Transcript POWERLINK Technology

Embedded TechCon
Synchronizing mechatronic systems in real-time using FPGAs and
Industrial Ethernet
Sari Germanos
[email protected]
Technology Marketing
Ethernet POWERLINK Standardization Group
Video
• Video Example
Everything Connected to one network
• Integrated System Architecture
Controller
Visualization
Robotics
Vision
Pneumatics
remote I/Os
Sensor
Safety Logic
Robotics
Motion Systems
CSMA/CD
•
•
Ethernet Medium access: CSMA/CD
– Carrier-Sense Multiple Access with Collision Detection
– Collisions generate repeat after random delay
– Induces unpredictable delays
Standard Ethernet is not deterministic
– Designed for office applications
Fieldbus Technology
• Traditional fieldbuses
– RS485 or CAN based
– Reliable, field proven
– Cheap
– Very limited bandwidth
• Need a faster solution: Industrial Ethernet
Switched Ethernet
•
Switched Ethernet networks
– Traffic separation in collision domains
– Messages managed in queues
– Collisions are moved from network to queues
– Queues generate delay
– Packets are dropped in case of congestion
– Switches introduce latency thus not deterministic!
Ideal Machine Network Requirements
1.
Real-time performance, high efficiency
2.
Large asynchronous bandwidth
3.
One single Network for all automation
4.
Flexible network topology
5.
Hot pluggable
6.
High availability
7.
Electromagnetic Compatibility (EMC)
8.
Easy commissioning, maintenance and diagnostic
Ideal Network Requirements
1.
Real-time performance, high efficiency
2.
Large asynchronous bandwidth
3.
One single Network for all automation
4.
Flexible network topology
5.
Hot pluggable
6.
High availability
7.
Electromagnetic Compatibility (EMC)
8.
Easy commissioning, maintenance and diagnostic
POWERLINK Technology
• Network master
– 1 Managing Node (MN)
• Network slaves
– Up to 239 Controlled Nodes (CN)
POWERLINK Technology
Synchronization and
communication during each
cycle
PLC
PReq
SoA
SoCCN2
CN1
PReq
CNn
Synchronous phase
Asynchronous phase
CYCLE TIME
Async. data
PRes CN1
PRes CN2
PRes CNn
I/O
Axis
I/O
Easy and robust functionality
No complex time synchronization
All on one medium
POWERLINK Technology
• Cross communication
PReq
SoCCN1
PLC
PRes CN1
Encoder
Axis
Extremely fast axis synchronization
Centralized and decentralized architectures
Encoder
Axis
Ideal Network Requirements
1.
Real-time performance, high efficiency
2.
Large asynchronous bandwidth
3.
One single Network for all automation
4.
Flexible network topology
5.
Hot pluggable
6.
High availability
7.
Electromagnetic Compatibility (EMC)
8.
Easy commissioning, maintenance and diagnostics
Requirement 3
• Multiplexed slot assignment
– No need to exchange all data at fastest cycle time
– Ideal for Integrated Automation
More Efficient Mechanism
• Poll Response Chaining
– Position Control Loop
– Current Control Loop
Ideal Network Requirements
1.
Real-time performance, high efficiency
2.
Large asynchronous bandwidth
3.
One single Network for all automation
4.
Flexible network topology
5.
Hot pluggable
6.
High availability
7.
Electromagnetic Compatibility (EMC)
8.
Easy commissioning, maintenance and diagnostic
Requirements 4 & 5
• Hot Plug
– Higher productivity, modular system concepts
• Topology flexibility
– 100% free choice of star, tree, ring, or daisy chain
– No limits on system extensions
Ideal Network Requirements
1.
Real-time performance, high efficiency
2.
Large asynchronous bandwidth
3.
One single Network for all automation
4.
Flexible network topology
5.
Hot pluggable
6.
High availability
7.
Electromagnetic Compatibility (EMC)
8.
Easy commissioning, maintenance and diagnostic
Requirement 6
• High Availability
– Ring redundancy
– Full medium redundancy
– Redundant master
Ideal Network Requirements
1.
Real-time performance, high efficiency
2.
Large asynchronous bandwidth
3.
One single Network for all automation
4.
Flexible network topology
5.
Hot pluggable
6.
High availability
7.
Electromagnetic Compatibility (EMC)
8.
Easy commissioning, maintenance and diagnostic
Requirement 7
• Electromagnetic Compatibility
– New machines include noisy electric power components
Ideal Network Requirements
1.
Real-time performance, high efficiency
2.
Large asynchronous bandwidth
3.
One single Network for all automation
4.
Flexible network topology
5.
Hot pluggable
6.
High availability
7.
Electromagnetic Compatibility (EMC)
8.
Easy commissioning, maintenance and diagnostic
Requirement 8
• Network Diagnostics
– Unambiguous diagnostics
– Total view of the network
– No data manipulation on path-transmission
– Standard office diagnostic-tools
– PC with on-board Ethernet interface using Wireshark, Omnipeak, etc.
Performance
• Timing characteristics
– 0.1 µs system synchronization
– 100 µs cycle time
• High capacity
– High data throughput
– 239 Controlled Nodes
– 480 synchronized axes
– 460,000 digital I/O data points
• Exceptional performance
– Example : 17 stations, 800 digital I/O, 180 analog I/O, 24 axes -> cycle
time of 200 µs
POWERLINK implementation
• Hardware Choices
• Operating Systems
POWERLINK Frame Structure
• POWERLINK frame
– Fully compliant with IEEE 802.3
– Ether Type = 0x88AB
POWERLINK OSI model
• POWERLINK OSI model
– POWERLINK sits on top of the standard Ethernet MAC layer
– Full integration with TCP/IP
CANopen Reference Model
• POWERLINK interface is CANopen over Ethernet
– Same device profiles
– CANopen application layer
– Same mechanisms (PDO, SDO, Object Dictionary…)
The fastest network in the world!
• 728 axes in 400µs
Topology comparison - Conventional structure
Drive
Bus 2
Drive
Motion
controller
Drive
Bus 1
Drive
PLC
<1ms jitter
<5ms cycle time
Bus 3
I/O
I/O
>100 bytes
Sensor
Sensor
<10$
Bus 4
Bus 5
Vision
Many bus systems
Different engineering tools
Complex diagnostics and maintenance
>1Mbits/s
Topology comparison - Integrated automation
Drive
Drive
Drive
Drive
PLC
I/O
I/O
Sensor
Sensor
Vision
One technology
Unmatched performance
Unlimited freedom in machine design
Easy diagnostics and maintenance
•
•
•
•
•
100ns jitter
100µs cycle time
1 to 1490 bytes
100 Mbit/s
<10$
Standards
• EPSG is an open vendor group
– Maintaining openPOWERLINK
– openSAFETY
• POWERLINK is an open protocol
– No license fees
– No patents
– Free specification:
• http://www.ethernet-powerlink.org/
– Open-source protocol stack available for download on SourceForge
• Open standards
– IEEE 802.3
– IEC 61784-2
openPOWERLINK
• Open-source POWERLINK stack (MN and CN)
– BSD license
– Developed for Linux
– Ported to Windows and VxWorks
– Other platforms under development
• Project hosted at SourceForge.net:
– http://sourceforge.net/projects/openpowerlink/
Market Share
• 3,100 OEMs developing POWERLINK systems
• More than one Million POWERLINK systems deployed
Source IMS Research 2013
Government Recommended Standard
 Industrial Ethernet National Standard GB/T-27960
openSAFETY
TÜV certification
IEC 61508 SIL3, PL e
Certified safe motion profiles
IEC 61800-5-2
International safety standard
IEC 61784-3
certified product
POWERLINK news
www.ethernet-powerlink.org/
www.linkedin.com/groups?about=&gid=2331103
Embedded TechCon
Thank you for your attention!
Sari Germanos
[email protected]
Technology Marketing
Ethernet POWERLINK Standardization Group