Industrial Networking Protocols and Applications - IEEE ...cache.freescale.com/files/training/doc/dwf/DWF13_APF_SEG_T0626.pdf · Schneider, Fanuc, Molex PROFIBUS RS-485 35M 13.4%

TM

Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-

Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC, Processor

Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale

Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet, Flexis,

Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play,

SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and Xtrinsic are

trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of

their respective owners. © 2013 Freescale Semiconductor, Inc.

March 2013

2

TM Freescale, the Freescale logo, AltiVec, C-5, CodeTEST, CodeWarrior, ColdFire, ColdFire+, C-Ware, the Energy Efficient Solutions logo, Kinetis, mobileGT, PEG, PowerQUICC,

Processor Expert, QorIQ, Qorivva, StarCore, Symphony and VortiQa are trademarks of Freescale Semiconductor, Inc., Reg. U.S. Pat. & Tm. Off. Airfast, BeeKit, BeeStack, CoreNet,

Flexis, Layerscape, MagniV, MXC, Platform in a Package, QorIQ Qonverge, QUICC Engine, Ready Play, SafeAssure, the SafeAssure logo, SMARTMOS, Tower, TurboLink, Vybrid and

Xtrinsic are trademarks of Freescale Semiconductor, Inc. All other product or service names are the property of their respective owners. © 2013 Freescale Semiconductor, Inc.

• Industrial Networking Protocol Introduction

− Industrial Protocol Market Overview

• Two New Reference Platforms Launched in August 2012

− EtherCAT ® Programmable Logic Controller Reference Platform

− Certified PROFIBUS Slave Reference Platform

• IEEE 1588

• Summary

3





Energy

Generation

Transmission

Distribution

Factory

Production

Facility Monitoring

Switchgear

Transport

Rail Systems

Mobility and Logistics

Industrial Vehicles

Buildings

Control

Elevators

HVAC

Infrastructure

Water Treatment

Oil and Gas

M2M Communication

Industrial Scalability, Security, Safety, Connectivity

4





NRT

RT

IRT

Deterministic

1 to 100 ms Cycle Time

Deterministic

< 1 ms Cycle Time

Non-deterministic

> 100 ms Cycle Time

• Sensor

• Data scanner

• Inventory

management

• Motor drive

• Motion control

• Synchronized servo

• Conveyor belt

• Picker arm

• PLC, I/O Control

• Valve

Applications Protocols

NRT

RT

IRT

Deterministic

Jitter matters for sync

1 to 100 ms cycle time

Deterministic

< 1 µs jitter

< 1 ms cycle time

Non-deterministic

Jitter doesn’t matter

> 100 ms cycle time

IEEE® 1588 Precision Time Protocol VERY jitter sensitive; cycle time does not matter

freescale.com/IndustrialNetworking

5





Control Processor >$15 ASIC

or FPGA

ETH

PHY xMII

freescale.com/IndustrialNetworking

Replace this....

− Two chips from two vendors

With a lower cost solution One chip for

Control Application

+

Industrial Protocols

PowerQUICC or QorIQ

ETH

PHY xMII

6





Organization Members Protocols Physical

Interface

Installed

Nodes*

ethercat.org

>1975 vendors

Beckhoff, Omron, ABB,

NI, Schneider, Yaskawa

EtherCAT® 10/100

Ethernet

Not

published

PROFIBUS and

PROFINET

International

profibus.com

>1400 vendors

Siemens, GE, ABB,

Schneider, Fanuc,

Molex

PROFIBUS RS-485 35M

13.4% CAGR

Dec/10

PROFINET • PROFINET RT

• PROFINET IRT

10/100/Gb

Ethernet

3M 43% CAGR

Dec/10

Open DeviceNet

Vendors Association

odva.org

>250 vendors

Rockwell, Schneider,

Bosch Rexroth, Cisco

EtherNet/IP™

• CIP™ Sync

• Device Level Ring

10/100/Gb

Ethernet 3M

Jan/11

DeviceNet™ CAN ?

*Source: PTO, Oct/11

http://www.ethercat.org/default.htm

http://www.profibus.com/

7





freescale.com/TWR-P1025

IEEE® 1588

8





Performance and Power Consumption:

3300 DMIPS @ 800 MHz (2 cores) below 5 watts

Price:

P1025 starts at $35.16

P1016 starts at $29.76

SRP @ 10K units

Package:

561-pin TePBGAII

23 mm x 23 mm, 0.8 mm pitch

Coherency Module

System Bus

32KB

I-

Cache

e500

Corez

32KB

D-

Cache

System Bus

Enhanced Local

Bus

32b

Perf Mon,

DUART, MPIC

2x I2C, Timers

On-Chip Network

32KB

I-

Cache

e500

Core

32KB

D-

Cache

256KB

L2

DDR2/DDR3,

SDRAM

Controller

Security

Accel

XOR 16b

USB2.0

SPI

SD/MMC

PCI Express

3x

GE

MAC DMA

x4 SerDes

QUICC

Engine

UTOPIA,

TDM, MII

PCI

Express

Not on P1012

Not on P1016

3300 MIPS, 3x Gb Ethernet, 2x PROFIBUS, 4x UART, 2x PCI Express

9





Freescale formally offers many devices for

a minimum of 10 or 15 years from the time

of launch

Participating Freescale products and

program terms are listed at

www.freescale.com/productlongevity

http://www.freescale.com/productlongevity









TM

11





Master Slaves

Ethernet

Tx

Rx

• Slave devices network via 10/100 Ethernet with a master in line or ring topology

− Data from each device extracted and packed into Ethernet data packet that traverses the entire ring

− Slave devices pass messages through master before sending to another device

12





Slave Device

EtherCAT Slave

Controller

Slave Device

EtherCAT Slave

Controller

• Process data extracted and inserted on-the-fly

• Process data size per slave almost unlimited

− 1 bit…60 Kbyte, if needed using several frames

• Compilation of process data can change in each cycle

− e.g. ultra short cycle time for axis, and longer cycles for I/O update are possible

• In addition asynchronous, event-triggered communication

13





• EtherCAT uses standard Ethernet frames (IEEE 802.3)

• Master is Ethernet MAC without co-processor or special hardware

− Fully transparent for other Ethernet protocols

• Internet technologies (TCP/IP, FTP, Web server, etc.)

− Does not restrict real-time capabilities, even with 100 µs cycle time

− No large time gaps for rare traffic needed

• Full tool access to devices at real-time operation – with and without TCP/IP

Source Destination Header EtherType … CRC

16-bit 16-bit 48-bit

48-bit 32-bit

Embedded in Standard Ethernet

Frame, EtherType 0x88A4

Type Res. Length

1-bit 4-bit 11-bit

0 11 12 15

1..n EtherCAT Datagrams

14





• Master with up to 20K slave devices

− Full duplex data

− 10/100 Ethernet with standard IEEE® 802.3 frames

• Flexible topology − 100BaseT has good

robustness/EMC

− LVDS/E-Bus has low robustness/EMC

• Highly deterministic − Cycle time <50 µs

• One version for all applications

− TwinCAT, CANopen® and SERCOS application layers

• Eliminates need for switches and hubs

− One master supports up to 20k slaves

Characteristics Advantages

• Slaves need high-cost ASIC or FPGA

− Standard Ethernet interface latency too high

• No gigabit Ethernet

• Technology defined and controlled by Beckhoff

Disadvantages

www.ethercat.org

http://www.ethercat.org/

15





• Apr/10: Freescale joined EtherCAT Technology Group

• Jun/10: First EtherCAT master demo and training

− QNX® / koenig-PA (KPA)

− Green Hills / acontis / IXXAT

• Reference platforms, webinars, training, press

• P2020 QorIQ dual-core processor and i.MX28 applications processor

− Green Hills Integrity® RTOS

− acontis EtherCAT master stack

• PLC Reference Platform on P1025 QorIQ Tower Module

− ISaGRAF ® PLC Firmware and Workbench

− KPA EtherCAT Master stack

− QNX Neutrino® RTOS

History Reference Platforms

freescale.com/ethercat

Ready

16





Windows PC TWR-P1025D EVICE

GUI / C o mp i le rC o n figu re

Ap p

C o d e Libr ar ies

Off Line Tools

Drive rs

P LC Ru n

Time

P ro to co l

Stack

P o rt P o rt

P LC

Ap p licatio n

OS

P ro to co l

Stack

Drive rs

P o rt P o rt

Se rvice

Frame wo rk

DEVIC E

Ap p licatio n

Ap p licatio n

In te rface

D EVICED evelopment

Environment

P ro to co l

Stack

Drive rs

P o rt P o rt

Se rvice

Frame wo rk

DEVIC E

Ap p licatio n

Ap p licatio n

In te rface

Win d o ws OS

BeckhoffPLC

Another

PLC Firmware

Neutrino RTOS

User Application

QorIQ Hardware

IEC 61131 and IEC 61499 Tools

Off Line Development Tools

TM

EtherCATMaster

KPA EtherCAT Studio

PLC Reference Platfrom

Ethernet

Ethernet

Ethernet

PC TWR-P1025

17





• Four industry leaders integrated well-established Freescale QorIQ processor hardware onto a single PLC Reference Platform

− ISaGRAF PLC firmware

− Koenig-PA EtherCAT Master

− QNX Neutrino RTOS

• Proven performance and headroom

− KPA EtherCAT Master stack supports 1 millisecond cycle time while using <1% of a core on the dual-core QorIQ P1025 processor

− Remaining 99% of the first core, and 100% of the second core available

Control application

Other protocols such as PROFINET, PROFIBUS, EtherNet/IP

− Scale up and down the QorIQ product portfolio

• Customers can use ISaGRAF 6 Workbench development tool

− Easily develop or port advanced PLC applications onto the new PLC Reference Platform

PROFIBUS

Slave Devices PROFIBUS

Slave Devices EtherCAT

Slave Device(s)

$199

USD

freescale.com/goPLC

18





RUN-TIME SOFTWARE for P1025

• USB image or download from web

− www.qnx.com/partners/plc_reference.html

ISaGRAF® PLC Firmware

KPA EtherCAT ® Master stack

QNX ® Neutrino ® board support package

Documentation: Get Started Guide

− One click-through license for all software

MSRP $0 for evaluation version that times out in 4 hours

OFFLINE TOOLS for WINDOWS PC • ISaGRAF 6 Workbench with KPA EtherCAT Studio

− www.isagraf.com/pages/products/Isagraf/ethercat.htm

• Utility programs

− TeraTerm http://ttssh2.sourceforge.jp/

− USB to UART driver

http://www.ftdichip.com/Drivers/VCP.htm (FT2232)

freescale.com/goPLC

USB Cable

+5V

PSU

$199

USD

Supplied by Customer

Supplied in TWR-P1025 Box

TWR-P1025 module

+24V PSU

Beckhoff slave [EK1100, EL1004,

EL2004, EL 9011] Ethernet cable [2 x RJ45]

Electrical wire

Windows PC

USB Flash

Drive

http://www.qnx.com/partners/plc_reference.html

http://www.isagraf.com/pages/products/Isagraf/ethercat.htm


http://ttssh2.sourceforge.jp/

http://www.ftdichip.com/Drivers/VCP.htm

20





• ISaGRAF www.isagraf.com

− PLC Firmware for QorIQ processor [email protected]

− Workbench development tool (run on personal computer)

• koenig-PA GmbH www.koenig-pa.de

− KPA EtherCAT Master and Slave stack [email protected]

− EtherCAT services and tools

• QNX Software Systems www.qnx.com/partners/plc_reference.html

− IEC 61508 SIL3-certified Neutrino® RTOS [email protected]

− Operating system development tools

• Freescale www.freescale.com/goPLC

− QorIQ and PowerQUICC processors [email protected]

− Evaluation and development tools and hardware

freescale.com/goPLC

http://www.isagraf.com/

mailto:[email protected]

http://www.koenig-pa.de/








http://www.freescale.com/goPLC










TM

22





OSI Model

Data Unit Layer Function

Host

Layers

Data

Application Communication Language

Presentation Not used

Session Not used

Segments Transport Not used

Media

Layers

Packets Network Not used

Frames Data Link Physical Addressing (MAC, LLC)

Bits Physical Two-wire Interface (RS-485)

23





• Multiple versions

− DP, FMS, PA

• Up to 127 nodes

− 244 bytes/message

− Up to 12 Mbps

• Master/slave “polling”

− UART protocol

− start+8bit+parity+stop

• RS-485 differential physical signaling

• Highly deterministic

− Very fast

• Robust − RS-485 differential

signaling gives noise immunity

• Universally accepted

− Most widely used fieldbus

Characteristics Advantages

• High-cost ASICs

• Not Ethernet-based

• No bus power

• Master/slave model

Disadvantages

www.profibus.com

http://www.profibus.com/

24





• Dec/08: Freescale joined PI

organization

• Jun/10: First PROFINET

demo and training sessions

− Molex and Green Hills

• Co-marketing with partners

− Reference platforms,

webinars, training, press

• Molex PROFINET software on Green Hills Integrity® RTOS

− P2020 QorIQ dual-core processor

− i.MX28 applications processors

• Molex PROFINET software on QNX Neutrino® RTOS

− P2020 QorIQ dual-core processor

− MPC8309 PowerQUICC MPU

• TMG PROFIBUS software

− P1025 QorIQ Tower System

History Reference Platforms

freescale.com/PROFIBUS and freescale.com/PROFINET

Ready

25





Siemens TWR-P1025

DEVICE

Drivers

Protocol Stack

Port

DEVICEApplication

Protocol Stack

Port

DEVICEApplication

ApplicationInterface

DEVICEPLC

Protocol Stack

Port

DEVICEApplication

3rd Party

DEVICE

3rd Party

UCode

Protocol Stack

Drivers

Port

USERApplication

PLC Run Time

Drivers Drivers



PROFIBUS Slave Stack

PROFIBUS Slave Application

QorIQ Hardware TM

PROFIBUS Slave Reference Platform

PROFIBUS Slave uCode TM

Start Stop

Siemens

(PLC) TWR-P1025

(DEVICE)

Wago

(DEVICE)

26





Control application and PROFIBUS stack (layer 7) run on processor core

• Technologie Management Gruppe (TMG) PROFIBUS slave stack

• Certified by ComDec

− PROFIBUS Certification Lab hosted by Siemens AG

• Transmission up to 12 Mbps

PROFIBUS (layer 2) runs on QUICC Engine controller • RISC processor dedicated for

UART and Ethernet-based protocols

• DMA and timers

RS-485 PHY

PROFIBUS FDL

API

PROFIBUS DP v0/v1 Stack

API

Control Application

Application

Layer 7

Data Link

Layer 2

Physical

Layer 1

QUICC

Engine

controller

Power

Architecture®

Core

Customer

3rd Party or Customer

Freescale

27





SOFTWARE: Download evaluation software image from freescale.com

• Option 1: Use TMG PROFIBUS stack with pre-built executable:

− TMG PROFIBUS DP stack, including GSD file (click-through license)

− PROFIBUS Layer 2 firmware and driver (click-through license)

− Documentation: Get Started Guide and API

• Option 2: Build executable with any different PROFIBUS stack

− CodeWarrior Development Tool project

− PROFIBUS Layer 2 firmware and driver (click-through license)

− Documentation: Get Started Guide and API

HARDWARE

• PROFIBUS reference platform is built on Freescale Tower System

− TWR-P1025-KIT contains a TWR-P1025 processor module, TWR-IND-IO for RS-485 connectivity, and TWR-ELEV for mounting

− MSRP US$299, available now

− Additional I/O expansion and connectivity options are available

PLC

PROFIBUS



Slave Device(s)

$299

USD

freescale.com/profibusQorIQ

28





• TMG Automation www.tmgte.de/en/

− PROFIBUS DP master and slave stack

− PROFIBUS development services

• DoGav www.dogav.net

− PROFIBUS DP Layer 2 microcode

− PROFIBUS development services

• Freescale www.freescale.com/PROFIBUS

− QorIQ and PowerQUICC processors

− Tower System with Linux® OS

− email: [email protected]

Pre-integrated, certifiable PROFIBUS solutions:

freescale.com/PROFIBUS

DOGAV

Free L2

Microcode

http://www.tmgte.de/en/

http://www.tmgte.de/en/

http://www.dogav.net/

http://www.freescale.com/PROFIBUS










TM

30





• IEEE Std 1588 allows

precision control over a

distributed Ethernet network

• Precise timing delivery allows

drive units to be placed where

required

− Traditional mechanical control

mechanisms can limit the

placement of systems

• Timing synchronization at the

drive enables flexibility in

system configuration

− Issues due to mismatched cable

lengths are minimized

− Servos can be added or deleted

without having to rewire other

servos

• Industrial Control applications

typically augment IEEE Std

1588 hardware to provide

trigger inputs and outputs

Servo

Drive

Servo

Drive

Servo

Drive

Switch

E

E

E

Master Time

Motion Controller

ControllerE

Ethernet

Adapter

Servo

Drive

Servo

Drive

Servo

Drive

Switch

E

E

E

Master Time

Motion Controller

ControllerE

Ethernet

Adapter

Motion Controller

ControllerControllerE

Ethernet

Adapter

Peer Controlling Other Peers

Distributed Control

Switch

Master Time

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Switch

Master Time

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Motion Controller

Controller E

Ethernet

Adapter

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Motion Controller

Controller E

Ethernet

Adapter

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Servo

Drive E

Motion Controller

Controller E

Ethernet

Adapter

Motion Controller

Controller E

Ethernet

Adapter

31





Wireline Service Provider

BSC

IP Network

(Ethernet)

Ethernet

Ethernet

Head End/

Aggregation

Point

Head End/

Aggregation

Point

Synch/

Time

Server

Packet

Network

Broadband

(DSL/Cable)

Broadband

(DSL/Cable)

Femtocell /

router

Femtocell /

router

Femtocell /

router

Head End/

Aggregation

Point

Head End/

Aggregation

Point

Ethernet

Ethernet Synch/

Time

Server

Home

Home

Home

Wireline Service Provider

BSC

IP Network

(Ethernet)

Ethernet

Ethernet

Head End/

Aggregation

Point

Head End/

Aggregation

Point

Synch/

Time

Server

Packet

Network

Packet

Network

Broadband

(DSL/Cable)

Broadband

(DSL/Cable)

Femtocell /

router

Femtocell /

router

Femtocell /

router

Head End/

Aggregation

Point

Head End/

Aggregation

Point

Ethernet

Ethernet Synch/

Time

Server

Home

Home

Home

32





• IEEE Std 1588 allows coordination and control of Test and Measurement equipment over a distributed Ethernet network

• Precise timing delivery allows test equipment to deliver patterns and measure responses at specific times

− Enables accurate time stamping of measured data

− Allows coordination of input stimuli and any associated measured data

• Trigger inputs and outputs enable coordination of other devices

Remote Test

Controller

Pattern

Generator Test Board

Oscilloscope

Spectrum Analyzer

Logic Analyzer

Ethernet

Network

Trigger In

Test Point

Trigger Out

33





NTP GPS TTP IEEE Std 1588

Target Uses Autonomous systems

dispersed over a wide

area. Time information

passed via messages

on the Internet.

Autonomous systems

dispersed over a wide

area. Time information

passed via satellite.

Tightly integrated ,

closed systems usually

connected via a bus or

specialized TDMA

network

Groups of relatively

stable components,

locally networked (a

few subnets),

cooperating on a set

of well defined tasks

Target Accuracy under 1ms possible, 1-

10ms typical in LAN,

<100ms over the

Internet

Sub microsecond

Sub microsecond

Sub microsecond (±

50ns typ)

Synchronization

Resolution Time Minutes to hours < Minute

Resource

Requirements Moderate network and

compute footprint

Moderate compute

footprint

Moderate compute

footprint

Small network and

compute footprint

Latency Correction Yes Yes Configured Yes

Update Interval Variable, but normally

seconds

Approximately every

second

Milliseconds Approximately every

2 seconds

Hardware Required No Yes Yes Yes, to achieve

greatest accuracy

34





Time-Stamp

Nominal

Clock

External

Clock Ref

Platform

Clock Ref

32-bit Accum Carry

Bypass Enable

32-bit

Addend

64-bit Counter

TMR_CNTH/L

TCLK_PERIOD

+

+

RTC Clock

eTSEC Tx

Clock

Software

Tip – ADDEND is modified to fine tune the slave clock

Tip – TMR_CNTL/H are modified when difference between master and slave is huge

35





-200

-150

-100

-50

0

50

100

150

200

1 5 9 13 17 21 25 29 33 37 41 45 49 53 57 61 65 69 73 77 81 85 89 93 97 101 105 109 113 117 121 125 129 133 137

Plot the “Offset from Master” Raw Data

PTP stack evaluation version - will stop after 4 hours

-0,085857248; 0,000000000; 0,000000000; 0,000000000; 2152;

-0,000002152;-0,000002152; 0,000000000; 0,000000000; 3132;

-0,000002056;-0,000002056; 0,000000000; 0,000000000; 2960;

-0,000000856;-0,000000856; 0,000000000; 0,000000000; 2268;

0,000000264; 0,000000216; 0,000000808;-0,000000048; 1792;

0,000000608; 0,000000560; 0,000000808;-0,000000048; 1648;

0,000000448; 0,000000400; 0,000000808;-0,000000048; 1760;

0,000000112; 0,000000064; 0,000000808;-0,000000048; 1944;

-0,000000128;-0,000000176; 0,000000808;-0,000000048; 2032;

IEEE 1588 Master (P2020RDB-PC)

IXXAT IEEE 1588 application software IEEE 1588 Slave (P2020RDB-PC)

IXXAT IEEE 1588 application S/W









TM

37





Protocol ColdFire, ColdFire+ i.MX, Kinetis QorIQ, PowerQUICC

Ind

ustr

ial E

the

rne

t

POWERLINK

Fie

ldb

us

DeviceNet™

IEEE® 1588

DOGAV

38





• www.freescale.com/

industrialnetworking /profibus

/ethercat

/profinet

/CAN

/IEEE1588

• Questions? [email protected]

[email protected]


goplc

• Questions?

[email protected]

[email protected]

[email protected]

[email protected]

All Industrial

Protocols

EtherCAT Master PLC

Reference Platform


profibusQorIQ

• Questions?

[email protected]

PROFIBUS Slave

Reference Platform

Now Now

http://www.freescale.com/industrialnetworking

http://www.freescale.com/industrialnetworking



http://www.freescale.com/goplc

http://www.freescale.com/goplc

http://www.freescale.com/profibusQorIQ











TM

Documents

Industrial Networking Protocols and Applications - IEEE ...cache.freescale.com/files/training/doc/dwf/DWF13_APF_SEG_T0626.pdf · Schneider, Fanuc, Molex PROFIBUS RS-485 35M 13.4%