Industrial Networks

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Summary

Introduction to Industrial Communication

Modbus
CANopen
Ethernet Modbus TCP/IP
EtherNet / IP
Profibus

Introduction to Industrial
Communication

What is Communication?

Smoke signals

Telegraph

Digital exchange

Why Communication?
Same Radio models (ID)
Transmit by Air
Same Frequency
Radio must be Switched on
Same Language
Do not speak in the same time
Acknowledge the message

Items Mandatory to Communicate

Translator

Language
Medium

Transmitter

Collision

Receiver
Id = 2

Acknowledgement
Id = 3

Id = 4
6

Industrial Communication

Serial link

Digital
data
1

Communication Solution

Analogue speed
command 0-10 V

Wired Solution
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Industrial Communication (Cont.)

Diagnostic

Easiness of Replacement

OSI Model for Machine Communication

Layer

Train Example

Machine

Application

Same Language?

Protocol

Presentation

Radio AM or FM?

Format Conversion

Radio ON?

History + Organisation

Message Received?

End to End Routing

Control

Network

Same Frequency?

Address

Data Link

Who speaks first?

Access Control

Physical

Air (radio waves) Coverage?

Hardware

Session
Transport

OSI Model: Encapsulation Principle

Clothes

Suitcase

Name Tag

Dest. tag

Airplane

10

Market Requirements

1 Mb

1
minute

Files in N x seconds

Level 3
Company

Information System

Data bus

PC - Servers

Level 2
Process

Production management

1 Kb
1s
AMOUNT
N xBE
10 words in N x 100 ms
OF DATA TO
TRANSMITTED
RESPONSE
TIME
REQUIRED
N x words in N x 10 ms

1 bit

1 ms
N x bits in N x ms

Field bus

Level 1
Machines
Device bus

Level 0
Components
Sensor bus

PLCs - GUI

Monitoring and control

Variable speed drives
Automation islands

Reaction detection
Digital actuators sensors

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Positioning of The Main Networks

Sensor

Machine

Response time

AS-i*

Sercos,,
Interbus S
CANopen*

Process

DeviceNet
Fipio

Fipway
Modbus +

Management

Modbus*
Profibus DP / PA
Profibus FMS
Ethernet TCP/IP*

1 bit

byte

K byte

M byte Exchange volume

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Choice of a Network

APPLICATION
LAYER

LINK

content, periodicity?
Service data: Accessible variables, max. size?

Medium access: master-slave, token ring, random access?

Addressing: address 1, 5, general distribution?
Transmission control: parity check, CRC, delimiters?
Flow control: NACK, XON-XOFF, inhibit time?

LAYER
PHYSICAL
LAYER

Language: Modbus, CANopen?

Process data: Client-server, producer-consumer

Medium: twisted pair, coaxial cable, optical fibre?

Topology: bus, star, tree, grid?
Max. no. of devices: 2, 31, 63, 127?
Max. distance between devices: 100 m, 1 km, 15 km?

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Terminology
Half / Full duplex

PLC

COLLISION

I/O

TRANSMIT
TRANSMIT
PLC

I/O

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Terminology (Cont.)
Kbps
= Kilobits (1024 bits) per second (binary) but

kbps
= kilobits (1000 bits) per second (decimal)

KBps
= Kilobytes (1024 bytes) per second (binary)

kBps
= kilobytes (1000 bytes) per second (decimal)

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Terminology (Cont.)
Differential Signal

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Terminology (Cont.)
Cyclic Exchange / Implicit Exchange
Process data / high priority
Data exchanged between device periodically on demand.
Managed automatically / defined in configuration

Acyclic Exchange / Explicit Exchange

Configuration or diagnostic data / low priority
Data exchanged only on request
Managed by the application / request to be programmed

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Medium & Physical Layer

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Medium & Physical Layer

Cabled link

Fiber optic link

Radio links

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Common Medium
Twisted pair(s) wires

Low

Easy to install, and the least expensive.

Coaxial cable
The coaxial cable has excellent electrical
properties and is suitable for high speed
transmission.

Cost of
the
medium

Optical fiber
This is suitable for use in harsh industrial
environments. The transmission is reliable over long
distances.

High

The choice of the MEDIUM affects the transmission quality :

Speed
Length of the bus
Electromagnetic immunity

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Examples of Physical Layer

RS232
Half or Full duplex, point-to-point link.
Max. length : 15 m, Max. speed : 20 Kbps
Using example : Connecting a device to a PC

RS422
Full-duplex (simultaneous bidirectional) multi-drop bus on 4
wires.
Differential signal : good immunity to interference
Max. length : 1000 m at 100 Kbps, Max. speed : 12 Mbit/s
Maximum devices on the bus : 32
Using example : Interbus S fieldbus

RS485
Half-duplex (alternate bidirectional) multi-drop bus on 2 wires.
Same electrical characteristics as RS422A but on 2 wires.
Using example : Modbus, Profibus fieldbus
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Various topologies
POINT-TO-POINT

Bypass

BUS

Example: PC - PLC
console connector link

Chaining
Example: CANopen,
DeviceNet, Profibus-DP,
FIPIO, Modbus RS485

Line termination resistors

RING

GRID
Example: Interbus S

Example:
Internet network
via routers

TREE

STAR
Example : Devices
connected over
Ethernet via a HUB

Example:
Intranet network
via hubs and switches

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Data Link Layer

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Master-Slave system
The master grants access to the medium
The slave can access the medium after being polled by the master
Polling
Do you have anything to say?

MASTER

Nothing to declare!

SLAVE

Response
Used by Asi, FIPIO, Modbus, Profibus-DP and Uni-Telway
Can be used on CANopen and DeviceNet (by configuration)

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Token Ring
Ring: the members of a ring are authorized to send data upon receipt of
the token.
Token: a group of bits passed from one node to another in ascending
order of address.
Address 2

Address 1

Address 3

Address 4

Used by Modbus Plus / Profibus in Multi Master mode

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Random access
Each device "listens" whilst it transmits
Data can be transmitted as soon as a silence is detected.
If the data received is different from the data sent, a
collision occurs

2 types of collision
destructive
non-destructive

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Random access with destructive collisions

Stop

Waiting time 15s

Stop

Waiting time 10s

Waiting time 5s

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Random access with destructive collisions

Step-by-step operation in the event of a collision:
any messages in the course of transmission are stopped
a scrambling frame is sent: the frame is lost
a random wait time is observed
the message is resent
Stop

Principle used by Ethernet and known as CSMA-CD

CSMA-CD = Carrier Sense Multiple Access - Collision Detection
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Random access with non-destructive

collisions
Stop

Dominant

Recessive

Dominant

Recessive

Dominant

Recessive

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Random access with non-destructive

collisions
The message remains valid, due to a system of dominant and recessive bits
the device with the lower priority stops its transmission (recessive bit)
the device with the higher priority completes its transmission
the device with the lower priority tries to send its message again as soon
as the medium is free
Dominant

Stop

Recessive

Principle used by CANopen and DeviceNet and known as CSMA-CA

CSMA-CA = Carrier Sense Multiple Access - Collision Avoidance

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Network, Transport, Session &

Presentation Layers

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Network & Transport

Network Layer
Defines how to route a message

Transport Layer
Responsible for delivery the message

Ethernet Chapter
32

Session & Presentation

Session Layer
Establish or close a connection remotely

Presentation Layer
Present the message on a specific format

Wikipedia
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Application Layer

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Client Server Model

The CLIENT is an entity requesting a service on the network
The SERVER is the entity which responds to a request from a client
Request
Please, can you send me the
configuration of motor starter no. 3 ?

No problem, here is the whole file!

CLIENT

Response

SERVER

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Producer Consumer Model

The PRODUCER is a single entity which produces information.
The CONSUMER is an entity which use it (several entities can use the
same information).

It s 6 pm

I m going to miss
my train !!!
CONSUMER N1
Let s go to see
a movie...

PRODUCER
CONSUMER N2

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Errors Detection
Undetected Errors Are Disturbing
Many Systems / Algorithms to Detect Errors
Parity bits, CRC checks, stuffing bits, timeouts, ACK slotsI

Performance Measurement
Hamming distance

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