COMMON INDUSTRIAL PROTOCOL (CIP™) AND THE FAMILY OF CIP NETWORKS PUB00123R1 FEBRUARY 2016 The Common Industrial Protocol (CIP™) and the Family of CIP Networks Publication Number: PUB00123R1 Copyright © 2006-2016 ODVA, Inc. All rights reserved. For permissions to reproduce excerpts of this material, with appropriate attribution to the author(s), please contact ODVA at: ODVA, Inc. Ann Arbor, MI, USA TEL 1-734-975-8840 FAX 1-734-922-0027 WEB www.odva.org The right to make, use or sell product or system implementations described herein is granted only under sep- arate license pursuant to a Terms of Usage Agreement or other agreement. Terms of Usage Agreements for individual CIP Networks are available, at standard charges, over the Internet at www.odva.org: Warranty Disclaimer Statement The right to make, use, or sell product or system implementations based upon the Common Industrial Protocol (CIP) is granted only under separate license pursuant to a Terms of Usage Agreement or other agreement. The ODVA Terms of Usage Agreement is available, at standard charges, over the Internet at www.odva.org. NOTE: Because the technologies described in the CIP Networks Library may be applied in many diverse situations and in conjunction with products and systems from multiple vendors, the user and those responsible for specifying these technologies must determine for themselves their suitability for the intended use. ALL INFORMATION PROVIDED BY ODVA IS PROVIDED “AS IS” WITH NO WARRANTIES WHATSOEVER, WHETHER EXPRESS, IMPLIED, STATUTORY, OR OTHERWISE, AND ODVA AND ITS MEMBERS, PARTICIPANTS, SPECIAL INTER- ESTS GROUPS, EXECUTIVE DIRECTOR AND BOARD OF DIRECTORS EXPRESSLY DISCLAIM ANY WAR- RANTY OF MERCHANTABILITY, NON-INFRINGEMENT, FITNESS FOR ANY PARTICULAR OR INTENDED PURPOSE, OR ANY OTHER WARRANTY OTHERWISE ARISING OUT OF THE SPECIFICATIONS. ODVA AND ITS MEMBERS, PARTICIPANTS, SPECIAL INTERESTS GROUPS, EXECUTIVE DIRECTOR AND BOARD OF DIRECTORS DO NOT WARRANT THAT USE OF THE SPECIFICATIONS (INCLUDING, WITHOUT LIMITATION, THE MANUFACTURE, DISTRIBUTION AND SALE OF PRODUCTS THAT COMPLY WITH THE SPECIFICA- TIONS) WILL BE ROYALTY-FREE. The user should always verify interconnection requirements to and from other equipment, and confirm installation and maintenance requirements for their specific application. IN NO EVENT SHALL ODVA, ITS OFFICERS, DIRECTORS, MEMBERS, AGENTS, LICENSORS, OR AFFILIATES BE LIABLE TO YOU, ANY CUSTOMER, OR THIRD PARTY FOR ANY DAMAGES, DIRECT OR INDIRECT, INCLUDING BUT NOT LIMITED TO LOST PROFITS, DEVELOPMENT EXPENSES, OR ANY OTHER DIRECT, INDIRECT, INCIDEN- TAL, SPECIAL, PUNITIVE OR CONSEQUENTIAL DAMAGES. CIP, DeviceNet, EtherNet/IP ControlNet, CompoNet, ODVA CONFORMANT, CIP Safety, CIP Sync, CIP Motion, CIP Energy, and OEU are trademarks of ODVA, Inc. 2 PUBLISHER: ODVA, Inc. AUTHOR: Viktor Schiffer – on behalf of Rockwell Automation EDITORS: David J. VanGompel – Member of Technical Review Board, ODVA Raymond A. Romito – Senior Project Engineer, Rockwell Automation Katherine Voss – Executive Director, ODVA ABOUT THE AUTHOR Viktor Schiffer has over 25 years of experience in the field of manufacturing automation and industrial networks. Mr. Schiffer graduated from RWTH Aachen in Germany with a degree of Diplom-Ingenieur in Electrical Engineer- ing and earned a Master of Science degree in Electronic Instrumentation from the University College of Wales in Swansea in the United Kingdom. He served as Engineering Manager for Rockwell Automation in Germany where he was responsible for third party support of the open CIP Networking technologies DeviceNet, Control- Net and EtherNet/IP. The author has been writing on the topic of industrial networks and has published a number of papers related to the CIP Networking technologies, including specifically on the use of Electronic Data Sheets and on real-time behavior of networks. THE COMMON INDUSTRIAL PROTOCOL (CIP™) AND THE FAMILY OF CIP NETWORKS 3 PUB00123R1 FEBRUARY 2016 ©2016 ODVA, Inc. All rights reserved. The Common Industrial Protocol (CIP™) and the Family of CIP Networks Contents 1. Introduction 7 2. Description of CIP 10 2.1. Object Modeling 12 2.2. Services 14 2.3. Messaging Protocol 14 2.4. Communication Objects 16 2.5. Object Library 18 2.6. Device Profiles 26 2.7. Configuration and Electronic Data Sheets 27 2.8. Bridging and Routing 29 2.9. Data Management 30 3. Network Adaptations of CIP 33 3.1. DeviceNet™ 33 3.2. ControlNet™ 54 3.3. EtherNet/IP™ 65 3.4. CompoNet™ 82 4. Benefits of The CIP Family 93 4.1. Benefits for the Manufacturer of Devices 93 4.2. Benefits for the Users of Devices and Systems 93 5. Application Layer Enhancements 94 5.1. CIP Sync™ and CIP Motion™ 94 5.2. CIP Safety™ 99 6. Conformance Testing 121 7. Endnotes 123 8. Bibliography 126 9. Related Publications 126 10. Abbreviations 127 11. Terminology 129 4 The Common Industrial Protocol (CIP™) and the Family of CIP Networks Preface Founded in 1995, ODVA (www.odva.org) is a global association whose members comprise the world’s leading automation companies. Combined with the support of its members, ODVA’s mission is to advance open, interoperable information and communication technologies in industrial automation. The basis of the member- ship community is its primary common interest in developing standards and promoting adoption of the Common Industrial Protocol (CIP™), ODVA’s media independent network protocol, and the network adaptations of CIP – EtherNet/IP™, DeviceNet™, CompoNet™ and ControlNet™. ODVA manages these technologies, and develops and distributes the specifications for these four networks in a common structure to help ensure consistency and accuracy. The following diagram illustrates the organization of the library of four networks. THE COMMON INDUSTRIAL PROTOCOL (CIP™) AND THE FAMILY OF CIP NETWORKS 5 PUB00123R1 FEBRUARY 2016 ©2016 ODVA, Inc. All rights reserved. Organization of the CIP Networks Specifications This common structure presents CIP in one volume with a separate volume for each network adaptation of CIP. The specifications for the CIP Networks are typically three-volume sets, structured as shown below and as of April 2015. The EtherNet/IP Specification consists of: The ControlNet Specification consists of: Volume 1: Common Industrial Protocol (CIP) Volume 1: Common Industrial Protocol (CIP) Volume 2: EtherNet/IP Adaptation of CIP Volume 4: ControlNet Adaptation of CIP Volume 7: Integration of Modbus Devices into Volume 7: Integration of Modbus Devices into the the CIP Architecture CIP Architecture The DeviceNet Specification consists of: The CIP Safety™ Specification is distributed Volume 1: Common Industrial Protocol (CIP) in a single volume: Volume 3: DeviceNet Adaptation of CIP Volume 5: CIP Safety Volume 7: Integration of Modbus Devices into the CIP Architecture The CompoNet Specification consists of: Volume 1: Common Industrial Protocol (CIP) Volume 6: CompoNet Adaptation of CIP Volume 7: Integration of Modbus Devices into the CIP Architecture Chapters 2 of this book provides an overview of the Common Industrial Protocol (CIP). Chapter 3 analyzes the network adaptations of CIP by network, and Chapters 4 and 5 detail the benefits of CIP and the powerful extensions to it, including extensions for synchronization, motion, and functional safety. In conclusion. Chapter 6 outlines the ODVA Conformance Test process, and Chapters 7 through 11 of this book contain reference mate- rial (literature references, abbreviations and terminology). Specification Enhancement Process The specifications for CIP Networks are continually being Members Develop Specification enhanced to meet the increasing needs of users for New Specification Edition Enhancements in Special Interest Published Groups (SIGs) features and functionality. ODVA uses a Specification En- hancement Process in order to ensure open and stable Conformance Tests specifications for all CIP Networks. This process is ongo- Updated Technical Review Board Reviews ing throughout the year for each CIP Network Specifica- and Approves Specification Enhancements tion as shown in the figure below. New editions of each ODVA specification are published on a periodic basis. Member Review and In recent years, the CIP Networks Library subscriptions Comment Period Specification Enhancements have been updated twice annually. Integrated in New Revisions of Publications 6 The Common Industrial Protocol (CIP™) and the Family of CIP Networks 1 Introduction Traditionally, networks used in manufacturing enterprises were optimized for performance in specific applications, most commonly for control, information and safety. While well suited to the functionality for which they were de- signed, these networks were not developed with a single, coherent enterprise architecture in mind. Since efficien- cy, reliability and, ultimately, profitability are generally dependent on having more than one of these capabilities, manufacturers were forced to implement several different networks, none of which communicated innately with the other. As a result, over the course of time, most manufacturing enterprise network environments have been characterized by numerous specialized – and generally incompatible – networks existing in one space. Today, however, corporate expectations for the manufacturing automation network landscape are dramatically dif- ferent, thanks to the rapid and ubiquitous adoption of Internet technology. Companies of all sizes, all over the world, are trying to find the best ways to connect the entire enterprise. No longer is control of the manufacturing