Transcript The Minimal Level of Residual Renal Function required to

real-time networks:
the fieldbus technology
Jean-Pierre Thomesse
Professeur INPL
LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications
Jean-Pierre Thomesse
the fieldbus technology
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Who’s who
MIL 1553B
Hart
Unitelway
Proway
ISO 8802.5
IEEE 1394
SNMP
TTP-C Ethernet
Profibus-PA
Batibus
TOP
WorldFIP
IEC
61158
CiA
EiBUS
TTP
P-NET
ASI
SDS
ICCP
WiFi
Sercos BacNET
EHS
CSMA-BA
CSMA-DCR
FieldBus Foundation
ControlNet
DeviceNet
Interbus
Profibus-FMS
Profibus-DP
EN 50254
CANOpen
M-PCCN
EN 50170
TTP-A
Sensoplex
DWF
TCP-IP
FDDI
Modbus
FIPWay
HSE
IEC 870-5
TT-CAN
TASE2
CASM
ISO 8802.4
WDPF
JBUS
MMS
ISO 8802.3
Sinec
ControlFIP
PLAN
FIPIO
LON
CSMA-CA
Seriplex
Mini-MAP
TOP
CAN
UCA
F8000
CSMA-CD
ISIbus
MAP
Profisafe
Bitbus
ARINC
UIC 556
LIN
Digital Hart
FireWire
IEC
6375
CIP
LocaFIP
KSU
UWB
VAN
GENIUS OPTOBUS
J1850
Sycoway
WITBUS Bluetooth Euridis
IEC 955
P1118 FlexRay
IEC
61804
SwiftNet
IEC 61 375-1 IEEE 802.11
IEC 61784
EN
50
295
Switched Ethernet
M-Bus
ISO 11519 Anubis FTT-CAN
EN 50 325
IEC 61 499 IEC 62026
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contents

history
– the industrial networks
– the birth of fieldbus



fieldbus DLLs and MACs
TCCA: real time to OSI-ISO
IEC 61158 DLL features
– buffers and queues
– Link Active Scheduling
– timeliness attributes

application layer
– application relationships
– coherences and consistencies

conclusion: standards and lack of standard
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before networks
operator
operator
operator
operator
Set Point
Set Point
Set Point
Set Point
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before networks
optimisation
operators
Set Point
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Jean-Pierre Thomesse
Set Point
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the fieldbus technology
Set Point
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first networks
monitoring,
control
optimization
MODBUS
WDPF
and in France
FACTOR
GIXINet, LAC
A
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context - possibilities

technology capabilities
–
–
–
–
OSI - ISO model (reliability, QoS…)
LAN development
MACs “war”
microelectronics development
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context

functional end-users needs
–
–
–
–
–
needs for standardization
MAP - TOP projects
CIM concept and architectures
wiring simplification
instrumentation dedicated O.S.
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CIM architecture
enterprise management
TOP
Inc
factory control
plant
MAP
cell control
cell
miniMAP
machine
machine
fieldbus
instrumentation
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instrumentation
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first networks
monitoring,
control
optimization
FIELDBUS
A
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fieldbus

connection of field devices and of field controllers
– sensors, actuators, drives controllers, PLCs…

real time communication system based on
– a layered structure
– services and various qualities of service

system considerations
– simplification of wiring
– spinal column of distributed real time systems

fieldbuses proliferation
– lack of standardization
– multiple various domains of application
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application domains
continuous process control
 discrete part manufacturing
 building automation
 car, trains…
 utilities networks control
 transportation systems (railways, highways…)

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the birth of fieldbus
1982 FIP (Factory Instrumentation Protocol)
 objectives:

– a network for the connection of sensors and
actuators
– a network for the development of the smart
instrumentation
– a network for the development of distributed
automation
– a standard: the “CP/M” of the instrumentation !
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the birth of fieldbus

1984 FIP “white book”
–
–
–
–
–
–
improvement of distributed applications
independence of locations (addresses)
same view of the system by all the stations
coherence of parallel actions
simultaneity of actions, of events
priority to the identified and periodic traffic
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contents

history
– the industrial networks
– the birth of fieldbus



fieldbus DLLs and MACs
TCCA: real time to OSI-ISO
IEC 61158 DLL features
– buffers and queues
– Link Active Scheduling
– timeliness attributes

application layer
– application relationships
– coherences and consistencies

conclusion: standards and lack of standard
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periodic traffic
F
E
D
C
D
E
D
D
B
C
B
C
C
A
A
A
A
A
A
A
F
E
D
C
D
E
D
D
B
C
B
C
C
A
A
A
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fieldbus messages
application exchanges
identified data
messages
real time
not real time
real time
not real time
periodic
on event
periodic
on event
aperiodic
(management)
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IEC - ISA fieldbus

requirements (1985-1987)
–
–
–
–
–
two networks H1 and H2 (HSE?)
environment constraints (EMC, IS, PD…)
real time : periodic traffic
not real time : random traffic without constraints
time constraints


maximum response time
average frequency
and later



Jean-Pierre Thomesse
timeliness attributes
time coherence
space-time consistency
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fieldbus traffic
periodic traffic
centralized
TDMA
decentralized
polling
token
TTP
WORLDFIP
SERCOS
PROFIBUS-DP
+
INTERBUS
PROFIBUS-PA
polling
CONTROLNET
FF
CANOPEN
P-NET
LON
Jean-Pierre Thomesse
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PROFIBUS FMS
CSMA
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CAN
DEVICENET
SDS
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fieldbus traffic
aperiodic traffic
decentralized
as periodic
periodic server
time
slot in
each
frame
Jean-Pierre Thomesse
special
frame on
demand
the fieldbus technology
when
token
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CSMA
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fieldbus traffic
aperiodic traffic
periodic server
INTERBUS
decentralized
WORLDFIP
when token
CSMA
PROFIBUS-PA
CONTROLNET
CAN
FF
P-NET
SDS
DeviceNet
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WorldFIP - 1
Local Write
Local Read
Local Read
Bus arbitrator
Speed
75
Speed
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Speed
“copy”
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Speed52
“copy”
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WorldFIP - 2
Local Write
Local Read
Local Read
Bus arbitrator
Speed
75
Speed
Jean-Pierre Thomesse
Speed
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Speed
“copy”
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Speed52
“copy”
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WorldFIP - 3
Local Write
Local Read
Local Read
Bus arbitrator
Speed
75
Speed
Speed
“copy”
Speed
“copy”
v(Speed)=75
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WorldFIP - 4
Local Write
Local Read
Local Read
Bus arbitrator
Speed
75
Speed
Jean-Pierre Thomesse
the fieldbus technology
Speed
“copy”
75
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Speed 75
“copy”
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WorldFIP - 5
POLLING TABLE
PERIODIC TRAFFIC
STATIC
APERIODIC TRAFFIC
VAR1
DYNAMIC
VAR2
VAR4
VAR7
VARX
VAR7
…
VAR1
VARX
VAR5
VAR5
VAR5
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Profibus - 1
TOKEN
passing
M1
M2
M3
M4
POLLING
ANSWER
Slave4
Jean-Pierre Thomesse
Slave1
Slave2
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Slave3
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Slave5
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Profibus -2

role of a Profibus master
–
–
–
–
–
–
receive the token
perform high priority messages first
perform the exchanges specified in the Poll List
perform low priority messages
perform station registration (live list)
send the token
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ControlNet - 1

based on a fixed repetitive time cycle
–
–
–
–
Network Update Time (NUT)
close synchronism
each node - a clock synchronised to the NUT
access to the medium in sequential order based
on the MAC ID of the node
– implicit token passing

Jean-Pierre Thomesse
at the end of a frame, comparison of the received
MAC ID +1 with the own address
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ControlNet - 2
NUT i
Jean-Pierre Thomesse
Guard Band
Unscheduled part
Scheduled part
station
K
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NUT I+1
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station
K+1 30
ControlNet - 3

in a NUT, three time windows
– scheduled
– unscheduled
– Guard Band
one MAC Frame by node in scheduled part
 predictable and deterministic manner
 Round Robin in the unscheduled part

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Interbus - 1
K+2
K+1
Station K
periodic
data
Station K
aperiodic
data
start
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contents

history
– the industrial networks
– the birth of fieldbus



fieldbus DLLs and MACs
TCCA: real time to OSI-ISO
IEC 61158 DLL features
– buffers and queues
– Link Active Scheduling
– timeliness attributes

application layer
– application relationships
– coherences and consistencies

conclusion: standards and lack of standard
Jean-Pierre Thomesse
the fieldbus technology
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the birth of TCCA (ISO)

MAP project
– no real time
– mini-MAP experiments for real time
– real time requirements (from EMUG - 1989)

difficulties of IEC Fieldbus standardization
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real time requirements
(from EMUG)
user designated priorities ==>OSI stack problems
 predictable or “boundable” delays and behavior
 user selection of the error recovery strategy
 congestion recovery appropriate to messaging traffic
 support multicast communications

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real time requirements
(from EMUG)
means of synchronizing the sense of distributed time
 support communications redundancy and redundancy
in (of) controlling entities
 inexpensive network connection
 inter-work with informational network
 security mechanisms, privacy, authentification and
minimization of denial-of-service

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the OSI model




OSI-ISO model and real time ?
OSI model is an organization of communication functions
OSI layers 1 and 2 : basic transport (simple network)
OSI layers 3 and 4 : extended transport (complex network)
OSI layers 5, 6 and 7 : service enhancements, user oriented
– layer 5: synchronization
– layer 6: languages and dialects - transfer syntax
– layer 7: messaging services - standards languages for different
application-specific needs
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the model
OSI Application layer
OSI presentation layer
OSI session layer
OSI transport
layer
OSI network layer
Fieldbus
application layer
Fieldbus
presentation layer
omitted
omitted
Time-Critical OSI data link layer
Physical layer
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Time-Critical data link layer


IEC 61158 - type 1 as the model
issued from
– ISA SP50 - 1990-359E: data link service definition
– ISA SP50 - 1990-360C: data link protocol definition

and later from
– IEC 65C/160 CDV (1996): data link service definition
– IEC 65C/161 CDV (1996): data link protocol definition
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the fieldbus technology
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contents

history
– the industrial networks
– the birth of fieldbus



fieldbus DLLs
TCCA: real time to OSI-ISO
IEC 61158 DLL features
– buffers and queues
– Link Active Scheduling
– timeliness attributes

application layer
– application relationships
– coherences and consistencies

conclusion: standards and lack of standard
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data link layer

provided features
–
–
–
–
–
–
–
independence from the physical layer
transparency of transferred information
reliability and Qualities of Service
addressing
scheduling
common time sense and timeliness
storages (Queues and Buffers)
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buffers and queues
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storage

types of storage
– queues
– retentive buffers
– non retentive buffers

general rules
– sender by queue

receiver in queue
– sender by buffer


Jean-Pierre Thomesse
receiver in queue
receiver in buffer
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contents

history
– the industrial networks
– the birth of fieldbus



fieldbus DLLs
TCCA: real time to OSI-ISO
IEC 61158 DLL features
– buffers and queues
– Link Active Scheduling
– timeliness attributes

application layer
– application relationships
– coherences and consistencies

conclusion: standards and lack of standard
Jean-Pierre Thomesse
the fieldbus technology
le 16 Janvier 2004
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arbitrator
NODE
NODE
NODE
NODE
NODE
NODE
COMPEL
DISTRIBUTE
NODE
NODE
ARBITRATOR
NODE
NODE
NODE
NODE
NODE
NODE
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NODE
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token
NODE
NODE
NODE
NODE
TOKEN
NODE
NODE
NODE
NODE
Message
TOKEN
Message
NODE
NODE
Reply
NODE
NODE
NODE
NODE
Jean-Pierre Thomesse
the fieldbus technology
NODE
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L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
COMPEL
DISTRIBUTE
NODE
NODE
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
Jean-Pierre Thomesse
the fieldbus technology
NODE
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L.A.S.
NODE
NODE
NODE
NODE
MSG
NODE
NODE
TOKEN
REPLY
NODE
NODE
L.A.S.
MSG
NODE
NODE
NODE
NODE
NODE
NODE
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NODE
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L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
TOKEN
NODE
NODE
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
Jean-Pierre Thomesse
the fieldbus technology
NODE
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contents

history
– the industrial networks
– the birth of fieldbus



fieldbus DLLs
TCCA: real time to OSI-ISO
IEC 61158 DLL features
– buffers and queues
– Link Active Scheduling
– timeliness attributes

application layer
– application relationships
– coherences and consistencies

conclusion: standards and lack of standard
Jean-Pierre Thomesse
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timeliness
timeliness for data transfer between buffers
 buffers can decouple

– data production
– data transfer
– data consumption

data age may be unknown
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timeliness
resident
 assessment based upon the length of time that a
data unit has been resident in a buffer

Residence Time
Read-date
Write-date
Jean-Pierre Thomesse
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End of time
window
52
timeliness
update
 assessment based upon the time interval
between a synchronizing event and the
moment the buffer is written

Update-Time
Writing-date
Synchro-date
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End of time
window
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timeliness
synchronous
 assessment based upon the time intervals
and timing relationships between

– a synchronizing event
– the moment when the buffer is written
– the moment the buffer is read
Synchro-date
Jean-Pierre Thomesse
Writing-date
the fieldbus technology
Read-date
le 16 Janvier 2004
End of time
window
54
contents

history
– the industrial networks
– the birth of fieldbus



fieldbus DLLs
TCCA: real time to OSI-ISO
IEC 61158 DLL features
– buffers and queues
– Link Active Scheduling
– timeliness attributes

application layer
– application relationships
– coherences and consistencies

conclusion: standards and lack of standard
Jean-Pierre Thomesse
the fieldbus technology
le 16 Janvier 2004
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application relationships

client - server
– confirmed
– unconfirmed

publisher - subscriber
– pull publisher
– push publisher
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client - server

classical model
server
client
application
layer
XXX-Request
XXX-Indication
XXX-Confirmation
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the fieldbus technology
XXX-Response
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client - server

unusual model
client
application
server
layer
XXX-Request
XXX-Indication
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client - server

unusual model
application
client
server
layer
XXX-Request
XXX-Indication
YYY-Request
YYY-Indication
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publisher - subscriber

“pull” model
Request
publishing
manager
subscriber
pull
publisher
Response
subscriber
subscriber
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publisher - subscriber

“push” model
subscribing
request
push
subscriber
push
publisher
response
subscriber
published information
subscriber
subscriber
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time coherence
time coherence of actions, of events
 simultaneity of events
 occurrences in a given time window
 time coherence of

– productions
– consumptions
– other actions
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time coherence

control of time coherence
– data received indication
– allows, in multi peer connections, the
synchronization of subscribers
usable to control any actions simultaneity
 verification of time coherence

– by timeliness attributes
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space - time consistency


need “reliable broadcasting”
management of lists of variables (copies)
– produced by different publishers
– consumed by several subscribers



verification and correction to obtain identical lists by the
subscribers
kind of global acknowledgement for different transmitters
hypothesis:
– two remote copies are considered identical if they are received
without error and correct timeliness attributes
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space - time consistency
NODE
NODE
NODE
NODE
COMPEL (A)
NODE
DISTRIBUTE A
COMPEL (B)
NODE
value(A)
DISTRIBUTE B
NODE 7
value(B)
NODE
L.A.S.
COMPEL L6
L7=not OK, B
NODE
NODE 6
value(A)
NODE
DISTRIBUTE L6
NODE 9
value(B)
NODE
L6=OK
NODE 8
value(A)
value(B)
value(A)
value(B)
Jean-Pierre Thomesse
NODE
L8=OK
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contents

history
– the industrial networks
– the birth of fieldbus



fieldbus DLLs
TCCA: real time to OSI-ISO
IEC 61158 DLL features
– buffers and queues
– Link Active Scheduling
– timeliness attributes

application layer
– application relationships
– coherences and consistencies

conclusion
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scheduling

three types of networks
– 1st


periodic traffic, prescheduled at the configuration time
sporadic traffic, prescheduled at the configuration time
– 2nd


periodic traffic, prescheduled at the configuration time
sporadic traffic, dynamically managed
– 3rd

Jean-Pierre Thomesse
periodic and sporadic traffics dynamically managed
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profiles
C/S, P/C, P/S…
how many layers ?
TCP/IP,others ?
which layers ?
which protocols ?
LLC1, LLC3, …??
TDMA, CSMA, token ?
stack modelling ?
wireless, fibre optic ?
which models ?
which objectives ?
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conclusion

real time networks
– industrial networks
– afterwards,



in car, in trains…
in building automation
in Internet
– but also now, for all devices


mobility
ambient intelligence
– Internet
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conclusion
real time
=
to express the constraints
+
to meet the constraints
+
behaviour controlled by the user
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real-time networks:
the fieldbus technology
Jean-Pierre Thomesse
Professeur INPL
LORIA – Laboratoire Lorrain de Recherche en Informatique et ses Applications
Jean-Pierre Thomesse
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