www.infoPLC.net

Real-Time Ethernet Technology Comparison

SERCOS Seminar Atlanta September 16, 2009

Peter Lutz, Managing Director SERCOS International e.V. www.infoPLC.net Real-Time Ethernet Competition

(c) SERCOS International 2009 No. 2 Overview on Real-Timewww.infoPLC.net Ethernet Technologies (Selection)

CC Link IE PowerDNA Drive CliQ Profinet EPA RAPIEnet EtherCAT RTEX EtherNet/IP + CIP Sync SafetyNET p  SERCOS III IEEE 1588 / PTP SynqNet JetSync TCnet  RTPS Varan Mechatrolink III Vnet/IP

Source: http://www.real-time-ethernet.de/

(c) SERCOS International 2009 No. 3 Overview on Real-Timewww.infoPLC.net Ethernet Technologies (Selection)

CC Link IE PowerDNA Drive CliQ Profinet EPA RAPIEnet EtherCAT RTEX EtherNet/IP + CIP Sync SafetyNET p Ethernet Powerlink SERCOS III IEEE 1588 / PTP SynqNet JetSync TCnet Modbus RTPS Varan Mechatrolink III Vnet/IP

Source: http://www.real-time-ethernet.de/

(c) SERCOS International 2009 No. 4 Overview on Real-Timewww.infoPLC.net Ethernet Technologies (Selection)

CC Link IE PowerDNA Drive CliQ Profinet EPA RAPIEnet EtherCAT RTEX EtherNet/IP + CIP Sync SafetyNET p Ethernet Powerlink SERCOS III IEEE 1588 / PTP SynqNet JetSync TCnet Modbus RTPS Varan Mechatrolink III Vnet/IP

Source: http://www.real-time-ethernet.de/

(c) SERCOS International 2009 No. 5 Overview on Real-Timewww.infoPLC.net Ethernet Technologies (Selection)

CC Link IE PowerDNA Drive CliQ Profinet EPA RAPIEnet EtherCAT RTEX EtherNet/IP + CIP Sync SafetyNET p Ethernet Powerlink SERCOS III IEEE 1588 / PTP SynqNet JetSync TCnet Modbus RTPS Varan Mechatrolink III Vnet/IP

Source: http://www.real-time-ethernet.de/

(c) SERCOS International 2009 No. 6 Real-Time Ethernet Protocols:www.infoPLC.net Efficiency / Performance

a) SERCOS III:

Collective telegrams Separate Ethernet frames (Real-time channel) (non-real-time channel)

RT1 RT2 RT3 ETH1 ETH2 ETH1 … RT1 … Communication cycle t b) EtherCAT: Tunnelled Collective telegrams Ethernet frames

RT1 RT2 ETH1 RT3 … RT1 … Communication cycle t

c) Profinet, Ethernet/IP, Ethernet Powerlink: Separate Ethernet Separate Padding frames Ethernet frames … … RT1 RT2 RT3 ETH ETH RT1

Communication cycle t

RTi: Real-time data of node i, ETH: Ethernet frame with non-real-time data

(c) SERCOS International 2009 No. 7 Example: www.infoPLC.net Cross Communication with SERCOS III

Master Slave 1 Slave 2 Slave (n) Direct cross communication in forward path (here between slave 1 and slave 2)

Tx Rx Tx Rx Tx Rx Tx

Rx Tx Rx Tx Rx Tx Rx CAT5 Direct cross communication in reverse path (here between slave 2 and slave 1)

Real-time processing during passing through a node Signal transmission without interpretation Tx: Ethernet transmitter (Sender), Physical Interface Rx: Ethernet receiver (Receiver), Physical Interface

(c) SERCOS International 2009 No. 8 Example: www.infoPLC.net Cross Communication with EtherCAT

Direct cross communication in forward path a) (here between slave 1 and slave 2)

Tx Rx Tx Rx Tx Rx Tx

Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx CAT5 Master Slave 1 Slave 2 Slave (n) b)

Tx Rx Tx Rx Tx Rx Tx

Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Indirect cross communication in reverse path (here between slave 2 and slave 1) Real-time processing during passing through a node Signal transmission without interpretation Tx: Ethernet transmitter (Sender), Physical Interface (c) SERCOS International 2009 Rx: Ethernet receiver (Receiver), Physical Interface No. 9 Example: www.infoPLC.net Redundancy Concept of EtherCAT

Normal operation: Fault case: Fault case:

Transmission of real-time data Detection of redundancy case Activation of reserve line in line topology by redundancy manager (M) after successful reconfiguration

Reserve line Activated (inactive during reserve line normal operation M M M

S1 S4 S1 S4 S1 S4

S2 S3 S2 S3 S2 S3

Link break during reconfiguration t

(c) SERCOS International 2009 No. 10 Example: www.infoPLC.net Redundancy Concept of SERCOS III

Normal operation: Fault case:

Cyclic, redundant transmission of Splitting up into two lines real-time data in primary and secondary ring

M M

S1 S4 S1 S4

S2 S3 S2 S3

Recovery time: < 25 µs No reconfiguration required! t

(c) SERCOS International 2009 No. 11 Example: Interoperabilitywww.infoPLC.net with SERCOS III and EtherCAT

Vendor A

Control S-3 Profile Vendor B

SERCOS III S-3 Profile Drives SERCOS III SERCOS III

S-3 Profile

SERCOS III Vendor C Vendor A

Control S-3-A Vendor B

… Ethercat DS402-B Drives Ethercat Ethercat

DS402-C

Ethercat Vendor C (c) SERCOS International 2009 No. 12 Comparison of selectedwww.infoPLC.net Real-Time Ethernet Solutions

EtherNet/IP PROFINET Ethernet SERCOS III EtherCAT + CIPsync & IRT Powerlink CIPmotion

Performance ++ ++ + o o

Ethernet Conformity + o + ++ ++

Installed Base + ++ + ++ o

Variety of Suppliers & + ++ o o o Products

Indepen- dence + o o o o

(c) SERCOS International 2009 No. 13 Evolution of andwww.infoPLC.net Drivebus Technologies

DeviceNet Ethernet/IP+CIP Sync

Profibus Profinet IRT Interbus Ethercat CANopen Powerlink

SERCOS II SERCOS III

2001 2003 2005 2007 (c) SERCOS International 2009 No. 14 www.infoPLC.net Summary

SERCOS III …  combines the proven mechanisms of SERCOS interface (IEC 61491) with Ethernet (IEEE 802.3)  uses the established and proven synchronization mechanisms and profiles of the existing SERCOS interface  allows an easy migration from SERCOS II to SERCOS III  is based on a cost-efficient and flexible standard hardware  covers all actual and future requirements for applications (C2C, Safety, I/O)  develops from a specialized drive bus to an universal real-time Ethernet network

(c) SERCOS International 2009 No. 15