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ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Fieldbus Fieldbus ::Industrial NetworkIndustrial NetworkReal Time NetworkReal Time Network
Jean-Pierre ThomesseInstitut National Polytechnique de Lorraine
Nancy, France
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Who’s whoWho’s whoEthernet
WorldFIPTTP Profibus-PA
IEC 61158Sercos BacNET
Seriplex
Unitelway
P-NETCSMA-DCR
Batibus
EiBUS Interbus DeviceNet
SDS
ControlNet
CiA
CANOpen Profibus-FMSFieldBus Foundation
Profibus-DP DWF ModbusTTP-A
TTP-C EN 50170
EN 50254
TCP-IP
MMS
SNMP
M-PCCN
TASE2 IEC CASM
FDDI
ISO 8802.3ISO 8802.4
ISO 8802.5
SinecFIPIO
FIPWay
ControlFIP WDPFJBUS
ASI
PLAN Mini-MAPLON
EHS
CAN UCA
ICCP
CSMA-CA
CSMA-BA
CSMA-CD
Hart
Digital HartBitbus MAPTOPF8000
ARINC Profisafe UIC 556IEC 6375 CIPM-Bus WITBUS
Sycoway GENIUSVAN OPTOBUSEuridisJ1850LocaFIP
FTT-CANBlueTooth
AnubisAFDX
LINIEEE 802.11 FlexRay
TT-CAN
FireWire
EtherLinkEthercat EPA ModBus-RTPS
Vnet/IP
UWB
PROFInetIEC 61784
ARCNETCAMAC
MIL 1553B
IEC 61 499EN 50 295 Sensoplex
Proway
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
contentcontent
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
prehistoryprehistory
60s : CAMAC in nuclear experiments70s :– 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
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
CIM architectureCIM architecture
instrumentation
machine
cell
plant
Inc
enterprise management
factory control
cell control
machine
instrumentation
TOP
MAP
miniMAP
fieldbus
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
enabling technologiesenabling technologies
OSI reference model (1980)– communication model and concepts
LANs (Ethernet, Token…)– deterministic protocols– nondeterministic protocols
microelectronics and integrated circuits
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
enabling technologiesenabling 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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
enabling technologiesenabling technologies
LANs (Ethernet, Token, TDMA…) development– deterministic protocols– nondeterministic protocols– centralized access or not
DCS – Digital Control System vs. Distributed Control System
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
enabling technologiesenabling 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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
roles of a roles of a fieldbusfieldbus
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
fieldbusfieldbus
backbone of distributed and real time systems
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
fieldbusfieldbus
backbone of distributed and real time systems
but also
bone of contention between automation companiesbeginning of the fieldbus saga
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
contentcontent
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
first developmentfirst development
1982 - FIP - WorldFIP1983 - PROFIBUS and CAN1984 - P-Net1985 - IEC NWI TC65C/WG61985 - ISA SP50
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
IEC std contendersIEC std contenders
1st groupexisting systems– Mil Std 1553B– IEEE P1118 (Bitbus)– Foxboro– Rosemount– …
2nd grouppaper proposals– FIP– PROFIBUS
discussion draft and questionnaire for functional requirements (ISA)
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
questionnairequestionnairebenefits 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,
redundancyapplication environment– power, wires type, insulation, flammable atmosphere
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
twotwo fieldbusesfieldbuses H1 and H2H1 and H2
H1– low data rate– a few sensors– small distances– continuous process
H2– high data rate– manufacturing process– connection of several H1
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
requirements requirements -- applicationapplication
definition of Application Protocol Data Units– process (real time traffic)
measurementalarm settingstatus
– installation (non real time traffic)tag numbermanufacturer’s dataadditional maintenance
name value status
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
requirements requirements -- applicationapplication
definition of other services– control access– configuration services
types of datapolled and unsolicited messagesfull logical connectivityarchitectures (distributed or centralized)time coherences (of data, of actions)space consistency
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
requirementsrequirements
environment– medium– insulation– power– flammable atmosphere– topologies
performances– number of stations– length– data rate– response time– integrity of data– addressing
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
IEC 61158IEC 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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
IEC 61158IEC 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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
IEC 61 784IEC 61 784
Communication Profile Family - CPFIEC 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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Who’s whoWho’s whoEthernet
WorldFIPTTP Profibus-PA
IEC 61158Sercos BacNET
Seriplex
Unitelway
P-NETCSMA-DCR
Batibus
EiBUS Interbus DeviceNet
SDS
ControlNet
CiA
CANOpen Profibus-FMSFieldBus Foundation
Profibus-DP DWF ModbusTTP-A
TTP-C EN 50170
EN 50254
TCP-IP
MMS
SNMP
M-PCCN
TASE2 IEC CASM
FDDI
ISO 8802.3ISO 8802.4
ISO 8802.5
SinecFIPIO
FIPWay
ControlFIP WDPFJBUS
ASI
PLAN Mini-MAPLON
EHS
CAN UCA
ICCP
CSMA-CA
CSMA-BA
CSMA-CD
Hart
Digital HartBitbus MAPTOPF8000
ARINC Profisafe UIC 556IEC 6375 CIPM-Bus WITBUS
Sycoway GENIUSVAN OPTOBUSEuridisJ1850LocaFIP
FTT-CANBlueTooth
AnubisAFDX
LINIEEE 802.11 FlexRay
TT-CAN
FireWire
EtherLinkEthercat EPA ModBus-RTPS
Vnet/IP
UWB
PROFInetIEC 61784
ARCNETCAMAC
MIL 1553B
IEC 61 499EN 50 295 Sensoplex
Proway
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
contentcontent
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
requirements requirements -- applicationapplication
definition of Application Protocol Data Units– process (real time traffic)
measurementalarm settingstatus
– installation (non real time traffic)tag numbermanufacturer’s dataadditional maintenance
name value status
identified data
messages
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
fieldbus fieldbus traffictraffic
application exchanges
messagesidentified data
real time
periodic
aperiodic
non real time
(management,
configuration)
real time
periodic
aperiodic
non real time
(management,
configuration)
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
periodic trafficperiodic traffic
F
E
D
C
B
A A
D
C
A
D
C
A
D
C
AA
E
B
A
periodic traffic of identified data
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
aperiodic aperiodic traffictraffic
F
E
D
C
B
A A
D
C
A
D
C
A
D
C
AA
E
B
A
Aperiodic traffic
M1
M2
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
application layerapplication layer
two main classes of relationshipsclient - server– and variants
publisher - subscriber – and variants
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
clientclient--serverserver
RequestIndication
ResponseConfirmation
X-RequestX-Indication
Y-RequestY-Indication
quality of service: safety : confirmed serviceresponse time : transport delay + local server response time
RT
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
publisher publisher -- subscriber modelssubscriber models
Pull
Publishing
Manager
Pull
Publisher
Pull
Subscriber
Pull
Subscriber
Confirmed service request
Confirmed service responsecontaining publishedinformation Push
Subscriber
Push
Subscriber
Confirmed service request/response
Push
Subscriber
Push
Publisher
Unconfirmed servicecontaining publishedinformation
Push
subscriber
Push
subscriber
Push
subscriber
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
contentcontent
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
fieldbus fieldbus traffictraffic
periodic traffic
decentralizedcentralized
tokenTDMA polling CSMATTPSERCOSINTERBUSCONTROLNET
WORLDFIPPROFIBUS-DPPROFIBUS-PAFFP-NET
PROFIBUS FMS+
polling
CANDEVICENETSDSCANOPENLON
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
fieldbus fieldbus traffictraffic
aperiodic traffic
decentralized(as periodic)
periodic server
when token
periodic time slot
special frame on demand
CSMA
CONTROLNET
P-NETINTERBUS
WORLDFIP
PROFIBUS-PA
FF
CAN
SDS
DeviceNet
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Profibus Profibus -- 11
M1 M2 M3 M4
Slave3Slave2Slave1Slave4 Slave5
TOKEN passing
POLLING
ANSWER
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Profibus Profibus --22
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
WorldFIP WorldFIP -- 11
75
Speed value
Local Write
Speed“copy”
Local Read
52Speed“copy”
Local Read
Speed
Bus arbitratorpolling table
52
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
WorldFIP WorldFIP -- 22
75
Speed
Local Write
Speed“copy”
Local Read
52Speed“copy”
Local Read
Speed
Bus arbitrator
Speed
52
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
WorldFIP WorldFIP -- 33
75
Speed
Local Write
Speed“copy”
Local Read
Speed“copy”
Local Read
Speed
Bus arbitrator
v(Speed)=75
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
WorldFIP WorldFIP -- 44
75
Speed
Local Write
Speed“copy”
Local Read
Speed“copy”
Local Read
Speed
Bus arbitrator
75 75
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
ControlNet ControlNet -- 11
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
on 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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
ControlNet ControlNet -- 22
Scheduled part
NUT i NUT I+1
Unscheduled part Guard Band
station K
station K+1
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
ControlNet ControlNet -- 33
in a NUT, three time windows– scheduled– unscheduled– Guard Band
one MAC Frame by node in scheduled partpredictable and deterministic mannerRound Robin in the unscheduled part
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Interbus Interbus -- 11
Station Kperiodic data
Station Kaperiodicdata
start
K+1
K+2
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
arbitratorarbitrator
NODE
NODE
NODE NODENODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODEARBITRATOR
DISTRIBUTECOMPEL
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
tokentoken
NODE
NODE
NODE
NODE
NODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODE
TOKEN
Message
Message
Reply
TOKEN
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
L.A.S.L.A.S.
NODE
NODE
NODE NODENODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODEL.A.S.
DISTRIBUTE
COMPEL
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
L.A.S.L.A.S.
NODE
NODE
NODE NODENODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODEL.A.S.
TOKEN
MSG
MSG
REPLY
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
L.A.S.L.A.S.
NODE
NODE
NODE NODENODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODEL.A.S.
TOKEN
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
contentcontent
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
quality of servicequality of service
QoS transport– reliability of
transmission– storing methods
queuesbuffers (retentive or not)
– connections with or withoutpeer to peer, multipeer
QoS timeliness– time stamping– timeliness attributes
residence timeupdate timesynchronous
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
buffers and queuesbuffers and queues
14 1212
16 1212
16 1616
121416
161412
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
QoS QoS in in fieldbus fieldbus -- transporttransport
connections – four qualities related to frames ordering
classical (queues…)disordered without lossordered (but with possible loss)unordered (as received)
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
QoS QoS in in fieldbus fieldbus -- timelinesstimeliness
production transmission reception consumption
production consumption
receptiontransmission
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
residence attributeresidence attribute
assessment based upon the time that a data unit has been resident in a buffer.
Write-date Read-date
Residence Time
End of timewindow
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
update attributeupdate 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 timewindow
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
synchronous attributesynchronous 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 timewindow
Read-date
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
time coherencetime coherence
time coherence of actions, of eventssimultaneity of eventsoccurrences in a given time windowtime coherence of– productions– consumptions– other actions
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
time coherencetime coherence
control of time coherence– data received indication – allows, in multi peer connections, the
synchronization of subscribersusable to control any actions simultaneityverification of time coherence– by timeliness attributes
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
space space -- time consistencytime 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 subscriberskind of global acknowledgement for different transmittershypothesis:– two remote copies are considered identical if they are received
without error and correct timeliness attributes
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
space space -- time consistencytime consistency
NODE
NODE
NODE NODENODE
NODE
NODE 7
NODE
NODE 9
NODENODE 8
NODE
NODE
NODE 6
NODEL.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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
contentcontent
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
two stacks architecturestwo stacks architectures
Physical layer
Fieldbus Link layer
LLI(glue)
FMS
Physical layer
Time criticalDP or PA
Physical layer
Time critical Data Link layer
MCSTransport layer
(glue)
SUB-MMS
Physical layer
Time criticalMPS
Profibus Architecture WorldFIP Architecture
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Internet and Internet and fieldbusfieldbus
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 EncapsulationBased architecture
TCP
IP
HTTP
DLL
Ph L
Station 1 Station 2Outside
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Ethernet based architecturesEthernet based architectures
Physical layer
TC-DLL layer
TCP/UDP
IP
HTTP
Physical layer
Time criticalApplication layer
Physical layer
Ethernet Data Link layer
TCPUDP
IP
HTTP
Physical layer
Time criticalApplication layer
Time criticalmechanisms
Ethernet
Ethernet A Ethernet B
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
time critical architecturetime 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
FieldbusApplication and
Presentation layer
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
conclusion conclusion -- fieldbus fieldbus technology?technology?
real time communication system and distributed data basenew paradigms of cooperation between agentsnew views on quality of serviceimpact 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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
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
ETR 2005 - Fieldbus - Industrial Network - Real Time Network
Fieldbus Fieldbus ::Industrial NetworkIndustrial NetworkReal Time NetworkReal Time Network
Jean-Pierre ThomesseInstitut National Polytechnique de Lorraine
Nancy, France
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