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1
real-time networks the fieldbus technology
Jean-Pierre Thomesse Professeur INPL
LORIA Laboratoire Lorrain de Recherche en
Informatique et ses Applications
2
Whos who
Proway
MIL 1553B
ISO 8802.5
Hart
Unitelway
IEEE 1394
SNMP

• Ethernet

TTP-C
Profibus-PA
Batibus
TOP
WorldFIP
IEC 61158
CiA
TTP
EiBUS
P-NET
ASI
SDS
ICCP
WiFi
Sercos
BacNET
EHS
CSMA-DCR
CSMA-BA
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
TASE2
TT-CAN
CASM
ISO 8802.4
WDPF
JBUS
MMS
ISO 8802.3
Sinec
ControlFIP
PLAN
Seriplex
FIPIO
Mini-MAP
LON
CSMA-CA
TOP
CAN
UCA
CSMA-CD
F8000
ISIbus
MAP
Profisafe
Bitbus
ARINC
UIC 556
LIN
Digital Hart
IEC 6375
CIP
LocaFIP
FireWire
KSU
VAN
UWB
GENIUS
OPTOBUS
Sycoway
Euridis
J1850
WITBUS
Bluetooth
IEC 955
P1118
IEC 61804
FlexRay
SwiftNet
IEEE 802.11
IEC 61 375-1
IEC 61784
EN 50 295
M-Bus
Switched Ethernet
ISO 11519
Anubis
FTT-CAN
IEC 62026
IEC 61 499
EN 50 325
3
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

4
before networks
operator
operator
operator
operator
5
before networks
optimisation
operators
6
first networks
monitoring, control
optimization
MODBUS WDPF and in France FACTOR GIXINet, LAC
S
A
S
A
S
A
S
A
7
context - possibilities

• technology capabilities
• OSI - ISO model (reliability, QoS)
• LAN development
• MACs war
• microelectronics development

8
context

• functional end-users needs
• needs for standardization
• MAP - TOP projects
• CIM concept and architectures
• wiring simplification
• instrumentation dedicated O.S.

9
CIM architecture
enterprise management
TOP
Inc
factory control
plant
MAP
cell control
cell
miniMAP
machine
machine
fieldbus
instrumentation
instrumentation
10
first networks
monitoring, control
optimization
FIELDBUS
S
A
S
A
S
A
S
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

12
application domains

• continuous process control
• discrete part manufacturing
• building automation
• car, trains
• utilities networks control
• transportation systems (railways, highways)

13
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 !

14
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

15
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

16
periodic traffic
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fieldbus messages
application exchanges
messages
identified data
real time periodic
real time periodic aperiodic
not real time on event (management)
not real time on event
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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
• timeliness attributes
• time coherence
• space-time consistency

19
fieldbus traffic
periodic traffic
decentralized
centralized
token
TDMA
polling
CSMA
TTP SERCOS INTERBUS CONTROLNET
WORLDFIP PROFIBUS-DP PROFIBUS-PA FF P-NET
PROFIBUS FMS polling
CAN DEVICENET SDS CANOPEN LON
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fieldbus traffic
aperiodic traffic
decentralized as periodic
periodic server
when token
time slot in each frame
special frame on demand
CSMA
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fieldbus traffic
aperiodic traffic
decentralized
periodic server
when token CONTROLNET P-NET
INTERBUS
WORLDFIP PROFIBUS-PA FF
CSMA CAN SDS DeviceNet
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WorldFIP - 1
Local Read
Local Read
Local Write
Bus arbitrator
Speed
52
75
52
Speed copy
Speed copy
Speed
23
WorldFIP - 2
Local Read
Local Read
Local Write
Bus arbitrator
Speed
75
52
52
Speed copy
Speed copy
Speed
Speed
24
WorldFIP - 3
Local Read
Local Read
Local Write
Bus arbitrator
Speed
75
Speed copy
Speed copy
Speed
v(Speed)75
25
WorldFIP - 4
Local Read
Local Read
Local Write
Bus arbitrator
Speed
75
75
75
Speed copy
Speed copy
Speed
26
WorldFIP - 5
POLLING TABLE
PERIODIC TRAFFIC STATIC APERIODIC
TRAFFIC DYNAMIC
VAR1 VAR2 VAR4 VAR7 VARX VAR5
VAR7 VARX VAR5
VAR1 VAR5
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Profibus - 1
TOKEN passing
M1
M2
M3
M4
POLLING
ANSWER
Slave3
Slave2
Slave1
Slave5
Slave4
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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

29
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
• at the end of a frame, comparison of the received
  MAC ID 1 with the own address

30
ControlNet - 2
Guard Band
Scheduled part
Unscheduled part
NUT i
NUT I1
station K
station K1
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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

32
Interbus - 1
K2
Station K aperiodic data
Station K periodic data
K1
start
33
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

34
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

35
real time requirements (from EMUG)

• user designated priorities gtOSI stack problems
• predictable or boundable delays and behavior
• user selection of the error recovery strategy
• congestion recovery appropriate to messaging
  traffic
• support multicast communications

36
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

37
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

38
the model
OSI Application layer
Fieldbus application layer
OSI presentation layer
Fieldbus presentation layer
OSI session layer
omitted
OSI transport layer
omitted
OSI network layer
Time-Critical OSI data link layer
Physical layer
39
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

40
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

41
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)

42
buffers and queues
14
12
12
12
16
16
12
12
14
14
16
12
16
16
16
43
storage

• types of storage
• queues
• retentive buffers
• non retentive buffers
• general rules
• sender by queue
• receiver in queue
• sender by buffer
• receiver in queue
• receiver in buffer

44
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

45
arbitrator
NODE
NODE
NODE
NODE
NODE
NODE
COMPEL
DISTRIBUTE
NODE
NODE
ARBITRATOR
NODE
NODE
NODE
NODE
NODE
NODE
NODE
46
token
NODE
NODE
NODE
NODE
NODE
TOKEN
NODE
NODE
NODE
Message
TOKEN
Message
NODE
NODE
Reply
NODE
NODE
NODE
NODE
NODE
47
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
COMPEL
NODE
DISTRIBUTE
NODE
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
NODE
48
L.A.S.
NODE
NODE
NODE
NODE
MSG
NODE
NODE
TOKEN
REPLY
NODE
NODE
L.A.S.
MSG
NODE
NODE
NODE
NODE
NODE
NODE
NODE
49
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
TOKEN
NODE
NODE
L.A.S.
NODE
NODE
NODE
NODE
NODE
NODE
NODE
50
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

51
timeliness

• timeliness for data transfer between buffers
• buffers can decouple
• data production
• data transfer
• data consumption
• data age may be unknown

52
timeliness

• resident
• assessment based upon the length of time that a
  data unit has been resident in a buffer

Residence Time
53
timeliness

• update
• assessment based upon the time interval between a
  synchronizing event and the moment the buffer is
  written

Update-Time
54
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

55
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

56
application relationships

• client - server
• confirmed
• unconfirmed
• publisher - subscriber
• pull publisher
• push publisher

57
client - server

• classical model

server
client
application layer
XXX-Request
XXX-Indication
XXX-Confirmation
XXX-Response
58
client - server

• unusual model

server
application layer
client
XXX-Request
XXX-Indication
59
client - server

• unusual model

application layer
server
client
XXX-Request
XXX-Indication
YYY-Request
YYY-Indication
60
publisher - subscriber

• pull model

Request
pull publisher
publishing manager
subscriber
Response
subscriber
subscriber
61
publisher - subscriber
subscribing request

• push model

push publisher
response
subscriber
published information
subscriber
subscriber
62
time coherence

• time coherence of actions, of events
• simultaneity of events
• occurrences in a given time window
• time coherence of
• productions
• consumptions
• other actions

63
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

64
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

65
space - time consistency
NODE
NODE
NODE
NODE
NODE
NODE
DISTRIBUTE A
COMPEL (A)
value(A)
COMPEL (B)
value(B)
NODE 7
DISTRIBUTE B
NODE
L.A.S.
L7not OK, B
COMPEL L6
NODE
NODE 6
DISTRIBUTE L6
NODE
value(A)
NODE 9
value(B)
NODE
NODE
value(A)
NODE 8
L6OK
value(B)
value(A)
L8OK
value(B)
L9OK
66
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

67
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
• periodic and sporadic traffics dynamically managed

68
profiles
how many layers ? which layers ? which protocols
? stack modelling ? which models ? which
objectives ?
C/S, P/C, P/S
TCP/IP,others ?
LLC1, LLC3, ??
TDMA, CSMA, token ?
wireless, fibre optic ?
69
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

70
conclusion

• real time
• to express the constraints
• to meet the constraints
• behaviour controlled by the user

71
real-time networks the fieldbus technology
Jean-Pierre Thomesse Professeur INPL
LORIA Laboratoire Lorrain de Recherche en
Informatique et ses Applications