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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. - PowerPoint PPT Presentation
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Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 1
LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications
Jean-Pierre ThomesseProfesseur INPL
real-time networks:
the fieldbus technology
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 2
Who’s whoWho’s who
EthernetWorldFIP TTP
Profibus-PAIEC 61158
Sercos BacNET
Seriplex
Unitelway
P-NETCSMA-DCR
BatibusEiBUS
Interbus DeviceNet
SDS
ControlNet
CiA
CANOpenProfibus-FMS
FieldBus Foundation
Profibus-DP
DWF ModbusTTP-A
TTP-C
EN 50170EN 50254
TCP-IP
MMS
SNMP
M-PCCN
TASE2CASM
FDDI
ISO 8802.3ISO 8802.4
ISO 8802.5
SinecFIPIO
FIPWay
ControlFIPWDPF JBUS
ASI
PLANMini-MAPLON
EHS
CAN UCA
ICCP
CSMA-CA
CSMA-BA
CSMA-CD
Hart
Digital HartBitbusMAP
TOPF8000
ARINCProfisafe
UIC 556IEC 6375 CIP
M-Bus
WITBUS SycowayGENIUSVAN
OPTOBUSEuridisJ1850
LocaFIP
SwiftNetBluetooth
UWB
WiFi
IEEE 802.11
FireWire
HSE
ISIbus
Switched Ethernet
TOP
LINKSU
P1118
MIL 1553B
Sensoplex
IEC 955
Proway
IEEE 1394
IEC 61804IEC 61784
IEC 61 499EN 50 325
IEC 870-5
IEC 61 375-1
ISO 11519IEC 62026
EN 50 295FlexRay
Anubis FTT-CAN
TT-CAN
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 3
contentscontents 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 4
before networksbefore networks
SA
Set Point
operator
SA
Set Point
SA
Set Point
SA
Set Point
operatoroperatoroperator
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 5
before networksbefore networks
SA
Set Point
operators
SA
Set Point
SA
Set Point
SA
Set Point
optimisation
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 6
first networksfirst networks
SA SA SA SA
optimizationmonitoring, control MODBUS
WDPF
and in France
FACTOR
GIXINet, LAC
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 7
context - possibilitiescontext - possibilities
technology capabilities– OSI - ISO model (reliability, QoS…)– LAN development– MACs “war”– microelectronics development
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 8
context context
functional end-users needs– needs for standardization– MAP - TOP projects– CIM concept and architectures– wiring simplification– instrumentation dedicated O.S.
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 9
CIM architectureCIM architecture
instrumentation
machine
cell
plant
Inc
enterprise management
factory control
cell control
machine
instrumentation
TOP
MAP
miniMAP
fieldbus
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 10
first networksfirst networks
SA SA SA SA
optimizationmonitoring, control
FIELDBUS
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 11
fieldbusfieldbus
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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 12
application domainsapplication domains
continuous process control discrete part manufacturing building automation car, trains… utilities networks control transportation systems (railways, highways…)
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 13
the birth of fieldbusthe 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 !
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 14
the birth of fieldbusthe 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 15
contentscontents 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 16
periodic trafficperiodic traffic
F
E
D
C
B
A A
D
C
A
D
C
A
D
C
AA
E
B
A
F
E
D
C
B
A A
D
C
A
D
C
A
D
C
AA
E
B
A
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 17
fieldbus messagesfieldbus messages
application exchanges
messagesidentified data
real time
periodic
real time
periodic
aperiodic
not real time
on event
(management)
not real time
on event
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 18
IEC - ISA fieldbusIEC - 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 19
fieldbus trafficfieldbus traffic
periodic traffic
decentralizedcentralized
tokenTDMA polling CSMATTP
SERCOS
INTERBUS
CONTROLNET
WORLDFIP
PROFIBUS-DP
PROFIBUS-PA
FF
P-NET
PROFIBUS FMS
+
polling
CAN
DEVICENET
SDS
CANOPEN
LON
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 20
fieldbus trafficfieldbus traffic
aperiodic traffic
decentralized
as periodicperiodic server
when token
time slot in each frame
special frame on demand
CSMA
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 21
fieldbus trafficfieldbus traffic
aperiodic traffic
decentralizedperiodic server
when token
CONTROLNET
P-NET
INTERBUS WORLDFIP
PROFIBUS-PA
FF
CSMA
CAN
SDS
DeviceNet
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 22
WorldFIP - 1WorldFIP - 1
75
Speed
Local Write
Speed“copy”
Local Read
52Speed“copy”
Local Read
Speed
Bus arbitrator
52
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 23
WorldFIP - 2WorldFIP - 2
75
Speed
Local Write
Speed“copy”
Local Read
52Speed“copy”
Local Read
Speed
Bus arbitrator
Speed
52
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 24
WorldFIP - 3WorldFIP - 3
75
Speed
Local Write
Speed“copy”
Local Read
Speed“copy”
Local Read
Speed
Bus arbitrator
v(Speed)=75
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 25
WorldFIP - 4WorldFIP - 4
75
Speed
Local Write
Speed“copy”
Local Read
Speed“copy”
Local Read
Speed
Bus arbitrator
75 75
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 26
WorldFIP - 5WorldFIP - 5
VAR1
VAR2
VAR4
VAR7
VARX
…
VAR5
VAR1
VAR5
VAR7
VARX
VAR5
POLLING TABLE PERIODIC TRAFFIC
STATIC
APERIODIC TRAFFIC
DYNAMIC
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 27
Profibus - 1Profibus - 1
M1 M2 M3 M4
Slave3Slave2Slave1Slave4 Slave5
TOKEN passing
POLLING
ANSWER
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 28
Profibus -2Profibus -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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 29
ControlNet - 1ControlNet - 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 30
ControlNet - 2ControlNet - 2
Scheduled part
NUT iNUT I+1
Unscheduled part Guard Band
station K
station K+1
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 31
ControlNet - 3ControlNet - 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 32
Interbus - 1Interbus - 1
Station Kperiodic data
Station Kaperiodic
data
start
K+1
K+2
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 33
contentscontents 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 34
the birth of TCCA (ISO)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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 35
real time requirements real time requirements (from EMUG)(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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 36
real time requirements real time requirements (from EMUG)(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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 37
the OSI modelthe 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 38
the modelthe model
Physical layer
Time-Critical OSI data link layer
OSI network layer
OSI transportlayer
OSI Application layerFieldbus
application layer
OSI presentation layer
OSI session layer
Fieldbus presentation layer
omitted
omitted
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 39
Time-Critical data link layerTime-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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 40
contentscontents 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 41
data link layerdata 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)
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 42
buffers and queuesbuffers and queues
14 1212
16 1212
16 1616
121416
161412
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 43
storagestorage
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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 44
contentscontents 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 45
arbitratorarbitrator
NODE
NODE
NODE NODENODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODEARBITRATOR
DISTRIBUTE
COMPEL
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 46
tokentoken
NODE
NODE
NODE
NODE
NODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODE
TOKEN
Message
Message
Reply
TOKEN
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 47
L.A.S.L.A.S.
NODE
NODE
NODE NODENODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODEL.A.S.
DISTRIBUTE
COMPEL
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 48
L.A.S.L.A.S.
NODE
NODE
NODE NODENODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODEL.A.S.
TOKEN
MSG
MSG
REPLY
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 49
L.A.S.L.A.S.
NODE
NODE
NODE NODENODE
NODE
NODE
NODE
NODE
NODENODE
NODE
NODE
NODE
NODEL.A.S.
TOKEN
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 50
contentscontents 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 51
timelinesstimeliness
timeliness for data transfer between buffers buffers can decouple
– data production – data transfer – data consumption
data age may be unknown
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 52
timelinesstimeliness
resident assessment based upon the length of time that a
data unit has been resident in a buffer
Residence Time
Write-date Read-date End of timewindow
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 53
timelinesstimeliness
update assessment based upon the time interval
between a synchronizing event and the moment the buffer is written
Update-Time
Synchro-date Writing-date End of timewindow
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 54
timelinesstimeliness
synchronous assessment based upon the time intervals
and timing relationships between – a synchronizing event– the moment when the buffer is written– the moment the buffer is read
Synchro-date Writing-date End of timewindow
Read-date
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 55
contentscontents 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 56
application relationshipsapplication relationships
client - server– confirmed– unconfirmed
publisher - subscriber– pull publisher– push publisher
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 57
client - serverclient - server
classical model
application
layer
clientserver
XXX-Request
XXX-ConfirmationXXX-Response
XXX-Indication
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 58
client - serverclient - server
unusual modelapplication
layer client
server
XXX-RequestXXX-Indication
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 59
client - serverclient - server
unusual modelapplication
layer client
server
XXX-Request
YYY-Indication
YYY-Request
XXX-Indication
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 60
publisher - subscriberpublisher - subscriber
“pull” model
subscriber
subscriber
subscriber
pullpublisher
Request
Response
publishing manager
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 61
publisher - subscriberpublisher - subscriber
“push” modelpushsubscriber
subscriber
subscriber
subscriber
pushpublisher
subscribing request
published information
response
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 62
time coherencetime coherence
time coherence of actions, of events simultaneity of events occurrences in a given time window time coherence of
– productions– consumptions– other actions
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 63
time coherencetime coherence
control of time coherence– data received indication – allows, in multi peer connections, the
synchronization of subscribers usable to control any actions simultaneity verification of time coherence
– by timeliness attributes
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 64
space - time consistencyspace - time consistency
need “reliable broadcasting” management of lists of variables (copies)
– produced by different publishers– consumed by several subscribers
verification and correction to obtain identical lists by the subscribers
kind of global acknowledgement for different transmitters hypothesis:
– two remote copies are considered identical if they are received without error and correct timeliness attributes
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 65
space - time consistencyspace - time consistency
NODE
NODE
NODE NODENODE
NODE
NODE 7
NODE
NODE 9
NODENODE 8
NODE
NODE
NODE 6
NODEL.A.S.
COMPEL (A)
value(A)
value(A)
value(A)
value(A)COMPEL (B)
DISTRIBUTE B value(B)
value(B)
value(B)
value(B)
DISTRIBUTE A
COMPEL L6
DISTRIBUTE L6
L6=OK
L8=OK L9=OK
L7=not OK, B
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 66
contentscontents 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
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 67
schedulingscheduling
three types of networks– 1st
periodic traffic, prescheduled at the configuration time sporadic traffic, prescheduled at the configuration time
– 2nd periodic traffic, prescheduled at the configuration time sporadic traffic, dynamically managed
– 3rd periodic and sporadic traffics dynamically managed
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 68
profilesprofiles
how many layers ?
which layers ?
which protocols ?
stack modelling ?
which models ?
which objectives ?
wireless, fibre optic ?
TDMA, CSMA, token ?
LLC1, LLC3, …??
C/S, P/C, P/S…
TCP/IP,others ?
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 69
conclusionconclusion
real time networks– industrial networks
– afterwards, in car, in trains… in building automation in Internet
– but also now, for all devices mobility ambient intelligence
– Internet
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 70
conclusionconclusion
real time =
to express the constraints + to meet the constraints
+ behaviour controlled by the user
Jean-Pierre Thomesse the fieldbus technology le 16 Janvier 2004 71
LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications
Jean-Pierre ThomesseProfesseur INPL
real-time networks:
the fieldbus technology