Motion

PUBLIC - 5058-CO900H
P
PUBLIC
Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.
PUBLIC
This session is focused at helping designers of EtherNet/IP based real-time

control systems (like motion) understand:
How real-time applications like motion control can be accomplished
over a non-deterministic network like Ethernet
How to design an automation network that provides a platform for high
performance control
PUBLIC
Compliance and backlash

Mechanical system time constants
System Tuning
Fluctuations introduced by network

infrastructure are measured in nanoseconds
and microseconds, so they are usually
negligible compared to other boundaries in the
system:
PUBLIC
Questions?
Considerations for OEMs
Connecting the Cells Together
Switch Selection within the Cell
Real-time Applications on EtherNet/IP?
PUBLIC
Questions?
PUBLIC
But Ethernet is not deterministic!

How can time-sensitive applications like motion control and time-stamping
possibly be accomplished over Ethernet?
PUBLIC
All members (devices) have clocks to compare

time to an absolute base and scale
A destination (position) is targeted for the event
A time (timestamp) is set for when the event
shall occur
A message is sent to each member (device) to
meet at the given place at the pre-determined
time
Not all messages might arrive at precisely
the same time!
CIP Motion coordinates devices in a manner

thats similar to our own methods for
coordinating meetings and events
PUBLIC
All members (devices) have clocks to compare

time to an absolute base and scale
A destination (position) is targeted for the event
A time (timestamp) is set for when the event
shall occur
A message is sent to each member (device) to
meet at the given place at the pre-determined
time
Not all messages might arrive at precisely
the same time!
But all members arrive in the proper
position at the proper time for the event to
take place!
CIP Motion coordinates devices in a manner

thats similar to our own methods for
coordinating meetings and events
TS
Delay = (D1 + D2) / 2
D2
D1
TS
Master Clock
Time Stamp
time
TS
TS
Slave Clock
PUBLIC
Master/slave hierarchy of clocks

Master is typically controller
Slave is typically a drive
Master clock broadcasts time
Once per second
Allows clocks to be tuned
Slave devices measure delays
Accounts for network latency
Provides accuracy ~ 100ns
How Precision Time Protocol (PTP) Synchronizes All Clocks

!
"
More

Boundary
dary C
Clock
PUBLIC
Boundary
dary C
Clock
Grandmaster Clock
The IEEE1588 System of Clocks

#
"

PUBLIC
Ethernet can be deterministic!

CIP Sync per IEEE1588 keeps all the clocks synchronized, enabling realtime applications like motion control over Ethernet
PUBLIC
Questions?
PUBLIC
Stratix 2000
Stratix 6000
Stratix 5700
Stratix 8000
What are you trying to do?

Choose a switch based on the application:
Real-time applications imply switches that support time
Motion control implies time accuracy near +/-1 microsecond
d
Will the system be connected to a larger infrastructure?
PUBLIC
What happens if the clocks are off?
All members (devices) continue to

compare time to an absolute base and
time scale
A destination (position) is targeted for
the event
A time (timestamp) is set for when the
event shall occur
A message is sent to each member
(device) to meet at the given place at
the pre-determined time
If clocks are off, members dont know

that their clocks are different from
others against which they are
coordinating
PUBLIC
11:50
12:00
12:00
Positioning
Error
11:50
Members will arrive at the right

place.
But at the wrong time.
.this results in positioning error
All members (devices) continue to

compare time to an absolute base and
time scale
A destination (position) is targeted for
the event
A time (timestamp) is set for when the
event shall occur
A message is sent to each member
(device) to meet at the given place at
the pre-determined time
If clocks are off, members dont know

that their clocks are different from
others against which they are
coordinating
PUBLIC
Reference
Axis Clock
= 3:00
Follower
Axis Clock
thinks its 3:00
Position
Error
Position
Time
PUBLIC
it may not be precisely delivered

through the infrastructure distribution
depending on traffic loading and
infrastructure configuration
Although time is metered precisely

from the master clock
Network infrastructure is a potential

filter to the distribution of time in a
system
How would clocks become offset?
3:01
3:01
3:03
3:02 3:03
3:02
3:04
3:06
3:04 3:05 3:06
3:05
3:07
3:07 3:08
3:08
PUBLIC
Introduction of large packet sizes

1500 bytes @ 100MBits/sec = 120 usecs
Introduction of random, large volumes

of data in a non-prioritized manner
How would clocks become offset?

$
Non-PTP Enabled Switch
PUBLIC
How far offset?
16 Axis Star, K350, Stratix 2000 Switch
Note: Sample from Axis 1, off switch 1
0.0000018s x 6000 RPM/ 60s/min = 0.00018Revs
0.000000035s x 6000 RPM/ 60s/min = 0.0000035 Revs

Note: Sample from Axis 2
Average System Clock Jitter (Max) ~ 1.8 microseconds
Average System Clock Jitter (Max) ~ 35 nanoseconds
Multiply your application

speed by this value to
determine position error
due to network jitter
16 Axis Star, Linear Kinetix6500, Stratix 8000 Switch
Transparent Clock
DSCP - Differentiated Services Code Point
CIP Prioritization (ODVA Specification)
PUBLIC
Management of Multi-Cast Traffic
IGMP Snooping
QoS Quality of Service
Traffic Prioritization
Boundary Clock
Time Re-phasing Mechanisms
Not user configurable
More
Look for IEEE158

IEEE1588
88888
8--2008
2008 and work with your
20
switch vendor to provide
provid
provid a QoS policy that
pro
prov
supports automation.
NOTE: These are NOT featu

features
ures excl
exclusive
lusive
to Rockwell Autom
Automation;
n; EtherNet
ett is an
et/IP
open standard.
Topological Arrangement
Device Clock Filtering
How do I protect time in the system?

Other Mechanisms
Typically Managed Switch
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PUBLIC
Point I/O
Adapters
8N
ArmorBlock I/O
'
Kinetix 5500 or
Kinetix 6500 Drives
.
E
CIP
Encoders
(16) axes were

tested in this
topology
PanelView
Plus
(Any)
Managed
Switch
PowerFlex
Drives
CompactLogix L36ERM
Plant Network
The Baseline System (and the Clear Line of Sight Concept)

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PUBLIC
Point I/O
Adapters
ArmorBlock I/O
'
Kinetix 5500 or
Kinetix 6500 Drives
.
E
CIP
Encoders
8N
(16) axes were tested in

this topology
PanelView
Plus
Stratix
5400 or
5700
Full/Sync
PowerFlex
Drives
CompactLogix L36ERM
Plant Network
Fully Managed w/Sync - Interposing Switch (QoS and PTP)

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PUBLIC
Point I/O
Adapters
ArmorBlock I/O
Kinetix 5500 or
Kinetix 6500 Drives
'
CIP
Encoders
.
E

this topology
8N
PanelView
Plus
Stratix
5700
Full
PowerFlex
Drives
CompactLogix L36ERM
Plant Network
Fully Managed - Interposing Switch (QoS, No PTP)

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PUBLIC
Point I/O
Adapters
ArmorBlock I/O
'
Kinetix 5500 or
Kinetix 6500 Drives
.
E
CIP
Encoders
8N

this topology
PanelView
Plus
Stratix
5700
Full
PowerFlex
Drives
CompactLogix L36ERM
Plant Network
Fully Managed - Interposing Switch (QoS, No PTP)

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PUBLIC
Point I/O
Adapters
ArmorBlock I/O
Kinetix 5500 or
Kinetix 6500 Drives
CIP
Encoders
'

this topology
.
E
PanelView
Plus
8N
Stratix
5700
Lite
PowerFlex
Drives
CompactLogix L36ERM
Plant Network
Lightly Managed - Interposing Switch (No QoS, No PTP)

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PUBLIC
Point I/O
Adapters
ArmorBlock I/O
'
Kinetix 5500 or
Kinetix 6500 Drives
.
E
CIP
Encoders
8N

this topology
PanelView
Plus
Stratix
5700
Lite
PowerFlex
Drives
CompactLogix L36ERM
Plant Network
Lightly Managed - Interposing Switch (No QoS, No PTP)

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PUBLIC
Point I/O
Adapters
ArmorBlock I/O
Kinetix 5500 or
Kinetix 6500 Drives
CIP
Encoders
PanelView
Plus
.
E

this topology
'
Stratix
2000
CompactLogix L36ERM
PowerFlex
Drives
8N
Addl
Managed
Switch
Plant Network
Unmanaged - Interposing Switch (No QoS, No PTP)

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PUBLIC
Point I/O
Adapters
ArmorBlock I/O
Kinetix 5500 or
Kinetix 6500 Drives
'
CIP
Encoders
.
E

this topology
8N
PanelView
Plus
Stratix
2000
CompactLogix L36ERM
PowerFlex
Drives
Addl
Managed
Switch
Plant Network
Unmanaged - Interposing Switch (No QoS, No PTP)

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PUBLIC
SoE
CMX L36ERM
SoE
Kinetix 350 Drives
Cascaded Stratix 2000

Switches
Cascaded Unmanaged Switches (No QoS, No PTP)
SoE
For 5-8 axes, offer a Stratix 5700 Full managed switch(1) if price is a concern
Over 8 axes, offer a Stratix 5700 Full (with CIP Sync) managed switch
Use 1783-ETAP devices for ring topologies with Kinetix 350 drives
PUBLIC
SoE
application must not require extremely tight coordination between axes or minimal following error
when using these switches
(1) The
For 1-4 axes, offer a Stratix 2000 unmanaged switch(1) if price is a concern
General guidelines for single-port Ethernet products (Kinetix 350 drives):
GOLDEN SLIDE
PUBLIC
Questions?
PUBLIC

There are many reasons to Connect the Enterprise:
Provide a common time across the Enterprise for alarm/event logs
Gain access to manufacturing data for analytics
Provide Smart Machines that enable proactive maintenance
(And EtherNet/IP is the only network that can connect IT to OT)
PUBLIC
VLAN 10
VLAN 20
VLAN 30
Non-PTP Switch
VLAN 40
You must architect your infrastructure for the application:

Do not connect cells of motion without a CIP Sync-capable backbone
You will see ControlSync Faults/Alarms with these switches
What NOT To Do!
35
PUBLIC
VLAN 10
VLAN 20
VLAN 30
L3 Switch/Gateway
VLAN 40
We analyzed system time by observing device level jitter and registration:

Case 1: Steady-state cell-to-cell time coordination
Case 2: Effects of Grandmaster changes on time coordination
PUBLIC
VLAN 10
VLAN 20
VLAN 30
VLAN 40
S8000
Boundary Clock (BC) mode for shared PTP (all)
S8300
More
System layout #1 using Stratix 8300 layer 3 switch:
Steady-state jitter <70ns, registration time around -2 to 1us
Grandmaster changes lead to jitter ~ 50us, registration ~ +/- 20us
PUBLIC
VLAN 10
VLAN 20
VLAN 30
S8000 in BC mode
VLAN 40
GuardLogix controller acting as data concentrator,

line safety controller AND Grandmaster time clock
System layout #2 using ControlLogix gateway (as a data concentrator):

PUBLIC
VLAN 10
VLAN 20
VLAN 30
S8000 in BC mode
VLAN 40
PTP is not supported in hardware on this device
Cisco 3750-X
System layout #3 using Cisco Catalyst 3750-X layer 3 switch:

PUBLIC
Yes
Yes
Yes
<70ns
-2 to 1us
<50us
+/- 20us
Provides PTP Compensation
Provides QoS Prioritization
Steady-State Jitter
Steady-State Registration
Jitter after GM Change
Registration after GM Change
Stratix L3 Switch
Stratix
8300
Viable Solution
Metric:
Performance results:
+/- 10us
<12us
-1 to 1us
<70ns
Yes
Yes
Yes
Logix Gateway
ControlLogix
Gateway
+/- 20us
<170us
-2 to 1us
<80ns
Possible
No
Yes
Cisco L3 Switch
Cisco 3750-X
PUBLIC
Anywhere
Anywhere
Anywhere
Anywhere
Anywhere
Possible
Access to controller online
Access to data via HMI
Access to VLAN switches
Access to device webpages
Line control capability
Stratix L3 Switch
Stratix 8300
Access to switches/gateway
Function:
GOLDEN SLIDE
Ideal
In local VLAN only
In local VLAN only
Anywhere
Anywhere
Anywhere
Logix Gateway
ControlLogix
Gateway
Possible
Anywhere
Anywhere
Anywhere
Anywhere
Anywhere
Cisco L3 Switch
Cisco 3750-X
More
PUBLIC
Questions?
PUBLIC
Discuss a plan with your customers early about network integration

IP Address scheme and PTP multicast groups
Data that would like produced on network
Secure, remote access options for you?
44
PUBLIC
VLAN 10
VLAN 10
VLAN 10
VLAN 10
S5700 NAT
IEEE1588 or not?
By default, NAT switches will block PTP traffic, isolating cells:

S5700 can be made to pass PTP, if layer 3 switch supports IEEE1588
Bonus: Machines can use identical IP addresses (code mgmt.)
Risk Mitigation
45
PUBLIC
VLAN 10
VLAN 10
VLAN 10
VLAN 10
Other NAT
appliances
Any Switch
Any Layer 3 Switch
The other NAT appliances block PTP, isolating time to a cell:
Risk Mitigation
PUBLIC
Questions?
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PUBLIC - 5058-CO900H

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

This session is focused at helping designers of EtherNet/IP based real-time

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Compliance and backlash

Fluctuations introduced by network

Considerations for OEMs

Connecting the Cells Together

Switch Selection within the Cell

Real-time Applications on EtherNet/IP?

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Considerations for OEMs

Connecting the Cells Together

Switch Selection within the Cell

Real-time Applications on EtherNet/IP?

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

But Ethernet is not deterministic!

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

All members (devices) have clocks to compare

CIP Motion coordinates devices in a manner

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

All members (devices) have clocks to compare

CIP Motion coordinates devices in a manner

Delay = (D1 + D2) / 2

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Master/slave hierarchy of clocks

How Precision Time Protocol (PTP) Synchronizes All Clocks

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

The IEEE1588 System of Clocks

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Ethernet can be deterministic!

Considerations for OEMs

Connecting the Cells Together

Switch Selection within the Cell

Real-time Applications on EtherNet/IP?

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

What are you trying to do?

What happens if the clocks are off?

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

All members (devices) continue to

If clocks are off, members dont know

What happens if the clocks are off?

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Members will arrive at the right

All members (devices) continue to

If clocks are off, members dont know

What happens if the clocks are off?

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

it may not be precisely delivered

Although time is metered precisely

Network infrastructure is a potential

How would clocks become offset?

3:04 3:05 3:06

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Introduction of large packet sizes

Introduction of random, large volumes

How would clocks become offset?

Copyright 2015 Rockwell Automation, Inc. All Rights Reserved.

Non-PTP Enabled Switch

How far offset?