Communication Protocols

Communication Protocols
Hilscher Gesellschaft fr Systemautomation mbH
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Feb. 2008
HART ASI MODBUS
Sensoplex
CAN Profibus DP Process Field Bus Decentral Peripherals Device net/ Controlnet Interbus TCP/IP Real Time Ethernet Protocols * Profinet * MODBUS TCP * EtherCAT * PowerLink * Ethernet IP * Sercos III
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Feb. 2008
Aktuator Sensor Interface
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Philosophy
AS - Interface in the Automation Hierarchy
Supplement to all current Fieldbus Systems:
Controler Level
Master
Direct
Field Level
CAN DeviceNet FIP Interbus Profibus etc.
Subordinate
Slave
Slave
Slave
Slave
Slave
Slave
Slave
Slave
Sensor/Aktuator Level
Hilscher Gesellschaft fr Systemautomation mbH www.hilscher.com Feb. 2008
The Network Topology

Different Topologies
Star Topology Line Topology Bus Topology Tree Topology
Master
Master
Master Slave Sl a v e Sl a v e Slave
Master Slave Slave
Slave Slave Slave Slave
Slave Slave Slave
Slave
Slave Slave Slave Slave Slave Slave Slave
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Easy Communication
Controller
Master
Master Request:
An Slave 1 An Slave 2 An Slave 31
An Slave 1
Slave 1
Slave 2
Slave 31
Slave 1
Slave Response
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AS-Interface
Single-Master / Multiple-Slave Baudrate: 166,7 kBaud Userdata: 4 / 4 Bit In/Output per A Slave 4 / 3 Bit In/Output per B Slave Devices: max. 62 Slaves on one line (CS 2.1) Medium: Copper Lenght: 100 Meter 300 Meter with Repeater Special feature: Powersupply and Data on the same wire
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Controller Area Network
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Formation of CANopen
Out of a development for the automotive-industry,a bussystem was developed by suitable physical adaptations. The CAN only defines the transfer, so they widened this in the specification of the CANopen to a real fieldbus system.
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Different philosophies
Source/Destination - the old paradigm - Ethernet - Interbus - Profibus (DP, PA, FMS,) - Seriplex
- Modbus
- Remote I/O
- Modbus Plus
- Data Highway Plus
Producer/Consumer - the new paradigm - CANopen - DeviceNet - Foundation Fieldbus - ControlNet
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The CAN Message Protocol

Data Frame
Start Message Identifier
Control
DATA (0-8 bytes)
CRC
Broadcasts 0 to 8 bytes of data with identifier Non-Destructive Arbitration Similar to Ethernet, each node attempts to transmit when the network is free. Unlike Ethernet, a collision will be avoided with the arbitration. The winning node continues to transmit its message to completion This mechanism GUARANTEES that NEITHER information NOR time is lost !! The value of the Identifier defines priority during arbitration
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Ack
CSMA / CA - Procedur
CSMA / CA C S M A = Carrier = Sense = Multiple = Access / Trger / hrt / Mehrfach / Zugriff / Kollision / vermeiden
C = Collision A = Avoid
Node 1
send 0
Node 2
0 received 1
Node 3
0 received 1
1 received send 1 0
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Feb. 2008
Message identifier
Node 1 Transmits:
10110110100
00000001
xxxx
01
E O F
Node 2 Transmits: Node 2 losing arbitration and stops transmitting! 0 01
10110111
Arbitration Field
Node 2 still ACKs message.
As seen on the wire: 0
10110110100
00000001
xxxx
01
E O F
Each device receives the Bit that it sended out at the same time. If it sended a 1 and recieved an 0 then it stoped sending and wait until the transmition was finished. Otherwise it continues transmitting. So there is dominance of the 0.
Characteristics
Multimaster / Multiple-slave
Baudrate : 10kBaud...1MBaud
User data : 8 Byte per telegram Devices : max. 128
Mediums : Twisted pair

Extension : max. 1000m
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Feb. 2008
ControlNet
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Feb. 2008
Formation of ControlNet
ControlNet technology was developed by Allen Bradley in Oktober 1995. The technical specification are published at December 1996.
User Data Exchange
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The ControlNet Protocol
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Feb. 2008
Typical ControlNet System
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Characteristics
Multiple master / Multiple slave
Baudrates User Data Devices

Medium Expansion
Special feature
: 5 MBaud : max. 506 Byte/Tel. : 48 without repeater 99 with repeater : Koaxialwire RG-6, fiberoptics : 1000m Coax wire 7km fiberoptics 30km with repeater : Redundance
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DeviceNet
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Feb. 2008
The philosophy
Ethernet Nahtlose Integration mit Management- und Informationssystemen ControlNet Deterministisches E/A- und Peer-toPeer High-SpeedNetzwerk DeviceNet Ein kostengnstiger, offener Kommunikationsstandard fr Feldgerte
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Feb. 2008
History & Technology

History Base Technology developed by Allen-Bradley Introduced March, 1994 Technology transferred to ODVA in April, 1995
Technology CAN messaging layer 2 (data link layer) - ISO 11898 and 11519-1 DeviceNet is layer 7 (application layer ) and layer 1 (physical layer) designed for industrial automation
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Feb. 2008
Typical DeviceNet System
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addressing
Each DeviceNet node has its own station address which is represented by a MAC ID (Media Access Control ID) You can use addresses from 0 up to 63
MAC ID #1
DeviceNet Link
MAC ID #2
MAC ID #3
MAC ID #4
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Feb. 2008
Object model
DeviceNet used a CIP (Control und Information Protocol). for data transfer. This Protocol defines the following informations

MAC ID #1
DeviceNet Link
Node address (MAC ID) Object Class Identifier Object Instance Identifier Attribute Identifier Service Code
MAC ID #2
Object Class #5
Object Class #5
Object Class #7
Attrib #1 Service #0E

Instance #1 Instance #2
Instance #2 Attrib #1 Attrib #2
MAC ID #3
MAC ID #4
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the several terms
Explicit Messaging Connections Explicit Messaging Connections - multi-purpose communication paths between two devices. Explicit messages provide the typical request-/response oriented network communications.
Implicit Messaging (I/O Connections) I/O connections - communication path between a producing application and one or more consuming applications, Normally this data is traded as real time proccess data. I/O connection based messages are transferred with little overhead to reach high performance while transferring it.
I/O Connections
I/O Connections provide specialpurpose communication paths between a producing application and one or more consuming applications. Applicationspecific I/O data moves across an I/O Connection. I/O Messages are exchanged across I/O connections. An I/O Message consists of a Connection ID and associated I/O data. The meaning of the data within an I/O Message is implied by the associated Connection ID. The connection endpoints are assumed to have knowledge of the intended use or meaning of the I/O Message.
I/O Message (Connection ID & Data) I/O Producing Application Object I/O Data Producing I/O Connection Consuming I/O Connection I/O Data I/O Consuming Application Object
Module #1
Module #2
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Feb. 2008
User Data Exchange
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Feb. 2008
Communication relationships
Polling Cyclic Change-of-State (COS) Combinations
Master/Slave, Multimaster, Peer-to-Peer

One-to-One, Multicast, or Broadcast
Characteristics
Multiple master / Multiple slave
Baudrate : 125kBaud...500kBaud
User data : 8 Byte per telegram 256 Bytes I/O(segmented)
Devices
: max. 64
Expension : max. 500m
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The fieldbus protocol
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Feb. 2008
The PB Protocol
Active Stations, Master Devices
PLC
PC
PLC
PROFIBUS
Passive Stations, Slave Devices
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PROFIBUS-DP
CIF 30-PB (Class 1)
Monomaster Systems achieve the shortest bus cycle time They consist of: - 1 DP-Master (Class 1) - 1 to max. 125 DP-Slaves - DP-Master (Class 2) - optional
PROFIBUS-DP
DP - Slaves
Distributed Inputs and Outputs
PC
CNC
CIF 30-PB (Class 2)
DP-Master (Class 1) PROFIBUS - DP
PLC DP-Master
(Class 1)
Multimaster System several DP-Masters may access a DP-Slave with read functions They consist of: - multiple Masters (Class 1 or 2) - 1 to max. 124 DP-Slaves - max. 126 devices on the same bus
Feb. 2008
DP - Slaves
Distributed Inputs and Outputs
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PROFIBUS-PA
Basic elements of PROFIBUS-PA PROFIBUS-DP Fieldbus System

Master (class 1) Master (class 2)
CIF 30-DPM
PROFIBUS-DP
+
PROFIBUS-PA
J
Slaves (Field Devices, Distributed I/Os, Single Loop Controllers, Link to PROFIBUS-PA) Hilscher Gesellschaft fr Systemautomation mbH www.hilscher.com Feb. 2008
PROFIBUS-FMS
CIF 30-PB / FMS

A typical PROFIBUS-FMS System consists of various intelligent automation components such as: PC PLC as central controller HMI as intelligent Human Machine Interface
PROFIBUS-FMS
RS 485 up to 12 MBit/s
Master
Master
Master
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Master
Feb. 2008
User Data Exchange
PROFIBUS-DP
DP-Master DP-Slave DP-Slave DP-Slave
immediate response
Frames
DP-Master
SRD-Request, variable length of user data

SYN SD2 LE LEr SD2 DA SA FC DU FCS ED
SRD-Response, variable length of user data

SD2 LE LEr SD2 DA SA FC DU FCS ED
Syn SD2 LE LEr
= = = =
Synchronization Time DA = Destination Address DU = Data Unit Start Delimiter 2 SA = Source Address FCS = Frame Check Sequence Length FC = Function Code ED = End Delimiter repeated Length Hilscher Gesellschaft fr Systemautomation mbH www.hilscher.com Feb. 2008
Data access DPV 1 (MC1)
The access to the parameter data assigned to an Service Access Point (SAP). For this the class 1 master uses the SAP 51. One slave can have up to 255 Slots (0..254) The slots may have 256 (0..255) Indices User data (PDU) in a range of 1 to 240 Byte can be transfered with one index. So theoretical is addressable 15.300 kByte per slave device.
DPV2 PROFIBUS-DP fr Drives

Profile PROFIdrive based on DP V2 fr max 32. Teilnehmer
R1 R2 R31 R1 R2 R31
GC S1 S2
S31
DPV1
GAP
Token
Reserve GC S1 S2
S31
DPV1
GAP
Token
Reserve
S1 ..S3
S1 ..S3
S1 ..S3
S1 ..S3
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Feb. 2008
DPV2: Data Exchange Broadcast
Request with DDB.req
Publisher
Subscriber
Subscriber
Subscriber ...
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Feb. 2008
PB-Characteristics
Multi-master / Multiple-slave
Baudrate : 9600 .. 12MBaud User data : max. 244 Byte per I/O Telegram
max. 240 Byte per message

Devices : 126 (incl. Repeater) (DPV0/1) 32 DPV2

Fiber optics Expansion : max. 1200m per segment
dependent on the transfer-rate

The fieldbus protocol
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Feb. 2008
Creation of INTERBUS
In the context of the development the company phoenix did in Signalmultiplexer,this system was developed to the INTERBUS.
Data transfer
Structure of IBS-Systems
INTERBUS works like a distributed reconnected shift register with different slaves and only one Master. The link between the devices is a point to point connection (RS 422).
process image
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Feb. 2008
Cyclic I/O data (1)
Master
Loopbackwort Output-Data S4 Output-Data S3 Output-Data S2 Output-Data S1
Slave 1
Output-DataS1 Input-Data S1
Slave 2
distribution of process data befor the data cycle

Slave 4
Input-Data S4 Input-Data S3 Input-Data S2 Input-Data S1 Loopbackwort
Slave 3
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Feb. 2008
Cyclic I/O data (2)
Master
Slave 1
Output-Data S1
Slave 2
Output-Data S2
distribution of process data after the data cycle

Input-Data S4 Input-Data S3 Input-Data S2 Input-Data S1 Loopbackwort
Slave 4
Output-Data S4
Slave 3
Output-Data S3
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Feb. 2008
Topologies
INTERBUS provides
Ring topologie. It`s a ring system with an activ interface of IBS device.
Local bus
Remote bus
Disadvantages of the simple ring structure were extensive eliminated through an optimization of the system. Benefit = Diagnostic
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Feb. 2008
Field devices
INTERBUS distinguishes four different types of fieldbus devices.

FB
Remote bus device Remote bus branch interface Local bus device Local bus branch interface
FB
LB
FB
FB
LB
FB FB LB Hilscher Gesellschaft fr Systemautomation mbH
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FB
Feb. 2008
Acyclic Services
Additional to the process data (Digital I/O Data or Analog I/O Data) that were basically transmitted cyclic, some applications need some acyclic parameter data. Therefore INTERBUS offers the message orientated Peripherals Communication Protocoll (PCP)
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Hybride access procedure
Sum frame protocol
ProDa ParaDa TN FCS
Process data Parameter data Device Frame Check Sequence
Data Service Header
Data Service Header
Loop ProDa check TN 1
ProDa TN 2
ProDa ParaDa TN 3
ParaDa ProDa FCS TN n TN n+1
End
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Feb. 2008
IBS characteristics
Single-master / Multiple-slave
Baudrate : 500kBaud User data : max. 4096 I/O
240 Byte / PMS message

1;2;4 Word(PCP) / cycle CIF-IBM : max. 128 (63 PCP)
Mediums : Twisted pair;Fiber optics

Expansion : 400m between the devices max. 22 km
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Feb. 2008

Communication Protocols

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Communication Protocols

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Communication Protocols

Hilscher Gesellschaft fr Systemautomation mbH

HART ASI MODBUS

Hilscher Gesellschaft fr Systemautomation mbH

Aktuator Sensor Interface

Hilscher Gesellschaft fr Systemautomation mbH

AS - Interface in the Automation Hierarchy

Supplement to all current Fieldbus Systems:

The Network Topology

Master Slave Sl a v e Sl a v e Slave

Master Slave Slave

Slave Slave Slave Slave

Slave Slave Slave

Slave Slave Slave Slave Slave Slave Slave

Hilscher Gesellschaft fr Systemautomation mbH

Hilscher Gesellschaft fr Systemautomation mbH

Hilscher Gesellschaft fr Systemautomation mbH

Controller Area Network

Hilscher Gesellschaft fr Systemautomation mbH

Hilscher Gesellschaft fr Systemautomation mbH

Producer/Consumer - the new paradigm - CANopen - DeviceNet - Foundation Fieldbus - ControlNet

Hilscher Gesellschaft fr Systemautomation mbH

The CAN Message Protocol

DATA (0-8 bytes)

Hilscher Gesellschaft fr Systemautomation mbH

Hilscher Gesellschaft fr Systemautomation mbH

Node 2 Transmits: Node 2 losing arbitration and stops transmitting! 0 01

Node 2 still ACKs message.

As seen on the wire: 0

Mediums : Twisted pair

Hilscher Gesellschaft fr Systemautomation mbH

Hilscher Gesellschaft fr Systemautomation mbH

User Data Exchange

Hilscher Gesellschaft fr Systemautomation mbH

The ControlNet Protocol

Hilscher Gesellschaft fr Systemautomation mbH

Typical ControlNet System

Hilscher Gesellschaft fr Systemautomation mbH

Baudrates User Data Devices

Hilscher Gesellschaft fr Systemautomation mbH

Hilscher Gesellschaft fr Systemautomation mbH

Hilscher Gesellschaft fr Systemautomation mbH

History & Technology

Hilscher Gesellschaft fr Systemautomation mbH

Typical DeviceNet System

Hilscher Gesellschaft fr Systemautomation mbH

Hilscher Gesellschaft fr Systemautomation mbH

Attrib #1 Service #0E

Instance #2 Attrib #1 Attrib #2

the several terms

Hilscher Gesellschaft fr Systemautomation mbH

User Data Exchange

Hilscher Gesellschaft fr Systemautomation mbH

Master/Slave, Multimaster, Peer-to-Peer

Mediums : Twisted pair

Expension : max. 500m

Hilscher Gesellschaft fr Systemautomation mbH

The fieldbus protocol

Hilscher Gesellschaft fr Systemautomation mbH

Active Stations, Master Devices

Passive Stations, Slave Devices

Hilscher Gesellschaft fr Systemautomation mbH

CIF 30-PB (Class 1)

CIF 30-PB (Class 2)