Transcript CIP Safety on SERCOS

CIP Safety on SERCOS
Global Interoperability between
CIP Safety based Networks
www.odva.org
Technical Track
CIP Safety on SERCOS - Global Interoperability
between CIP Safety based Networks
Agenda

What is SERCOS III?

What is CIP safety on SERCOS?

CIP Safety on SERCOS – Ready for a global
safety world!
Technical Track – PRESENTATION TITLE page 2
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is SERCOS III ?
Fast Ethernet
(2x 100 MBit/s, min. 31.25 µs)
Standard Ethernet
protocol frame IEEE 802.3
Master
CAT5e

Integration of
I/O devices
Cyclic RT communication
via line topology
Cyclic RT communication
via ring topology
Installation without
switches or hubs
Technical Track – PRESENTATION TITLE page 4
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is SERCOS III ?
Hardware
redundancy
Master
Technical Track – PRESENTATION TITLE page 5
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
Hot-Plug
of devices
CIP Safety on SERCOS –
What is SERCOS III ?
Separate IP
communication
Connection to
standard IP devices
Integration of
standard IP protocols
SERCOS II
MST
AT1
AT2
ATn
MDT
MST
IP
Real-Time Channel
SERCOS III
MDT
AT 1-n
MDT
Real-Time Channel
Non RT-Channel
Direct connection of IP device
to SERCOS III slave
Communication Cycle
Real Time Data Time Slot
Technical Track – PRESENTATION TITLE page 7
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is SERCOS III ?
SERCOS III Data Fields



Real-time Data
Service Channel
Hot plug
IDLE SSD
SERCOS type
(MDT/AT)
preamble
SFD
destination source
address address
MDT-Hot plug field
(new devices)
type
MST
MDT-service channel field
of devices
phase
MDT
data field
CRC
FCS
ESD
MDT-real-time data field
of devices
AT
data field
AT-Hot plug field
(new devices)
Technical Track – PRESENTATION TITLE page 8
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
AT-service channel field
of devices
AT-real-time data field
of devices
CIP Safety on SERCOS –
What is SERCOS III ?
Cross-Communication

between Slaves
AT
data field
AT-Hot plug field
(new devices)
RT Data Field
Device #1
AT-service channel field
of devices
AT-real-time data field
of devices
RT Data Field CC Data Field
Device #n
Producer #1
Producer
Consumer
Technical Track – PRESENTATION TITLE page 9
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CC Data Field
Producer #L
Producer
Consumer
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
Adaptation to CIP Safety


CIP Safety mechanism and
data formats will be adopted
unmodified
Minimum implementation of
standard CIP (Connection
Manager, Message Router,
Identity) on the “grey” level
SERCOS safety
Profiles
CIP Safety
Profiles
CIP Safety
adaptation to CIP Safety
SERCOS
SERCOS safety Profiles

Description of a Safety Profile (parameters
and behavior) with SERCOS parameter
SERCOS III SERCOS II1)
1) won’t be supported by BRC
Technical Track – PRESENTATION TITLE page 10
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
Why to adopt CIP Safety?




Certified and already implemented safety protocol by different
communication networks (DeviceNet, EtherNet/IP) means a high
investment security
Reduced development costs for component oriented vendors,
since multiple communication networks use the same safety
stack
World-wide market acceptance by a broad interest group
Safety measures of the different communication networks differ
marginally only and do not lead to substantial unique selling
points. Furthermore the whole transport mechanism and the
overall features of the system are more essential
Technical Track – PRESENTATION TITLE page 11
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
Transport Channel
IDLE SSD Preamble SFD
Destination Source
Address Address
MDT Hot Plug Field
for new Devices
MDT
Data Field
Type MST
MDT Service Channel Field
for all Devices
DATA
DATA
Safe Data
Container
for Device 1
ModeByte
Data
Realtime Data
for Device 2
Standard
Realtime Data
for Device 2 3)
CRC-16 1)
Ethernet Frame
MDT Realtime Data Field
for all Devices
Realtime Data
for Device 1
Standard
Realtime Data
for Device 1
FCS ESD
DATA
MDT Data Field
for all Devices
Realtime Data
for Device n
Standard
Realtime Data
for Device n
DATA
CRC-16 1)
Safe Data
Container
for Device n
TimeStamp
MDT Realtime Data
for all Devices
MDT Realtime Data
for Device x
CRC-8
Data 2)
In case of the short protocol (max. 2 Byte data): Instead of CRC-16 1) only a CRC-8 is used and the inverted data 2) do not apply
3) Device 2 does not contain any safety data.
Technical Track – PRESENTATION TITLE page 12
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
Transport Channel

n transport container of configurable length can be
configured into the cyclic data telegram of SERCOS
MDT hot plug field
(new devices)
real-time data
field #1
device control
(4 bytes)
MDT service channel field
for all devices
MDT real-time data field
for all devices
real-time data
field #2
...
real-time data
field #n
Safe Data Safe Data
Data
Data
configurable real-time data
Container
Container
Container Container
(x bytes)
11
nn
List Parameter: S-0-1100.x.y
Technical Track – PRESENTATION TITLE page 13
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
Basic CIP Safety Communication
Logical CIP Safety Connection
Producing
Safety
Application
Consuming
Safety
Application
Safety Validator
Client
Safety Data
Production
Safety
Acknowledge
Reception
Safety Validator
Server
Data Connection
Time Coordination Connection
CIP Safety Connection on network level
Technical Track – PRESENTATION TITLE page 14
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
Safety Data
Reception
Safety
Acknowledge
Production
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
CIP Adaptation
Safety
Supervisor
Safety
I/O Assembly
Safety
Validator
Identity
Object
maps SERCOS IDNs
on Object Attributes
Connection
Manager
Connection
I/O
CIP safety
Adaptation to
CIP Safety
SERCOS
UCMM
acyclic
cyclic
header
MDT
SMP container
AT
Data Container = SMP container
Technical Track – PRESENTATION TITLE page 15
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
CIP Adaptation
Connection
I/O Connection
Explicit Messaging
(Connected)
(Unconnected)
Cyclic Safety-Data, EPI
Time Coordination, n * EPI
Data 1
header
Data 2
header
TCC
header
Services, on-demand
(Forward_open)
Data 1 Data 2
tSERCOS
tSERCOS
TCC
Data 1
tSERCOS
tSERCOS safety (EPI)
header
SERCOS Messaging Protocol (SMP) allows a (fragmented) cyclic and (fragmented) acyclic
transmission of data within a SERCOS data container which gets cyclically transmitted on the Realtime channel. The SMP header controls the fragmentation or priority of the messages. (Lower priority
data packets can be interrupted by higher priority packets)
Technical Track – PRESENTATION TITLE page 16
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
SERCOS Messaging Protocol (SMP)

SMP fragments the CIP Safety protocol and decouples the
time requirements of the safety cycle from the standard
cycle
m bytes (e.g. 10 Bytes)
SMP Header
CIP Safety
Short Format
2Byte Data
CIP Safety
Long Format
4Byte Data
One SERCOS cycle
DATA
DATA
ModeByte
CRC-8
CRC-8
TimeStamp
CRC-8
DATA
DATA
DATA
DATA
ModeByte
CRC-16 1)
DATA
DATA
DATA
DATA
CRC-16 L CRC-16 H
TimeStamp
CRC-8
Two SERCOS cycles
Technical Track – PRESENTATION TITLE page 17
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
Unicast
PLC
Connection 1
I/O
DC
TCC
P
Drive
C
output
DC
Connection 2
C
TCC
TCC
DC
P
input
MDT
SMP1
TCC
DC
AT
SMP2
Technical Track – PRESENTATION TITLE page 18
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
Drive
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
Multicast
PLC
I/O
DC
P
input
C
C
TCC
TCC
AT
SMP3 SMP5
SMP4
Technical Track – PRESENTATION TITLE page 19
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS –
What is CIP Safety on SERCOS ?
C..consumer
P..producer
M..SERCOS master
S..SERCOS slave
Single-Cast
Multi-Cast
Cross Communication (C2C)
M
S
Safety
Device
M
P
M
C
1
P
2
5
P
C
Safety
Device
S
S
S
Safety
Device
M
C
2
P
Safety
Device
4
3
S
C
C
Safety
Device
Safety
Device
S
Input
SERCOS network
1 Single-Cast-Connection
SERCOS network
CIP Safety on SERCOS network
2 Multi-Cast-Connection
3 Safe Cross Communication
4 … over SERCOS networks
Technical Track – PRESENTATION TITLE page 20
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
SERCOS network
5 Safe C2C Communication
CIP Safety on SERCOS
Ready for a global safety world!
Transparent routing via standard gateways into other
CIP Safety networks possible
Technical Track – PRESENTATION TITLE page 21
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org
CIP Safety on SERCOS
Ready for a global safety world!
CIP Safety Networks
SNCT
Safety
PLC
(43)
(42)
EIPNet 4
CIP safety connection
Standard
PLC
(31)
PCI
Standard PLC
+ Gateway
(41)
S3Net 3
(Controller-Ring)
Safety
PLC
(32)
Numeric
Control
(33)
Safety
PLC
(34)
S3Net 1
(Device-Ring)
SERCOS
drive
(11)
Technical Track – PRESENTATION TITLE page 22
© 2007 Open DeviceNet Vendor Association, Inc.
S3Net 2
(Device-Ring)
SERCOS
safe I/O
(12)
SERCOS
safe I/O
(21)
All rights reserved. www.odva.org
SERCOS
drive + SI
(22)
SERCOS
drive + SI
(23)
SERCOS
drive
(24)
CIP Safety on SERCOS
Global Interoperability
between CIP Safety based Networks
Summary

Combine best in class motion,
• fast I/O communication
• non-RT Communication
• on a Ethernet based automation network
with
A common world wide accepted and
well introduced safety protocol
+
Technical Track – PRESENTATION TITLE page 23
© 2007 Open DeviceNet Vendor Association, Inc.
All rights reserved. www.odva.org