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 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. 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 Fieldbus 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 motion control applications (C2C, Safety, I/O) develops from a specialized drive bus to an universal real-time Ethernet network (c) SERCOS International 2009 No. 15.