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 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 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 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 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 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