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Ethercat Vs. Modbus Vs. Mechatrolink 1 Industrial Ethernet Technologies: Overview

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Ethercat Vs. Modbus Vs. Mechatrolink 1 Industrial Ethernet Technologies: Overview EtherCATClassification vs. Modbus vs. Mechatrolink Modbus TCP/IP Mechatrolink III EtherCAT Summary Oliver Fels, Technology Marketing EtherCAT Technology Group October 2016 EtherCAT vs. Modbus vs. Mechatrolink 1 Industrial Ethernet Technologies: Overview Classification Modbus TCP/IP Mechatrolink III EtherCAT Summary October 2016 EtherCAT vs. Modbus vs. Mechatrolink 2 Basic Slave Device Approaches .ClassificationCompletely TCP/UDP/IP based Modbus TCP/IP . Ordinary Ethernet Controllers and Switches Mechatrolink III EtherCAT Summary IT- Application Principle applied by: Applics Parameter-Data • HTTP and Real-Time Data • SNMP (CbA) • DHCP Automation API Layer 5..7 • … Software Architecture Layer 4 TCP/UDP Layer 3 IP Layer 1+2 Ordinary Ethernet Controller Device Slave Hardware October 2016 EtherCAT vs. Modbus vs. Mechatrolink 3 Basic Slave Device Approaches .ClassificationProcess Data: Parallel Channel to TCP/UDP/IP Modbus TCP/IP . TCP/UDP/IP Timing Controlled by Process Data Driver Mechatrolink III .EtherCATOrdinary Ethernet Controllers and Switches (or Hubs) Summary IT- Application Principle applied by: Applics • HTTP Parameter Process • SNMP Data Data (RT) • DHCP Automation API Layer 5..7 • … Software Layer 4 TCP/UDP Process Data IP Protocol Layer 3 Timing-Layer Layer 1+2 Ordinary Ethernet Controller Slave Architecture Device Hardware October 2016 EtherCAT vs. Modbus vs. Mechatrolink 4 Basic Slave Device Approaches .ClassificationProcess Data: Parallel Channel to TCP/UDP/IP Modbus TCP/IP . TCP/UDP/IP Timing Controlled by Process Data Driver Mechatrolink III .EtherCATSpecial Realtime Ethernet Controllers or Switches Summary IT- Application Principle applied by: Applics • HTTP Parameter Process • SNMP Data Data (IRT) • DHCP Automation API Layer 5..7 • … Software Layer 4 TCP/UDP Process Data IP Protocol Layer 3 Timing-Layer Special Realtime Ethernet Layer 1+2 Special Realtime Ethernet Slave Architecture Device Controller Hardware Controller October 2016 EtherCAT vs. Modbus vs. Mechatrolink 5 Modbus/TCP: Overview Classification . Schneider Electric Approach: Modbus TCP/IP serial Modbus on TCP/IP Mechatrolink III . Follows Approach A EtherCAT Summary . Few Services, simple to Request from Client Ethernet Header implement Ethernet Header IP Header . Widely used IP Header TCP Header TCP Header Transaction ID . Many Products Transaction ID Protocol ID available Protocol ID Length . Non-Real-Time Length Unit ID Unit ID Modbus fct code Approach Modbus fct code Data Data Response from Server October 2016 EtherCAT vs. Modbus vs. Mechatrolink 6 Modbus/TCP: Function Principle Classification . Polling Modbus TCP/IP Client . Each Request/Response Server Mechatrolink III Cycle passes TCP/IP Modbus EtherCAT Stack 4 Times TCP Modbus Summary 1 4 TCP . plus Switch Delays IP 2 3 IP . Depending on Client, Poll 1 Request can be issued before the corresponding response has returned. 2 Server 5 Server 4 3 Server Server October 2016 EtherCAT vs. Modbus vs. Mechatrolink 7 Modbus/TCP: Future? Classification . In April 2007, Schneider Electric joined ODVA as Modbus TCP/IP principal member and announced EtherNet/IP products Mechatrolink III for 2008. EtherCAT . ODVA announced „to provide compatibility of Summary Modbus®/TCP devices with networks built on CIP” . A “Modbus Integration SIG” was established to specify the “CIP to Modbus Translator” . Modbus Translation Services for Modbus TCP devices were added to the CIP Specifications in Nov 2007 . Only 94 member companies listed as of Oct 4th, 2016 . Last press release on website is from 2011 (!) . Future of Modbus/TCP looks uncertain, since driving force seems to walk away October 2016 EtherCAT vs. Modbus vs. Mechatrolink 8 Mechatrolink III: Overview Classification . Originally developed by Yaskawa, Modbus TCP/IP presently maintained by the MMA Mechatrolink III (Mechatrolink Members Association) EtherCAT . Two major variants: Summary . II (Serial link, 10 Mbit/s) . III (Ethernet-based, 100 Mbit/s) . Follows approach C . Active Master Plug-in Card, no Standard NICs (or special ASIC/FPGA) . Medium Access Control by Polling . Request/Response principle (not in scale) October 2016 EtherCAT vs. Modbus vs. Mechatrolink 9 Mechatrolink III: Limitations Classification . Maximum number of slaves: 62 Modbus TCP/IP . Overall Network Performance depends on Slave Mechatrolink III Implementation + Topology: EtherCAT Summary . Fast response time requires powerful processors on the slave (controller) side – or implementation in Hardware (ASIC or FPGA) . Some „idle time“ on the media, caused by stack delays plus cascaded hubs Source: http://www.mechatrolink.org/en/mechatrolink/feature-m3.html October 2016 EtherCAT vs. Modbus vs. Mechatrolink 10 Mechatrolink III: Bandwith Utilization ClassificationMinimum Ethernet Frame: 84 Bytes Modbus TCP/IP Example: with 8 Bytes Process Data (64 I/O): 8/84 = Mechatrolink III EtherCAT9.52 % Application Data Ratio Summary ≥ 84 Bytes, regardless which Protocol 14 Bytes Process Data, e.g. 1..4 Bytes 4 Bytes 12 Bytes Process FCS re Ethernet HDR Ethernet Frame Payload: min. 46 Bytes Gap Data CRC ≥ 84 Bytes, e.g. with Payload, 14 Bytes 4 Bytes 4 Bytes 8 Bytes 8, 16, 32, 48, 64 Byte Bytes e.g. 8 Bytes 4 Bytes 12 Bytes Msg. Data Process FCS re Ethernet HDR Addr. Data / Information Field Gap Control length Data CRC October 2016 EtherCAT vs. Modbus vs. Mechatrolink 11 Mechatrolink III: Performance Classification . Performance is limited: Modbus TCP/IP . by the number of slaves Mechatrolink III EtherCAT . by the number of data Summary . Typical < 8 Byte (for each device) application allows only a maximum number of 11 slaves (!) at 250us cycle time Source: http://www.mechatrolink.org/en/mechatrolink/feature-m3.html *min. cycle time = 62.5us (when using a HUB) October 2016 EtherCAT vs. Modbus vs. Mechatrolink 12 Mechatrolink III: Performance Classification . Performance is limited: Modbus TCP/IP . by the topology Mechatrolink III EtherCAT . Min. cycle time increases to 62.5us when using a HUB Summary Source: http://www.mechatrolink.org/en/mechatrolink/feature-m3.html October 2016 EtherCAT vs. Modbus vs. Mechatrolink 13 Mechatrolink III: Error Detection Classification . Through big overhead by sending one frame per device Modbus TCP/IP and command: Mechatrolink III . higher error rate expected EtherCAT Summary . higher number of lost frames possible . Example of the effect of statistic cycle time errors @Mechatrolink III: . Example of the effect of statistic cycle time errors @EtherCAT: October 2016 EtherCAT vs. Modbus vs. Mechatrolink 14 EtherCAT: Overview Classification . Originally developed by Beckhoff Automation Modbus TCP/IP . One Version since 2003 Mechatrolink III EtherCAT . Follows approach C Summary . Key principle: Frame Processing „on the fly“ . Open technology . ETG is the biggest Industrial Ethernet organization . Hard-Real time down to the I/O level . Master (SW) uses Standard Ethernet Controller . Slave devices uses cheap ASIC or FPGA . EtherCAT P offers combined power and communication . Integrated Safety . Precise Synchronization . Unparalleled Product Variety October 2016 EtherCAT vs. Modbus vs. Mechatrolink 15 EtherCAT: Functional Principle Classification .ModbusUniqueTCP/IP functional Mechatrolinkprinciple:III On-the-fly EtherCAT Summary . Efficient: Typically only one Ethernet Frame per Cycle . Ideal Bandwidth Utilization for maximum Performance October 2016 EtherCAT vs. Modbus vs. Mechatrolink 16 EtherCAT: Highest Performance Classification . Transmission Rate: Modbus TCP/IP . 2 x 100 Mbit/s (Fast Ethernet, Full-Duplex) Mechatrolink III EtherCAT Summary . Update Times: . 256 digital I/O in 11 µs . 1,000 digital I/O distributed to 100 nodes in 30 µs = 0.03 ms . 200 analog I/O (16 bit) in 50 µs, 20 kHz Sampling Rate . 100 Servo-Axis (each 8 Byte In + Out) in 100 µs = 0.1 ms . 12,000 digital I/O in 350 µs October 2016 EtherCAT vs. Modbus vs. Mechatrolink 17 EtherCAT: Synchronization Classification . Precise Synchronization (<< 1 µs!) by exact adjustment Modbus TCP/IP of distributed clocks. Mechatrolink III . Advantage: Accuracy does not depend on master EtherCAT precision, small communication jitter and thus Summary implementation in software only is acceptable and does not deteriorate synchronization October 2016 EtherCAT vs. Modbus vs. Mechatrolink 18 EtherCAT: Standard Ethernet Classification . EtherCAT uses Standard Ethernet Frames: IEEE 802.3 Modbus TCP/IP . Alternatively via UDP/IP (if IP Routing is needed) Mechatrolink III EtherCAT . No shortened frames Summary MTU: max. 1514 Byte 48 Bit 48 Bit 16 Bit 16 Bit 48 -1498 Byte 32 Bit Destination Source EtherType Header EtherCAT Datagrams CRC Embedded in Standard Ethernet Frame, EtherType 0x88A4 1…n EtherCAT Datagrams 160 Bit 64 Bit 16 Bit 48 -1470 Byte Ethernet Header IP Header UDP H. Header EtherCAT Datagrams CRC Or: via UDP/IP UDP Port 0x88A4 11 Bit 1 Bit 4 Bit Length Res. Type October 2016 EtherCAT vs. Modbus vs. Mechatrolink 19 EtherCAT: Flexible Topology Classification . Maximum number of slaves: 65.535 Modbus TCP/IP . Topology variants like Line, Star, Tree, Daisy Chain Mechatrolink III + Drop Lines possible; can be used in any combination! EtherCAT Summary . Standard Ethernet cabling . Copper (100 m), Fibre Optics (> 2km), LVDS . Branches can be connected/removed at run time (“Hot Connect”) October 2016 EtherCAT vs. Modbus vs. Mechatrolink 20 EtherCAT Master (Controller) Vendors 193 Classification Modbus TCP/IP Mechatrolink III EtherCAT Summary October 2016 EtherCAT vs. Modbus vs. Mechatrolink 21 EtherCAT Drive Vendors
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