application of ieee 1588 in industrial automation and motion
TRANSCRIPT
Application of IEEE 1588 in
Industrial Automation and Motion Control Systems
Anatoly MoldovanskyRockwell AutomationOctober 10, 2005
A different way to think about,and solve applications…
Using time for control…
…not just network-based events!
IEEE 1588 Provides Time Synchronization Services
• Synchronization Services– The industrial market is driving the need for
synchronization to a common time-base with sub-microsecond accuracy, node-to-node.
• IEEE 1588 – Nanosecond Clock Resolution– +/- 100 nanosecond, or better, clock
synchronization between distributed devices
Applications for Time Synchronization – Time-Stamped Data
Logging– Coordination with GPS
Time
– Sequence of Events Measurements
– Scheduled Outputs– Synchronized Actuation
Controller
I/ODevice
DistributedDevice
TimestampData
Typical Time Stamped Input
GPSReceiver
Applications for Time Synchronization – Time-Stamped Data
Logging– Coordination with GPS
Time
– Sequence of Events Measurements
– Scheduled Outputs– Synchronized Actuation
Controller
GPSReceiver DataTime
I/ODevice
DistributedDevice
Typical Scheduled Output
Distributed Motion Control• Today’s distributed motion control applications are founded in
mechanical line shafting designs. A single mechanical line shaft drives multiple subsystems using belts, pulleys or gear boxes.
• Typically, these applications are characterized as phase locked - or “lineshaft” applications. Like a large music box, all mechanical elements are timed and phased through mechanical means.
MainLine Shaft To Sub-System 3
To Sub-System 1
To Sub-System 2
Distributed Motion Control
• Mechanical Lineshafts are inflexible– Single product design– Long product change-over– Run-time adjustments for re-phasing were
non-existent or required expensive differential gear-boxes.
– Wear and tear of mechanical components• Much power was expended on moving
machinery and not product.
Distributed Motion Control
• Mechanical designs have given way to electronic design control schemes
MainLine Shaft To Sub-System 3
To Sub-System 1
To Sub-System 2
Distributed Motion Control
To Sub-System 3
To Sub-System 1
• Mechanical Linkages are Removed…Motion Controllers are Added to Each Subsystem…
A Communications Network is Put in Place…
To Sub-System 2
Axis B
Axis AAxis C
Distributed Motion Control
• A Communications Network • is Put in Place…
And the Result is an Electronic LineShaft!
Axis B
Axis AAxis C
Distributed Motion Control
• And the Result is an Electronic Lineshaft!
Axis CAxis BAxis A
Why is Time Synchronization Required?
• Each Motion Controller Controls Position over Time
Axis B
Axis C
Axis A
Each Axis Follows a Digitally Generated Reference Consisting of Position and Time
Each Axis Follows Position for Position During Every Portion of a Rotation
One Controller May Share Its Reference Along the Network with Other Controllers to Coordinate Position Among Distributed Controllers
VELOCITYPOSITIONMOTION PLANNER
VELOCITYPOSITIONMOTION PLANNER
VELOCITYPOSITIONMOTION PLANNER
VELOCITYPOSITIONMOTION PLANNER
VELOCITYPOSITIONMOTION PLANNER
VELOCITYPOSITIONMOTION PLANNER
MOTION CONTROLLER
MOTION CONTROLLER
MOTION CONTROLLER
CIP Motion™
• There are Two Types of Connections that are Typically Used for Distributed Motion Control
Servo Drives
EthernetAdapter
Controller
Motion Controller
EthernetAdapter
Controller
Motion Controller
EthernetAdapter
Controller
Motion Controller
EthernetAdapter
Controller
Motion Controller
EthernetAdapter
Controller
Motion Controller
EthernetAdapter
Controller
Motion Controller
Peer to Peer
CIP Motion™
• There are Two Types of Connections that are Typically Used for Distributed Motion Control
EthernetAdapter
Controller
Motion Controller Servo Drives
Control to Drive
CIP Motion Architecture
EthernetSwitch
CIPDrive
CIPController
(Consumer)
Motion Axis Connection Drive Axis Connection
EtherNet/IP
CIPDriveCIP
Drive
MMI I/O
CIP Sync:IEEE 1588 TimeSynchronization
CIPController
(Consumer)CIP
Controller
Demo
CIP Motion™ Demo