FieldbusFieldbus TTeecchhnnoolologgyy inin IndustrialIndustrial AutomationAutomation

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

ETFA 2005 - Technology WhoWho’’ss whowho

Ethernet Batibus WorldFIP -PA IEC 61784 ISO 8802.5 Unitelway MIL 1553B BacNET IEC 61158 SDS CiA Hart CSMA-BA ICCP EHS CSMA-DCR FieldBus Foundation TT-CAN EiBUS DeviceNet Interbus Profibus-FMS EN 50254 ControlNet P-NET CANOpen ASI M-PCCN Profibus-DP TTP-A DWF TCP-IP FDDI TTP-C IEC FIPWay Sercos EN 50170 TASE2 SNMP CASM ISO 8802.4 WDPF MMS ISO 8802.3 Sinec ControlFIP PLAN JBUS FIPIO LON CSMA-CA Seriplex TOP Mini-MAP CAN UCA F8000 CSMA-CD MAP Profisafe Proway Bitbus ARINC UIC 556 Digital Hart M-Bus WITBUS IEC 6375 CIP LocaFIP J1850 VAN Sycoway GENIUS OPTOBUS LIN FTT-CAN Euridis IEEE 802.11 Vnet/IP Anubis Sensoplex TTP AFDX FireWire FlexRay EN 50 295 BlueTooth EPA CAMAC ARCNET Ethercat EtherLink ModBus-RTPS IEC 61 499 UWB ETFA 2005 - Fieldbus Technology PROFInet contentcontent

l 1st part : history and state of the art – fieldbus origins (needs and capabilities) – development of fieldbus and standards l 2nd part : technical aspects – application relationships – Medium Access Control – – architectures

ETFA 2005 - Fieldbus Technology prehistoryprehistory

l need for networking l 60s : CAMAC in nuclear experiments l 70s : – MODBUS (PLC network) – WDPF (continuous process) – ARCNET (office communication and data acquisition) – Mil Std 1553B l Data HighWay (Allen Bradley), TiWay (Texas Instr)… l needs for reducing costs, then for standards

ETFA 2005 - Fieldbus Technology MMAPAP andand TOPTOP (1980)(1980) l Manufacturing Automation Protocol – General Motors – communication between design offices and factories – communication between machine tools and robots l Technical and Office Protocol – Boeing – communication between business and technical offices

ETFA 2005 - Fieldbus Technology CCIMIM aarcrchhiteitecctuturere

enterprise management TOP Inc factory control plant MAP

cell control cell miniMAP

machine machine

fieldbus instrumentation instrumentation

ETFA 2005 - Fieldbus Technology enablingenabling technologiestechnologies

l OSI reference model (1980) – communication model and concepts l LANs (, Token…) – deterministic protocols – nondeterministic protocols – centralized and decentralized access l microelectronics and integrated circuits

ETFA 2005 - Fieldbus Technology enablingenabling technologiestechnologies

OSI reference model “reduced models”

Application layer

Presentation layer

Session layer

Transport layer

Network layer

Data Link layer Data Link layer+MAC

Physical layer

conceptual model implementation model

ETFA 2005 - Fieldbus Technology enablingenabling technologiestechnologies

l LANs (Ethernet, Token, TDMA…) development – deterministic protocols – nondeterministic protocols – centralized access or not l DCS – Digital Control System vs. Distributed Control System

ETFA 2005 - Fieldbus Technology enablingenabling technologiestechnologies

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

ETFA 2005 - Fieldbus Technology contentcontent

l 1st part : history and state of the art – fieldbus origins – development of fieldbus and standards l 2nd part : technical aspects – application relationships – Medium Access Control – Data Link Layer – architectures

ETFA 2005 - Fieldbus Technology firstfirst ddeevveeloloppmemenntt l 1982 - FIP - WorldFIP l 1983 - PROFIBUS and CAN l 1984 - P-Net l 1985 - ISA SP50 l 1985 - IEC NWI TC65C/WG6 “Digital Data Communication for Measurement and Control - Fieldbus for Use in Industrial Control Systems“ part 2 PL, part 3,4 DLL, part 5,6 AL l call for proposals------> answers

ETFA 2005 - Fieldbus Technology IEIECC stdstd contenderscontenders

l 1st group l 2nd group l existing systems l paper proposals – Mil Std 1553B – FIP – IEEE P1118 (Bitbus) – PROFIBUS – Foxboro – Rosemount – … survey for functional requirements (ISA)

ETFA 2005 - Fieldbus Technology qquueestiostionnnnaaireire

l benefits of fieldbus – lowering cost, ease of adding devices, accuracy of information, enhancing the maintainability, remote access to data, advanced control strategies l describing field devices – max response time and message frequency l information flows – grouping of devices, topology, number of stations, redundancy l application environment – power, wires type, insulation, flammable atmosphere

ETFA 2005 - Fieldbus Technology twotwo fieldbusesfieldbuses HH11 aanndd HH22

l H1 – low data rate – a few sensors – small distances – continuous process l H2 – high data rate – manufacturing process – connection of several H1

no intelligence in devices is explicitly identified

ETFA 2005 - Fieldbus Technology requirementsrequirements -- applicationapplication

l definition of traffic – process (real time traffic) identified data or messages l measurement l alarm setting name value status l status – installation (non real time traffic) l tag number identified data or messages l manufacturer’s data l additional information for maintenance

ETFA 2005 - Fieldbus Technology requirementsrequirements -- applicationapplication

l definition of other services – control the access - security l types of data l polled and unsolicited messages l full logical connectivity l application architectures (distributed or centralized) l time coherences (of data, of actions) l space consistency

ETFA 2005 - Fieldbus Technology requiremrequirementsents

l environment l performances – medium – number of stations – insulation – length – power – data rate – flammable atmosphere – response time – topologies – integrity of data – addressing

ETFA 2005 - Fieldbus Technology rolesroles ofof aa fieldbusfieldbus

l connection of field devices and field controllers – sensors, actuators, drives controllers, PLCs… l system considerations – simplification of wiring – standardization of communication between devices – and later development of smart devices l real time communication system – common services – various protocols and then various qualities of service – depending on architectural approaches – depending on different domains of application

ETFA 2005 - Fieldbus Technology fieldbusfieldbus l backbone of distributed and real time systems

ETFA 2005 - Fieldbus Technology fieldbusfieldbus l backbone of distributed and real time systems

but also l bone of contention between automation companies beginning of the fieldbus saga

ETFA 2005 - Fieldbus Technology hhistoistoryry -- 11

1982 1985 1989

requirements unified MAC Tentative « choice » of Development international standard CAN PROFIBUS National P-NET standards FIP First meeting « fieldbus » ISO TC184 IEC TC 65/SC65C/WG6 TCCA

ETFA 2005 - Fieldbus Technology hhistoistoryry -- 22

1989 1993 1995 1997 1999

IFG ISP Fieldbus OFC Foundation tentative IFC IEC 1158-3,4,5,6 different votes, appeals... ISO 11519 ISO TC184 EN 50170 CAN EN 50254 TCCA VAN EN 50325 Two headed Physical monster layer ISO 11898 unified MAC IEC 1158-2 CAN reject

ETFA 2005 - Fieldbus Technology hhistoistoryry -- 33

1999 2001 2004 2005

IEC 61158 IEC 61158 last « agreed » version IEC 62390 8 « headed » common automation monster ISO/FDIS 15745-3 device profile guideline IEC 61158 IEC HSE writing NWI EN 50391 IEC 61784 EN 61158 NWI EN 61784 IEC 61 804

ETFA 2005 - Fieldbus Technology IECIEC 6115861158

l 8 types for data link layer – Type 1 :proposed 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

ETFA 2005 - Fieldbus Technology IECIEC 6115861158

l 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 : – Type 10 : Profinet

ETFA 2005 - Fieldbus Technology IECIEC 6161 784784

l Communication Profile Family - CPF l IEC 61 784-1 – 16 profiles l IEC 61 784 -2 under specification (based on Ethernet) – CPF 10: VNET/IP, – CPF 11: TCNet, – CPF 12: EtherCAT, – CPF 13: , – CPF 14: EPA : Ethernet for Plant Automation – CPF 15: ModBus RTPS : Real Time Publish - Subscribe

ETFA 2005 - Fieldbus Technology WhoWho’’ss whowho

Ethernet WorldFIP CiA SDS Profibus-PA IEC 61158 P-NET CPF1/1, 1/2 Sercos BacNET EHS TTP CSMA-BA CSMA-DCR CPF2/1, 2/2 EiBUS Interbus DeviceNet Profibus-FMS CPF3/1, 3/2, 3/3 ControlNet CANOpen ASI TTP-A Profibus-DP DWF TCP-IP CPF4/1, 4/2 TTP-C Modbus EN 50170 TASE2 IEC CPF5/1, 5/2 CSMA-CD CASM ICCP ISO 8802.4 ISO 8802.3 Sinec Hart TT-CAN CPF6/1, 6/2, 6/3 FIPIO LON CSMA-CA Vnet/IP CAN UCA F8000 CPF7/1, 7/2 MAP Profisafe PROFInet ARINC FIPWay IEC 6375 CIP IEC 61784 CPF 10, J1850 LIN FlexRay EtherLink 11, 12, FTT-CAN BlueTooth IEEE 802.11 FireWire 13, 14 UWB EPA EN 50 295 IEC 61 499 CPF15 FieldBus Foundation Ethercat ModBus-RTPS ETFA 2005 - Fieldbus Technology contentcontent

l 1st part : history and state of the art – fieldbus origins – development of fieldbus and standards l 2nd part : technical aspects – application relationships – Medium Access Control – Data Link Layer – architectures

ETFA 2005 - Fieldbus Technology fieldbusfieldbus traffictraffic

application exchanges

identified data messages

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

ETFA 2005 - Fieldbus Technology fromfrom requirementsrequirements toto solutionssolutions l applications exchanges l protocol solutions – identified data vs. messages – full logical connectivity – application relationships – polled vs. unsolicited – periodic vs. aperiodic – Medium Access Control – real time vs. non real time – performances – quality of service l transport reliability l data link layer l timeliness l Medium Access Control l coherences and consistencies l time attributes l time stamping

ETFA 2005 - Fieldbus Technology contentcontent

l 1st part : history and state of the art – fieldbus origins – development of fieldbus and standards l 2nd part : technical aspects – application relationships – Medium Access Control – Data Link Layer – architectures

ETFA 2005 - Fieldbus Technology aappppliclicaatiotionn lalayyeerr

l two main classes of relationships l client - server l for messages and identified data – and variants l publisher - subscriber l for identified data – and variants

ETFA 2005 - Fieldbus Technology client-serverclient-server

Request X-Request Indication X-Indication RT

Response Y-Request Confirmation Y-Indication

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

ETFA 2005 - Fieldbus Technology ppuubblishlisheerr -- susubbscscribribeerr mmooddeelsls

Confirmed service request Confirmed service request/response

Pull Pull PPushush Publishing Push Subscriber Manager Publisher subscriber Publisher Service response containing published Pull Push information Push Subscriber Subscriber subscriber Unconfirmed service

Pull PPushush containing published information Subscriber subsSubscribercriber

ETFA 2005 - Fieldbus Technology otherother modelsmodels

multi confirmation client server

request indication

response 1 - indication accepted confirmation 1 response 2 - starting of service confirmation 2 response 3 - end of service and result confirmation 3

ETFA 2005 - Fieldbus Technology otherother modelsmodels

multi responses client server - cf. Push Publisher

request indication

response confirmation response period confirmation response confirmation

ETFA 2005 - Fieldbus Technology otherother modelsmodels client multi-server

server1

client server server2

server3

ETFA 2005 - Fieldbus Technology otherother modelsmodels third part model

1 1 client server client 4 2 server 2 3 4 3 real real server server case 1 case 2

ETFA 2005 - Fieldbus Technology contentcontent

l 1st part : history and state of the art – fieldbus origins – development of fieldbus and standards l 2nd part : technical aspects – application relationships – Medium Access Control – Data Link Layer – architectures

ETFA 2005 - Fieldbus Technology ppeeririooddiicc ttraraffifficc periodic traffic of identified data, or of messages

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

Time

ETFA 2005 - Fieldbus Technology aperiodicaperiodic traffictraffic

Aperiodic traffic

F

E M D 2 C M D E D D 1 B C B C C A A A A A A A

ETFA 2005 - Fieldbus Technology fieldbusfieldbus traffictraffic

periodic traffic

centralized decentralized

TDMA polling token CSMA TTP WORLDFIP PROFIBUS FMS CAN SERCOS PROFIBUS-DP + DEVICENET INTERBUS PROFIBUS-PA polling SDS CONTROLNET FF CANOPEN P-NET LON ETFA 2005 - Fieldbus Technology fieldbusfieldbus traffictraffic

aperiodic traffic

periodic server decentralized (as periodic)

periodic special frame on when CSMA time slot demand token CAN WORLDFIP CONTROLNET INTERBUS SDS PROFIBUS-PA P-NET DeviceNet FF

ETFA 2005 - Fieldbus Technology tokentoken andand pollingpolling

TOKEN passing

M1 M2 M3 M4

POLLING

ANSWER

Slave4 Slave1 Slave2 Slave3 Slave5

ETFA 2005 - Fieldbus Technology ppoollinllingg ooff idideenntifietifiedd ddaatata -- ppuullll PPSS

Bus arbitrator polling table Local Write Local Read Local Read

Speed 75 52 52 Speed Speed Speed value “copy” “copy”

ETFA 2005 - Fieldbus Technology pollingpolling ofof identifiedidentified datadata

Bus arbitrator Local Write Local Read Local Read

Speed 75 52 52 Speed Speed Speed “copy” “copy”

Speed

ETFA 2005 - Fieldbus Technology pollingpolling ofof identifiedidentified datadata

Bus arbitrator Local Write Local Read Local Read

Speed 75 Speed Speed Speed “copy” “copy”

ETFA 2005 - Fieldbus Technology v(Speed)=75 pollingpolling ofof identifiedidentified datadata

Bus arbitrator Local Write Local Read Local Read

Speed 75 75 75 Speed Speed Speed “copy” “copy”

ETFA 2005 - Fieldbus Technology arbitratorarbitrator

NODE NODE NODE NODE

NODE NODE COMPEL DISTRIBUTE NODE NODE ARBITRATOR

NODE NODE

NODE NODE

NODE NODE NODE

ETFA 2005 - Fieldbus Technology tokentoken

NODE NODE NODE NODE

NODE TOKEN NODE

NODE NODE Message TOKEN Message NODE NODE Reply NODE NODE

NODE NODE NODE

ETFA 2005 - Fieldbus Technology L.A.S.L.A.S.

NODE NODE NODE NODE

NODE NODE COMPEL

NODE NODE DISTRIBUTE L.A.S.

NODE NODE

NODE NODE

NODE NODE NODE

ETFA 2005 - Fieldbus Technology L.A.S.L.A.S.

NODE NODE NODE NODE

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

NODE NODE

NODE NODE

NODE NODE NODE

ETFA 2005 - Fieldbus Technology contentcontent

l 1st part : history and state of the art – fieldbus origins – development of fieldbus and standards l 2nd part : technical aspects – application relationships – Medium Access Control – Data Link Layer – architectures

ETFA 2005 - Fieldbus Technology qualityquality ofof serviceservice

l QoS transport l QoS timeliness – reliability of – time stamping transmission – timeliness attributes – storing methods l residence time l queues l update time l buffers (retentive or not) l synchronous – connections l with or without l peer to peer, multipeer

ETFA 2005 - Fieldbus Technology w/w/wowo acknowledgementacknowledgement

l transmission of state information (no acknowledgement) – transmission or server failure detected by client – lack of confirmation (CS) – lack of periodic message (PS) l transmission of event information (with acknowledgement) – transmission failure undetectable by receiver (no news - good news !) – necessary detection by sender thanks to protocol with acknowledgement

ETFA 2005 - Fieldbus Technology buffersbuffers andand queuesqueues

14 12 12

16 12 16 12 12 14 14 12 16

16 16 16

ETFA 2005 - Fieldbus Technology QoSQoS inin fieldbusfieldbus -- transporttransport

l connections – four qualities related to frames ordering classical (queues…) disordered without loss ordered (but with possible loss) unordered (as received)

ETFA 2005 - Fieldbus Technology QoSQoS inin fieldbusfieldbus -- timtimeelinelinessss

production transmission reception consumption

production consumption

transmission reception

ETFA 2005 - Fieldbus Technology reresidsideennccee aattribttribuutete

l assessment based upon the time that a data unit has been resident in a buffer.

Residence Time

Write-date Read-date End of time window

ETFA 2005 - Fieldbus Technology updateupdate attributeattribute

l 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

ETFA 2005 - Fieldbus Technology synchronoussynchronous attributeattribute

l 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 Read-date End of time window

ETFA 2005 - Fieldbus Technology contentcontent

l 1st part : history and state of the art – fieldbus origins – development of fieldbus and standards l 2nd part : technical aspects – application relationships – Medium Access Control – Data Link Layer – architectures

ETFA 2005 - Fieldbus Technology twotwo stacksstacks architecturesarchitectures

FMS Time critical SUB-MMS Time critical DP or PA MPS LLI MCS (glue) (glue)

Fieldbus Link layer Time critical Data Link layer

Physical layer Physical layer Physical layer Physical layer

Profibus Architecture WorldFIP Architecture

ETFA 2005 - Fieldbus Technology InternetInternet andand fieldbusfieldbus

HTTP HTTP Time critical HTTP Time critical

TCP TCP TCP

IP IP IP

DLL Time Critical Data Link layer Time Critical Data Link layer

Ph L Physical layer Physical layer

Outside IP Encapsulation Based architecture

ETFA 2005 - Fieldbus Technology EthernetEthernet basedbased architecturesarchitectures

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

Ethernet A Ethernet B

ETFA 2005 - Fieldbus Technology timtimee criticalcritical architecturearchitecture

OSI Application layer Fieldbus Application and OSI Presentation layer Presentation layer OSI Session layer

Transport layer

Network layer

Time critical Data Link layer

Physical layer Physical layer Physical layer

ETFA 2005 - Fieldbus Technology conclusionconclusion -- fieldbusfieldbus technology?technology?

l real time communication system l new paradigms of cooperation between APs l new views on quality of service l impact on several computer science domains – protocol modeling, validation and conformance testing – performance evaluation and determinism – scheduling (joint scheduling of messages and tasks) – and now joint modeling of application and communication for proving distributed applications

ETFA 2005 - Fieldbus Technology fieldbusfieldbus technology?technology?

l future – which Ethernet ? and where? – Internet and Web technologies – interoperability (function blocks, EDDL…) – wireless, mobile and autonomous agents l standard(s) as in general purpose computing ? – relations with OPC, MIMOSA and other initiatives… – a common communication architecture ? – a single fieldbus? (the Lernean Hydra immortal head) which one? reference: Proceedings of IEEE, Vol 93, N°6, June 2005, pp 1073-1101

ETFA 2005 - Fieldbus Technology FieldbusFieldbus TTeecchhnnoolologgyy inin IndustrialIndustrial AutomationAutomation

Jean-Pierre Thomesse INPL - LORIA Nancy, France

ETFA 2005 - Fieldbus Technology