Professional Documents
Culture Documents
in
Industrial Automation
Jean-Pierre Thomesse
Institut National Polytechnique de Lorraine
Nancy, France
ETFA 2005 - Fieldbus Technology
Whos who
Ethernet
PROFInet
content
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application relationships
Medium Access Control
Data Link Layer
architectures
prehistory
l
l
l
l
l
CIM architecture
enterprise
management
TOP
Inc
factory control
plant
cell
MAP
cell control
miniMAP
machine
machine
fieldbus
instrumentation
ETFA 2005 - Fieldbus Technology
instrumentation
enabling technologies
l
enabling technologies
OSI reference model
Application layer
reduced models
Application layer
Presentation layer
Session layer
Transport layer
Network layer
Data Link layer
Physical layer
Physical layer
conceptual model
implementation model
enabling technologies
DCS
Digital Control System vs. Distributed Control System
enabling technologies
content
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application relationships
Medium Access Control
Data Link Layer
architectures
first development
1982 - FIP - WorldFIP
l 1983 - PROFIBUS and CAN
l 1984 - P-Net
l 1985 - ISA SP50
l 1985 - IEC NWI TC65C/WG6
Digital Data Communication for Measurement and Control Fieldbus for Use in Industrial Control Systems
part 2 PL, part 3,4 DLL, part 5,6 AL
l call for proposals------> answers
l
1st group
existing systems
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2nd group
paper proposals
FIP
PROFIBUS
questionnaire
l
benefits of fieldbus
lowering cost, ease of adding devices, accuracy of information,
enhancing the maintainability, remote access to data, advanced
control strategies
information flows
grouping of devices, topology, number of stations, redundancy
application environment
power, wires type, insulation, flammable atmosphere
H1
H2
high data rate
manufacturing process
connection of several H1
requirements - application
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definition of traffic
process (real time traffic)
measurement
l alarm setting
l status
name
value
status
requirements - application
l
l
l
l
l
l
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types of data
polled and unsolicited messages
full logical connectivity
application architectures (distributed or centralized)
time coherences (of data, of actions)
space consistency
requirements
l
environment
medium
insulation
power
flammable atmosphere
topologies
performances
number of stations
length
data rate
response time
integrity of data
addressing
roles of a fieldbus
l
system considerations
simplification of wiring
standardization of communication between devices
and later development of smart devices
common services
various protocols and then various qualities of service
depending on architectural approaches
depending on different domains of application
fieldbus
l
fieldbus
l
but also
l
history - 1
1985
1982
1989
unified MAC
requirements
Development
CAN
PROFIBUS
P-NET
FIP
Tentative choice of
international standard
National
standards
First meeting
fieldbus
IEC TC 65/SC65C/WG6
ISO TC184
TCCA
history - 2
1989
1993
IFG
OFC
ISP
1995
Fieldbus
Foundation
IFC
ISO TC184
TCCA
Two headed
monster
unified MAC
reject
ETFA 2005 - Fieldbus Technology
ISO 11519
EN 50170
CAN
VAN
Physical
ISO 11898
layer
CAN
IEC 1158-2
1997
1999
tentative
IEC 1158-3,4,5,6
different votes,
appeals...
EN 50254
EN 50325
history - 3
1999
2001
IEC 61158
agreed
8 headed
monster
IEC 61158
writing
2004
IEC 61158
last
version
ISO/FDIS
15745-3
IEC HSE
NWI
IEC 61784
NWI
ETFA 2005 - Fieldbus Technology
2005
IEC 62390
common automation
device profile
guideline
EN 50391
EN 61158
EN 61784
IEC 61 804
IEC 61158
l
IEC 61158
l
IEC 61 784
l
l
Whos who
Ethernet
SDS
WorldFIP CiA IEC 61158
CPF1/1, 1/2
Profibus-PA
P-NET
BacNET
Sercos
CSMA-DCR
TTP CSMA-BA EHS
CPF2/1, 2/2
EiBUS
DeviceNet
Interbus
Profibus-FMS
CPF3/1, 3/2, 3/3
ControlNet
CANOpen ASI
TTP-A
CPF4/1, 4/2
Profibus-DP
DWF
TCP-IP
Modbus
TTP-C
IEC
CPF5/1, 5/2
EN 50170
TASE2
CASM
ISO
8802.4
CSMA-CD
ICCP
ISO 8802.3
Sinec
CPF6/1, 6/2, 6/3
Hart TT-CAN
Vnet/IP
FIPIO
LON
CSMA-CA
CPF7/1, 7/2
CAN
UCA
F8000
MAP
Profisafe
PROFInet
ARINC
FIPWay
IEC 6375
CIP
CPF 10,
IEC 61784
J1850
EtherLink 11, 12,
FTT-CAN BlueTooth LIN FlexRay
IEEE 802.11
13, 14
FireWire
UWB
EPA
EN 50 295
CPF15
IEC 61 499
FieldBus Foundation
Ethercat ModBus-RTPS
ETFA 2005 - Fieldbus Technology
content
l
application relationships
Medium Access Control
Data Link Layer
architectures
fieldbus traffic
application exchanges
identified data
messages
real time
real time
periodic
(management,
periodic
(management,
aperiodic
configuration)
aperiodic
configuration)
applications exchanges
transport reliability
timeliness
coherences and consistencies
protocol solutions
application relationships
Medium Access Control
quality of service
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l
content
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application layer
two main classes of relationships
l client - server
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and variants
l
publisher - subscriber
l
and variants
ETFA 2005 - Fieldbus Technology
client-server
Request
X-Request
Indication
X-Indication
RT
Confirmation
Response
Y-Indication
Y-Request
quality of service:
reliability : confirmed service
response time : transport delay + local server response time
ETFA 2005 - Fieldbus Technology
Pull
Subscriber
Pull
Push
Push
Publisher
subscriber
Service response
containing published
information
Subscriber
Publisher
Push
Push
Subscriber
subscriber
Pull
Push
Push
Subscriber
subscriber
Push
Subscriber
Unconfirmed service
containing published
information
other models
multi confirmation client server
request
indication
response 1 - indication accepted
confirmation 1
confirmation 2
confirmation 3
other models
multi responses client server - cf. Push Publisher
request
indication
response
confirmation
confirmation
confirmation
response
response
period
other models
client multi-server
server1
client
server
server2
server3
other models
third part model
1
client
server
client
server
2
3
real
server
case 1
real
server
case 2
content
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periodic traffic
periodic traffic of identified data, or of messages
F
E
D
C
A
Time
aperiodic traffic
Aperiodic traffic
F
E
D
C
B
A
M
1
A
M
2
D
fieldbus traffic
periodic traffic
centralized
TDMA
decentralized
polling
token
TTP
WORLDFIP
SERCOS
PROFIBUS-DP
INTERBUS
PROFIBUS-PA
polling
CONTROLNET
FF
CANOPEN
P-NET
LON
PROFIBUS FMS
CSMA
CAN
DEVICENET
SDS
fieldbus traffic
aperiodic traffic
decentralized
(as periodic)
periodic server
periodic
time slot
special frame on
demand
when
token
CSMA
CAN
INTERBUS
WORLDFIP
CONTROLNET
SDS
PROFIBUS-PA
P-NET
DeviceNet
FF
ETFA 2005 - Fieldbus Technology
M2
M3
M4
POLLING
ANSWER
Slave4
ETFA 2005 - Fieldbus Technology
Slave1
Slave2
Slave3
Slave5
Local Write
Local Read
Local Read
Speed
75
Speed value
52
Speed
copy
52
Speed
copy
Local Write
Local Read
Local Read
Speed
52
75
Speed
copy
Speed
Speed
ETFA 2005 - Fieldbus Technology
52
Speed
copy
Local Write
Local Read
Local Read
Speed
75
Speed
copy
Speed
v(Speed)=75
Speed
copy
Local Write
Local Read
Local Read
Speed
75
Speed
Speed
copy
75
Speed 75
copy
arbitrator
NODE
NODE
NODE
NODE
NODE
NODE
COMPEL
DISTRIBUTE
NODE
NODE
ARBITRATOR
NODE
NODE
NODE
NODE
NODE
NODE
ETFA 2005 - Fieldbus Technology
NODE
token
NODE
NODE
NODE
NODE
NODE
TOKEN
NODE
NODE
Message
NODE
TOKEN
Message
NODE
NODE
Reply
NODE
NODE
NODE
NODE
ETFA 2005 - Fieldbus Technology
NODE
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
COMPEL
DISTRIBUTE
NODE
NODE
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
ETFA 2005 - Fieldbus Technology
NODE
L.A.S.
NODE
NODE
NODE
NODE
NODE
MSG
NODE
TOKEN
REPLY
NODE
NODE
MSG
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
ETFA 2005 - Fieldbus Technology
NODE
content
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quality of service
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QoS transport
reliability of
transmission
storing methods
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queues
buffers (retentive or
not)
connections
l
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with or without
peer to peer, multipeer
QoS timeliness
time stamping
timeliness attributes
l
l
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residence time
update time
synchronous
w/wo acknowledgement
l
12
12
16
12
12
16
16
16
16
14
12
12
14
16
connections
four qualities related to frames ordering
classical (queues)
disordered without loss
ordered (but with possible loss)
unordered (as received)
production
transmission
production
reception
consumption
consumption
transmission
reception
residence attribute
l
Write-date
Read-date
End of time
window
update attribute
l
Synchro-event
Writing-date
End of time
window
synchronous attribute
l
Synchro-event
Writing-date
Read-date
End of time
window
content
l
architectures
Time critical
DP or PA
LLI
(glue)
SUB-MMS
Time critical
MPS
MCS
Transport layer
(glue)
Physical layer
Profibus Architecture
Physical layer
WorldFIP Architecture
HTTP
Time critical
HTTP
TCP
TCP
TCP
IP
IP
IP
Time critical
DLL
Ph L
Physical layer
Physical layer
Outside
IP Encapsulation
Based architecture
Time critical
Application layer
TCP/
UDP
HTTP
Time critical
Application layer
TCP
UDP
IP
IP
Ethernet
TC-DLL layer
Physical layer
Physical layer
Ethernet A
Time critical
mechanisms
Physical layer
Ethernet B
Fieldbus
Application and
Presentation layer
Physical layer
Physical layer
fieldbus technology?
l
future
reference:
Proceedings of IEEE, Vol 93, N6, June 2005, pp 1073-1101
Fieldbus Technology
in
Industrial Automation
Jean-Pierre Thomesse
INPL - LORIA
Nancy, France
ETFA 2005 - Fieldbus Technology