Part07 FieldbusCommunication

Foundation
Communications
Agenda
Foundation Communications Stack

Communication Between Devices
Expected H1 Performance
High Speed Ethernet Support
[File Name or Event]

Emerson Confidential
27-Jun-01, Slide 2
A Plant with Fieldbus
Maintenance
DCS High Speed Fieldbus
Information
Low Speed Fieldbus (31.25 Kbits/s)
Interoperable devices
27-Jun-01, Slide 3
Fieldbus Technology - Communications
Comparison to ISO OSI Model
USER LAYER USER LAYER
FIELDBUS MESSAGING
7
APPLICATION LAYER SPECIFICATION
FIELDBUS ACCESS
SUBLAYER
PRESENTATION LAYER 6
SESSION LAYER 5
TRANSPORT LAYER 4
NETWORK LAYER 3
DATA LINK LAYER 2 DATA LINK LAYER
PHYSICAL LAYER 1 PHYSICAL LAYER
OSI MODEL FIELDBUS

27-Jun-01, Slide 4
Fieldbus Technology
USER LAYER USER LAYER

FIELDBUS MESSAGING
SPECIFICATION
FIELDBUS ACCESS
SUBLAYER
COMMUNICATION
STACK
DATA LINK LAYER
PHYSICAL LAYER PHYSICAL LAYER

27-Jun-01, Slide 5
Fieldbus Technology
All layers must interoperate.
User Layer User Layer
Communication Communication
Stack Stack
Physical Layer Physical Layer
Fieldbus

27-Jun-01, Slide 6
Fieldbus Technology
System User Network

Management Application Management
Fieldbus Message
Specification
Fieldbus Access Sub Layer +DDs

Data Link Layer
Physical Layer

27-Jun-01, Slide 7
Fieldbus Technology
System User Network

Management Application Management
Fieldbus Message
Specification
Fieldbus Access Sub Layer +DDs

Data Link Layer
Physical Layer

27-Jun-01, Slide 8
Fieldbus Signal
I (mA)
17.5 18 mA (approx.)
Power 100 Ω 100 Ω Zeq= 50 Ω

Conditioner 1 µF 1 µF @ 31.25 KHz
V = 50 x 18 = 900 mV (approx.)
V (mV)
900 mV (approx.)

27-Jun-01, Slide 9
Signal Encoding
-T/2 +T/2
1 Bit Time
Clock
1
Data
0
1 0 1 1 0 0
Manchester
Biphase-L
Encoding

27-Jun-01, Slide 10
Signal codification: preamble and delimiters
1 Bit Time
Clock
1 0 1 0 1 0 1 0
Preamble
1 N+ N- 1 0 N- N+ 0
Start
Delimiter
1 N+ N- N+ N- 1 0 1
End
Delimiter

27-Jun-01, Slide 11
Coding and decoding of messages
User Application USER Data

0 to 244
Fieldbus Message
Specification FMS Encoding USER Data
4 0 to 244
Fieldbus Access Sublayer Type FMS PDU

1 4 to 248
Data Link Layer DLL Addressing FAS Frame Check

PDU Sequence
5 5 to 249 2
Physical Layer Preamble Start DLL PDU End

Delimiter Delimiter
1 1 12 to 256 1

27-Jun-01, Slide 12
Data Security
z Sophisticated frame error checking. Hamming distance of
4 over the longest possible Fieldbus message, and
Hamming distance 5 over tokens and all other short
control messages (to about 15 bytes total length).
z Messages are confirmed – acyclic communications
z Stale data counter on loss of cyclic communications
z Live list maintenance – devices detected on segment
z Timeouts on confirmed communication
z Network parameters defined to prevent message
overlapping

27-Jun-01, Slide 13
Tree Topology
A Device May Be
Disconnected Without
Impacting Other Devices
Trunk
Spur

27-Jun-01, Slide 14
Addressing
Permanent Default Addresses: 248 to 251 Operator
Temporary Default Addresses: 252 to 255 Interface Power
Supply
Host
Addresses: LAS
Passive Device
0 to 16
No Address
Terminator Terminator
Power
Filter
Backup Configurator
LAS Local
Operator Visiting Device
Interface Addresses: 242 to 255
Lowest Permanent Power
Address Filter
Permanent Device Addresses: 17 to 247

27-Jun-01, Slide 15
Control in the field
Visualization
Trending
Alarm Management
DCS Configuration
Advanced Control Optimization
Fieldbus
Regulatory Control
Calculations AO
PID PID AO
PID PID
AI
AI AI
AI

27-Jun-01, Slide 16
FF Allows Control Applications To Be Distributed
Fieldbus Segment #2
FI101 IP103A IP103B AT103A AT103A
pH Control
LO Flow pH Meas. Select

Monitor
Waste Water Process

27-Jun-01, Slide 17
Information Flow Between Function Blocks
Function Block Inputs and Outputs
Communicate Value + STATUS
Where Status Indicates:
Quality = Good, Uncertain, Bad
Quality Substatus = Highest priority error
or alarm condition
Limit - limit condition associated with value
Backward Path
AI PID AO
Forward Path

27-Jun-01, Slide 18
Cyclic and Acyclic Communication
PID
FT
AI FC
AO

27-Jun-01, Slide 19
Common sense of time
z All devices in the network share a common sense
of time, which allows precise scheduling of
activities.
z The Application Clock Time Distribution function
synchronizes all fieldbus devices. The devices
maintain their application clocks between
synchronization messages.
z The application time allows the devices to

time stamp data (variables, alarms etc.).
z Scheduling provides tighter control.

27-Jun-01, Slide 20
Link
LinkActive
ActiveScheduler
Scheduler
I (mA) Token
Iq1
Token
I (mA)
Iq2
Token
I (mA)
Iq3 16 ~ 20 mA
Total Current = Iq1 + Iq2 + Iq3 + ……... Iqn

27-Jun-01, Slide 21
Backup LAS
LAS
LAS
ADVANCED
OPTIMIZATION
CONTROL
Fieldbus
PS
LAS
LAS
AO
AO
PID
PID PID
PID
AI
AI AI
AI

27-Jun-01, Slide 22
Sample PID Execution & Communications
AI
PID
AO
Scheduled Cyclic Acyclic Communication
• Publish/Subscribe • Alarms/Events
• Maintenance/Diagnostic Information
• Program Invocation
Function Block Scheduling • Permissives/Interlocks
• Display Information
AO • Trend Information
AI PID
• Configuration

27-Jun-01, Slide 23
Example – Cascade Control
Temperature Flow
Transmitter Transmitter
TT100 FT101
OUT OUT
Positioner.
IN IN
OUT CAS-IN OUT CAS-IN

TIC100 FIC101 FCV101
BCKCAL_IN BCKCAL_OUT BCKCAL_IN BCKCAL_OUT

27-Jun-01, Slide 24
Registered Fieldbus Devices
Communiction Capability
Publish
Subscribe
Link Master
Time Publisher
Basic Device = Publish or Publish & Subscribe

Linkmaster Device = Basic + Capability to control communications on
a fieldbus segment

27-Jun-01, Slide 25
Data sequence
TT100.OUT TT100.OUT
TIC100.OUT TIC100.OUT
TT
FT101.OUT FIC101. FT101.OUT FIC101.
FIC101.OUT BCKCAL_OUT FIC101.OUT BCKCAL_OUT
FT
FCV101. FCV101.
BCKCAL_OUT BCKCAL_OUT
FCV
macro-cycle macro-cycle
Cyclic Acyclic
27-Jun-01, Slide 26
Macrocycle
A Macrocycle is determined by:
- Function Block Execution times.

- Transmission time of the cyclic messages.
-Gaps between messages determined by the
Network parameters.
-Time reserved for acyclic messages

27-Jun-01, Slide 27
Macrocycle
z Function Block execution time depends on the type of block and
on the hardware and software design.
z The execution times from today will be reduced five times or more
within two years.
z In the time calculation, only blocks that must be executed
consecutively are considered.
Cascade Control Example

AI=30 PID=45
TT
AI=30 PID=45
FT
AO=80
FCV
z Block Execution Time = 30+45+45+80 = 200 ms

z *Note that the AI in the flow device is executed in parallel.

27-Jun-01, Slide 28
Macrocycle
MID MID
CD DATA
FB FB
MRDxSLT
SLT - Slot time

MRD - Maximum Response Delay
MID - Minimum Inter PDU Delay
As for the Function Blocks, the Network parameters will

be reduced dramatically in the next two years

27-Jun-01, Slide 29
Network Parameters
Network Parameters establish how the network
operates.
The LAS must be set with the larger parameter

values of the devices participating in the Network.
LAS Backup
LAS
SLT = 510
MRD= 44 SLT = 10 SLT = 8 SLT = 4
MID = 812 MRD= 3 MRD= 3 MRD= 4
MID = 12 MID = 10 MID = 8
Link
Settings
27-Jun-01, Slide 30
SLT= 16
MRD=10 Ideal Max.
MID= 12
CD DATA CD 28 / s
2.3 24.5 5.4 3.1

35.4 ms
SLT= 8 Ideal Max.

MRD=3
MID=12 CD DATA CD 58 / s
2.3 6.14 5.4 3.1

17 ms
SLT= 1 Ideal Max.
MRD=1
MID= 1 CD DATA CD 125 / s
2.3 5.4
8

27-Jun-01, Slide 31
Evolution
100
160
Macro cycle
30
24 10
1
99 01
97
AI Execution Time
Maximum Reply Delay x Slot Time

27-Jun-01, Slide 32
Loop Execution of 250msec
Increasing Screen Update
Macro-cycle
1 Second
5 x 2 Seconds
No of 4 x x
Control
3 x x
Loops
2 x
1
x
0
0 4 8 12 16 20 24 28
Number of Devices

27-Jun-01, Slide 33
Link
LinkActive
ActiveScheduler
Scheduler
I (mA) Token
Iq1
Token
I (mA)
Iq2
Token
I (mA)
Iq3 16 ~ 20 mA
Total Current = Iq1 + Iq2 + Iq3 + ……... Iqn

27-Jun-01, Slide 34
Backup LAS
ADVANCED
OPTIMIZATION
CONTROL
Fieldbus
LAS
LAS
AO
AO
PID
PID PID
PID
AI
AI AI
AI
27-Jun-01, Slide 35
Importance of Synchronised Function Block Execution
Synchronised process sampling and control -Open Loop
Process variable
Set point
PID control output
Analogue Input Block

sample interval
Result - smooth control
PID Control Block
sample interval
Time

27-Jun-01, Slide 36
Non-synchronised process sampling and control - Open Loop
Process variable
Set point
PID control output
Result
Process variable
• Erratic control
sample interval
• Generates process disturbance
• Loop has to be de-tuned
Control sample • Poor performance
interval
Time

27-Jun-01, Slide 37
Non-synchronised process sampling and control - Open Loop
Process variable
Set point
PID control output
Process variable Result

sample interval • Erratic control
• Generates process disturbance
Control sample • Loop has to be detuned
interval • Poor performance
Time

27-Jun-01, Slide 38
Multiple
Hosts

27-Jun-01, Slide 39
Control Performance Achieve
Using Fieldbus
z Function block execution, maximum response
time for compel data and slot time ( dependent of
the device technology/design – specific to
manufacturer)
z Whether control is done in the field or in the
control system (customer decision)
z Scheduling of block execution and
communications on the FF segment (dependent
of control system design)

27-Jun-01, Slide 40
AI Function Block Execution Time
AI Function Block Execution Time (Based

on 22 manufacturers)
0-50msec
51-100msec
101-150msec
151-200msec

27-Jun-01, Slide 41
AO Function Block Execution Time
AO Function Block Execution Time (Based

on 13 manufacturers)
0-50msec
51-100msec
101-150msec
151-200msec

27-Jun-01, Slide 42
PID Function Block Execution Time
PID Function Block Execution Time

(Based on 16 manufacturers)
0-50msec
51-100msec
101-150msec
151-200msec

27-Jun-01, Slide 43
DI Function Block Execution Time
DI Function Block Execution Time (Based

on 9 Manufacturers)
0-25msec
26-50msec
51-75msec
76-100msec
101-125msec

27-Jun-01, Slide 44
DO Function Block Execution Time
DO Function Block Execution Time (Based

on 10 Manufacturers)
0-25msec
26-50msec
51-75msec
76-100msec
101-125msec

27-Jun-01, Slide 45
Calculation Block Execution Times
Execution Time of Blocks Used in

Calculations
101-125msec
51-75msec CHAR
ARITH
0-25msec
INTG
0 0.5 1 1.5 2 2.5 ISEL
Number of Manufacturers

27-Jun-01, Slide 46
Third Generation Devices Offer Significant
Improvement if Block Execution Time
Example*:
Second Generation Third Generation Improvement
AI = 30ms AI = 20ms 33%
PID = 45ms PID = 25ms 44%
* Execution times based on Rosemount 3051

27-Jun-01, Slide 47
Variation in Device Response Time of
Different Fieldbus Devices
Maximum Response Delay Time

(Based on 29 Manufacturers)
0-5msec
6-10msec
11-15msec
16-20msec

27-Jun-01, Slide 48
Typical Slot Time for Different
Devices
Slot Time
(Based on 29 Manufacturers)
<1.1msec
1.1-1.5msec
1.6-2.1msec

27-Jun-01, Slide 49
Control Execution is Scheduled Based on the
Segment Macrocycle
A Macrocycle is determined by:
- Function Block Execution times.

- Transmission time of the cyclic messages.
-Gaps between messages determined by the
Network parameters.
-Time reserved for acyclic messages

27-Jun-01, Slide 50
Macrocycle
z Function Block execution time depends on the type of
block and on the hardware and software design.
z In the time calculation, only blocks that must be
executed consecutively are considered.
AI=30 PID=45
TT
AI=30 PID=45
FT
AO=80
FCV
Cascade Control Example
z Block Execution Time = 30+45+45+80 = 200 ms

z *Note that the AI in the flow device is executed in
parallel.

27-Jun-01, Slide 51
Macrocycle
MID MID
CD
DATA
DATA
DATA
FB FB
(MRD+
2xSLT)
SLT - Slot time

MRD - Maximum Response Delay
MID - Minimum Inter PDU Delay
Some manufactures may by default assume conservative

constant values for MRD and SLT. The user may change
these values.

27-Jun-01, Slide 52
Network Parameters
z Network Parameters establish how the
network operates.
z The LAS must be set with the larger
parameter values of the devices
participating in the Network.
LAS Backup
LAS
SLT = 510
MRD= 44 SLT = 10 SLT = 8 SLT = 4
MID = 812 MRD= 3 MRD= 3 MRD= 4
MID = 12 MID = 10 MID = 8
Link
Settings

27-Jun-01, Slide 53
Impact of Network Paramters on Maximum
Number of Communcaions /Second
Communcaions/Second
SLT= 16 Ideal Max.

MRD=10
MID= 12 CD DATA CD 20 / s
2.3 41 5.4 3.1
49.50ms
SLT= 8 Ideal Max.

MRD=3
MID=12 CD DATA CD 58 / s
2.3 6.14 5.4 3.1

17 ms
Ideal Max.
SLT= 1
MRD=1 125 / s
MID= 1 CD DATA CD
2.3 5.4
8 ms

27-Jun-01, Slide 54
Minimum Execution Time With Only One(1)
Control Loop on an H1 Segment
AI PID XFR AO XFR

20ms 25ms 30ms 60ms 30ms
Macrocycle = 165 ms
Assumptions: 3rd Generation Transmitter, AI&PID executed in
Transmitter, Second generation Valve executes AO

27-Jun-01, Slide 55
Executing PID in the Valve Reduces the Nuber of
Communications But Increases Loop Execution
Time
AI XFR PID AO
20ms 30ms 120ms 60ms
Macrocycle = 230 ms
Assumptions: 3rd Generation Transmitter, AI executed in

Transmitter, Second generation Valve executes AO&PID

27-Jun-01, Slide 56
Minimum Execution Time With Only Two(2)
Control Loop on an H1 Segment
AI PID XFR AO XFR

AI PID XFR AO XFR ACYCLIC
20ms 25ms 30ms 30ms 60ms 30ms 55ms
Macrocycle = 250 ms
Assumptions: 3rd Generation Transmitter, AI&PID executed in

Transmitter, Second generation Valve executes AO, 50ms for
every 125ms of the execution schedule (for display update)

27-Jun-01, Slide 57
Full loaded segment statistics

27-Jun-01, Slide 58
An installation with Fieldbus
Control Cycle*
*Not Synchronized with
Macro cycle and subject to jitter
Fieldbus
Macrocycle
Scheduled

27-Jun-01, Slide 59
Why control in the field?
z Control in the field provides loop integrity,
increasing control loop availability and reliability.
z Control in the field provides better performance
than control in the DCS, reducing variability.
Comparis on of Control in DeltaV and 3051S Fieldbus Trans mitter
(+/- 5% Load Dis turbnaces at 0.01 Hz )
100
Control in
DCS 99.5
99
Control in
the field 98.5
98
97.5
[File Name or Event] 400 425 450 475 500 525 550 575 600 625 650 675 700 725
Emerson Confidential Time
(s e c )
27-Jun-01, Slide 60
Impact of Splitting Control Between
Fieldbus and Control System
z Execution in the control system is typically not
synchronized with function block execution on
fieldbus segments.
z Lack of synchronization introduces a variable
delay into the control loop as great as the
segment macrocycle e.g. 1/2 sec loop may have
up to 1/2 sec variable delay.
z Added delay will increase variability in the
control loop.

27-Jun-01, Slide 61
Recommendation on Splitting Control
Between Fieldbus and Control System
z Oversampling of the fieldbus measurement to
compensate for lack of synchronization i.e.
setting macrocycle faster than control execution
is often not practical if the loop execution is fast
z Conclusion: Execute control loops in Fieldbus for
better performance.
z If target execution is ½ sec or faster, then limit
the number of control loops to no more than
two(2) per segment.

27-Jun-01, Slide 62
HSE Scheduling Example
HSE Fieldbus
PLC
Analyzers
HSE Field Devices
AI OUT IN PID OUT
BK_CAL IN
BK_CAL OUT
AO CAS_IN

27-Jun-01, Slide 63
HSE Scheduling Example
Function Block Communication is Immediate
Time Critical Request/Response

Function Block Communication
Execution (Unscheduled)
(Scheduled)
CD PT PT CD PT
AI AI
PID AO PID AO
Macrocycle Macrocycle
27-Jun-01, Slide 64
HSE and H1 Function Block links
HSE (High Speed Ethernet)
HSE Device Linking Device
HSE Field
Device H1
Communication within
H1 segment
H1 Fieldbus Devices

27-Jun-01, Slide 65
HSE Field
Device H1 H1
Publish/Subscribe between
devices in different H1
segments through a
Linking Device Bridge H1 Fieldbus Devices

27-Jun-01, Slide 66
HSE Field
Device H1
Publish/Subscribe
between a HSE device
and a H1 device H1 Fieldbus Devices

27-Jun-01, Slide 67
HSE Field
Device H1
Block execution is
synchronized only between
devices on the same H1
or HSE segment.
H1 Fieldbus Devices

27-Jun-01, Slide 68
Summary - Fieldbus Foundation Solution
Both Continuous and Discrete

Requirements Are Met By FF Function
Block Set Capability

27-Jun-01, Slide 69
Ethernet Field Device
Device Class
Capability 41a 41b 41c 41d
Data Server X X X X
Publish Data X X X X
Subscribe to Data X X X
Alert and Tend Reporting X X X
Basic Flexible FB X X
Extended Flexible FB X

27-Jun-01, Slide 70
Linking Device
Device Class
Capability 42a 42b 42c 42d
H1 Configuration by HSE Host X X X X
Monitioring of H1 by HSE Host X X X
Linking between HSE and/or H1 X X
Flexible Function Block support X

27-Jun-01, Slide 71
Interface and Host Devices
z Class 43 - I/O Gateway Device
Support of FMS services that are supported by Class 42c.
z Class 44 - Simple Host
This class of device is an HSE host of some kind, for example, it
might be a Process Operator Workstation. It supports subscription
to FB data and can be a report sink.
z Class 45 - Configurator Host
This class of device is an HSE host with configuration capabilities.
It is capable of dealing with the MIBs in HSE and H1 devices and
configuring HSE LAN Redundancy Information in HSE Devices.
In practice, it may require multiple hosts to do all of the
configuration implied by this profile class. In such cases all of the
hosts would be registered as a group.

27-Jun-01, Slide 72
Device Characterization
z Class 46 - Device Redundancy
• D1 does not support device redundancy
• D2 supports externally controlled device redundancy
• D3 supports autonomous device redundancy
z Class 47 - LAN Redundancy
• I1 has one interface to the HSE network
• I2 has two interfaces to the HSE network
z Class 48 - Time Handling
– Tc is capable of being a Time Client. For Linking Devices,
is capable of synchronizing H1 Data Link time and SM
Application time to HSE time
– Ts is capable of being a Time Client and a Time Serve
– TN Has no time synchronization capabilities
z Class 49 – Obtaining IP Address
– AY IP Address is obtained using DHCP
– AN IP Address is obtained using local means

27-Jun-01, Slide 73
Link Device Certification Testing
Since the HSE specification was released, the
following manufacturers have successfully
completed FF Linking device certification testing
(class 42a)
z Smar
z ABB
z Emerson Process Management

27-Jun-01, Slide 74
High Speed Ethernet
Summary
High speed backbone at 100 Mbit/s (1 Gbit/s future)

Ready availability of standard Ethernet equipment
HSE field device running standard function blocks
Fault tolerant communications and linking devices
Interface to other protocols
Flexible Function Blocks
Wire and fiber optic media
Low cost

27-Jun-01, Slide 75

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Foundation

 Foundation Communications Stack

[File Name or Event]

DCS High Speed Fieldbus

Low Speed Fieldbus (31.25 Kbits/s)

USER LAYER USER LAYER

DATA LINK LAYER 2 DATA LINK LAYER

PHYSICAL LAYER 1 PHYSICAL LAYER

OSI MODEL FIELDBUS

USER LAYER USER LAYER

DATA LINK LAYER

PHYSICAL LAYER PHYSICAL LAYER

[File Name or Event]

All layers must interoperate.

User Layer User Layer

Physical Layer Physical Layer

[File Name or Event]

System User Network

Fieldbus Access Sub Layer +DDs

[File Name or Event]

System User Network

Fieldbus Access Sub Layer +DDs

[File Name or Event]

Power 100 Ω 100 Ω Zeq= 50 Ω

[File Name or Event]

[File Name or Event]

[File Name or Event]

User Application USER Data

Fieldbus Access Sublayer Type FMS PDU

Data Link Layer DLL Addressing FAS Frame Check

Physical Layer Preamble Start DLL PDU End

[File Name or Event]

[File Name or Event]

[File Name or Event]

Permanent Device Addresses: 17 to 247

[File Name or Event]

Advanced Control Optimization

[File Name or Event]

FI101 IP103A IP103B AT103A AT103A

LO Flow pH Meas. Select

Waste Water Process

[File Name or Event]

[File Name or Event]

[File Name or Event]

z The application time allows the devices to

[File Name or Event]

Total Current = Iq1 + Iq2 + Iq3 + ……... Iqn

[File Name or Event]

[File Name or Event]

Scheduled Cyclic Acyclic Communication

[File Name or Event]

OUT CAS-IN OUT CAS-IN

BCKCAL_IN BCKCAL_OUT BCKCAL_IN BCKCAL_OUT

[File Name or Event]

Basic Device = Publish or Publish & Subscribe

[File Name or Event]

A Macrocycle is determined by:

- Function Block Execution times.

[File Name or Event]

Cascade Control Example

z Block Execution Time = 30+45+45+80 = 200 ms

[File Name or Event]

SLT - Slot time

Foundation Communications Stack