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CIP on CAN Technology

PUB00026R4 MARCH 2016

configuration. synchronization. such as photo cells. 2 . As a truly media-independent protocol that architecture is shown in Figure 1. where DeviceNet simplifies the number • P  ower (24 Vdc. DeviceNet implements CIP at the Session layer of manufacturing automation applications. follows the Open Systems Interconnection (OSI) model. This is because DeviceNet supports both I/O (or • R  ugged installation options include round cable that implicit) messages—those that typically contain time-critical allows for flexible cabling topologies. including control. CIP encompasses through the application or user interface layer. • R  obust physical layer. EtherNet/IP™ CompoNet™ ControlNet™ DeviceNet™ • S  upport for up to 64 nodes and baud rates up to 500 Figure 1: DeviceNet as Part of the CIP OSI Model kilobits per second (kbps). like other CIP Networks. as a producer-consumer network (IP20) and mini and micro-style plugs (IP67). architecture using peer-to-peer communication. 8 Amps) and signal on the same wire of required system components and connections. Why adapt CIP to CAN? CAN is the same network technology Data Management Services Safety Services Explicit and I/O Messages and Messages used in automotive vehicles for communication between smart devices and has a total installed base numbering in the Originator Services for Modbus® Device Connecting Management. diagnostics technology at the Transport layer and below. is supported by hundreds of vendors around the world. CIP provides users with a unified communication architecture throughout the manufacturing enterprise. flexible network architecture offering a range of data Although the network infrastructure is passive. Network Adaptations of CIP CompoNet ControlNet DeviceNet Network and Transport Network and Transport Network and Transport Internet Protocol DeviceNet offers several unique advantages for manufacturing automation applications: Ethernet CompoNet ControlNet CAN CSMA/CD Time Slot CTDMA CSMA/NBA • C  omprehensive producer-consumer services let you Ethernet CompoNet ControlNet DeviceNet simultaneously control. DeviceNet provides more efficient use of bandwidth than a device network based on a source- destination model. presentation and installed base numbering in the millions of nodes. control data—and explicit messages—those in which the chain and trunk-line. And. including daisy. configure and collect data Physical Layer Physical Layer Physical Layer Physical Layer from intelligent devices over a single network. the network rates — 125.DeviceNet™ – What is DeviceNet? CIP on CAN Technology DeviceNet. making node other challenging environments. network. By leveraging the economies of scale in this Integration proven commercial technology. 250 and 500 kbps — and trunk-line cable can convey device power over the same cable with distances up to 500 meters (125 kbps and thick communication messages. message prioritization. and above while adapting CIP to the specific DeviceNet safety. with the ability to remove and replace nodes under power and power taps at any point on the network. To further decrease complexity. Time Synchronization) Object Library choices is DeviceNet. This feature is extremely valuable cable). for devices with small physical size and power requirements. CIP Motion™ Motor Control Transducer I/O Other Semiconductor CIP Safety™ Common Industrial Protocol (CIP™) Profiles Profiles Profiles Profiles Profiles Profiles Profiles With media independence comes the ability to choose the CIP Object Library Safety Network best suited for each application. including screw-terminal and hard-wired service requests. or flat that supports multiple communication hierarchies and cable with flat trunk connectors (IP67). As with all CIP a comprehensive suite of messages and services for a variety Networks. transport. DeviceNet systems require and only a single point of connection for both configuration and control. One of these possible (Communications. provides robust functionality independent of physical location and the network signal transmission while providing the user with a itself inherently tolerant to individual lost node connections. and today boasts an data link. This network and information. which adapts CIP to CAN Technology. Routing billions of node. session. motion. DeviceNet systems can be configured Here’s a more in-depth look at the technology behind every to operate either in a master/slave or distributed control DeviceNet-compliant product. DeviceNet is application. Applications. applications since the mid-1990’s. which defines a framework for DeviceNet™ has been solving manufacturing automation implementing network protocols in seven layers: physical. Networks that follow this model define a complete a member of a family of networks that implements the Common suite of network functionality from the physical implementation Industrial Protocol (CIP™) at its upper layers. with range of connector options data field carries both protocol information and specific available. DeviceNet provides users with the ability to distribute and manage simple devices throughout TCP/UDP their architecture in a cost-effective manner. designed for high noise and The DeviceNet network infrastructure is passive.

Inc. detection of simultaneous transmission. Flat cable with Drop Line Node Tap Node hard-wired style Pluggable flat trunk Terminating connectors (IP20) connectors (IP67) connectors (IP67) Node Node Multiple Node Resistor Node Daisy Chain Drop Line Tap Node The Data Link Layer Multi-Port Tap Node Node Drop line Node Node Node Node DeviceNet uses standard. The relatively minimal overhead required by CAN at the Data Link layer makes DeviceNet efficient in message Figure 2: DeviceNet Topology Options handling.The Physical Layer DeviceNet incorporates a trunkline-dropline topology that allows the use of separate twisted pair buses for both signal and power distribution. it also monitors each bit it sends by simultaneously receiving each bit transmitted in DeviceNet provides a choice of screw-terminal or pluggable order to validate the data transmitted and to enable immediate connector types. helping to save space and reduce wiring complexity. but end-to-end network length will vary depending on the cable type selected and the date rate used. meaning that nodes will only attempt 6 m (20 ft) 6 m (20 ft) 6 m (20 ft) Length to transmit a message when no other nodes are transmitting. depending on cable type. Power taps can be added at any point on the network. which is used to facilitate media access cable.378 ft) 200 m (656 ft) 75 m (246 ft) dominant state. as shown in figures 3 through 5. and minimal processor overhead is required by a device to parse such Nodes can be removed or inserted with the network on. DeviceNet supports three possible data rates. data. remote. it stops transmitting. all receivers implementations that are isolated or non-isolated. All rights reserved. If a node transmitting a recessive bit receives a dominant bit while sending the arbitration field. priority. and the user may choose from several cable options. enabling the use of Although the CAN specification defines several types of redundant power supplies. DeviceNet uses primarily only the data frame. unmodified CAN for its Data Link Zero Length Drop Line Short Drop Line (6 m/20 ft) layer. The format for the CAN data frame is shown in Figure 6. CAN is a Maximum Drop “carrier sense” network. However.g. these   cables can be used as trunkline or as dropline. In addition. overload and error). The winner of arbitration TECHNOLOGY OVERVIEW SERIES: DEVICENET 3 PUB00026R4 ©2016 ODVA. DeviceNet supports devices with physical layer When a “Start of Frame” bit is transmitted. Cumulative Drop 156 m (512 ft) 78 m (256 ft) 39 m (128 ft) Carrier sense networks provide inherent peer-to-peer Length connection capabilities.. externally powered devices (e. Amps maximum. helping to reduce production downtime. while the bus can be in the recessive state only when no transmitter is in the Flat Cable 420 m (1. as shown in Table 1. Figure 6: CAN Data Frame Format Cable Type 125 kbps 250 kbps 500 kbps Figure 6 CAN Data Frame Format Thick Round 500 m (1. CAN also utilizes a non-destructive. The trunkline current rating is 8 message frames (e. . Remote Transmission Request bit (RTR2) together form AC drive starters and solenoid valves) can share the same bus the arbitration field. The CAN Identifier and the from the rest of the device. messages.640 ft) 250 m (820 ft) 100 m (328 ft) The CAN specification defines two logical bus states called Cable “dominant” (logic 0) and “recessive” (logic 1). The possible variants of this topology are shown in Figure 2. Minimal network bandwidth is used to package and transmit CIP messages over DeviceNet. bit-wise arbitration mechanism to resolve the potential conflict Table 1: DeviceNet end-to-end network distance as a function between multiple nodes accessing the bus simultaneously. In general. When a device transmits. Any transmitter Thin Round Cable 100 m (328 ft) 100 m (328 ft) 100 m (328 ft) can drive the bus to a dominant state. of data rate and cable type and does so with no loss of data or bandwidth. on a CAN network synchronize to the transition from the since the DeviceNet physical layer must be optically isolated recessive to the dominant state. Multiple Node Node Node Terminating Resistor Figure 3: Figure 4: Figure 5: Trunk line Branching Multi-Port Screw-terminal & Mini & Micro.g.. This is an important element of the bus arbitration scheme employed by CAN.

the uniqueness of each connection ID is strictly controlled. attribute) and the production and change-of-state connections can substantially reduce trigger (cyclic. DeviceNet allows several delete nodes.” 4 . while the other four are used for a “length field. For example. Through a duplicate MAC CRC and automatic retries—that are mostly transparent to ID algorithm. poll or change-of-state). the 11-bit CAN identifier field serves as the unique identifier of this data. Explicit and Implicit (often referred to as I/O Messages). and. The combined fields define the connection ID. the uniqueness of CAN identifiers is guaranteed the network and that prevent a faulty node from disrupting the without the need for a central tool or record for each network. Once an I/O connection has been established. The content of two 11-bit CAN identifier to define the connection ID and divides bits is fixed. instance. some client and/or server connections may only in use. only application data. This is important and servers may be producers. The remainder of the frame contains no protocol data. transactions typically associated with configuration or data collection that are not time critical. DeviceNet supports two types of messages.” the 11-bit CAN identifier into four groups. Since nodes know which IDs are already Similarly. The use of cyclic the data path (class. These identifiers are distributed throughout the frame formatting delimiters. Because DeviceNet uses a device address inside the CAN identifier field. This explicit connection can then be used to move information from one node to the other. clients detecting nodes with duplicate addresses. in turn. add additional peer-to-peer messages among variations on this model. CAN provides highly robust error checking and fault confinement capabilities. no centralized record must be located the destinations for cyclic or change-of-state messages. The first three defined which specifies the length of the forthcoming Data Field from groups contain two fields: one 6-bit field for Media Access zero to eight bytes. some client and/or existing nodes at any time. consumers or both. and these connections are the sources added between the two devices. without having to know the server connections that may only consume messages are existing setup. To achieve this goal. consumer capabilities. or both. By design.e. servers or both. DeviceNet uses the The CAN Control Field contains six bits. Another key benefit to responses. A typical because it is more efficient to prevent duplicate addresses client device’s connections produce requests and consume than to locate them after they occur. 1 1 1 1 1 (0-2f) Connections are established via either an Unconnected 1 1 1 1 1 1 1 X X X X 7f0 – 7ff Invalid CAN Identifiers Message Manager (UCMM) or a Group 2 Unconnected Port. A typical server device’s connections consume nodes managing their identifiers is that a user can add and requests and produce responses. or reconstructed. I/O) connection. it is utilizes the DeviceNet fragmentation protocol to move the data in several successive messages or “fragments. Figure 7: DeviceNet allocations within the 11-bit CAN Identifier Explicit messages are used for request/response-oriented Field. Whenever communicating with a device.g. or to establish an Implicit (e. By employing several types of entire range of message priorities that are available to each error detection and fault confinement methods—including node.between all nodes transmitting simultaneously is the one with In order to take full advantage of DeviceNet’s producer- the lowest-numbered 11-bit identifier. network. That is. 10 9 8 7 6 5 4 3 2 1 0 In addition. meaning that ID a relationship (i. specifying priority level. nodes in The CAN Data Frame is followed by the Cyclic Redundancy a DeviceNet system are responsible for managing their own Check (CRC) field to detect frame errors as well as several identifiers. IDENTIFIER BITS HEX RANGE IDENTITY USAGE 10 9 8 7 6 5 4 3 2 1 0 Group 1 000 – 3ff Message Group 1 The Network and 0 Source MAC ID Message ID Group 2 400 – 5ff Message Group 2 Transport Layers 1 0 MAC ID Message ID Group 3 600 – 7bf Message Group 3 1 1 Message Source MAC ID DeviceNet is a connection-based network. When the application requires more than eight bytes of data in a message. Code Identifier (MAC ID) and the other for Message ID. a tool must simply request that an I/O connection be produce messages. network bandwidth requirements. it incorporates automatically a mechanism for Devices may be clients. regardless of their MAC ID. an Explicit Messaging Connection is established first via the UCMM or Group 2 Unconnected port. connection) with a device must first Group 4 Message ID 7c0 – 7ef Message Group 4 be established in order to exchange data with that device. for cyclic or change-of-state messages.. whereas Implicit messages are used to communicate real-time I/O data..

In producer. means that users ever it changes. the producer-consumer model provides Set provides connection objects that are almost entirely a clear advantage for users of CIP Networks by making efficient configured at the time the device powers-up. Called the communication model provides more efficient use of network “Predefined Master/Slave Connection Set. not its destination address (as is the case with source. Polled I/O "output" applications where unique functionality is required. All rights reserved.” Slave devices can produce data using one or more of the message types described in Table 2. “slave(s). or at a base “heartbeat” rate. A device configured to produce a cyclic I/O specific objects in a DeviceNet-compliant product in order to message will produce its data at a precisely support the functional requirements of particular applications. . simplified communication behaviors (reactions to events). CIP ensures that the message master/slave connection set is handled correctly. Inc. Seamless bridging and routing between Change-of-state defines a user-configurable Production Inhibit homogeneous and heterogeneous CIP Networks is enabled by a Time that limits how often COS messages are set of objects that defines mechanisms for a device to use when produced to prevent nodes from "flooding" the forwarding the contents of a message produced on one network bandwidth. services (commands) and DeviceNet provides for an alternate. CIP’s message structure makes it function on power-up. this messaging method will pro- in networks comprised of devices from multiple vendors. The Predefined Master/Slave Connection message refers. Thus. This consistency in object Polled in the scan list. configuration sponse to the master’s poll. CIP’s producer-consumer scheme based on a master/slave relationship. the device profile will specify scan list and will transmit its “input” data in re- the set of CIP objects that must be implemented. cyclic advantage for users of CIP Networks for it is this mechanism that I/O messaging can reduce the amount of traffic most protects the user’s investment for the future. use of network resources in the following ways: After powering up the network. such as EtherNet/IP..” For a given device type. Depending on the application.g. originate a message on one CIP Network. it is also data is unicast and “input” data is multicast. a message is identified by its connection “power” on the network. Each CIP object has attributes (data). prognostic for the consuming device to know that the pro- ducer is still alive and active. In this case. etc. the user’s only responsibility is to describe the path Table 2: Slave I/O message types in the DeviceNet predefined that a given message must follow. Type Description of Operation A slave configured for polled I/O will receive "output" data from the master device in a se- CIP also includes “device types” for which there are “device quential order that is defined by the master's profiles. Users can adjust these parameters to provide optimum bandwidth utilization in a port to another. it only needs to ask necessary to begin the flow of data is for a “master” device for it once to consume the data each to claim ownership of this predefined connection set within its time it is produced. a Connection Set strictly object-oriented protocol. such as DeviceNet. the DeviceNet baud rate.The Upper Layers The Predefined Master/Slave DeviceNet uses the Common Industrial Protocol (CIP). For vide deterministic behavior. DeviceNet also and/or IT applications. the only remaining step • If a node wants to receive data. many DeviceNet-compliant sensors ID. Because one of DeviceNet’s key unique advantages is consumer networks. independent of the CIP Networks involved. state (COS) messages will produce data when- with no presentation at the Application Layer. A device configured to produce change-of- and then pass it to another CIP Network. TECHNOLOGY OVERVIEW SERIES: DEVICENET 5 PUB00026R4 ©2016 ODVA. the applications. receive the same data simultaneously with all other nodes. This mechanism does not alter the contents given application scenario. all it needs to know is the connection ID to the requirements of the application. and actuators are designed to perform a predetermined destination networks). This type of I/O messaging allows each user to configure the system to Cyclic produce data at a rate appropriate for the ap- Seamless bridging and routing is perhaps the most significant plication. For a given system configuration. fourth. possible for a DeviceNet vendor to define additional vendor. of a message during the routing process.” this scheme resources than a source-destination model by allowing the simplifies both the packaging and the movement of data exchange of application information between a sending device contained in the I/O messages most often used in control (e. The master's poll- ing rate is determined by: the number of nodes options and I/O data formats.. the implementation for a given device type provides another clear size of messages produced by the master and advantage for users of CIP Networks by promoting a common each node in its scan list. both the type and amount possible for multiple nodes to consume data produced by a of data the device will produce and/or consume is also known single source based solely on the connection ID to which the on power-up. The ability to on the wire and more efficiently use the avail- able bandwidth. defined interval. the producer) and many receiving devices (e. consumers) without requiring data to be transmitted multiple times by a single source to multiple destinations. and the internal tim- application interface for a given device type and interoperability ing of the master device. at the upper layers.g. can incorporate incremental application improvements to existing This adjustable heartbeat rate provides a way installations and/or integrate systems with diagnostic. The message type • If a second (third.) node wants the same used is determined based on how the device is configured and data. When using this mechanism.

CIP or ODVA. • P  romoting industry awareness of DeviceNet and its benefits. and • Helping to ensure compliance of DeviceNet products with the specification through conformance testing and conformity 6 .Management of the DeviceNet Technology DeviceNet is managed by ODVA. For more information about DeviceNet.odva. • Licensing the DeviceNet Technology to companies desiring to make and/or sell DeviceNet-compliant products. ODVA’s DeviceNet management responsibilities include: • Publishing The DeviceNet Specification. • O verseeing the process to incorporate new enhancements to the DeviceNet Specification. visit ODVA at www. an international association of the world’s leading automation companies.

interoperable information and communication technologies in industrial automation.odva. .org PUB00026R4 ©1999-2016 ODVA. All rights reserved. For future interoperability of production systems and the integration of the production systems with other systems. Inc. visit odva. ODVA recognizes its media independent network protocol. ODVA Ann Arbor. the Common Industrial Protocol or “CIP” – and the network adaptations of CIP – EtherNet/IP. Inc. ODVA embraces the adoption of commercial-off-the-shelf (COTS) and This principle is exemplified by EtherNet/IP – the world’s number one industrial Ethernet network. CompoNet and ControlNet – as its core technology and the primary common interest of its membership. ODVA’s mission is to advance open. USA TEL: +1 734-975-8840 FAX: +1 734-922-0027 WEB: www.About ODVA Founded in 1995. unmodified Internet and Ethernet technologies as a guiding principle wherever possible. ODVA is a global association whose members comprise the world’s leading automation companies. For more information about ODVA. TECHNOLOGY OVERVIEW SERIES: DEVICENET 7 PUB00026R4 ©2016 ODVA. ODVA’s vision is to contribute to the sustainability and prosperity of the global community by transforming the model for information and communication technology in the industrial ecosystem. DeviceNet. Michigan.