Jun 2003 Eid Son

IEEE-1588 Standard for a Precision
Clock Synchronization Protocol for

Networked Measurement and Control
Systems
John Eidson
July 16, 2003
john_eidson@agilent.com
Overview
Objectives of 1588
A bit of history
Where is it being used?
Comparison with other protocols
What the 1588 standard defines
Technical overview
Prototype results
I&M Society IEEE1588

July 16,, 2003
Page 2
Objectives of 1588
Sub-microsecond synchronization of real-time
clocks in components of a networked distributed
measurement and control system
Intended for relatively localized systems typical
of industrial automation and test and
measurement environments.
Applicable to local areas networks supporting
multicast communications (including but not
limited to Ethernet)

July 16,, 2003
Page 3
Objectives of 1588 (continued)

Simple, administration free installation
Support heterogeneous systems of clocks with
varying precision, resolution and stability
Minimal resource requirements on networks
and host components.

July 16,, 2003
Page 4
A bit of History
Status of IEEE 1588
Approved by the IEEE-SA Review Committee on
12 Sept. 2002
Published on November 8 2002
Available from the IEEE
http://standards.ieee.org

July 16,, 2003
Page 5
Members of the IEEE-1588 working group

Volker Arlt-Lenze AG
Kang Lee- NIST
Scott Carter-GE Medical
Judah Levine-NIST
John Eidson-Agilent
Anatoly MoldovanskyRockwell
Richard Hambly-CNS
Systems
Ed Powers-Naval Observatory
Bruce Hamilton-Agilent
Jim Read-Hyperfine
Steve Jennings-BoschRexroth
Richard Schmidt-Naval
Observatory
Robert JohnsonTelemonitor
Steve Smith-ORNL
Bill Kneifel-KUKA
Jurgen
Knopke-Lenze
July 16,, 2003
Joe White-NRL
Stan Woods-Agilent
Page 6

(presentations scheduled for Sept. 24 workshop)
NETWORK DEVICES:
IEEE 1588 and Network Devices: Dirk S. Mohl,
Hirschmann Electronics
Boundary Clock implementation: yvind Holmeide,
Managing Director, OnTime Networks AS.
Extending IEEE 1588 to fault tolerant synchronization
with a worst-case precision in the 100 ns range:
Nikoaus E. Keroe, Oregano Systems

July 16,, 2003
Page 7

July 16,, 2003
Page 8

TELECOMMUNICATIONS:
Proposal for IEEE1588 use over Metro Ethernet Layer 2
VPNs: Glenn Algie, Senior Advisor, Wireless
Technology Labs, Nortel Networks
INDUSTRIAL AUTOMATION:
Impact of Switch Cascading on Time Accuracy: Prof.
Thomas Mueller, University Wintherthur, Suisse, Karl
Weber, SIEMENS Automation and Drives
Consequences of Redundant Structures PTP: Ludwig
Winkel, SIEMENS Automation and Drives
Application of 1588 for Distributed Motion Control:
Kendal R. Harris, Sivaram Balasubramanian and
Anatoly Moldovansky, Rockwell Automation
July 16,, 2003
Page 9
HZx Wrappers
Courtesy of SIG Pack Systems AG

July 16,, 2003
Page 10
Control of multiple robots

July 16,, 2003
Page 11
Mulit-stand Printing Press
60mph =
1 inch/millisecond =
1 mil/microsecond

July 16,, 2003
Page 12

MILITARY FLIGHT TEST:
Time Correlation using network based data acquisition
on-board a Military Test Vehicle: Jiwang Dai, Ph.D,
Senior Software Engineer, L3 Communications
Telemetry East, Thomas DeSelms, Senior Network
Systems Engineer, Veridian Engineering, and Edward
Grozalis, Senior Engineer, L3 Communications
Telemetry East
POWER SYSTEMS:
Implementation of IEEE Std.-1588 in a Networked I/O
Node: Mark Shepard, GE Drives & Controls, Inc., Salem,
VA

July 16,, 2003
Page 13

July 16,, 2003
Page 14
Comparison with other protocols

1588: Target is groups of relatively stable
components, locally networked (a few
subnets), cooperating on a set of well defined
tasks.
NTP: (Network Time Protocol, RFC 1305). Target
is autonomous systems widely dispersed on
the Internet.
GPS: (Satellite based Global Positioning System
of the US Department of Defense): Target is
autonomous, widely dispersed systems.
TTP(www.ttpforum.org), SERCOS (IEC 61491):
Target is tightly integrated, usually bus or
specialized TDMA network based closed
systems.

July 16,, 2003
Page 15
1588
NTP
GPS
TTP
SERCOS
Spatial
extent
A few subnets
Wide area
Wide area
Local bus
Local bus
Communications
Network
Internet
Satellite
Bus or star
Bus
Target
accuracy
Submicrosecond
Few
milliseconds
Submicrosecond
Submicrosecond
Submicrosecond
Style
Master/slave
Peer
ensemble
Client/server
Distributed
Master/Slave
Resources
Small network
message and
computation
footprint
Moderate
network and
computation
footprint
Moderate
computation
footprint
Moderate
Moderate

July 16,, 2003
Page 16
1588
NTP
GPS
TTP
SERCOS
Latency
correction
Yes
Yes
Yes
Configured
No
Protocol
specifies
security
No
Yes
No
No
No
Administration
Self
organizing
Configured
N/A
Configured
Configured
Hardware?
For highest
accuracy
No
RF
receiver
and
processo
r
Yes
Yes
Update interval
~2 seconds
Varies,
nominally
seconds
~1
second
Every TDMA
cycle, ~ms
Every TDMA
cycle, ~ms

July 16,, 2003
Page 17
1588 Defines:
Descriptors characterizing a clock
The states of a clock and the allowed state
transitions
1588 network messages, fields, and
semantics
Datasets maintained by each clock
Actions and timing for all 1588 network and
internal events

July 16,, 2003
Page 18
Critical physical specifications

A suite of messages for monitoring the
system
Specifications for an Ethernet based
implementation
Conformance requirements
Implementation suggestions

July 16,, 2003
Page 19
Timing Latency & Fluctuation

Application layer
Network protocol
stack
Physical layer
Application layer
msecs of delay and
fluctuation
< 100 nsecs of delay
and fluctuation
Repeaters & Switches:

fluctuations ~100ns to usec
Routers:fluctuations ~ms
July 16,, 2003
Network protocol
stack
Physical layer
Repeater,
Switch, or
Router
Page 20
Reducing Timing Latency & Fluctuation

Within a node:
Make timing measurements as close to the
physical layer as possible to eliminate protocol
stack and operating system fluctuations.
Use statistical techniques to further reduce
residual fluctuations from PHY layer, network
and repeaters and switches.
Routers:
Use transfer devices (1588 boundary clocks) to
reduce router latency and fluctuations

July 16,, 2003
Page 21
Selecting a Master Clock-Single Subnet

Self-configuring based on clock characteristics
Information contained in Sync messages
All clocks run an identical Best Master Clock
algorithm
Master clock
Typical slave clock
Repeater
or
Switch
Repeater
or
Switch
=1588 code & hardware

July 16,, 2003
Page 22
1588 Characterization of Clocks

Based on primary source of time, e.g. GPS,
local oscillator
Accuracy
Variance
Preferred set membership
Type: Boundary clock (spans subnets) or
ordinary clock
UUID

July 16,, 2003
Page 23
1588 Timing Related Messages

Multicast only within a subnet
Four types of timing messages: Sync,
Follow_Up, Delay_Req, Delay_Resp
Issuing and response to these messages
dependent on the state of each clock

July 16,, 2003
Page 24
Detection of Sync messages
Application layer
Network protocol
stack
Optional
Sync and
Delay_Req
message
detector
e.g. MII interface

in Ethernet
Physical layer

July 16,, 2003
Page 25
IEEE-1588 Code
Network protocol
stack & OS
Sync detector
& timestamp
generator
Physical layer
msecs of delay and fluctuation
Master clock sends:

1. Sync message
2. Follow_up message
< 100 nsecs of delay and fluctuation
Repeaters & Switches: ~100ns to usec

Routers: ~ms
July 16,, 2003
Repeater,
Switch, or
Router
Page 26
1588 Synchronization
Master Clock
Slave Clock
uProcessor-A
estimated sending time = 9:59.99AM
precise sending time = 10:00AM
uProcessor-B
receipt time = 10:05AM
SMD-A
measures Sync message
SMD-B
measures Sync message
Sync message
network
Master Clock
Slave Clock
uProcessor-A
precise sending time =
10:00AM
Clock
correction
circuits
0:05
uProcessor-B
SMD-A
Clock
Follow_Up message
network

July 16,, 2003
SMD-B
Step 1:
Sync message sent from
master to slaves
All Sync message
detectors (SMD) note
the time on the local
clock this message
appears at the SMD
Step 2:
Follow-Up message
containing precise
sending time sent from
master to slaves
All slaves compute
offset and correct their
clock
Page 27
Synchronization computation
offset = receipt time precise sending time
one way delay (for a Sync message)
one way delay = {master to slave delay + slave
to master delay}/2 (assumes symmetric
delay)
master to slave delay = receipt time precise
sending time (for a Sync message)
slave to master delay = Delay_Req receipt time
-precise sending time (of a Delay_Req
message)
July 16,, 2003
Page 28
Sync messages:
Issued by clocks in the Master state
Contain clock characterization information
Contain a estimate of the sending time
When received by a slave clock the receipt time
is noted
Can be distinguished from other legal
messages on the network
For best accuracy these messages can be
easily identified and detected at or near the
physical layer and the precise sending (or
receipt) time recorded
July 16,, 2003
Page 29
Follow_Up messages:
Always associated with the preceding Sync
message
Contain the precise sending time as measured
as close as possible to the physical layer of the
network
When received by a slave clock the precise
sending time is is used in computations rather
than the estimated sending time contained in the
Sync message

July 16,, 2003
Page 30
Delay_Req messages:
Issued by clocks in the Slave state
When received by the master clock the receipt
time is noted
The slave measures and records the sending
time
Can be distinguished from other legal
messages on the network
For best accuracy these messages can be
easily identified and detected at or near the
physical layer and the precise sending (or
receipt) time recorded
July 16,, 2003
Page 31
Delay_Resp messages:
Always associated with a preceding Delay_Req
message from as specific slave clock
Contain the receipt time of the associated
Delay_Req message
When received by a slave clock the receipt time
is noted and used in conjunction with the
sending time of the associated Delay_Req
message as part of the latency calculation

July 16,, 2003
Page 32
1588 Multiple Subnet Topology

=1588 code & hardware
Grand Master Clock
Repeater
or
Switch
Repeater
or
Switch
GPS
Typical Slave Clock
Boundary
clock
Router
Repeater
or
Switch
Only Slave Port of
Boundary Clock
Repeater
or
Switch
July 16,, 2003
Typical Master Port of

Boundary Clock
Page 33
Multiple Subnet Synchronization &Master

Clock Selection
Boundary clocks do NOT pass Sync,
Follow_Up, Delay_Req, or Delay_Resp
messages
Within a subnet a port of a boundary clock
acts just like an ordinary clock with respect
to synchronization and best master clock
algorithm
The boundary clock internally selects the
port that sees the best clock as the single
slave port. This port is a slave in the selected
subnet. All other ports of the boundary clock
internally synchronize to this slave port.
July 16,, 2003
Page 34
Boundary clocks define a parent-child

hierarchy of master-slave clocks.
The best clock in the system is the Grand
Master clock.
If there are cyclic paths in the network
topology the best master clock algorithm
reduces the logical topology to an acyclic
graph.

July 16,, 2003
Page 35
1588 Management Messages

Management messages are multicast ONLY
within a subnet.
Boundary clocks, not routers, transfer
management messages between subnets.
Management messages allow appropriate
query and update of selected database
information maintained by each clock.

July 16,, 2003
Page 36
1588 Time Scales

The time base in a 1588 system is the time
base of the Grand Master Clock. All other
clocks synchronize (perhaps via boundary
clocks) to the grand master.
The Grand Master Clock time base is
implementation dependent.
If the Grand Master Clock maintains a UTC
time base, the 1588 protocol distributes the
appropriate leap second information to the
slaves.
July 16,, 2003
Page 37
Basic Uses of Explicit Time in

Measurement and Control
Time stamping (relative or absolute)
Time stamping system events for debugging
Time stamping data to allow correlation with
other data or events
Coordination of measurement: (sampling

and triggering)
Coordination of action (time based
behaviors)
Timed execution scripts
Temporal mutual exclusion: (time slots)
July 16,, 2003
Page 38
Measurement setup to test prototypes of an

earlier version of 1588
Agilent 5372A
F&T Analyzer
1 PPS signal
Clock-A
Agilent Technologies
prototype clock
July 16,, 2003
Clock-B
1-4 Ethernet
repeaters
Page 39
Allan frequency deviations for test

oscillators
10
10
-7
-8
Allan Deviation
CTS CB3LV
10
10
10
10
-9
-10
10811D
-11
-12
10
-1

July 16,, 2003
10
10
10
Averaging Time, seconds
10
10
Page 40
Switch Connection
Inexpensive oscillator, fast loop
10811D, fast loop
s = 140 ns
70
60
Offset-nanoseconds
385
320
255
190
125
40
340
290
240
190
140
90
40
-10
-60
-110
20
-160
390
325
260
195
130
65
-65
-130
-195
-260
-325
-390
60
-210
20
80
-260
40
s = 92 ns
100
Frequency
Frequency
60

July 16,, 2003
60
10811D, slow loop
s = 123 ns
Offset-nanoseconds
-5
Offset-nanoseconds
Inexpensive oscillator, slow loop

80
-70
350
280
210
140
70
-70
-140
-210
-280
-350
-420
-490
10
-135
20
10
-200
20
30
-265
30
40
-330
40
50
-395
50
-460
Frequency
60
Frequency
s = 138 ns
70
Offset-nanoseconds
Page 41
Repeater Connection
Offset-nanoseconds
125
100
75
50
10811D, slow loop
s = 80 ns
s = 42 ns
Frequency
300
250
200
150
100
Offset-nanoseconds

July 16,, 2003
200
165
130
95
60
25
-10
-45
-80
-115
-150
-185
-220
240
195
150
105
60
15
-30
-75
-120
-165
-210
-255
50
-300
Frequency
-25
Offset-nanoseconds

120
100
80
60
40
20
0
-50
50
0
185
150
80
45
10
-25
-60
-95
-130
-165
-200
-235
115
20
-75
40
100
-100
60
150
-125
80
-150
Frequency
100
s = 46 ns
200
25
s = 75 ns
120
Frequency
10811D, fast loop
Offset-nanoseconds
Page 42
Direct Connection
s = 39 ns
Offset-nanoseconds
70
M
ore
55
40
25
10811D, slow loop
s = 76 ns
s = 15 ns
600
120
Offset- nanoseconds

July 16,, 2003
45
35
25
15
5
-3
230
180
130
80
30
-20
-70
-120
-170
-220
100
-270
20
-5
200
40
300
-1
60
400
80
-2
Frequency
500
100
-320
Frequency
10
Offset-nanoseconds

140
-5
-8
0
-6
5
55
75
15
35
-5
-2
5
-1
45
-1
25
-1
05
-85
-6
5
-45
-2
0
Frequency
200
150
100
50
250
200
150
100
50
0
-5
0
-3
5
s = 34 ns
250
Frequency
10811D, fast loop
Offset- nanoseconds
Page 43
Seconds tick deviations: connection via a repeater

July 16,, 2003
Page 44
Seconds tick deviations: connection via a repeater
nanoseconds
July 16,, 2003
Page 45
For further information:

John Eidson, chair 1588 committee,
john_eidson@agilent.com
September 24, 2003 IEEE1588 Workshop

http://ieee1588.nist.gov

July 16,, 2003
Page 46

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IEEE-1588 Standard for a Precision

Clock Synchronization Protocol for

I&M Society IEEE1588

I&M Society IEEE1588

Objectives of 1588 (continued)

I&M Society IEEE1588

I&M Society IEEE1588

Members of the IEEE-1588 working group

Kang Lee- NIST

Scott Carter-GE Medical

Where is it being used?

I&M Society IEEE1588

I&M Society IEEE1588

Where is it being used?

Courtesy of SIG Pack Systems AG

I&M Society IEEE1588

Control of multiple robots

I&M Society IEEE1588

Mulit-stand Printing Press

I&M Society IEEE1588

Where is it being used?

I&M Society IEEE1588

I&M Society IEEE1588

Comparison with other protocols

I&M Society IEEE1588

I&M Society IEEE1588

I&M Society IEEE1588

I&M Society IEEE1588

Critical physical specifications

I&M Society IEEE1588

Timing Latency & Fluctuation

Repeaters & Switches:

Reducing Timing Latency & Fluctuation

I&M Society IEEE1588

Selecting a Master Clock-Single Subnet

I&M Society IEEE1588

1588 Characterization of Clocks

I&M Society IEEE1588

1588 Timing Related Messages

I&M Society IEEE1588

Detection of Sync messages

e.g. MII interface

I&M Society IEEE1588

msecs of delay and fluctuation

Master clock sends:

Repeaters & Switches: ~100ns to usec

I&M Society IEEE1588

I&M Society IEEE1588

I&M Society IEEE1588

1588 Multiple Subnet Topology

Typical Slave Clock

Typical Master Port of

Multiple Subnet Synchronization &Master

Boundary clocks define a parent-child

I&M Society IEEE1588

1588 Management Messages

I&M Society IEEE1588

1588 Time Scales

Basic Uses of Explicit Time in

Coordination of measurement: (sampling

Measurement setup to test prototypes of an

Allan frequency deviations for test

I&M Society IEEE1588

10811D, fast loop