Fieldbus : Industrial Network Real Time Network · ETR 2005 - Fieldbus - Industrial Network - Real...

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


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


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


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


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


CIM architectureCIM architecture

instrumentation

machine

cell

plant

Inc

enterprise management

factory control

cell control

machine

instrumentation

TOP

MAP

miniMAP

fieldbus


enabling technologiesenabling technologies

OSI reference model (1980)– communication model and concepts

LANs (Ethernet, Token…)– deterministic protocols– nondeterministic protocols

microelectronics and integrated circuits



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



LANs (Ethernet, Token, TDMA…) development– deterministic protocols– nondeterministic protocols– centralized access or not

DCS – Digital Control System vs. Distributed Control System



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


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


fieldbusfieldbus

backbone of distributed and real time systems


fieldbusfieldbus

backbone of distributed and real time systems

but also

bone of contention between automation companiesbeginning of the fieldbus saga


contentcontent




first developmentfirst development

1982 - FIP - WorldFIP1983 - PROFIBUS and CAN1984 - P-Net1985 - IEC NWI TC65C/WG61985 - ISA SP50


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)


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


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


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



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


requirementsrequirements

environment– medium– insulation– power– flammable atmosphere– topologies

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


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


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


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


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


contentcontent





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


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)


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


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


application layerapplication layer

two main classes of relationshipsclient - server– and variants

publisher - subscriber – and variants


clientclient--serverserver

RequestIndication

ResponseConfirmation

X-RequestX-Indication

Y-RequestY-Indication

quality of service: safety : confirmed serviceresponse time : transport delay + local server response time

RT


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


contentcontent





periodic traffic

decentralizedcentralized

tokenTDMA polling CSMATTPSERCOSINTERBUSCONTROLNET

WORLDFIPPROFIBUS-DPPROFIBUS-PAFFP-NET

PROFIBUS FMS+

polling

CANDEVICENETSDSCANOPENLON



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


Profibus Profibus -- 11

M1 M2 M3 M4

Slave3Slave2Slave1Slave4 Slave5

TOKEN passing

POLLING

ANSWER


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


WorldFIP WorldFIP -- 11

75

Speed value

Local Write

Speed“copy”

Local Read

52Speed“copy”

Local Read

Speed

Bus arbitratorpolling table

52



75

Speed

Local Write

Speed“copy”

Local Read

52Speed“copy”

Local Read

Speed

Bus arbitrator

Speed

52



75

Speed

Local Write

Speed“copy”

Local Read

Speed“copy”

Local Read

Speed

Bus arbitrator

v(Speed)=75



75

Speed

Local Write

Speed“copy”

Local Read

Speed“copy”

Local Read

Speed

Bus arbitrator

75 75


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



Scheduled part

NUT i NUT I+1

Unscheduled part Guard Band

station K

station K+1



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


Interbus Interbus -- 11

Station Kperiodic data

Station Kaperiodicdata

start

K+1

K+2


arbitratorarbitrator

NODE

NODE

NODE NODENODE

NODE

NODE

NODE

NODE

NODENODE

NODE

NODE

NODE

NODEARBITRATOR

DISTRIBUTECOMPEL


tokentoken

NODE

NODE

NODE

NODE

NODE

NODE

NODE

NODE

NODE

NODENODE

NODE

NODE

NODE

NODE

TOKEN

Message

Message

Reply

TOKEN


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

NODE

NODE

NODE NODENODE

NODE

NODE

NODE

NODE

NODENODE

NODE

NODE

NODE

NODEL.A.S.

DISTRIBUTE

COMPEL


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


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

NODE

NODE

NODE NODENODE

NODE

NODE

NODE

NODE

NODENODE

NODE

NODE

NODE

NODEL.A.S.

TOKEN


contentcontent




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


buffers and queuesbuffers and queues

14 1212

16 1212

16 1616

121416

161412


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)


QoS QoS in in fieldbus fieldbus -- timelinesstimeliness

production transmission reception consumption

production consumption

receptiontransmission


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


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


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


time coherencetime coherence

time coherence of actions, of eventssimultaneity of eventsoccurrences in a given time windowtime coherence of– productions– consumptions– other actions


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


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


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


contentcontent




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


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


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


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


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


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


Fieldbus Fieldbus ::Industrial NetworkIndustrial NetworkReal Time NetworkReal Time Network

Jean-Pierre ThomesseInstitut National Polytechnique de Lorraine

Nancy, France

Fieldbus : Industrial Network Real Time Network · ETR 2005 - Fieldbus - Industrial Network - Real...

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