What Is A Fieldbus ? 2. Some Basics of Fieldbuses 3. Can Bus 4. Application in Cars 5. Ethercat

Fieldbuses in Cars and Industry
Prof. Dr. Egon Sommer
1
MUAS
Table of Content
. What is a Fieldbus ? . Some Basics of Fieldbuses . CAN Bus . Application in Cars

. EtherCat
MUAS
Seite 1
. Where does the word Field come from ?
The outside area of such a plant is called the Field The first buses should connect sensors and actors in such applications
MUAS
. Development of control systems

Yesterday Today
CentralComputer
Computer
Bus
MCs
Process I/O
Process I/O
Field
Substitute many cables with only one (or two) wires ! Transport Information in a serial way = serial bus
MUAS
Seite 2
. Definition of Fieldbus
A Fieldbus is a serial bus that is optimized for real-time data transfer between field devices*
serial bus: information is time multiplexed real-time: cycle times from 100us to about 50ms data transfer: packets from 1 to 250 Byte *field device: sensors, actors, microcomputers
MUAS
Market share Europe (
2,5 3,5 3,8 6,1

5,8
8,1 8,4 10,3
53,6
Profibus FF Interbus Modbus ASI Devicenet CAN Ethernet others
MUAS
Seite 3
-> . Basics
. What is a fieldbus ? . Basics of Fieldbuses . CAN Bus . Application in Cars

. EtherCat
MUAS
Requirements for Fieldbuses length 100m to few km -> long distance short latency -> real-time Data rates from 0,1 to 100 MBit/s Low error rates (10 9) -> low disturbance
Low-priced connecting components Easy adaptation to topology of plant
MUAS
Seite 4
Media for Serial Buses
serial buses
with media
wireless
power line
radio infrared
twisted pair coax cable fiber optic
MUAS
Electro Magnetic Interference

Twisted pair and differential evaluation of the signal is insensitive to electromagnetic interference (RS485) If EMI hits the bus, both bus lines are affected in the same way, which leaves the differential signal unaffected Shielding the bus presents further improvement Node A Node B
BUS_H U diff
Node C
BUS_L
t
BUS_H Bus BUS_L
EMI
MUAS
Seite 5
Classification using Media Access

serial buses
time multiplex
frequency multiplex
synchronous transmission with central Controller
asynchronous transmission
one member per channel
several members per channel
controlled access
random access carrier sense with collisiondetection carrier sense with collisionavoidance
central allocation
decentral allocation
MUAS
Media access (MAC) - Methods How can several devices share a common medium ? Only one station is allowed to transmit at a time !
Master/Slave
Token Passing Carrier Sense Multiple Access / Collision Detection Time Distributed Multiple Access
MUAS
Seite 6
-> . CAN Bus
. What is a fieldbus ? . Basics of Fieldbuses . CAN Bus . Application in Cars

. Example EtherCat
MUAS
Media access (MAC) und Addressing
CAN Bus
Access
Address
Master/Slave
Destination Address
Token-passing
Source Address
CSMA/CA = collision avoidance

TDMA
MUAS
Seite 7
CAN-BUS: Addressing
Source Addressing
ID = Identifier = Message Number Station Number
ID (11 bit)
Information (64bit)

broadcast
broadcast
MUAS
CAN-BUS: Media Access (Arbitration)
A B
C
Bus
bitwise, lowest message-ID wins
zero is dominant
CSMA/CA = collision avoidance ! Identifiers must be unique !

MUAS
Seite 8

Sampling time

CAN Baud Rate vs. Bus Length Each Bit must be stable at all stations before sampling ! => Speed is slow for big distance
max 1Mbit/s for 40m length max 1000m length with 50 kBit/s
1000 500 200

Figure valid for wire
Bit Rate [kbps]
100 50 20 10 5 0 10 40 100 200 1000 10,000
CAN Bus length [m]

MUAS
Cables (equivalent circuit diagram)
L
R = resistance /m C = capacity pF/m
L = inductance nH/m G = conductance between wires mS/m
Characteristic impedance
Velocity of propagation
Z=
R + jL G + jC
L C
v=
1 L C
with R, G = 0; Prof. Dr. Egon Sommer
Time constant
T = C l ( Ri + R l )|| Rl
Ri resistance of source (transmitter) Rl resistance of load (receiver)
! Cable constants R ,C and length limit speed of CAN !

MUAS
Seite 9
CAN data transfer

Transmitting Device Application Layer CAN Data Link Layer CAN Physical Layer
Receiving Device Data Objects Application Layer CAN Data Link Layer CAN Physical Layer
ID + Data
...
ID + data
recessive
CAN_H dominant CAN_L
recessive
Without a higher layer protocol, CAN only provides a reliable way to share short data (8 Byte) with all connected nodes
MUAS
CAN Protocol format
Version 2.0A 11Bit ID
- Version 2.0B
29 Bit ID
MUAS
Seite 10
Basic CAN Implementation

Only basic functions regarding the filtering and managing of CAN messages are implemented in hardware which can result in a high CPU load Should only be used in CANs with very low baud rates and/or very few messages
Host CPU
Bus Interface
CAN Bus
CAN Protocol Controller
Status/Control Registers
low
high
Transmit Buffer(s) Receive Buffer(s)
Host Interface
CPU load Tx Rx
Acceptance Filtering
MUAS
Full CAN Implementation

Extensive filtering possibilities, more time before CPU needs to react: leads to lower CPU load Message Objects store all message information (e.g. identifier / data bytes)
Bus Interface
CAN Bus
CAN Protocol Controller
Status/Control Registers
Message Object 1 Message Object 2
Host Interface
low high CPU load
Acceptance Filtering
...
Host CPU
Message Object n Receive Buffer(s)
MUAS
Seite 11
CAN Applications CAN in industrial automation

Excellent way of connecting all kinds of automation equipment (control units, sensors and actuators) Used for initialization, program and parameter up-/download, exchange of rated values / actual values, diagnosis etc. Machine control (printing machines, paper- and textile machines etc.): Connection of the different intelligent subsystems
CAN in medical equipment

Computer tomographs, X-ray machines, dentist & wheel chairs
CAN in building automation

Heating, air conditioning, lighting, surveillance etc. Elevator and escalator control
MUAS
-> . Application in Cars
. What is a fieldbus ? . Basics of fieldbuses . CAN Bus . Application in Cars

. EtherCat
MUAS
Seite 12
Example BMW Series
4 different buses with about 70 microcomputers !
MUAS
Features BMW
Steering Wheel Rear Mirrors safety system with 10 airbags

DSC
MUAS
Seite 13
CAN Buses in the VW Phaeton
CAN 1 - Drive System 500 kBit/s CAN 2 - Comfort System 100 kBit/s
CAN 3 - Infotainment 100 kBit/s
MUAS
Can-Bus Drive
MUAS
Seite 14
Can-Bus Comfort
MUAS
Can-Bus Infotainment
Can-Bus Comfort
Prof. Dr. Egon Sommer MUAS
Seite 15
Can-Bus - Total network
Can-Bus Comfort
3 buses with about 45 microcomputers !

MUAS
-> .EtherCat
. What is a fieldbus ? . Basics of fieldbuses . CAN Bus . Application in Cars

. EtherCat
MUAS
Seite 16
What is Ethercat?
Master/Slave network with real-time features Ethernet physical layer Ethernet-(or UDP-)frame with own protocol Standard network adapter for master slaves need special hardware Virtual shared memory Distributed clocks with precise synchronization
MUAS
Topology: flexible tree structures
MUAS
network topology almost arbitrary minimal cable length cost-effective and flexible extendable anywhere
Seite 17
Protocol supports topology recognition
K1 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17
K2 18 19 20 21 22
K3 23 24 25 26 27 28 29 30 31 32 33
K4 34 35 36 37 38
Simplified setup User guidance at errors topology recognition is pre-requisite for propagation delay measurement
62
63
64
65
66
39
K5 41 42 43
40
coupler detects and reports branch
K6 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58
61
59
60
MUAS
EtherCAT Distributed Clocks
M
t
EtherCAT Clock Master generates system time Time value is distributed by broadcast mechanism Local time is latched at reception of system time Slave clocks are adjusted accordingly
Synchronisation in the nanosecond range!
MUAS
Seite 18
Frame Format
Standard ISO/IEC 8802.3 Frame Format Ether-Type: 88A4, publicly assigned by IEEE
Ethernet Header
ECAT
Frame HDR
(2) (2)
EtherCAT Telegram
EtherCAT HDR
(10)
EtherCAT Telegram
EtherCAT HDR
(10) CTR
Enet
CTR
Pre
(8)
DA
(6)
SA
(6)
Type
Data
(34.1488)
Data
(34.1444)
FCS
(4)
(2)
(2)
EtherCAT/UDP: with Routing and for Socket Interface Implementation

UDP Port: 34980 = 0x88A4, registered with IANA
Ethernet Header
IP
HDR
(20) (2)
UDP
HDR
(8)
ECAT
Frame HDR
(2)
EtherCAT Telegram
EtherCAT HDR
(10) CTR
EtherCAT Telegram
EtherCAT HDR
(10)
Enet
CTR
Pre
(8)
DA
(6)
SA
(6)
Type
Data
(34.1488)
Data
(34.1444)
FCS
(4)
(2)
(2)
MUAS
Pass-through telegram access saves time Data is modified and/or added while telegram passes through
from vom Master to Master
MUAS
Seite 19
EtherCAT: random Address-Mapping via FMMU
logical process image: up to 4 GByte
23
Telegram structure
Ethernet HDR HDR 1 Data 1 HDR 2 Data 2 HDR n Data n CRC
Sub Telegram 1
SubTelegram 2
SubTelegram n
FMMU: Fieldbus Memory Management Unit

Process data of Ethernet Terminals can be assigned to Sub-telegrams randomly
Data of Sub/telegrams can be assigned to logical process image randomly
MUAS
EtherCat-Highlights
Network process image: 4 Gigabyte Node process image: 2 Bit to 64 Kbytes
2
3 2
Address assignment: freely configurable 0 Address selection for nodes: automatically via software Optimized protocol directly in Ethernet frame Protocol implemented completely in hardware For routing and socket interface: UDP datagram Telegram data exchange during pass-through at full speed Distributed Clock for precise synchronization Time Stamp Data Types for resolution in nanoseconds
MUAS
Seite 20
MUAS
The End
Thank you for your attention ! Muchas gracias !

Questions ?
Preguntas ?
MUAS
Seite 21

What Is A Fieldbus ? 2. Some Basics of Fieldbuses 3. Can Bus 4. Application in Cars 5. Ethercat

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Fieldbuses in Cars and Industry

Prof. Dr. Egon Sommer

. What is a Fieldbus ? . Some Basics of Fieldbuses . CAN Bus . Application in Cars

. Where does the word Field come from ?

Prof. Dr. Egon Sommer

. Development of control systems

Market share Europe (

2,5 3,5 3,8 6,1

8,1 8,4 10,3

Profibus FF Interbus Modbus ASI Devicenet CAN Ethernet others

. What is a fieldbus ? . Basics of Fieldbuses . CAN Bus . Application in Cars

Low-priced connecting components Easy adaptation to topology of plant

Media for Serial Buses

twisted pair coax cable fiber optic

Electro Magnetic Interference

BUS_H Bus BUS_L

Classification using Media Access

synchronous transmission with central Controller

one member per channel

several members per channel

-> . CAN Bus

. What is a fieldbus ? . Basics of Fieldbuses . CAN Bus . Application in Cars

Media access (MAC) und Addressing

CSMA/CA = collision avoidance

Prof. Dr. Egon Sommer

CAN-BUS: Media Access (Arbitration)

bitwise, lowest message-ID wins

CSMA/CA = collision avoidance ! Identifiers must be unique !

   

1000 500 200

Figure valid for wire

Bit Rate [kbps]

100 50 20 10 5 0 10 40 100 200 1000 10,000

CAN Bus length [m]

Cables (equivalent circuit diagram)

L = inductance nH/m G = conductance between wires mS/m

with R, G = 0; Prof. Dr. Egon Sommer

! Cable constants R ,C and length limit speed of CAN !

CAN data transfer

CAN_H dominant CAN_L

CAN Protocol format

Prof. Dr. Egon Sommer

Version 2.0A 11Bit ID

Basic CAN Implementation

Prof. Dr. Egon Sommer

CAN Protocol Controller

Transmit Buffer(s) Receive Buffer(s)

Full CAN Implementation

CAN Protocol Controller

Message Object 1 Message Object 2

low high CPU load

Prof. Dr. Egon Sommer

Message Object n Receive Buffer(s)

CAN Applications CAN in industrial automation

CAN in medical equipment

CAN in building automation

-> . Application in Cars

. What is a fieldbus ? . Basics of fieldbuses . CAN Bus . Application in Cars

Example BMW Series

Prof. Dr. Egon Sommer

4 different buses with about 70 microcomputers !

Steering Wheel Rear Mirrors safety system with 10 airbags