FieldbusFieldbus TTeecchhnnoolologgyy inin IndustrialIndustrial AutomationAutomation
Jean-Pierre Thomesse Institut National Polytechnique de Lorraine Nancy, France
ETFA 2005 - Fieldbus Technology WhoWho’’ss whowho
Ethernet Batibus WorldFIP Profibus-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 Modbus 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 – Data Link Layer – 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 (Ethernet, 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 Application layer
Presentation layer
Session layer
Transport layer
Network layer
Data Link layer Data Link layer+MAC
Physical layer 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 : Foundation fieldbus H1 – 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: EtherNet PowerLink, – 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) Transport layer (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