Fieldbus : Industrial Network Real Time Network

FieldbusFieldbus :: IndustrialIndustrial NetworkNetwork RealReal TimeTime NetworkNetwork

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network Who’sWho’s whowho IEC 61784 PROFInet TT-CAN Hart ISO 8802.5 TTP Profibus-PA Unitelway SNMP Ethernet Batibus WorldFIP MIL 1553B IEC 61158 P-NET CiA BacNET SDS ICCP Sercos CSMA-BA EHS CSMA-DCR FieldBus Foundation EiBUS DeviceNet Interbus Profibus-FMS EN 50254 ControlNet CANOpen ASI M-PCCN TTP-A Profibus-DP DWF TCP-IP FDDI TTP-C Modbus FIPWay EN 50170 TASE2 IEC 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 AFDX FireWire FlexRay EN 50 295 BlueTooth EPA CAMAC ARCNET Ethercat EtherLink ModBus-RTPS IEC 61 499 UWB ETR 2005 - Fieldbus - Industrial Network - Real Time Network contentcontent

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network prehistoryprehistory

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network MAPMAP andand TOPTOP (1980)(1980) z Manufacturing Automation Protocol – General Motors – communication between design offices and factories – communication between machine tools and robots z Technical and Office Protocol –Boeing – communication between business and technical offices

ETR 2005 - Fieldbus - Industrial Network - Real Time Network CIMCIM architecturearchitecture

enterprise management TOP Inc

factory control plant MAP

cell control cell miniMAP

machine machine

fieldbus instrumentation instrumentation

ETR 2005 - Fieldbus - Industrial Network - Real Time Network enablingenabling technologiestechnologies

z OSI reference model (1980) – communication model and concepts z LANs (Ethernet, Token…) – deterministic protocols – nondeterministic protocols z microelectronics and integrated circuits

ETR 2005 - Fieldbus - Industrial Network - Real Time Network 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network enablingenabling technologiestechnologies

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network enablingenabling technologiestechnologies

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network rolesroles ofof aa fieldbusfieldbus

z connection of field devices and field controllers – sensors, actuators, drives controllers, PLCs… z system considerations – simplification of wiring – standardization of communication between devices – development of smart devices z real time communication system – with different services and various qualities of service – multiple domains of application

ETR 2005 - Fieldbus - Industrial Network - Real Time Network fieldbusfieldbus z backbone of distributed and real time systems

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network contentcontent

ETR 2005 - Fieldbus - Industrial Network - Real Time Network firstfirst developmentdevelopment

z 1982 - FIP - WorldFIP z 1983 - PROFIBUS and CAN z 1984 - P-Net z 1985 - IEC NWI TC65C/WG6 z 1985 - ISA SP50

ETR 2005 - Fieldbus - Industrial Network - Real Time Network IECIEC stdstd contenderscontenders

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network questionnairequestionnaire

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network twotwo fieldbusesfieldbuses H1H1 andand H2H2

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network requirementsrequirements -- applicationapplication

z definition of Application Protocol Data Units – process (real time traffic) z measurement z alarm setting name value status z status – installation (non real time traffic) z tag number z manufacturer’s data z additional maintenance

ETR 2005 - Fieldbus - Industrial Network - Real Time Network requirementsrequirements -- applicationapplication

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network requirementsrequirements

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network IECIEC 6115861158

z 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network IECIEC 6115861158

z 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network IECIEC 6161 784784

z Communication Profile Family - CPF z IEC 61 784-1 – 18 profiles z 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network requirementsrequirements -- applicationapplication

z definition of Application Protocol Data Units – process (real time traffic) z measurement identified data z alarm setting name value status z status – installation (non real time traffic) z tag number messages z manufacturer’s data z additional maintenance

ETR 2005 - Fieldbus - Industrial Network - Real Time Network 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)

ETR 2005 - Fieldbus - Industrial Network - Real Time Network periodicperiodic traffictraffic periodic traffic of identified data

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network aperiodicaperiodic traffictraffic

Aperiodic traffic

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network applicationapplication layerlayer

z two main classes of relationships z client - server – and variants z publisher - subscriber – and variants

ETR 2005 - Fieldbus - Industrial Network - Real Time Network clientclient--serverserver

Request X-Request Indication X-Indication

Response Y-Request Confirmation Y-Indication

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network publisherpublisher -- subscribersubscriber modelsmodels

Confirmed service request Confirmed service request/response

Pull Pull Push Push Publishing Publisher Subscribersubscriber Publisher Manager

Confirmed service response containing published Pull information PushPush Subscriber subscriberSubscriber

Unconfirmed service Pull containing published PushPush information Subscriber Subscribersubscriber

ETR 2005 - Fieldbus - Industrial Network - Real Time Network contentcontent

ETR 2005 - Fieldbus - Industrial Network - Real Time Network 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 ETR 2005 - Fieldbus - Industrial Network - Real Time Network 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network ProfibusProfibus -- 11

TOKEN passing

M1 M2 M3 M4

POLLING

ANSWER

Slave4 Slave1 Slave2 Slave3 Slave5

ETR 2005 - Fieldbus - Industrial Network - Real Time Network ProfibusProfibus --22

z 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network WorldFIPWorldFIP -- 11

Bus arbitrator Local Read Local Read polling table Local Write

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network WorldFIPWorldFIP -- 22

Bus arbitrator Local Write Local Read Local Read

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

ETR 2005 - Fieldbus - IndustrialSpeed Network - Real Time Network WorldFIPWorldFIP -- 33

Bus arbitrator Local Write Local Read Local Read

Speed 75 Speed Speed Speed “copy” “copy”

ETR 2005 - Fieldbusv(Speed)=75 - Industrial Network - Real Time Network WorldFIPWorldFIP -- 44

Bus arbitrator Local Write Local Read Local Read

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network ControlNetControlNet -- 11

z 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 z at the end of a frame, comparison of the received MAC ID +1 with the own address

ETR 2005 - Fieldbus - Industrial Network - Real Time Network ControlNetControlNet -- 22

Scheduled part Unscheduled part Guard Band

NUT i NUT I+1

station station ETR 2005 - Fieldbus - Industrial Network - Real Time Network K K+1 ControlNetControlNet -- 33

z in a NUT, three time windows – scheduled – unscheduled – Guard Band z one MAC Frame by node in scheduled part z predictable and deterministic manner z Round Robin in the unscheduled part

ETR 2005 - Fieldbus - Industrial Network - Real Time Network InterbusInterbus -- 11

K+2 Station K Station K aperiodic K+1 periodic data data

start

ETR 2005 - Fieldbus - Industrial Network - Real Time Network arbitratorarbitrator

NODE NODE NODE NODE

NODE NODE COMPEL DISTRIBUTE NODE NODE ARBITRATOR

NODE NODE

NODE NODE NODE

ETR 2005 - Fieldbus - Industrial Network - Real Time Network tokentoken

NODE NODE NODE NODE

NODE TOKEN NODE

NODE NODE Message TOKEN Message NODE NODE Reply NODE NODE

NODE NODE NODE

ETR 2005 - Fieldbus - Industrial Network - Real Time Network L.A.S.L.A.S.

NODE NODE NODE NODE

NODE NODE COMPEL

NODE NODE DISTRIBUTE L.A.S.

NODE NODE

NODE NODE NODE

ETR 2005 - Fieldbus - Industrial Network - Real Time Network 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network L.A.S.L.A.S.

NODE NODE NODE NODE

NODE NODE TOKEN NODE NODE L.A.S.

NODE NODE

NODE NODE NODE

ETR 2005 - Fieldbus - Industrial Network - Real Time Network contentcontent

ETR 2005 - Fieldbus - Industrial Network - Real Time Network qualityquality ofof serviceservice

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network buffersbuffers andand queuesqueues

14 12 12

16 12 16 12 12 14 14 12 16

16 16 16

ETR 2005 - Fieldbus - Industrial Network - Real Time Network QoSQoS inin fieldbusfieldbus -- transporttransport

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network QoSQoS inin fieldbusfieldbus -- timelinesstimeliness

production transmission reception consumption

production consumption

transmission reception

ETR 2005 - Fieldbus - Industrial Network - Real Time Network residenceresidence attributeattribute

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

Residence Time End of time Write-date Read-date window

ETR 2005 - Fieldbus - Industrial Network - Real Time Network updateupdate attributeattribute

z assessment based upon the time interval between a synchronising event and the moment the buffer is written Update-Time

End of time Synchro-event Writing-date window

ETR 2005 - Fieldbus - Industrial Network - Real Time Network synchronoussynchronous attributeattribute

z 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

End of time Synchro-event Writing-date Read-date window

ETR 2005 - Fieldbus - Industrial Network - Real Time Network timetime coherencecoherence

z time coherence of actions, of events z simultaneity of events z occurrences in a given time window z time coherence of – productions – consumptions – other actions

ETR 2005 - Fieldbus - Industrial Network - Real Time Network timetime coherencecoherence

z control of time coherence – data received indication – allows, in multi peer connections, the synchronization of subscribers z usable to control any actions simultaneity z verification of time coherence – by timeliness attributes

ETR 2005 - Fieldbus - Industrial Network - Real Time Network spacespace -- timetime consistencyconsistency

z “reliable broadcasting” z management of lists of variables (copies) – produced by different publishers – consumed by several subscribers z verification and correction to obtain identical lists by the subscribers z kind of global acknowledgement for different transmitters z hypothesis: – two remote copies are considered identical if they are received without error and correct timeliness attributes

ETR 2005 - Fieldbus - Industrial Network - Real Time Network spacespace -- timetime consistencyconsistency

NODE NODE NODE NODE

NODE NODE DISTRIBUTE A COMPEL (A) COMPEL (B) value(A) DISTRIBUTE B NODE 7 value(B) NODE L.A.S. L7=not OK, B COMPEL L6 NODE 6 NODE value(A) NODE DISTRIBUTE L6 value(B) NODE 9 NODE NODE value(A) L6=OK NODE 8 value(A) value(B) value(B) L8=OK L9=OK ETR 2005 - Fieldbus - Industrial Network - Real Time Network contentcontent

ETR 2005 - Fieldbus - Industrial Network - Real Time Network 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network 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 Station 1 IP Encapsulation Station 2 Based architecture

ETR 2005 - Fieldbus - Industrial Network - Real Time Network 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network timetime 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network conclusionconclusion -- fieldbusfieldbus technology?technology?

z real time communication system and distributed data base z new paradigms of cooperation between agents z new views on quality of service z impact 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network fieldbusfieldbus technology?technology?

z future – which Ethernet ? – Internet and Web technologies – wireless – real intelligent devices and equipment – interoperability

z 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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network FieldbusFieldbus :: IndustrialIndustrial NetworkNetwork RealReal TimeTime NetworkNetwork

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

ETR 2005 - Fieldbus - Industrial Network - Real Time Network