Transcript Real-Time Ethernet Technology Comparison SERCOS Seminar

Real-Time Ethernet Technology Comparison
SERCOS Seminar Atlanta
September 16, 2009
Peter Lutz, Managing Director
SERCOS International e.V.
Real-Time Ethernet Competition
(c) SERCOS International 2009
No. 2
Overview on Real-Time Ethernet
Technologies (Selection)
 CC Link IE
 Drive CliQ
 EPA
 EtherCAT
 EtherNet/IP + CIP Sync
 Ethernet Powerlink
 IEEE 1588 / PTP
 JetSync
 Modbus RTPS
 Mechatrolink III
 PowerDNA
 Profinet
 RAPIEnet
 RTEX
 SafetyNET p
 SERCOS III
 SynqNet
 TCnet
 Varan
 Vnet/IP
Source: http://www.real-time-ethernet.de/
(c) SERCOS International 2009
No. 3
Overview on Real-Time Ethernet
Technologies (Selection)
CC Link IE
Drive CliQ
 EPA
 EtherCAT
 EtherNet/IP + CIP Sync
 Ethernet Powerlink
 IEEE 1588 / PTP
JetSync
 Modbus RTPS
Mechatrolink III
PowerDNA
 Profinet
 RAPIEnet
RTEX
SafetyNET p
 SERCOS III
SynqNet
 TCnet
Varan
 Vnet/IP
Source: http://www.real-time-ethernet.de/
(c) SERCOS International 2009
No. 4
Overview on Real-Time Ethernet
Technologies (Selection)
CC Link IE
Drive CliQ
EPA
 EtherCAT
 EtherNet/IP + CIP Sync
 Ethernet Powerlink
IEEE 1588 / PTP
JetSync
 Modbus RTPS
Mechatrolink III
PowerDNA
 Profinet
RAPIEnet
RTEX
SafetyNET p
 SERCOS III
SynqNet
 TCnet
Varan
 Vnet/IP
Source: http://www.real-time-ethernet.de/
(c) SERCOS International 2009
No. 5
Overview on Real-Time Ethernet
Technologies (Selection)
CC Link IE
Drive CliQ
EPA
 EtherCAT
 EtherNet/IP + CIP Sync
 Ethernet Powerlink
IEEE 1588 / PTP
JetSync
Modbus RTPS
Mechatrolink III
PowerDNA
 Profinet
RAPIEnet
RTEX
SafetyNET p
 SERCOS III
SynqNet
TCnet
Varan
Vnet/IP
Source: http://www.real-time-ethernet.de/
(c) SERCOS International 2009
No. 6
Real-Time Ethernet Protocols:
Efficiency / Performance
a) SERCOS III:
Collective telegrams
(Real-time channel)
RT1
RT2
Separate Ethernet frames
(non-real-time channel)
RT3
ETH1
ETH1
ETH2
…
RT1
…
t
Communication cycle
b) EtherCAT:
Tunnelled
Collective telegrams Ethernet frames
RT1
RT2
ETH1
…
RT3
…
RT1
Communication cycle
t
c) Profinet, Ethernet/IP, Ethernet Powerlink:
Separate Ethernet
frames
RT1
RT2
Separate
Ethernet frames
Padding
RT3
ETH
ETH
…
…
RT1
Communication cycle
t
RTi: Real-time data of node i, ETH: Ethernet frame with non-real-time data
(c) SERCOS International 2009
No. 7
Example:
Cross Communication with SERCOS III
Master
Slave 1
Slave 2
Slave (n)
Direct cross communication in forward path
(here between slave 1 and slave 2)
Tx
Rx
Tx
Rx
Tx
Rx
Tx
Rx
Tx
Rx
Tx
Rx
Tx
Rx
CAT5
Direct cross communication in reverse path
(here between slave 2 and slave 1)
Real-time processing during passing through a node
Signal transmission without interpretation
Tx: Ethernet transmitter (Sender), Physical Interface
Rx: Ethernet receiver (Receiver), Physical Interface
(c) SERCOS International 2009
No. 8
Example:
Cross Communication with EtherCAT
Direct cross communication in forward path
(here between slave 1 and slave 2)
a)
b)
Tx
Rx
Tx
Rx
Tx
Rx
Tx
Rx
Tx
Tx
Rx
Rx
Tx
Tx
Rx
Rx
Tx
Rx
CAT5
Master
Slave 1
Slave 2
Slave (n)
Tx
Rx
Tx
Rx
Tx
Rx
Tx
Rx
Tx
Tx
Rx
Rx
Tx
Tx
Rx
Rx
Tx
Rx
Indirect cross communication in reverse path (here between slave 2 and slave 1)
(c) SERCOS International 2009
Real-time processing during passing through a node
Signal transmission without interpretation
Tx: Ethernet transmitter (Sender), Physical Interface
Rx: Ethernet receiver (Receiver), Physical Interface
No. 9
Example:
Redundancy Concept of EtherCAT
Fault case:
Fault case:
Detection of redundancy case
by redundancy manager (M)
Activation of reserve line
after successful reconfiguration
Normal operation:
Transmission of real-time data
in line topology
Reserve line
(inactive during
normal operation
Activated
reserve line
M
S1
S4
S2
M
M
S3
S1
S4
S2
S3
S1
S4
S2
S3
Link break during
reconfiguration
t
(c) SERCOS International 2009
No. 10
Example:
Redundancy Concept of SERCOS III
Normal operation:
Fault case:
Cyclic, redundant transmission of
real-time data in primary and secondary ring
Splitting up into two lines
M
M
S1
S4
S2
S3
S1
S4
S2
S3
Recovery time: < 25 µs
No reconfiguration required!
t
(c) SERCOS International 2009
No. 11
Example: Interoperability with
SERCOS III and EtherCAT
Vendor A
Control
S-3 Profile
Drives
SERCOS III
Vendor B
S-3 Profile
SERCOS III
SERCOS III
S-3 Profile
SERCOS III
Vendor C
Vendor A
Control
S-3-A
…
Ethercat
Ethercat
Drives
Vendor B
DS402-B
Ethercat
DS402-C
Ethercat
Vendor C
(c) SERCOS International 2009
No. 12
Comparison of selected Real-Time
Ethernet Solutions
EtherNet/IP
Ethernet
+ CIPsync &
Powerlink
CIPmotion
SERCOS III
EtherCAT
PROFINET
IRT
Performance
++
++
+
o
o
Ethernet
Conformity
+
o
+
++
++
Installed
Base
+
++
+
++
o
Variety of
Suppliers &
Products
+
++
o
o
o
Independence
+
o
o
o
o
(c) SERCOS International 2009
No. 13
Evolution of Fieldbus and Drivebus
Technologies
DeviceNet
Ethernet/IP+CIP Sync
Profibus
Profinet IRT
Interbus
Ethercat
CANopen
Powerlink
SERCOS II
(c) SERCOS International 2009
SERCOS III
2001
2003
2005
2007
No. 14
Summary
SERCOS III …
 combines the proven mechanisms of SERCOS interface (IEC
61491) with Ethernet (IEEE 802.3)
 uses the established and proven synchronization mechanisms and
profiles of the existing SERCOS interface
 allows an easy migration from SERCOS II to SERCOS III
 is based on a cost-efficient and flexible standard hardware
 covers all actual and future requirements for motion control
applications (C2C, Safety, I/O)
 develops from a specialized drive bus to an universal real-time
Ethernet network
(c) SERCOS International 2009
No. 15