Fieldbus Technology
in
Industrial Automation
Jean-Pierre Thomesse
Institut National Polytechnique de Lorraine
Nancy, France
ETFA 2005 - Fieldbus Technology
Whos who
Ethernet
Batibus ISO 8802.5
IEC 61784
WorldFIP Profibus-PA
Unitelway SDS
IEC 61158
MIL 1553B
BacNET Hart
CiA ICCP
CSMA-BA
EHS CSMA-DCR
FieldBus Foundation
TT-CAN EiBUS
DeviceNet
Interbus
Profibus-FMS
EN 50254
ControlNet
CANOpen
ASI
M-PCCN
P-NET
TTP-A
Profibus-DP
DWF
TCP-IP
FDDI
Modbus
TTP-C
FIPWay
IEC
EN
50170
TASE2
Sercos
SNMP
CASM
ISO 8802.4
WDPF
MMS
ISO 8802.3
Sinec
ControlFIP
JBUS
PLAN
FIPIO
LON
CSMA-CA
Seriplex
Mini-MAP
TOP
CAN
UCA
F8000
CSMA-CD
MAP
Profisafe
Proway
Bitbus
ARINC
UIC 556
Digital
Hart
CIP
LocaFIP
M-Bus
WITBUS IEC 6375
GENIUS OPTOBUS LIN
J1850
Sycoway
VAN Euridis
FTT-CAN
IEEE 802.11
Vnet/IP Anubis FlexRay
Sensoplex TTP BlueTooth AFDX FireWire
EN 50 295
EPA
CAMAC IEC 61 499 ARCNET UWB
Ethercat
EtherLink
ModBus-RTPS
ETFA 2005 - Fieldbus Technology
PROFInet
content
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1st part : history and state of the art
fieldbus origins (needs and capabilities)
development of fieldbus and standards
2nd part : technical aspects
application relationships
Medium Access Control
Data Link Layer
architectures
ETFA 2005 - Fieldbus Technology
prehistory
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need for networking
60s : CAMAC in nuclear experiments
70s :
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MODBUS (PLC network)
WDPF (continuous process)
ARCNET (office communication and data acquisition)
Mil Std 1553B
Data HighWay (Allen Bradley), TiWay (Texas Instr)
needs for reducing costs, then for standards
ETFA 2005 - Fieldbus Technology
MAP and TOP (1980)
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Manufacturing Automation Protocol
General Motors
communication between design offices and factories
communication between machine tools and robots
Technical and Office Protocol
Boeing
communication between business and technical offices
ETFA 2005 - Fieldbus Technology
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
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OSI reference model (1980)
communication model and concepts
LANs (Ethernet, Token)
deterministic protocols
nondeterministic protocols
centralized and decentralized access
microelectronics and integrated circuits
ETFA 2005 - Fieldbus Technology
enabling technologies
OSI reference model
Application layer
reduced models
Application layer
Presentation layer
Session layer
Transport layer
Network layer
Data Link layer
Data Link layer+MAC
Physical layer
Physical layer
conceptual model
implementation model
ETFA 2005 - Fieldbus Technology
enabling technologies
LANs (Ethernet, Token, TDMA) development
deterministic protocols
nondeterministic protocols
centralized access or not
DCS
Digital Control System vs. Distributed Control System
ETFA 2005 - Fieldbus Technology
enabling technologies
microelectronics and integrated circuits
full and semi-custom
micro processors
micro controllers
DSP
communication dedicated ICs (I2C- Inter IC network)
intelligence embedded in ICs
ETFA 2005 - Fieldbus Technology
content
l
1st part : history and state of the art
fieldbus origins
development of fieldbus and standards
2nd part : technical aspects
application relationships
Medium Access Control
Data Link Layer
architectures
ETFA 2005 - Fieldbus Technology
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
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ETFA 2005 - Fieldbus Technology
IEC std contenders
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1st group
existing systems
Mil Std 1553B
IEEE P1118 (Bitbus)
Foxboro
Rosemount
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2nd group
paper proposals
FIP
PROFIBUS
survey for functional requirements (ISA)
ETFA 2005 - Fieldbus Technology
questionnaire
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benefits of fieldbus
lowering cost, ease of adding devices, accuracy of information,
enhancing the maintainability, remote access to data, advanced
control strategies
describing field devices
max response time and message frequency
information flows
grouping of devices, topology, number of stations, redundancy
application environment
power, wires type, insulation, flammable atmosphere
ETFA 2005 - Fieldbus Technology
two fieldbuses H1 and H2
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H1
low data rate
a few sensors
small distances
continuous process
H2
high data rate
manufacturing process
connection of several H1
no intelligence in devices is explicitly identified
ETFA 2005 - Fieldbus Technology
requirements - application
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definition of traffic
process (real time traffic)
measurement
l alarm setting
l status
identified data or messages
name
value
status
installation (non real time traffic)
tag number
identified data or messages
l manufacturers data
l additional information for maintenance
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ETFA 2005 - Fieldbus Technology
requirements - application
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definition of other services
control the access - security
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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
ETFA 2005 - Fieldbus Technology
requirements
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environment
medium
insulation
power
flammable atmosphere
topologies
ETFA 2005 - Fieldbus Technology
performances
number of stations
length
data rate
response time
integrity of data
addressing
roles of a fieldbus
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connection of field devices and field controllers
sensors, actuators, drives controllers, PLCs
system considerations
simplification of wiring
standardization of communication between devices
and later development of smart devices
real time communication system
common services
various protocols and then various qualities of service
depending on architectural approaches
depending on different domains of application
ETFA 2005 - Fieldbus Technology
fieldbus
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backbone of distributed and real time systems
ETFA 2005 - Fieldbus Technology
fieldbus
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backbone of distributed and real time systems
but also
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bone of contention between automation companies
beginning of the fieldbus saga
ETFA 2005 - Fieldbus Technology
history - 1
1985
1982
1989
unified MAC
requirements
Development
CAN
PROFIBUS
P-NET
FIP
ETFA 2005 - Fieldbus Technology
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
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8 types for data link layer
Type 1 :proposed compromise (Technical Report)
Type 2 : ControlNet
Type 3 : Profibus
Type 4 : P-Net
Type 5 : Foundation fieldbus
Type 6 : Swiftnet
Type 7 : WorldFIP
Type 8 : Interbus
ETFA 2005 - Fieldbus Technology
IEC 61158
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10 types for application layer
Type 1 : compromise (Technical Report)
Type 2 : ControlNet
Type 3 : Profibus
Type 4 : P-Net
Type 5 : Foundation fieldbus
Type 6 : Swiftnet
Type 7 : WorldFIP
Type 8 : Interbus
Type 9 : Foundation fieldbus H1
Type 10 : Profinet
ETFA 2005 - Fieldbus Technology
IEC 61 784
l
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Communication Profile Family - CPF
IEC 61 784-1
16 profiles
IEC 61 784 -2 under specification (based on Ethernet)
CPF 10: VNET/IP,
CPF 11: TCNet,
CPF 12: EtherCAT,
CPF 13: EtherNet PowerLink,
CPF 14: EPA : Ethernet for Plant Automation
CPF 15: ModBus RTPS : Real Time Publish - Subscribe
ETFA 2005 - Fieldbus Technology
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
1st part : history and state of the art
fieldbus origins
development of fieldbus and standards
2nd part : technical aspects
application relationships
Medium Access Control
Data Link Layer
architectures
ETFA 2005 - Fieldbus Technology
fieldbus traffic
application exchanges
identified data
messages
real time
non real time
real time
non real time
periodic
(management,
periodic
(management,
aperiodic
configuration)
aperiodic
configuration)
ETFA 2005 - Fieldbus Technology
from requirements to solutions
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applications exchanges
identified data vs. messages
full logical connectivity
polled vs. unsolicited
periodic vs. aperiodic
real time vs. non real time
performances
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transport reliability
timeliness
coherences and consistencies
protocol solutions
application relationships
Medium Access Control
quality of service
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ETFA 2005 - Fieldbus Technology
data link layer
Medium Access Control
time attributes
time stamping
content
l
1st part : history and state of the art
fieldbus origins
development of fieldbus and standards
2nd part : technical aspects
application relationships
Medium Access Control
Data Link Layer
architectures
ETFA 2005 - Fieldbus Technology
application layer
two main classes of relationships
l client - server
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for messages and identified data
and variants
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publisher - subscriber
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for identified data
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
publisher - subscriber models
Confirmed service request
Pull
Publishing
Manager
Pull
Subscriber
Confirmed service request/response
Pull
Push
Push
Publisher
subscriber
Service response
containing published
information
Subscriber
Publisher
Push
Push
Subscriber
subscriber
Pull
Push
Push
Subscriber
subscriber
ETFA 2005 - Fieldbus Technology
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
ETFA 2005 - Fieldbus Technology
response 2 - starting of service
response 3 - end of service and result
other models
multi responses client server - cf. Push Publisher
request
indication
response
confirmation
confirmation
confirmation
ETFA 2005 - Fieldbus Technology
response
response
period
other models
client multi-server
server1
client
server
server2
server3
ETFA 2005 - Fieldbus Technology
other models
third part model
1
client
server
client
server
2
3
real
server
case 1
ETFA 2005 - Fieldbus Technology
real
server
case 2
content
l
1st part : history and state of the art
fieldbus origins
development of fieldbus and standards
2nd part : technical aspects
application relationships
Medium Access Control
Data Link Layer
architectures
ETFA 2005 - Fieldbus Technology
periodic traffic
periodic traffic of identified data, or of messages
F
E
D
C
A
Time
ETFA 2005 - Fieldbus Technology
aperiodic traffic
Aperiodic traffic
F
E
D
C
B
A
M
1
A
ETFA 2005 - Fieldbus Technology
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
ETFA 2005 - Fieldbus Technology
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
token and polling
TOKEN
passing
M1
M2
M3
M4
POLLING
ANSWER
Slave4
ETFA 2005 - Fieldbus Technology
Slave1
Slave2
Slave3
Slave5
polling of identified data - pull PS
Bus arbitrator
polling table
Local Write
Local Read
Local Read
Speed
75
Speed value
ETFA 2005 - Fieldbus Technology
52
Speed
copy
52
Speed
copy
polling of identified data
Bus arbitrator
Local Write
Local Read
Local Read
Speed
52
75
Speed
copy
Speed
Speed
ETFA 2005 - Fieldbus Technology
52
Speed
copy
polling of identified data
Bus arbitrator
Local Write
Local Read
Local Read
Speed
75
Speed
copy
Speed
ETFA 2005 - Fieldbus Technology
v(Speed)=75
Speed
copy
polling of identified data
Bus arbitrator
Local Write
Local Read
Local Read
Speed
75
Speed
ETFA 2005 - Fieldbus Technology
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
l
1st part : history and state of the art
fieldbus origins
development of fieldbus and standards
2nd part : technical aspects
application relationships
Medium Access Control
Data Link Layer
architectures
ETFA 2005 - Fieldbus Technology
quality of service
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QoS transport
reliability of
transmission
storing methods
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queues
buffers (retentive or
not)
connections
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with or without
peer to peer, multipeer
ETFA 2005 - Fieldbus Technology
QoS timeliness
time stamping
timeliness attributes
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residence time
update time
synchronous
w/wo acknowledgement
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transmission of state information (no acknowledgement)
transmission or server failure detected by client
lack of confirmation (CS)
lack of periodic message (PS)
transmission of event information (with acknowledgement)
transmission failure undetectable by receiver
(no news - good news !)
necessary detection by sender thanks to protocol with
acknowledgement
ETFA 2005 - Fieldbus Technology
buffers and queues
14
12
12
16
12
12
16
16
16
ETFA 2005 - Fieldbus Technology
16
14
12
12
14
16
QoS in fieldbus - transport
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connections
four qualities related to frames ordering
classical (queues)
disordered without loss
ordered (but with possible loss)
unordered (as received)
ETFA 2005 - Fieldbus Technology
QoS in fieldbus - timeliness
production
transmission
production
reception
consumption
consumption
transmission
ETFA 2005 - Fieldbus Technology
reception
residence attribute
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assessment based upon the time that a data
unit has been resident in a buffer.
Residence Time
Write-date
ETFA 2005 - Fieldbus Technology
Read-date
End of time
window
update attribute
l
assessment based upon the time interval
between a synchronising event and the
moment the buffer is written
Update-Time
Synchro-event
ETFA 2005 - Fieldbus Technology
Writing-date
End of time
window
synchronous attribute
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assessment based upon the time intervals and
timing relationships between
a synchronising event
the moment when the buffer is written
the moment the buffer is read
Synchro-event
ETFA 2005 - Fieldbus Technology
Writing-date
Read-date
End of time
window
content
l
1st part : history and state of the art
fieldbus origins
development of fieldbus and standards
2nd part : technical aspects
application relationships
Medium Access Control
Data Link Layer
architectures
ETFA 2005 - Fieldbus Technology
two stacks architectures
FMS
Time critical
DP or PA
LLI
(glue)
SUB-MMS
Time critical
MPS
MCS
Transport layer
(glue)
Fieldbus Link layer
Physical layer
Physical layer
Profibus Architecture
ETFA 2005 - Fieldbus Technology
Time critical Data Link layer
Physical layer
Physical layer
WorldFIP Architecture
Internet and fieldbus
HTTP
HTTP
Time critical
HTTP
TCP
TCP
TCP
IP
IP
IP
Time critical
DLL
Time Critical Data Link layer
Time Critical Data Link layer
Ph L
Physical layer
Physical layer
Outside
ETFA 2005 - Fieldbus Technology
IP Encapsulation
Based architecture
Ethernet based architectures
HTTP
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
ETFA 2005 - Fieldbus Technology
Time critical
mechanisms
Ethernet Data Link layer
Physical layer
Physical layer
Ethernet B
time critical architecture
OSI Application layer
OSI Presentation layer
Fieldbus
Application and
Presentation layer
OSI Session layer
Transport layer
Network layer
Time critical Data Link layer
Physical layer
ETFA 2005 - Fieldbus Technology
Physical layer
Physical layer
conclusion - fieldbus technology?
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real time communication system
new paradigms of cooperation between APs
new views on quality of service
impact on several computer science domains
protocol modeling, validation and conformance testing
performance evaluation and determinism
scheduling (joint scheduling of messages and tasks)
and now joint modeling of application and communication
for proving distributed applications
ETFA 2005 - Fieldbus Technology
fieldbus technology?
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future
which Ethernet ? and where?
Internet and Web technologies
interoperability (function blocks, EDDL)
wireless, mobile and autonomous agents
standard(s) as in general purpose computing ?
relations with OPC, MIMOSA and other initiatives
a common communication architecture ?
a single fieldbus? (the Lernean Hydra immortal head) which one?
reference:
Proceedings of IEEE, Vol 93, N6, June 2005, pp 1073-1101
ETFA 2005 - Fieldbus Technology
Fieldbus Technology
in
Industrial Automation
Jean-Pierre Thomesse
INPL - LORIA
Nancy, France
ETFA 2005 - Fieldbus Technology
