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LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications

real-time networks: the fieldbus technology. Jean-Pierre Thomesse Professeur INPL. LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications. Who’s who. Proway. MIL 1553B. ISO 8802.5. Hart. Unitelway. IEEE 1394. SNMP. TTP-C. Profibus-PA. Batibus. TOP. WorldFIP.

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LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications

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  1. real-time networks: the fieldbus technology Jean-Pierre Thomesse Professeur INPL LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications

  2. Who’s who Proway MIL 1553B ISO 8802.5 Hart Unitelway IEEE 1394 SNMP TTP-C Profibus-PA Batibus TOP WorldFIP IEC 61158 CiA EiBUS TTP P-NET ASI SDS ICCP WiFi Sercos BacNET EHS Ethernet CSMA-BA CSMA-DCR FieldBus Foundation ControlNet DeviceNet Interbus Profibus-FMS Profibus-DP EN 50254 CANOpen M-PCCN EN 50170 TTP-A Sensoplex DWF TCP-IP FDDI Modbus FIPWay HSE IEC 870-5 TASE2 TT-CAN CASM ISO 8802.4 WDPF JBUS MMS ISO 8802.3 Sinec ControlFIP PLAN FIPIO LON CSMA-CA Seriplex Mini-MAP TOP CAN UCA F8000 CSMA-CD ISIbus MAP Profisafe Bitbus ARINC UIC 556 LIN Digital Hart IEC 6375 CIP LocaFIP FireWire KSU VAN UWB GENIUS OPTOBUS J1850 Euridis Sycoway WITBUS Bluetooth IEC 955 P1118 FlexRay IEC 61804 SwiftNet IEC 61 375-1 IEEE 802.11 IEC 61784 EN 50 295 Switched Ethernet M-Bus ISO 11519 Anubis FTT-CAN IEC 62026 EN 50 325 IEC 61 499

  3. contents • history • the industrial networks • the birth of fieldbus • fieldbus DLLs and MACs • TCCA: real time to OSI-ISO • IEC 61158 DLL features • buffers and queues • Link Active Scheduling • timeliness attributes • application layer • application relationships • coherences and consistencies • conclusion: standards and lack of standard

  4. Set Point Set Point Set Point Set Point A A A A S S S S before networks operator operator operator operator

  5. Set Point Set Point Set Point Set Point A A A A S S S S before networks optimisation operators

  6. first networks monitoring, control optimization MODBUS WDPF and in France FACTOR GIXINet, LAC A S A S A S A S

  7. context - possibilities • technology capabilities • OSI - ISO model (reliability, QoS…) • LAN development • MACs “war” • microelectronics development

  8. context • functional end-users needs • needs for standardization • MAP - TOP projects • CIM concept and architectures • wiring simplification • instrumentation dedicated O.S.

  9. CIM architecture enterprise management TOP Inc factory control plant MAP cell control cell miniMAP machine machine fieldbus instrumentation instrumentation

  10. first networks monitoring, control optimization FIELDBUS A S A S A S A S

  11. fieldbus • connection of field devices and of field controllers • sensors, actuators, drives controllers, PLCs… • real time communication system based on • a layered structure • services and various qualities of service • system considerations • simplification of wiring • spinal column of distributed real time systems • fieldbuses proliferation • lack of standardization • multiple various domains of application

  12. application domains • continuous process control • discrete part manufacturing • building automation • car, trains… • utilities networks control • transportation systems (railways, highways…)

  13. the birth of fieldbus • 1982 FIP (Factory Instrumentation Protocol) • objectives: • a network for the connection of sensors and actuators • a network for the development of the smart instrumentation • a network for the development of distributed automation • a standard: the “CP/M” of the instrumentation !

  14. the birth of fieldbus • 1984 FIP “white book” • improvement of distributed applications • independence of locations (addresses) • same view of the system by all the stations • coherence of parallel actions • simultaneity of actions, of events • priority to the identified and periodic traffic

  15. contents • history • the industrial networks • the birth of fieldbus • fieldbus DLLs and MACs • TCCA: real time to OSI-ISO • IEC 61158 DLL features • buffers and queues • Link Active Scheduling • timeliness attributes • application layer • application relationships • coherences and consistencies • conclusion: standards and lack of standard

  16. F E D C B A D C A D C A D C A E B A A A F E D C B A D C A D C A D C A E B A A A periodic traffic

  17. fieldbus messages application exchanges identified data messages real time periodic aperiodic not real time on event (management) real time periodic not real time on event

  18. IEC - ISA fieldbus • requirements (1985-1987) • two networks H1 and H2 (HSE?) • environment constraints (EMC, IS, PD…) • real time : periodic traffic • not real time : random traffic without constraints • time constraints • maximum response time • average frequency and later • timeliness attributes • time coherence • space-time consistency

  19. fieldbus traffic periodic traffic centralized decentralized TDMA polling token CSMA TTP SERCOS INTERBUS CONTROLNET WORLDFIP PROFIBUS-DP PROFIBUS-PA FF P-NET PROFIBUS FMS + polling CAN DEVICENET SDS CANOPEN LON

  20. fieldbus traffic aperiodic traffic periodic server decentralized as periodic time slot in each frame special frame on demand when token CSMA

  21. fieldbus traffic aperiodic traffic periodic server decentralized INTERBUS WORLDFIP PROFIBUS-PA FF when token CONTROLNET P-NET CSMA CAN SDS DeviceNet

  22. WorldFIP - 1 Local Read Local Read Local Write Bus arbitrator Speed 52 75 52 Speed “copy” Speed “copy” Speed

  23. WorldFIP - 2 Local Read Local Read Local Write Bus arbitrator Speed 52 75 52 Speed “copy” Speed “copy” Speed Speed

  24. WorldFIP - 3 Local Read Local Read Local Write Bus arbitrator Speed 75 Speed “copy” Speed “copy” Speed v(Speed)=75

  25. WorldFIP - 4 Local Read Local Read Local Write Bus arbitrator Speed 75 75 75 Speed “copy” Speed “copy” Speed

  26. WorldFIP - 5 POLLING TABLE PERIODIC TRAFFIC STATIC APERIODIC TRAFFIC DYNAMIC VAR1 VAR2 VAR4 VAR7 VARX … VAR5 VAR7 VARX VAR5 VAR1 VAR5

  27. Profibus - 1 TOKEN passing M1 M2 M3 M4 POLLING ANSWER Slave1 Slave2 Slave3 Slave5 Slave4

  28. Profibus -2 • role of a Profibus master • receive the token • perform high priority messages first • perform the exchanges specified in the Poll List • perform low priority messages • perform station registration (live list) • send the token

  29. ControlNet - 1 • based on a fixed repetitive time cycle • Network Update Time (NUT) • close synchronism • each node - a clock synchronised to the NUT • access to the medium in sequential order based on the MAC ID of the node • implicit token passing • at the end of a frame, comparison of the received MAC ID +1 with the own address

  30. ControlNet - 2 Guard Band Scheduled part Unscheduled part NUT i NUT I+1 station K station K+1

  31. ControlNet - 3 • in a NUT, three time windows • scheduled • unscheduled • Guard Band • one MAC Frame by node in scheduled part • predictable and deterministic manner • Round Robin in the unscheduled part

  32. Interbus - 1 K+2 Station K aperiodic data Station K periodic data K+1 start

  33. contents • history • the industrial networks • the birth of fieldbus • fieldbus DLLs and MACs • TCCA: real time to OSI-ISO • IEC 61158 DLL features • buffers and queues • Link Active Scheduling • timeliness attributes • application layer • application relationships • coherences and consistencies • conclusion: standards and lack of standard

  34. the birth of TCCA (ISO) • MAP project • no real time • mini-MAP experiments for real time • real time requirements (from EMUG - 1989) • difficulties of IEC Fieldbus standardization

  35. real time requirements (from EMUG) • user designated priorities ==>OSI stack problems • predictable or “boundable” delays and behavior • user selection of the error recovery strategy • congestion recovery appropriate to messaging traffic • support multicast communications

  36. real time requirements (from EMUG) • means of synchronizing the sense of distributed time • support communications redundancy and redundancy in (of) controlling entities • inexpensive network connection • inter-work with informational network • security mechanisms, privacy, authentification and minimization of denial-of-service

  37. the OSI model OSI-ISO model and real time ? • OSI model is an organization of communication functions • OSI layers 1 and 2 : basic transport (simple network) • OSI layers 3 and 4 : extended transport (complex network) • OSI layers 5, 6 and 7 : service enhancements, user oriented • layer 5: synchronization • layer 6: languages and dialects - transfer syntax • layer 7: messaging services - standards languages for different application-specific needs

  38. the model OSI Application layer Fieldbus application layer OSI presentation layer Fieldbus presentation layer OSI session layer omitted OSI transport layer omitted OSI network layer Time-Critical OSI data link layer Physical layer

  39. Time-Critical data link layer • IEC 61158 - type 1 as the model • issued from • ISA SP50 - 1990-359E: data link service definition • ISA SP50 - 1990-360C: data link protocol definition • and later from • IEC 65C/160 CDV (1996): data link service definition • IEC 65C/161 CDV (1996): data link protocol definition

  40. contents • history • the industrial networks • the birth of fieldbus • fieldbus DLLs • TCCA: real time to OSI-ISO • IEC 61158 DLL features • buffers and queues • Link Active Scheduling • timeliness attributes • application layer • application relationships • coherences and consistencies • conclusion: standards and lack of standard

  41. data link layer • provided features • independence from the physical layer • transparency of transferred information • reliability and Qualities of Service • addressing • scheduling • common time sense and timeliness • storages (Queues and Buffers)

  42. buffers and queues 14 12 12 12 16 16 12 12 14 14 16 12 16 16 16

  43. storage • types of storage • queues • retentive buffers • non retentive buffers • general rules • sender by queue • receiver in queue • sender by buffer • receiver in queue • receiver in buffer

  44. contents • history • the industrial networks • the birth of fieldbus • fieldbus DLLs • TCCA: real time to OSI-ISO • IEC 61158 DLL features • buffers and queues • Link Active Scheduling • timeliness attributes • application layer • application relationships • coherences and consistencies • conclusion: standards and lack of standard

  45. arbitrator NODE NODE NODE NODE NODE NODE COMPEL DISTRIBUTE NODE NODE ARBITRATOR NODE NODE NODE NODE NODE NODE NODE

  46. token NODE NODE NODE NODE TOKEN NODE NODE NODE NODE Message TOKEN Message NODE NODE Reply NODE NODE NODE NODE NODE

  47. L.A.S. NODE NODE NODE NODE NODE NODE COMPEL NODE DISTRIBUTE NODE L.A.S. NODE NODE NODE NODE NODE NODE NODE

  48. L.A.S. NODE NODE NODE NODE MSG NODE NODE TOKEN REPLY NODE NODE L.A.S. MSG NODE NODE NODE NODE NODE NODE NODE

  49. L.A.S. NODE NODE NODE NODE NODE NODE TOKEN NODE NODE L.A.S. NODE NODE NODE NODE NODE NODE NODE

  50. contents • history • the industrial networks • the birth of fieldbus • fieldbus DLLs • TCCA: real time to OSI-ISO • IEC 61158 DLL features • buffers and queues • Link Active Scheduling • timeliness attributes • application layer • application relationships • coherences and consistencies • conclusion: standards and lack of standard

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