CIP Safety on SERCOS

Technical Trackwww.odva.org

CIP Safety on SERCOS

Global Interoperability between CIP Safety based Networks

Technical Track – PRESENTATION TITLE page 2© 2007 Open DeviceNet Vendor Association, Inc. All rights reserved. www.odva.org

CIP Safety on SERCOS - Global Interoperability between CIP Safety based Networks

Agenda

What is SERCOS III?

What is CIP safety on SERCOS?

CIP Safety on SERCOS – Ready for a global safety world!


CIP Safety on SERCOS –What is SERCOS III ?

Master Standard Ethernet protocol frame IEEE 802.3

Standard Ethernet protocol frame IEEE 802.3

Fast Ethernet(2x 100 MBit/s, min. 31.25 µs)

Fast Ethernet(2x 100 MBit/s, min. 31.25 µs)

Cyclic RT communication via line topology

Cyclic RT communication via line topology

Cyclic RT communication via ring topology

Cyclic RT communication via ring topology

Integration ofI/O devices

Integration ofI/O devices

CAT5e

Installation withoutswitches or hubs

Installation withoutswitches or hubs



Master

HardwareredundancyHardware

redundancy

Hot-Plugof devicesHot-Plug

of devices



Connection to standard IP devices

Connection to standard IP devices

Integration ofstandard IP protocols

Integration ofstandard IP protocols

Direct connection of IP device to SERCOS III slave

Direct connection of IP device to SERCOS III slave

IP

Separate IP communicationSeparate IP

communication

Real-Time Channel Non RT-Channel

Communication Cycle

Real Time Data Time Slot

Real-Time Channel

AT1 AT2 ATn

AT 1-n MDT

MDT

MDT

SERCOS II

SERCOS III

MST MST



SERCOS III Data Fields Real-time Data Service Channel Hot plug

preambleIDLEdestination

addresssource

address type

MDTdata field

FCS ESDSFDSSD MST

MDT-service channel field of devices

MDT-Hot plug field(new devices)

MDT-real-time data fieldof devices

ATdata field

AT-service channel field of devices

AT-Hot plug field(new devices)

AT-real-time data fieldof devices

SERCOS type(MDT/AT)

phase CRC



Cross-Communication between Slaves AT

data field

AT-service channel field of devices

AT-Hot plug field(new devices)

AT-real-time data fieldof devices

RT Data FieldDevice #1

RT Data FieldDevice #n

CC Data FieldProducer #1

CC Data FieldProducer #L

Producer ConsumerProducer

Consumer


CIP Safety on SERCOS –What is CIP Safety on SERCOS ?

Adaptation to CIP Safety CIP Safety mechanism and

data formats will be adopted unmodified

Minimum implementation of standard CIP (ConnectionManager, Message Router, Identity) on the “grey” level

SERCOS safety Profiles Description of a Safety Profile (parameters

and behavior) with SERCOS parameter SERCOS III SERCOS II1)

SERCOS

adaptation to CIP Safety

CIP Safety

SERCOS safetyProfiles

CIP SafetyProfiles

1) won’t be supported by BRC



Why to adopt CIP Safety? Certified and already implemented safety protocol by different

communication networks (DeviceNet, EtherNet/IP) means a high investment security

Reduced development costs for component oriented vendors, since multiple communication networks use the same safety stack

World-wide market acceptance by a broad interest group Safety measures of the different communication networks differ

marginally only and do not lead to substantial unique selling points. Furthermore the whole transport mechanism and the overall features of the system are more essential



Transport Channel

ESDFCSMDTData FieldMSTTypeSource

AddressDestination

AddressSFDSSDIDLE Preamble Ethernet Frame

MDT Service Channel Fieldfor all Devices

MDT Hot Plug Fieldfor new Devices

MDT Realtime Data Fieldfor all Devices

MDT Data Fieldfor all Devices

Realtime Datafor Device n

Realtime Datafor Device 1

MDT Realtime Datafor all Devices

Realtime Datafor Device 2

StandardRealtime Datafor Device 1

Safe DataContainer

for Device 1MDT Realtime Data

for Device x

StandardRealtime Datafor Device n

Safe DataContainer

for Device n

StandardRealtime Datafor Device 2 3)

DATA DATA

Data

DATA DATA

Data 2)

CRC-16 1) CRC-16 1) TimeStamp CRC-8ModeByte

In case of the short protocol (max. 2 Byte data): Instead of CRC-16 1) only a CRC-8 is used and the inverted data 2) do not apply3) Device 2 does not contain any safety data.



Transport Channel n transport container of configurable length can be

configured into the cyclic data telegram of SERCOS

MDT hot plug field(new devices)

MDT service channel fieldfor all devices

MDT real-time data fieldfor all devices

real-time datafield #1

real-time datafield #2

real-time datafield #n

...

device control(4 bytes)

configurable real-time data(x bytes)

List Parameter: S-0-1100.x.y

DataContainer

1

DataContainer

n

Safe DataContainer

n

Safe DataContainer

1



Basic CIP Safety Communication

Safety ValidatorServer

Safety ValidatorClient

Safety DataProduction

Safety DataReception

SafetyAcknowledge

Production

Producing Safety

Application

Consuming Safety

Application

Data Connection

Time Coordination Connection

Logical CIP Safety Connection

CIP Safety Connection on network level

SafetyAcknowledge

Reception



CIP Adaptation

Connection

I/O UCMM

SafetyValidator

ConnectionManager

SafetyI/O Assembly

SafetySupervisor

IdentityObject

maps SERCOS IDNson Object Attributes

cyclic acyclicAdaptation to CIP Safety

CIP safety

SERCOSData Container = SMP container

MDT AT

header SMP container



CIP AdaptationConnection

I/O Connection Explicit Messaging

Cyclic Safety-Data, EPITime Coordination, n * EPI

Services, on-demand

(Forward_open)

(Unconnected) (Connected)

SERCOS Messaging Protocol (SMP) allows a (fragmented) cyclic and (fragmented) acyclic transmission of data within a SERCOS data container which gets cyclically transmitted on the Real-time channel. The SMP header controls the fragmentation or priority of the messages. (Lower priority data packets can be interrupted by higher priority packets)

tSERCOS

tSERCOS safety (EPI)

Data 1Data 1 header

tSERCOS

Data 1headerData 2

Data 2

tSERCOS

headerTCC

TCC

header



SERCOS Messaging Protocol (SMP) SMP fragments the CIP Safety protocol and decouples the

time requirements of the safety cycle from the standard cycle

CIP SafetyShort Format2Byte Data

CIP SafetyLong Format4Byte Data

DATA DATA ModeByte CRC-8

DATA DATADATA

DATA DATA DATA DATA

CRC-16 L

TimeStamp CRC-8CRC-8

CRC-16 1)

CRC-16 H TimeStamp CRC-8

ModeByte DATA

One SERCOS cycle

Two SERCOS cycles

SMP Header

m bytes (e.g. 10 Bytes)



Unicast

DC

DC

TCC

TCC

PLC

P C

C P

output

input

I/O

Drive DriveConnection 1

Connection 2

DCTCC

ATSMP2

DCTCC

SMP1

MDT



Multicast

P C C

DC

TCC

PLC

input

I/O

TCC

SMP3SMP4

SMP5

AT



CIP Safety on SERCOS network

Multi-CastSingle-CastC..consumer P..producer M..SERCOS master S..SERCOS slave

Cross Communication (C2C)

SafetyDevice

P C

SafetyDevice

C P

SafetyDevice

C

SERCOS network

S S

S

M

SafetyDevice

SafetyDevice

P C

P

M

SERCOS network

M

S

Input

1

1 Single-Cast-Connection

2 2

2 Multi-Cast-Connection

3

3 Safe Cross Communication

5

5 Safe C2C Communication

4

4 … over SERCOS networks

SafetyDevice

C

SERCOS network

S

S

M


CIP Safety on SERCOS Ready for a global safety world!

Transparent routing via standard gateways into other CIP Safety networks possible


CIP Safety on SERCOS Ready for a global safety world!

CIP Safety NetworksSNCT

(42)

SafetyPLC(43)

Standard PLC+ Gateway

(41)

StandardPLC(31)

NumericControl

(33)

SERCOSdrive(11)

SERCOSdrive(24)

SERCOSsafe I/O

(12)

SERCOSsafe I/O

(21)

SERCOSdrive + SI

(22)

SafetyPLC(34)

S3Net 1(Device-Ring)

S3Net 2(Device-Ring)

S3Net 3(Controller-Ring)

EIPNet 4

SafetyPLC(32)

PCI

SERCOSdrive + SI

(23)

CIP safety connection


CIP Safety on SERCOS Global Interoperability

between CIP Safety based Networks

Summary Combine best in class motion,

• fast I/O communication• non-RT Communication• on a Ethernet based automation network

A common world wide accepted and well introduced safety protocol

with

+

CIP Safety on SERCOS

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