 1553B

Data HighWay (Allen Bradley), TiWay (Texas

Instr)…

needs for standards

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

MAP and TOP (1980) MAP and TOP (1980)

Manufacturing Automation Protocol

– General Motors – communication between design offices and factories – communication between machine tools and robots

Technical and Office Protocol

– Boeing – communication between business and technical offices

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CIM architecture CIM architecture

instrumentation machine cell plant Inc enterprise management factory control cell control machine instrumentation TOP MAP miniMAP fieldbus

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

enabling technologies enabling technologies

OSI reference model (1980)

– communication model and concepts

LANs (Ethernet, Token…)

– deterministic protocols – nondeterministic protocols

microelectronics and integrated circuits

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enabling technologies enabling technologies

OSI reference model “reduced models”

Application layer Data Link layer+MAC Physical layer Application layer Data Link layer Physical layer Network layer Transport layer Session layer Presentation layer

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

enabling technologies enabling technologies

LANs (Ethernet, Token, TDMA…) development

– deterministic protocols – nondeterministic protocols – centralized access or not

DCS

– Digital Control System vs. Distributed Control System

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

enabling technologies enabling technologies

microelectronics and integrated circuits

– full and semi-custom – micro processors – micro controllers – DSP – communication dedicated ICs (I2C- Inter IC network) – “intelligence” embedded in ICs

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

roles of a roles of a fieldbus fieldbus

connection of field devices and field controllers

– sensors, actuators, drives controllers, PLCs…

system considerations

– simplification of wiring – standardization of communication between devices – development of smart devices

real time communication system

– with different services and various qualities of service – multiple domains of application

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fieldbus fieldbus

backbone of distributed and real time systems

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fieldbus fieldbus

backbone of distributed and real time systems

but also

bone of contention between automation companies

beginning of the fieldbus saga

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

content content

1st part : history and state of the art – fieldbus origins

– development of fieldbus and standards

2nd part : technical aspects

– application relationships – Medium Access Control – Data Link Layer – architectures

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

first development first development

1982 - FIP - WorldFIP 1983 - PROFIBUS and CAN 1984 - P-Net 1985 - IEC NWI TC65C/WG6 1985 - ISA SP50

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IEC std contenders IEC std contenders

1st group existing systems

– Mil Std 1553B – IEEE P1118 (Bitbus) – Foxboro – Rosemount – …

2nd group paper proposals

– FIP – PROFIBUS

discussion draft and questionnaire for functional requirements (ISA)

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questionnaire questionnaire

benefits of fieldbus

– lowering cost, ease of adding devices, accuracy of information, enhancing the maintainability, remote access to data, advanced control strategies

describing field devices

– max response time and message frequency

information flows

– grouping of devices, topology, number of stations, redundancy

application environment

– power, wires type, insulation, flammable atmosphere

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two two fieldbuses fieldbuses H1 and H2 H1 and H2

H1

– low data rate – a few sensors – small distances – continuous process

H2

– high data rate – manufacturing process – connection of several H1

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requirements requirements -

  • application

application

definition of Application Protocol Data Units

– process (real time traffic)

measurement alarm setting status

– installation (non real time traffic)

tag number manufacturer’s data additional maintenance

name value status

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requirements requirements -

  • application

application

definition of other services

– control access – configuration services

types of data polled and unsolicited messages full logical connectivity architectures (distributed or centralized) time coherences (of data, of actions) space consistency

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requirements requirements

environment

– medium – insulation – power – flammable atmosphere – topologies

performances

– number of stations – length – data rate – response time – integrity of data – addressing

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IEC 61158 IEC 61158

8 types for data link layer

– Type 1 : compromise (Technical Report) – Type 2 : ControlNet – Type 3 : Profibus – Type 4 : P-Net – Type 5 : Foundation fieldbus – Type 6 : Swiftnet – Type 7 : WorldFIP – Type 8 : Interbus

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IEC 61158 IEC 61158

10 types for application layer

– Type 1 : compromise (Technical Report) – Type 2 : ControlNet – Type 3 : Profibus – Type 4 : P-Net – Type 5 : Foundation fieldbus – Type 6 : Swiftnet – Type 7 : WorldFIP – Type 8 : Interbus – Type 9 : Foundation fieldbus H1 – Type 10 : Profinet

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IEC 61 784 IEC 61 784

Communication Profile Family - CPF IEC 61 784-1

– 18 profiles

IEC 61 784 -2 under specification (based on

Ethernet)

– VNET/IP, – TCNet, – EtherCAT, – EtherNet PowerLink, – EPA : Ethernet for Plant Automation – ModBus RTPS : Real Time Publish - Subscribe

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Who’s who Who’s who

EthernetWorldFIP

TTP Profibus-PA IEC 61158 Sercos BacNET Seriplex Unitelway P-NET CSMA-DCR Batibus EiBUS Interbus DeviceNet SDS ControlNet CiA CANOpen Profibus-FMS FieldBus Foundation Profibus-DP DWF Modbus TTP-A TTP-C EN 50170 EN 50254 TCP-IP MMS SNMP M-PCCN TASE2 IEC CASM FDDI ISO 8802.3 ISO 8802.4 ISO 8802.5 Sinec FIPIO FIPWay ControlFIP WDPF JBUS ASI PLAN Mini-MAP LON EHS CAN UCA ICCP CSMA-CA CSMA-BA CSMA-CD Hart Digital Hart Bitbus MAP TOP F8000 ARINC Profisafe UIC 556 IEC 6375 CIP M-Bus WITBUS Sycoway GENIUS VAN OPTOBUS Euridis J1850 LocaFIP FTT-CAN BlueTooth Anubis AFDX LIN IEEE 802.11 FlexRay TT-CAN FireWire EtherLink Ethercat EPA ModBus-RTPS Vnet/IP UWB PROFInet IEC 61784 ARCNET CAMAC MIL 1553B IEC 61 499

EN 50 295

Sensoplex Proway

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

content content

1st part : history and state of the art – fieldbus origins – development of fieldbus and standards

2nd part : technical aspects

– application relationships

– Medium Access Control – Data Link Layer – architectures

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ETR 2005 - Fieldbus - Industrial Network - Real Time Network

requirements requirements -

  • application

application

definition of Application Protocol Data Units

– process (real time traffic)

measurement alarm setting status

– installation (non real time traffic)

tag number manufacturer’s data additional maintenance

name value status

identified data

messages

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fieldbus fieldbus traffic traffic

application exchanges messages identified data

real time periodic aperiodic non real time (management, configuration) real time periodic aperiodic non real time (management, configuration)

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periodic traffic periodic traffic

F E D C B A A D C A D C A D C A A E B A

periodic traffic of identified data

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aperiodic aperiodic traffic traffic

F E D C B A A D C A D C A D C A A E B A

Aperiodic traffic M 1 M 2

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application layer application layer

two main classes of relationships client - server

– and variants

publisher - subscriber

– and variants

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client client-

  • server

server

Request Indication Response Confirmation X-Request X-Indication Y-Request Y-Indication quality of service: safety : confirmed service response time : transport delay + local server response time RT

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publisher publisher -

  • subscriber models

subscriber models

Pull Publishing Manager Pull Publisher Pull Subscriber Pull Subscriber

Confirmed service request Confirmed service response containing published information

Push Subscriber Push Subscriber

Confirmed service request/response

Push Subscriber Push Publisher

Unconfirmed service containing published information

Push subscriber Push subscriber Push subscriber

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content content

1st part : history and state of the art – fieldbus origins – development of fieldbus and standards

2nd part : technical aspects

– application relationships

– Medium Access Control

– Data Link Layer – architectures

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fieldbus fieldbus traffic traffic

periodic traffic decentralized centralized token TDMA polling CSMA

TTP SERCOS INTERBUS CONTROLNET WORLDFIP PROFIBUS-DP PROFIBUS-PA FF P-NET PROFIBUS FMS + polling CAN DEVICENET SDS CANOPEN LON

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fieldbus fieldbus traffic traffic

aperiodic traffic decentralized (as periodic) periodic server when token periodic time slot special frame on demand CSMA

CONTROLNET P-NET INTERBUS WORLDFIP PROFIBUS-PA FF CAN SDS DeviceNet

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Profibus Profibus -

  • 1

1

M1 M2 M3 M4 Slave3 Slave2 Slave1 Slave4 Slave5 TOKEN passing

POLLING ANSWER

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Profibus Profibus -

  • 2

2

role of a Profibus master

– receive the token – perform high priority messages first – perform the exchanges specified in the Poll List – perform low priority messages – perform station registration (live list) – send the token

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WorldFIP WorldFIP -

  • 1

1

75

Speed value

Local Write

Speed “copy”

Local Read

52

Speed “copy”

Local Read

Speed

Bus arbitrator polling table

52

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WorldFIP WorldFIP -

  • 2

2

75

Speed

Local Write

Speed “copy”

Local Read

52

Speed “copy”

Local Read

Speed

Bus arbitrator Speed

52

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WorldFIP WorldFIP -

  • 3

3

75

Speed

Local Write

Speed “copy”

Local Read

Speed “copy”

Local Read

Speed

Bus arbitrator v(Speed)=75

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WorldFIP WorldFIP -

  • 4

4

75

Speed

Local Write

Speed “copy”

Local Read

Speed “copy”

Local Read

Speed

Bus arbitrator

75 75

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ControlNet ControlNet -

  • 1

1

based on a fixed repetitive time cycle

– Network Update Time (NUT) – close synchronism – each node - a clock synchronised to the NUT – access to the medium in sequential order based

  • n the MAC ID of the node

– implicit token passing

at the end of a frame, comparison of the received

MAC ID +1 with the own address

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ControlNet ControlNet -

  • 2

2

Scheduled part

NUT i NUT I+1

Unscheduled part Guard Band

station K station K+1

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ControlNet ControlNet -

  • 3

3

in a NUT, three time windows

– scheduled – unscheduled – Guard Band

  • ne MAC Frame by node in scheduled part

predictable and deterministic manner Round Robin in the unscheduled part

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Interbus Interbus -

  • 1

1

Station K periodic data Station K aperiodic data start K+1 K+2

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arbitrator arbitrator

NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE ARBITRATOR DISTRIBUTE COMPEL

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token token

NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE TOKEN Message Message Reply TOKEN

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L.A.S. L.A.S.

NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE L.A.S. DISTRIBUTE COMPEL

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L.A.S. L.A.S.

NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE L.A.S. TOKEN MSG MSG REPLY

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L.A.S. L.A.S.

NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE NODE L.A.S. TOKEN

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content content

1st part : history and state of the art – fieldbus origins – development of fieldbus and standards

2nd part : technical aspects

– application relationships – Medium Access Control

– Data Link Layer

– architectures

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quality of service quality of service

QoS transport

– reliability of transmission – storing methods

queues buffers (retentive or

not)

– connections

with or without peer to peer, multipeer

QoS timeliness

– time stamping – timeliness attributes

residence time update time synchronous

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buffers and queues buffers and queues

14 12 12 16 12 12 16 16 16 12 14 16 16 14 12

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QoS QoS in in fieldbus fieldbus -

  • transport

transport

connections

– four qualities related to frames ordering

classical (queues…) disordered without loss

  • rdered (but with possible loss)

unordered (as received)

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QoS QoS in in fieldbus fieldbus -

  • timeliness

timeliness

production transmission reception consumption production consumption reception transmission

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residence attribute residence attribute

assessment based upon the time that a data

unit has been resident in a buffer.

Write-date Read-date Residence Time End of time window

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update attribute update attribute

assessment based upon the time interval

between a synchronising event and the moment the buffer is written

Update-Time Synchro-event Writing-date End of time window

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synchronous attribute synchronous attribute

assessment based upon the time intervals and

timing relationships between

– a synchronising event – the moment when the buffer is written – the moment the buffer is read Synchro-event Writing-date End of time window Read-date

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time coherence time coherence

time coherence of actions, of events simultaneity of events

  • ccurrences in a given time window

time coherence of

– productions – consumptions – other actions

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time coherence time coherence

control of time coherence

– data received indication – allows, in multi peer connections, the synchronization of subscribers

usable to control any actions simultaneity verification of time coherence

– by timeliness attributes

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space space -

  • time consistency

time consistency

“reliable broadcasting” management of lists of variables (copies)

– produced by different publishers – consumed by several subscribers

verification and correction to obtain identical lists by the

subscribers

kind of global acknowledgement for different transmitters hypothesis:

– two remote copies are considered identical if they are received without error and correct timeliness attributes

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space space -

  • time consistency

time consistency

NODE NODE NODE NODE NODE NODE NODE 7 NODE NODE 9 NODE NODE 8 NODE NODE NODE 6 NODE L.A.S. COMPEL (A) value(A) value(A) value(A) value(A) COMPEL (B) DISTRIBUTE B value(B) value(B) value(B) value(B) DISTRIBUTE A COMPEL L6 DISTRIBUTE L6 L6=OK L8=OK L9=OK L7=not OK, B

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content content

1st part : history and state of the art – fieldbus origins – development of fieldbus and standards

2nd part : technical aspects

– application relationships – Medium Access Control – Data Link Layer

– architectures

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two stacks architectures two stacks architectures

Physical layer Fieldbus Link layer LLI (glue) FMS Physical layer Time critical DP or PA Physical layer Time critical Data Link layer MCS Transport layer (glue) SUB-MMS Physical layer Time critical MPS Profibus Architecture WorldFIP Architecture

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Internet and Internet and fieldbus fieldbus

Physical layer Time Critical Data Link layer TCP IP HTTP Time critical Time Critical Data Link layer TCP IP HTTP Physical layer Time critical IP Encapsulation Based architecture TCP IP HTTP DLL Ph L Station 1 Station 2 Outside

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Ethernet based architectures Ethernet based architectures

Physical layer TC-DLL layer TCP/ UDP IP HTTP Physical layer Time critical Application layer Physical layer Ethernet Data Link layer TCP UDP IP HTTP Physical layer Time critical Application layer Time critical mechanisms Ethernet Ethernet A Ethernet B

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time critical architecture time critical architecture

Physical layer Time critical Data Link layer Network layer Transport layer OSI Session layer OSI Presentation layer OSI Application layer Physical layer Physical layer Fieldbus Application and Presentation layer

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conclusion conclusion -

  • fieldbus

fieldbus technology? technology?

real time communication system and distributed data base new paradigms of cooperation between agents new views on quality of service impact on several computer science domains

– protocol modeling and validation – performance evaluation – scheduling (joint scheduling of messages and tasks) – and now joint modeling of application and communication for proving distributed applications

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fieldbus fieldbus technology? technology?

future

– which Ethernet ? – Internet and Web technologies – wireless – real intelligent devices and equipment – interoperability

standards as in general purpose computing

– one or two operating systems – a common communication architecture

reference: Proceedings of IEEE, Vol 93, N°6, June 2005, pp 1073-1101

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Fieldbus Fieldbus : : Industrial Network Industrial Network Real Time Network Real Time Network

Jean-Pierre Thomesse Institut National Polytechnique de Lorraine Nancy, France