Introduction to Real-Time Ethernet II

Total Page:16

File Type:pdf, Size:1020Kb

Introduction to Real-Time Ethernet II the EXTENSION JULY–AUGUST A Technical Supplement to Control Network Volume 5 Issue 4 © 2004 Contemporary Control Systems, Inc. Introduction to Real-Time Ethernet II By Paula Doyle, a doctoral researcher with the Circuits and Systems Research Centre at the University of Limerick in Ireland INTRODUCTION IEEE 1588 defines two separate types of clocks: In “Real-Time Ethernet I”, we introduced the basic ordinary and boundary. Boundary clocks (BC) are concepts of Ethernet’s capacity to deliver a real-time employed in devices such as hubs or switches—where (RT) communication system. “Real-Time Ethernet II” more than one PTP communication path (port) exists. introduces some of the RT solutions available to Ordinary clocks exist in devices having a single port— e.g., normal network devices. Each BC port can act as industry today*: PROFInet, EtherCAT and ETHERNET Powerlink. It also provides an introduction to a single a master or ordinary clock in its own segment. standard, IEEE 1588 that is growing in popularity PTP is for networks that support multicasting but amongst RT Ethernet developers to provide sub- keep multicasts within a subnet and where each local microsecond synchronization accuracy of distributed clock fulfills exacting requirements. The grandmaster clocks over Ethernet. clock (GMC) is the best clock in the system—with the best inherent stability, accuracy, resolution, etc. * EtherNet/IP is included in the full article available at defined by the standard [2]. The Best Master Clock http://www.ccontrols.com/pdf/volume5n4.pdf Algorithm (BMC), run by every live node, determines IEEE 1588 clock quality. Within each subnet, the BMC determines the master clock; in a single-subnet system the master IEEE 1588 [1] specifies “A protocol to synchronize is the GMC. independent clocks running on separate nodes of a The GMC determines system synchronization; distributed measurement or control system to a high system clocks synchronize their subnet clocks to the accuracy and precision.” IEEE 1588 is, or will be, system. There is only one GMC per system, and only incorporated into EtherNet/IP, ETHERNET Powerlink, one master clock per subnet. EtherCAT and PROFInet—making it a popular standard Synchronization is performed as follows. All for delivering RT over Ethernet. masters periodically broadcast “Sync” messages In IEEE 1588, all network nodes down to the containing an estimate of the time the message will transducer level contain an IEEE 1588 clock, physically leave the master. The precise receipt time of synchronized with all network peers (see Figure 1) using these messages is noted at the slaves. The precise Precision Time Protocol (PTP). At device level, sensors sending time of the message is noted at the can timestamp their data locally and actuators can grandmaster. All precise timing measurements are operate at a precise time, avoiding stack and performed as close to the physical layer as possible—to application delays between transducer and controller. eliminate the delays from the network stack and The accuracy of the system depends on the operating system—while the estimated times are synchronization of local RT clocks. calculated by the IEEE 1588 code at the Application Layer (see Figure 2). Following the Sync message, the M master transmits a related “Follow_Up” message Rules: Node 1588 1 Grandmaster / System GMC containing the precise sending time of the Sync 1 Master / Subnet S Node 1 Slave / Switching Device OC message. A slave uses the transmission and reception Ethernet times to calculate its offset and can initiate 1588 synchronization with the delay measurement, which is S BC Switching Device not periodic and not performed as often as the S M M Node 1588 OC 1588 protocol synchronization. Sync messages do not BC BC S Node S Node Ethernet propagate beyond their originating subnet. OC OC The resolution of the system clock is the resolution Ethernet of the GMC. If required, the GMC can be synchronized S 1588 BC 1588 to an external source such as GPS. BC Switching Device M 1588 IEEE 1588 is a highly precise system for BC M synchronizing distributed nodes for applications such as motion control and robotics. It was designed for Figure 1—IEEE 1588 Configuration multicasting networks but with the popularity of Industrial Ethernet, Annex D was included for an (No part of the Extension may be reproduced without the written consent of Contemporary Controls.) 1 Ethernet implementation of PTP. Although IEEE 1588 can deal with RT and non-RT traffic. It prioritizes does not alter Ethernet or make it more deterministic or RT traffic and provides full-duplex links for all ports. reliable, it does provide a method for other protocols Contemporary switches (even cut-through) add jitter to do so. A highly synchronized system of distributed that would impact on determinism. PROFInet switches nodes—coupled with an application for handling minimize jitter to where it has a negligible effect. The resolution and controlling traffic—could deliver hard, PROFInet communication model allows both RT and deterministic RT over Ethernet. non-RT traffic to co-exist on one network without additional precautions. By 2005, PROFInet-IRT and SRT will incorporate PROFISafe, the PROFIbus safety solution for Estimate Times Application Layer manufacturing and processing industries. Calculated PROFInet, of all the solutions discussed here offers Network Protocol the greatest determinism—and since this is built into Stack & OS ms delay the PROFInet-IRT device, the systems engineer is Precise Times Sync Detector & Timestamp spared from the burden of configuration to guarantee Calculated Creator RT communication. Physical Layer ns delay EtherCAT EtherCAT (Ethernet for Control Automation Figure 2—IEEE 1588 node timing Technology) is the motion-control RT solution from Beckhoff. It can process 1000 I/Os in 30 µs [5], but PROFInet requires full-duplex. It can use copper or fiber optic cables. EtherCAT is based on the master/slave principal PROFInet [3] is a plant-wide fieldbus standard for and can interoperate with normal TCP/IP-based distributed automation systems. It uses object- networks and other Ethernet-based solutions such as orientation and available IT standards (TCP/IP, Ethernet, PROFInet. It also supports any Ethernet topology, XML, COM). PROFInet is also built on IEEE 802.3 and including the bus. is interoperable with TCP/IP—allowing it to be The EtherCAT master processes RT data via implemented on existing Ethernets. It is compatible dedicated hardware and software (Beckhoff currently with PROFIBUS-DP. use their PC-based TwinCAT OS and TwinCAT Y PROFInet V1, has a response time of 10-100 ms. driver). In the future, further variations will be PROFInet-SRT (Soft Real-Time) allowed PROFInet to introduced that will also provide the same guarantees. work with a factory automation cycle time of 5-10 ms, The current master prioritizes EtherCAT frames over achieving RT solely in software. It uses TCP/IP and a normal Ethernet traffic, which is transmitted in gaps. dedicated software channel for RT communications. The master controls traffic by initiating all transmissions. PROFInet-IRT brings a hard-RT element to the The telegrams are standard Ethernet, and the data PROFInet protocols. The three PROFInet protocols field encapsulates the EtherCAT frame (an EtherCAT allow differing degrees of RT. PROFInet for hard RT header and one or more EtherCAT commands). Each is PROFInet-IRT. command contains a header, data and Working Counter PROFInet-IRT (WC) field. Each Ethernet telegram can contain many EtherCAT commands—realizing a higher bandwidth PROFInet IRT (Isochronous RT) was developed for and more efficient use of the large Ethernet data field systems requiring sub-microsecond synchronization, size and header (see Figure 3). The standard Ethernet typically high-performance motion control systems. CRC is used to verify message correctness. The benchmark for such a system is 1 ms cycle time, 1 µs jitter accuracy, and guaranteed determinism [4]— 14 46 - 1500 4 which IRT fulfills. Ethernet Header Data Ethernet CRC Since software introduces jitter above 1 µs, IRT (unlike SRT) is a hardware solution with highly 2 EtherCAT synchronized Ethernet nodes. Using full-duplex EtherCAT Command EtherCAT Command Header switched Fast Ethernet, it divides the communication cycle into a standard TCP/IP open channel and a 10 2 deterministic RT channel. The channel ratio is system- Working Header Data Counter dependent and is chosen by the systems engineer. Figure 3 Each PROFInet-IRT device has a special ASIC EtherCAT Encapsulation (Application-Specific Integrated Circuit) for handling The EtherCAT master fully controls its slaves. Its node synchronization and cycle subdivision and commands only elicit responses; slaves do not initiate incorporates an intelligent 2 or 4 port switch. transmissions. The two EtherCAT communication The PROFInet switch in every node is highly methods used are “Ether Type” or UDP/IP encapsulation. synchronized, contains a schedule of bus access and 2 The “Ether Type” uses the type field (defined in with no special ASICs. EPL can deliver a cycle time of Ethernet II), which is more commonly known as the 200 µs with jitter under 1 µs. Its frame is encapsulated length field in IEEE 802.3. The Ether Type implementation as illustrated in Figure 4. does not use IP, thus limiting EtherCAT traffic to the originating subnet. Encapsulating commands using 14 46 - 1500 4 UDP/IP allows EtherCAT frames to traverse subnets, Ethernet Header Data Ethernet CRC but has drawbacks. The UDP/IP header adds 28 (20: Ethernet II Frame IP, 8: UDP) bytes to the Ethernet frame and under- mines RT performance through its non-deterministic 1 11 Destination Source Service ID Data stack. EtherCAT slaves range from intelligent nodes to Address Address 2-bit I/O modules and are networked via 100Base-TX, Powerlink Frame fiber optic cable or E-bus (depending on distance requirements). E-bus is an EtherCAT physical layer for Figure 4—PowerLink Encapsulation Ethernet offering a LVDS (Low Voltage Differential Signal) scheme.
Recommended publications
  • Ethercat – Ultra-Fast Communication Standard
    EtherCAT – ultra-fast communication standard In 2003, Beckhoff introduces its EtherCAT tech- In 2007, EtherCAT is adopted as an IEC standard, EtherCAT: nology into the market. The EtherCAT Technology underscoring how open the system is. To this Group (ETG) is formed, supported initially by day, the specification remains unchanged; it has global standard 33 founder members. The ETG goes on to stan- only been extended and compatibility has been dardize and maintain the technology. The group is retained. As a result, devices from the early years, the largest fieldbus user organization in the world, even from as far back as 2003, are still interopera- for real-time with more than 5000 members (as of 2019) cur- ble with today’s devices in the same networks. rently. In 2005, the Safety over EtherCAT protocol Another milestone is achieved in 2016 Ethernet from the is rolled out, expanding the EtherCAT specification with EtherCAT P, which introduces the ability to to enable safe transmission of safety-relevant carry power (2 x 24 V) on a standard Cat.5 cable field to the I/Os control data. The low-footprint protocol uses a alongside EtherCAT data. This paves the way for so-called Black Channel, making it completely machines without control cabinets. independent of the communication system used. The launch of EtherCAT G/G10 in 2018 in- How it works The key functional principle of EtherCAT lies in how its nodes process Ethernet frames: each node reads the data addressed to it and writes its data back to Flexible topology the frame all while the frame is An EtherCAT network can sup- moving downstream.
    [Show full text]
  • Xilinx Ethernet POWERLINK Solution Sell Sheet
    Xilinx Ethernet POWERLINK Xilinx Ethernet POWERLINK Solution: Synchronizing High-Performance Control Systems The Challenges to Industrial Ethernet POWERLINK is an open, software-based Real Time Communication Network Design protocol compatible with standard Ethernet hardware. Both the Controlled Nodes (slaves) and the Managing Nodes (masters) can be built on standard Ethernet • Provide high performance, cost- components for 100 Mbits/s Ethernet. effective Ethernet-based communication technology for control applications Designed For Ultimate Flexibility POWERLINK's flexibility results is standardization, ease of service and maintenance • Integrate design changes to meet and reduced implementation and operating costs. POWERLINK is ideal for future specifications synchronization of high performance motion control systems. The POWERLINK IP developed by port GmbH adheres to Ethernet POWERLINK protocol. Its four variants • Bridge between multiple interface are designed for ultimate flexibility on Xilinx FPGAs. protocols and support various protocol technologies with a common hardware Integrates with All Standard Ethernet Protocols design POWERLINK can be implemented using any standard Ethernet hardware. While supporting all topologies, it offers complete operational conformance between systems that adhere to Ethernet communication systems. The Xilinx Ethernet POWERLINK Solution Performance Now and in the Long-Term POWERLINK meets the highest requirements of hard Real Time performance • Provide hardware necessary to achieve and determinism. POWERLINK is poised to support transmission rates 10x higher best Real Time behavior, short delays (1000 Mbits/s) than today with Gigabit Ethernet ported to FPGAs. and fast response times POWERLINKsafety and Security • Implement multiple design variants in POWERLINKsafety is an open real time safety protocol developed by Ethernet the FPGA POWERLINK Standardization Group (EPSG).
    [Show full text]
  • Ethercat the New Standard for Measurement Applications Central Backbone for Distributed Systems
    C5.2 EtherCAT The new standard for measurement applications Central backbone for distributed systems Dr. Kessel, Jens-Achim ADDITIVE Soft- und Hardware für Technik und Wissenschaft GmbH Max-Planck-Str. 22b, 61381 Friedrichsdorf Abstract In the past years EtherCAT has become a world wide accepted new standard in automation and control. In November 2003 the EtherCAT Technology Group (ETG) was founded and it has grown up to about 900 members from 45 countries in January, 2009. EtherCAT was designed and developed as an open high performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet technology to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. Once the new standard was introduced for automation and control, it became interesting, too, to use Eth- erCAT also for distributed systems in measurement applications. This paper takes a focus on the special properties of EtherCAT with respect to the usability in measure- ment applications. It shows the capabilities of EtherCAT as a powerful backbone, replacing classical net- works based on CAN or ProfiBUS. In particular aspects of synchronisation and real-time-processing in combination with the compact data packaging are interesting for measurement applications with a big number of distributed analog channels. E.g. in applications where torque and speed of rotating parts are picked up just to measure, to detect or even to prevent oscillations, it is very important to synchronize the sampling of data at the distributed converter modules. Only this allows then to calculate exact phase in- formation from the measured signals and evaluate and prepare the data according to the requirements of an application on top.
    [Show full text]
  • AKD Canopen Manual English
    RGM® CAN-BUS Communication Edition: A, October 2017 Original Documentation For safe and proper use, follow these instructions. Keep them for future reference. RGM CANopen | Record of Document Revisions Revision Remarks A, 10/2017 Launch version Technical changes which improve the performance of the device may be made without prior notice! Printed in the United States of America This document is the intellectual property of Kollmorgen. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or distributed by electronic means without the written permission of Kollmorgen. 2 Kollmorgen | kdn.Kollmorgen.com | October 2017 RGM CANopen | 1 Table of Contents 1 Table of Contents 1 Table of Contents 3 2 About This Manual 18 2.1 Overview and Scope 18 2.1.0.1 Copyrights 18 2.1.0.2 Document Validity 18 2.2 Product Warnings 18 2.3 References 18 2.3.1 Defining Documents 18 2.3.1.1 CiA 301: CANopen Application Layer and Communication Profile 18 2.3.1.2 CiA 402 Part 1: Device Profile for Drives and Motion Control, General Definitions 18 2.3.1.3 CiA 402 Part 2: Device Profile for Drives and Motion Control, Operation Modes and Application Data 18 2.3.1.4 CiA 402 Part 3: Device Profile for Drives and Motion Control, PDO Mapping 19 2.3.1.5 IEC 61800-7-1: Adjustable Speed Power Drive Systems 19 2.3.1.6 IEC 61800-7: ETG Implementation Guideline for the CiA402 Drive Profile 19 2.4 Object Description Conventions 19 Transmit PDO Communication Parameters - Index 0x1800
    [Show full text]
  • AKD Ethercat Manual English
    AKD™ EtherCAT Communication Edition: A, July 2010 Valid for Hardware Revision A Part Number 903-200005-00 Original Documentation Keep all manuals as a product component during the life span of the product. Pass all manuals to future users and owners of the product. Kollmorgen Record of Document Revisions: Revision Remarks -, 11/2009 Beta launch version -, 12/2009 Minor formatting changes A, 07/2010 FBUS.PARAM04 added, part number added, page format, release information Hardware Revision (HR) Hardware Revision Firmware WorkBench A M_01-03-zz-zzz 1.2.0.zzzzz EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH EtherCAT is a registered trademark of EtherCAT Technology Group HIPERFACE is a registered trademark of Max Stegmann GmbH WINDOWS is a registered trademark of Microsoft Corporation AKD is a registered trademark of Kollmorgen™ Corporation Current patents: US Patent 5,646,496 (used in control card R/D and 1 Vp-p feedback interface) US Patent 5,162,798 (used in control card R/D) US Patent 6,118,241 (used in control card simple dynamic braking) Technical changes which improve the performance of the device may be made without prior notice! Printed in the United States of America This document is the intellectual property of Kollmorgen™. All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any other method) or stored, processed, copied or dis- tributed by electronic means without the written permission of Kollmorgen™. 2 Kollmorgen | July 2010 AKD EtherCAT | Table of Contents Table
    [Show full text]
  • Ethercat Communication Manual
    Specialized Vision Sensor for Positioning FZM1 Series EtherCAT Communication Manual Cat. No. Q179-E1-01 Trademarks and Copyrights • EtherCAT is a registered trademark of Beckhoff Automation GmbH (Germany). EtherCAT technology is protected by patents. • Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies. © OMRON, 2010 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication. Contents 1 What Is EtherCAT?.....................................................................................................1 1-1 Outlines of EtherCAT .......................................................................................................1 Features of EtherCAT ..................................................................................................1 EtherCAT Mechanism
    [Show full text]
  • Ethercat Sensor Communication Unit
    E3X-ECT EtherCAT Sensor Communication Unit Operation Manual E413­E1 OMRON, 2012 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication. E3X-ECT EtherCAT Sensor Communication Units Operation Manual Revised February 2012 Introduction Thank you for purchasing a E3X-ECT EtherCAT Sensor communication Unit. This manual contains information you need to know to use the EtherCAT Slave Unit. Before use, please make sure that you thoroughly read the manual and have a full understanding of the products functions and performance. After you finished reading this manual, please keep it in a convenient place. Intended Readers This manual is intended for the following individuals. Those having electrical knowledge (certified electricians or individuals having equivalent knowledge) and also being qualified for one of the following: • Introducing FA equipment • Designing FA systems • Managing FA sites E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 1 How to Read the Manual Page Structure This manual's page structure consists of the following.
    [Show full text]
  • The Future of CAN / Canopen and the Industrial Ethernet Challenge by Wilfried Voss, President Esd Electronics, Inc USA
    The Future of CAN / CANopen and the Industrial Ethernet Challenge by Wilfried Voss, President esd electronics, Inc USA Industrial Ethernet technologies are a formidable challenge to CANopen as the low-cost industrial networking technology of choice. Ethernet technologies will eventually replace the majority of CANopen applications, at least in regards to new developments. For many years, Controller Area Network (CAN) and CANopen, a higher-layer protocol based on CAN, represented the best choice for low-cost industrial embedded networking. However, since the official introduction of CAN in 1986, there has been a quest to replace CAN and CANopen to overcome the most obvious shortcomings such as limited baud rate and limited network length. Industrial Ethernet technologies are currently the most formidable challenge to CANopen as the low-cost industrial networking technology of choice. Ethernet technologies will eventually replace the majority of CANopen applications, at least in regards to new developments, starting at this very moment in certain areas such as industrial control including motion control and, especially, robotics. Ironically, CAN - the underlying hardware layer of CANopen - has a far greater lifetime expectancy in the North American market than CANopen as a higher layer protocol. However, there can be too much of a good thing, and that is definitely the case when it comes to Ethernet-based fieldbus technologies. There are currently more than 20 different industrial Ethernet solutions available, all with their distinctive advantages and disadvantages, making a pro/contra decision difficult. The major question, besides the technical aspect, is which of these technologies will survive in the market, and how do they support the current need for control components.
    [Show full text]
  • Ethercat and Canopen Reference Manual FLEXI PRO Servo Drive
    EtherCAT and CANopen Reference Manual FLEXI PRO Servo Drive AF | EC | EB Models Revision: 6.4 Firmware Version: 1.41.x FLEXI PRO Revision History Document Date Remarks Revision 6.4 Jan. 2017 Firmware version 1.41.10. Object updates. EtherCAT/CANopen object support notation.Faults/Warnings/Errors updates. 6.3 May 2016 Firmware version 1.41.2. Minor corrections. 6.2 May 2016 Firmware version 1.41.2. General release. 6.1 Feb. 2016 Firmware version 1.40.0. Limited release 6.0 Nov. 2015 Firmware version 1.20.7. Internal release. 5.2 Mar. 2015 Firmware version 1.15.24 5.0 Jan. 2015 Firmware version 1.15.xx 4.0 May 2014 Firmware version 1.4.6. 3.1 Jan. 2014 Firmware version 1.4.5 3.0 Oct. 2013 Firmware version 1.4.4 Copyright Notice © 2017 Motor Power Company s.r.l. All rights reserved. No part of this work may be reproduced or transmitted in any form or by any means without prior written permission of Motor Power Company. Disclaimer This product documentation was accurate and reliable at the time of its release. Motor Power Company s.r.l. reserves the right to change the specifications of the product described in this manual without notice at any time. Trademarks Flexi SUITE and sensAR are trademarks of Motor Power Company s.r.l. CANopen and CiA are registered trademarks of the CAN in Automation User's Group EtherCAT is a registered trademark of Beckhoff Automation GmbH EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH HIPERFACE is a registered trademark of Sick Stegmann Gmbh BiSS-C is a registered trademark of iC-Haus GmbH Windows is a registered trademark of Microsoft Corporation Contact Information Motor Power Company s.r.l.
    [Show full text]
  • Study on Real‑Time Industrial Control Networks
    This document is downloaded from DR‑NTU (https://dr.ntu.edu.sg) Nanyang Technological University, Singapore. Study on real‑time industrial control networks Wu, Xuepei 2019 Wu, X. (2019). Study on real‑time industrial control networks. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/90139 https://doi.org/10.32657/10220/48429 Downloaded on 11 Oct 2021 09:28:10 SGT Acknowledgments Undertaking doctoral study has been a truly life-changing experience for me and it would never have been possible to take this work to completion without the guidance and support that I received from many people. Firstly, I would like to express my sincere appreciation and respect to my supervisor, Professor Xie Lihua, for his professional guidance and valuable suggestions throughout my time as his student. I could not imagine having had a better advisor and mentor for my research work. I owe the deepest gratitude to my family for their encouragement and love. My wife and my parents have been extremely supportive of me throughout the entire study and have made countless sacrifices to help me get to this point. I also thank the staff and students in the Internet of Things Laboratory of Nanyang Technological University for their help. Lastly, I gratefully acknowledge the funding received from the Industrial Postgraduate Programme of the Singapore Economic Development Board (grant number S11-1669- IPP). i Abstract Boosted by business trends such as Industry 4.0, Industrial Internet of Things (IIoT) solutions such as real-time Ethernet and wireless technologies have been increasingly de- ployed in the industrial automation sector.
    [Show full text]
  • Industrial Ethernet Technologies Page 1 © Ethercat Technology Group, January 2011
    Industrial Ethernet Technologies Page 1 © EtherCAT Technology Group, January 2011 Industrial Ethernet Technologies: Overview Approaches Modbus/TCP Ethernet/IP Powerlink PROFINET SERCOS III EtherCAT Summary © EtherCAT Technology Group Industrial Ethernet Technologies Editorial Preface: This presentation intends to provide an overview over the most important Industrial Ethernet Technologies. Based on published material it shows the technical principles of the various approaches and tries to put these into perspective. The content given represents my best knowledge of the systems introduced. Since the company I work for is member of all relevant fieldbus organizations and supports all important open fieldbus and Ethernet standards, you can assume a certain level of background information, too. The slides were shown on ETG Industrial Ethernet Seminar Series in Europe, Asia and North America as well as on several other occasions, altogether attended by several thousand people. Among those were project engineers and developers that have implemented and/or applied Industrial Ethernet technologies as well as key representatives of some of the supporting vendor organizations. All of them have been encouraged and invited to provide feedback in case they disagree with statements given or have better, newer or more precise information about the systems introduced. All the feedback received so far was included in the slides. You are invited to do the same: provide feedback and – if necessary – correction. Please help to serve the purpose of this slide set: a fair and technology driven comparison of Industrial Ethernet Technologies. Nuremberg, January 2011 Martin Rostan, [email protected] Industrial Ethernet Technologies Page 2 © EtherCAT Technology Group, January 2011 Industrial Ethernet Technologies: Overview Approaches Modbus/TCP Ethernet/IP Powerlink PROFINET SERCOS III EtherCAT Summary © EtherCAT Technology Group Industrial Ethernet Technologies All Industrial Ethernet Technologies introduced in this presentation are supported by user and vendor organizations.
    [Show full text]
  • Technical Definition and Description Final Draft
    Michael Rocci 28 July 2015 The Fundamental Principle and Architecture of EtherCAT Communication What Is EtherCAT? EtherCAT is an industrial real-time communication network that can provide sensing and control for different automated processes. A communication network allows for the transfer of data between two or more machines. The data is transferred using a physical layer or medium such as an Ethernet cable or a control area network. EtherCAT makes use of standard Ethernet technology to allow for the transfer of data over an Ethernet cable between multiple machines. This data transfer is made possible through the use of a specialized EtherCAT protocol. A protocol defines a standard method to exchange data between two or more machines such as two computers. The difference between an EtherCAT communication network and a standard Ethernet network is that EtherCAT has a specific protocol that allows for hard real-time communication. Real-Time Communication A real-time communication network performs data transfer tasks with very precise timing and a high degree of reliability that standard Ethernet communication does not support. The real-time communication process has a known maximum time for each of the critical operations the network performs. It is deterministic in that its timing can be guaranteed within a certain margin of error. For example, a real-time communication network will perform a cycle of the data transfer process within one millisecond. No cycle will take longer than one millisecond to occur due to EtherCAT’s protocol guaranteeing this communication deadline. Data transfer processes that need to occur within a certain time period in order to prevent unreliable data transfers benefit from the real-time nature of EtherCAT.
    [Show full text]