industrial+ethernet+technologies · industrial+ethernet+technologies presented(by wilfredvoss...

Industrial Ethernet Technologies Presented by Wilfred Voss

wilfred.voss@esd-‐electronics.com

esd electronics, Inc. 525 Bernardston Road Greenfield, MA 01038

hFp://www.esd-‐electronics-‐usa.com

Download this presenta3on at

hFp://www.esd-‐electronics-‐usa.com/online-‐seminars.html

About esd electronics, Inc.

•  CAN Hardware Interfaces – PCI, cPCI, VME, PMC, PC104, ISA, and more

•  CAN Gateways – USB, EtherNet, Bluetooth, IEEE488, and more

•  CAN Converters – CANopen, DeviceNet, Profibus, and more

•  CAN Embedded Controllers

•  Drivers and APIs for various operaVng systems

•  Free CAN Analyzer soZware – included with driver


esd Ethernet Products


Gateways:   CAN <> Ethernet   CAN <> Modbus/TCP   CAN <> ProfiNet   CAN <> EtherCAT

EtherCAT Master SoZware EtherCAT StarterKit in preparaVon

Fieldbus Systems -‐ Advantage

  Reduced wiring   Increased system reliability   Improved service and maintenance   Reduced downVme   Reduced operaVng costs   Cost savings   Improved performance due to mulV-‐processor system architecture

Central vs. Distributed Control -‐ 1

Central vs. Distributed Control -‐ 2

ISO 7 Layer Model

Established Protocols

  Controller Area Network   CANopen   DeviceNet   SAE J1939   MilCAN

  Profibus   Ethernet – Non-‐DeterminisVc   Others

Ethernet RT Protocols

  EtherCAT   Powerlink   Ethernet/IP   Modbus/TCP   ProfiNet   …and more…

Advantages of CAN/CANopen

  Extremely Reliable   No Message Collision – Compare to RS232/485 or Ethernet   Very Low Resource Requirements   Cost Savings – Even BeFer Than RS232/485   CAN Protocol is on Chip   Designed for Virtual Real-‐Time Apps -‐ Compare to RS232/485 or Ethernet

Advantages of CANopen

  DS401 – General I/O Modules   DSP402 – Drives and MoVon Control   DS405 – IEC 61131-‐3 Programmable Devices   DS406 – Encoders   DS412 – Medical Devices   …and many more…

Disadvantages of CANopen   Level of Complexity (Learning Curve)  Limited baud rate of 1 Mbit/sec   CANopen is a soZware add-‐on to provide network funcVonality to CAN   CANopen reduces the CAN bandwidth to ~50%   CANopen performance depends heavily on use of SDOs & PDOs   Greatest disadvantage: Limited network length

Literature

hFp://www.copperhillmedia.com

The Famous Quote

Houston, we have a soluVon… Uhm…We’re looking for the problem.

The Ethernet Challenge

 Fast! 100 MBit/sec (up to 1000 Vmes faster than CANopen)

  Increased system performance   Unlimited network length   Use of established HW components (RJ-‐45, switches, hubs, etc.)   Higher acceptance world-‐wide   Component prices are increasingly compeVVve   Ethernet TCP/IP is not determinisVc   Wiring plus periphery (hubs, switches) can be expensive

The Future of CAN Greater lifeVme expectancy than CANopen due to applicaVons such as:

  Automobiles   Embedded SoluVons   SAE J1939   Legacy applicaVons

1998 1999

2000

2001 2002

2003

2004 2005

2006

2007

0

100

200

300

400

500

600

700

Embedded SoluVons

SAE J1939

MilCAN

The Future of CANopen

The Future Is Dim! Source CiA: LifeVme unVl 2017 – It will be much sooner!

Legacy applicaVons:   MoVon Control << Ethernet   Industrial Machine Control << Ethernet   Medical Equipment and Devices << Ethernet   Niche ApplicaVons (liZs, escalators, gambling machines, telescopes, bicycles, specialty vehicle systems, cost-‐sensiVve I/O control applicaVons, etc.)   MilCAN

MilCAN

CAN in AutomaVon

hFp://www.can-‐cia.com

CiA: CAN, CANopen

  Facing the Ethernet challenge   Focus on developing markets (India, China)   No office in North America   Cooperates with ETG and EPSG (Device Profiles)   Large web site   Some documents freely available

hFp://www.can-‐cia.com

Ethernet & TCP/IP

 Ethernet = Physical Layer; TCP/IP = Protocol  Ethernet Originated Xerox Palo Alto Research Center (PARC) mid-‐1970s   Basic Philosophy: Any StaVon Can Send Message At Any Time   1983 – IEEE Issued Carrier Sense & CSMA/CD   TCP/IP Added For A Complete SoluVon 1980s   PracVcal Key CombinaVon  Neither One Would Have Survived Without The Other

Ethernet & TCP/IP

  CSMA/CD We Can’t All Talk At The Same Time…   CSMA – Carrier-‐Sense MulVple Access One Talker; MulVple Listeners   CD – Collision DetecVon Be Polite; Don’t Interrupt

Ethernet & TCP/IP

  Messages Of (Virtually) Unlimited Length   Messages Cannot Be Interrupted   Random Pause And Retry   Very Limited Bus ArbitraVon   Large Protocol Overhead

Hubs & Switches

  ConnecVng MulVple Nodes   Hubs & Switches Are Cost Factors   Hubs Distribute Messages To Everybody   Switches Detect DesVnaVon   Switches Perform BeFer On Busy Networks

Ethernet RT Protocols

  EtherCAT   Powerlink   Ethernet/IP   Modbus/TCP   ProfiNet

Comparison

  BoFleneck TCP/UDB/IP Protocol Stack   Bypassing of TCP/UDP/IP stack for real-‐Vme data exchange

EtherCAT Technology Group

hFp://www.ethercat.org

ETG: EtherCAT

hFp://www.ethercat.org

  Standard originally developed by Beckhoff   Large membership   Membership is free   All documents can be downloaded by members   Office in US   Aggressive MarkeVng   Very Aggressive Trademark/Copyright ProtecVon   Professional Web Site

EtherCAT -‐ CharacterisVcs

  Ethernet package is no longer received, interpreted, and copied. Instead the Ethernet frame is processed on the fly.   Bypassing of TCP/UDB/IP stack for real-‐Vme data exchange   Supports CANopen device profiles   Requires a slave controller   Master needs only the master soZware plus network card   Very few resources for master soZware

Ethernet POWERLINK StandardizaVon Group

hFp://www.ethernet-‐powerlink.org

Powerlink

hFp://www.ethernet-‐powerlink.org

POWERLINK V2 is DEAD! B&R isn’t…

  Standard originally developed by B&R, Austria   ESPG – Ethernet POWERLINK StandardizaVon Group, Berlin, Germany   Decent membership   V2 is extension to moVon control   B&R refuses to comply with V2   B&R very successful selling V1   Lenze abandons Powerlink

Powerlink CharacterisVcs

  Strict determinisVc performance   Each StaVon has Vmed and strongly limited communicaVon rights   Each staVon can send data to each other staVon in the network   Time-‐slots for asynchronous data transfer   Supports CANopen device profiles   Requires hubs (switches, too?)

Open DeviceNet Vendor AssociaVon

hFp://www.odva.org

Ethernet/IP

hFp://www.odva.org

  Strong “poliVcal” support by Rockwell AutomaVon   Introduced/maintained by ODVA = Open DeviceNet Vendor AssociaVon   IP = Industrial Protocol   Very limited web site   Supports device profiles   SpecificaVon is free of charge   Greatest strength: Market share by Rockwell, American technology   Open in regards to higher speed standards

Modbus/TCP

hFp://www.modbus-‐ida.org

Modbus/TCP

hFp://www.modbus-‐ida.org

KISS = Keep It Simple, Stupid!

  Derivate of Modbus (RS232/422/485) protocol   Developed by Modicon (Schneider)   Modbus telegram is embedded in frames of TCP, UDB, IP layers   Open in regards to higher speed standards   Widely used because easy and already available for a long Vme   Slow! Cycle Vmes 5 – 10 msec   No device profiles

ProfiNet

hFp://www.profibus.com

ProfiNet

hFp://www.profibus.com

  ProfiNet is NOT Profibus over Ethernet!   “Strong support” by Siemens   Was developed by PNO (Profibus Nutzer/User OrganizaVon)   Three releases V1 -‐ 3   Version 3 requires addiVonal hardware   High level of complexity   Very difficult to implement (jiFer Vme req. = < 1 μsec)

ISO 7 Layer Model

Comparison -‐ 1

  BoFleneck TCP/UDB/IP Protocol Stack   Bypassing of TCP/UDP/IP stack for real-‐Vme data exchange

Comparison -‐ 2

EtherCAT Ethernet/IP Powerlink Modbus/TCP

Vendor OrganizaVon

ETherCAT Technology Group

Open DeviceNet Vendor

AssociaVon

Ethernet Powerlink

SpecificaVon Group

Modbus-‐IDA Group

Homepage www.ethercat.org www.odva.org www.ethernet-‐powerlink.org

www.modbus-‐ida.org

Availability of

specificaVon

Members Free Members Free

Comparison -‐ 3 EtherCAT Ethernet/IP Powerlink Modbus/TCP

Availability of

technology

Example code, ASIC, FPGA

Example Code Standard Ethernet Chips

Example Code

Products Available Since

2003 2000 2001 1999

InteracVon Structure

Master/Slave Client/Server Master/Slave Client/Server

* Client/Server Allows Direct Node-‐to-‐Node CommunicaVon

Comparison -‐ 4

EtherCAT Ethernet/IP Powerlink Modbus/TCP

CommunicaVon Method

One frame for all

communicaVon partners

Message Oriented

Message Oriented

Message Oriented

Ethernet Data Transfer Rate

100 Mbit/sec 100/10 Mbit/sec

100 Mbit/sec 100/10 Mbit/sec

Physical Topology

Line, Daisy Chain, Tree

Star Star Star, Tree

Comparison -‐ 5 EtherCAT Ethernet/IP Powerlink Modbus/TCP

Logical Topology

Open Ring Bus Bus Ring Bus

Infrastructure Components

Switches between different segments

Switches (Hubs are possible,

but not efficient)

Hubs, no Switches

Hubs, Switches

Device Profiles CANopen, SERCOS

DeviceNet, ControlNet

CANopen None

EtherCAT Master SoZware


  ConfiguraVon and management of EtherCAT® networks.   Cyclic exchange of process data.   Support for event based mailbox communicaVon using:

•  CANopen over EtherCAT® (CoE) •  Ethernet over EtherCAT® (EoE) •  File over EtherCAT® (FoE)

  Easy to use API common to all implementaVons as an interface between the applicaVon and the EtherCAT® master stack.

CAN-‐EtherCAT Gateway


  Fast and Reliable Link Between EtherCAT and CAN   No LimitaVon in Number of Nodes   CANopen FuncVonality as Master or Slave Device   Manual and Datasheet Available as Download From Web Site

CAN ProfiNet Gateway


  Fast and reliable linking PROFINET IO and CAN with data buffering   CAN-‐PLC link e.g. to SIEMENS SIMATIC-‐ S7-‐300 or S7-‐400   Interfacing CANopen modules (CiA DS-‐301) or CAN layer-‐2 (ISO11898-‐1)   Gateway operates as a PROFINET IO device with a maximum of 1440 bytes input data and 1440 bytes output data on the PROFINET bus   CAN high speed interface (ISO 11898-‐2) 100BaseTX PROFINET interface

CAN Ethernet Gateway


  CAN-‐10/100 BaseT Ethernet   CAN-‐Modbus-‐TCP-‐gateway   Ethernet protocols: TCP/IP, Modbus/TCP or common CAN-‐API as used on PCI interface boards   CAN interface electrically isolated, designed acc. To ISO 11898, bit rate up to 1 Mbit/s   ConfiguaVon per Web browser   CANopen master firmware   Suitable for CANOpen and J1939.

industrial+ethernet+technologies · industrial+ethernet+technologies presented(by wilfredvoss...

Documents