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the fieldbus technology
real-time networks: the fieldbus technology Jean-Pierre Thomesse Professeur INPL LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications
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Who’s who HSE Ethernet IEEE 802.11 Proway MIL 1553B ISO 8802.5 Hart
Unitelway SNMP TTP-C Ethernet Profibus-PA Batibus WorldFIP TOP EiBUS TTP IEC 61158 CiA ASI P-NET WiFi SDS ICCP Sercos BacNET EHS CSMA-BA CSMA-DCR FieldBus Foundation ControlNet DeviceNet Interbus Profibus-DP Profibus-FMS CANOpen EN 50254 EN 50170 M-PCCN TTP-A Sensoplex DWF TCP-IP FDDI Modbus HSE FIPWay IEC 870-5 TT-CAN TASE2 CASM ISO WDPF MMS JBUS ISO Sinec ControlFIP PLAN FIPIO LON CSMA-CA Seriplex Mini-MAP TOP CAN UCA F8000 CSMA-CD ISIbus MAP Profisafe Bitbus ARINC LIN UIC 556 Digital Hart KSU IEC 6375 CIP LocaFIP FireWire VAN UWB GENIUS OPTOBUS J1850 WITBUS Euridis Sycoway Bluetooth IEC 955 P1118 FlexRay SwiftNet IEC 61804 IEC IEEE IEC 61784 EN Switched Ethernet M-Bus ISO 11519 Anubis FTT-CAN IEC 62026 EN IEC
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contents history fieldbus DLLs and MACs TCCA: real time to OSI-ISO
the industrial networks the birth of fieldbus fieldbus DLLs and MACs TCCA: real time to OSI-ISO IEC 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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before networks operator operator operator operator S A S A S A S A
Set Point S A Set Point S A Set Point S A Set Point
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before networks optimisation operators S A S A S A S A Set Point
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first networks monitoring, control optimization A S A S A S A S MODBUS
WDPF and in France FACTOR GIXINet, LAC A S A S A S A S
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context - possibilities
technology capabilities OSI - ISO model (reliability, QoS…) LAN development MACs “war” microelectronics development
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context functional end-users needs needs for standardization
MAP - TOP projects CIM concept and architectures wiring simplification instrumentation dedicated O.S.
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enterprise management
CIM architecture enterprise management TOP Inc factory control plant MAP cell control cell miniMAP machine machine fieldbus instrumentation instrumentation
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first networks monitoring, control optimization A S A S A S A S
FIELDBUS A S A S A S A S
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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
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application domains continuous process control
discrete part manufacturing building automation car, trains… utilities networks control transportation systems (railways, highways…)
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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 !
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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
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contents history fieldbus DLLs and MACs TCCA: real time to OSI-ISO
the industrial networks the birth of fieldbus fieldbus DLLs and MACs TCCA: real time to OSI-ISO IEC 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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periodic traffic F E D C B A F E D C B A
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application exchanges
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
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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
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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
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special frame on demand
fieldbus traffic aperiodic traffic periodic server decentralized as periodic time slot in each frame special frame on demand when token CSMA
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fieldbus traffic aperiodic traffic periodic server decentralized
INTERBUS WORLDFIP PROFIBUS-PA FF when token CONTROLNET P-NET CSMA CAN SDS DeviceNet
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WorldFIP - 1 Local Read Local Read Local Write Bus arbitrator Speed
75 52 52 Speed “copy” Speed “copy” Speed
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WorldFIP - 2 Local Read Local Read Local Write Bus arbitrator Speed
75 52 52 Speed “copy” Speed “copy” Speed Speed
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WorldFIP - 3 Local Read Local Read Local Write Bus arbitrator
Speed 75 Speed “copy” Speed “copy” Speed v(Speed)=75
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WorldFIP - 4 Local Read Local Read Local Write Bus arbitrator Speed
75 75 75 Speed “copy” Speed “copy” Speed
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WorldFIP - 5 POLLING TABLE PERIODIC TRAFFIC STATIC APERIODIC TRAFFIC
DYNAMIC VAR1 VAR2 VAR4 VAR7 VARX … VAR5 VAR7 VARX VAR5 VAR1 VAR5
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Profibus - 1 TOKEN passing M1 M2 M3 M4 Slave1 Slave2 Slave3 Slave5
POLLING ANSWER Slave1 Slave2 Slave3 Slave5 Slave4
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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
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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
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ControlNet - 2 Guard Band Unscheduled part Scheduled part NUT i
station K station K+1
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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
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Interbus - 1 K+2 Station K aperiodic data Station K periodic data K+1
start
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contents history fieldbus DLLs and MACs TCCA: real time to OSI-ISO
the industrial networks the birth of fieldbus fieldbus DLLs and MACs TCCA: real time to OSI-ISO IEC 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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the birth of TCCA (ISO) MAP project
no real time mini-MAP experiments for real time real time requirements (from EMUG ) difficulties of IEC Fieldbus standardization
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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
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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
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OSI-ISO model and real time ?
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
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the model Fieldbus OSI Application layer application layer Fieldbus
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
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Time-Critical data link layer
IEC type 1 as the model issued from ISA SP E: data link service definition ISA SP C: 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
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contents history fieldbus DLLs TCCA: real time to OSI-ISO
the industrial networks the birth of fieldbus fieldbus DLLs TCCA: real time to OSI-ISO IEC 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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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)
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buffers and queues 14 12 12 12 16 16 12 12 14 14 16 12 16 16 16
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storage types of storage general rules queues retentive buffers
non retentive buffers general rules sender by queue receiver in queue sender by buffer receiver in buffer
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contents history fieldbus DLLs TCCA: real time to OSI-ISO
the industrial networks the birth of fieldbus fieldbus DLLs TCCA: real time to OSI-ISO IEC 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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arbitrator NODE NODE NODE NODE NODE NODE COMPEL DISTRIBUTE NODE NODE
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token NODE NODE NODE NODE TOKEN NODE NODE NODE NODE Message TOKEN
Reply NODE NODE NODE NODE NODE
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L.A.S. NODE NODE NODE NODE NODE NODE COMPEL NODE DISTRIBUTE NODE
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L.A.S. NODE NODE NODE NODE MSG NODE NODE TOKEN REPLY NODE NODE L.A.S.
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L.A.S. NODE NODE NODE NODE NODE NODE TOKEN NODE NODE L.A.S. NODE NODE
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contents history fieldbus DLLs TCCA: real time to OSI-ISO
the industrial networks the birth of fieldbus fieldbus DLLs TCCA: real time to OSI-ISO IEC 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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timeliness timeliness for data transfer between buffers
buffers can decouple data production data transfer data consumption data age may be unknown
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timeliness 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 time window
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timeliness 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 time window
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timeliness 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 time window Read-date
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contents history fieldbus DLLs TCCA: real time to OSI-ISO
the industrial networks the birth of fieldbus fieldbus DLLs TCCA: real time to OSI-ISO IEC 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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application relationships
client - server confirmed unconfirmed publisher - subscriber pull publisher push publisher
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client - server classical model server client application layer
XXX-Request XXX-Indication XXX-Confirmation XXX-Response
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client - server unusual model application server layer client
XXX-Request XXX-Indication
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client - server unusual model application server layer client
XXX-Request XXX-Indication YYY-Request YYY-Indication
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publisher - subscriber
“pull” model Request publishing manager pull publisher subscriber Response subscriber subscriber
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publisher - subscriber
subscribing request “push” model push subscriber push publisher response subscriber published information subscriber subscriber
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time coherence time coherence of actions, of events
simultaneity of events occurrences in a given time window time coherence of productions consumptions other actions
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time 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
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space - 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
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space - time consistency
NODE NODE NODE NODE NODE NODE DISTRIBUTE A COMPEL (A) value(A) COMPEL (B) value(B) DISTRIBUTE B NODE 7 NODE L.A.S. L7=not OK, B COMPEL L6 NODE NODE 6 DISTRIBUTE L6 value(A) NODE NODE 9 value(B) NODE NODE value(A) NODE 8 L6=OK value(B) value(A) L8=OK value(B) L9=OK
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contents history fieldbus DLLs TCCA: real time to OSI-ISO
the industrial networks the birth of fieldbus fieldbus DLLs TCCA: real time to OSI-ISO IEC DLL features buffers and queues Link Active Scheduling timeliness attributes application layer application relationships coherences and consistencies conclusion
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scheduling three types of networks
1st periodic traffic, prescheduled at the configuration time sporadic traffic, prescheduled at the configuration time 2nd sporadic traffic, dynamically managed 3rd periodic and sporadic traffics dynamically managed
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profiles stack modelling ? which models ? which objectives ?
C/S, P/C, P/S… how many layers ? which layers ? which protocols ? stack modelling ? which models ? which objectives ? TCP/IP,others ? LLC1, LLC3, …?? TDMA, CSMA, token ? Regarding the research activity in services and protocols for fieldbus, an important current topic is related to the use of wireless communication. Another topic is the fieldbus “integration” with Internet. This integration concerns as well the use of Internet protocols as fieldbus protocols as the interconnection of fieldbus with the external world through Internet protocols. Except for wireless systems where new physical layers and new Medium Access Control layers may be created and studied, it is essential to focus the research on the application layer. The interoperability of equipment goes through the formal definition of co-operation models and of the semantic of the exchanged objects. wireless, fibre optic ?
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conclusion 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
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conclusion real time to express the constraints +
= to express the constraints + to meet the constraints behaviour controlled by the user
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the fieldbus technology
real-time networks: the fieldbus technology Jean-Pierre Thomesse Professeur INPL LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications
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