Real-Time Ethernet Technology Comparison

SERCOS Seminar Atlanta

September 16, 2009

Peter Lutz, Managing Director

SERCOS International e.V.
Real-Time Ethernet Competition

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Overview on Real-Time Ethernet
Technologies (Selection)

 CC Link IE  PowerDNA
 Drive CliQ  Profinet
 EPA  RAPIEnet
 EtherCAT  RTEX
 EtherNet/IP + CIP Sync  SafetyNET p
 Ethernet Powerlink  SERCOS III
 IEEE 1588 / PTP  SynqNet
 JetSync  TCnet
 Modbus RTPS  Varan
 Mechatrolink III  Vnet/IP
Source: http://www.real-time-ethernet.de/
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Overview on Real-Time Ethernet
Technologies (Selection)

CC Link IE PowerDNA
Drive CliQ  Profinet
 EPA  RAPIEnet
 EtherCAT RTEX
 EtherNet/IP + CIP Sync SafetyNET p
 Ethernet Powerlink  SERCOS III
 IEEE 1588 / PTP SynqNet
JetSync  TCnet
 Modbus RTPS Varan
Mechatrolink III  Vnet/IP
Source: http://www.real-time-ethernet.de/
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Overview on Real-Time Ethernet
Technologies (Selection)

CC Link IE PowerDNA
Drive CliQ  Profinet
EPA RAPIEnet
 EtherCAT RTEX
 EtherNet/IP + CIP Sync SafetyNET p
 Ethernet Powerlink  SERCOS III
IEEE 1588 / PTP SynqNet
JetSync  TCnet
 Modbus RTPS Varan
Mechatrolink III  Vnet/IP
Source: http://www.real-time-ethernet.de/
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Overview on Real-Time Ethernet
Technologies (Selection)

CC Link IE PowerDNA
Drive CliQ  Profinet
EPA RAPIEnet
 EtherCAT RTEX
 EtherNet/IP + CIP Sync SafetyNET p
 Ethernet Powerlink  SERCOS III
IEEE 1588 / PTP SynqNet
JetSync TCnet
Modbus RTPS Varan
Mechatrolink III Vnet/IP
Source: http://www.real-time-ethernet.de/
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Real-Time Ethernet Protocols:
Efficiency / Performance

a) SERCOS III:
Collective telegrams Separate Ethernet frames
(Real-time channel) (non-real-time channel)
RT1 RT2 RT3 ETH1 ETH2 ETH1 … RT1 …
Communication cycle t

b) EtherCAT:
Tunnelled
Collective telegrams Ethernet frames

RT1 RT2 ETH1 RT3 … RT1 …

Communication cycle t

c) Profinet, Ethernet/IP, Ethernet Powerlink:

Separate Ethernet Separate
Padding Ethernet frames
frames

RT1 RT2 RT3 ETH ETH

… …
RT1

Communication cycle t
RTi: Real-time data of node i, ETH: Ethernet frame with non-real-time data

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Example:
Cross Communication with SERCOS III

Master Slave 1 Slave 2 Slave (n)

Direct cross communication in forward path
(here between slave 1 and slave 2)

Tx Rx Tx Rx Tx Rx Tx

Rx Tx Rx Tx Rx Tx Rx
CAT5
Direct cross communication in reverse path
(here between slave 2 and slave 1)

Real-time processing during passing through a node

Signal transmission without interpretation
Tx: Ethernet transmitter (Sender), Physical Interface
Rx: Ethernet receiver (Receiver), Physical Interface

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Example:
Cross Communication with EtherCAT

Direct cross communication in forward path

a) (here between slave 1 and slave 2)

Tx Rx Tx Rx Tx Rx Tx

Rx Tx Rx Tx Rx Tx Rx
Tx Rx Tx Rx
CAT5
Master Slave 1 Slave 2 Slave (n)
b)

Tx Rx Tx Rx Tx Rx Tx

Rx Tx Rx Tx Rx Tx Rx
Tx Rx Tx Rx
Indirect cross communication in reverse path (here between slave 2 and slave 1)
Real-time processing during passing through a node
Signal transmission without interpretation
Tx: Ethernet transmitter (Sender), Physical Interface
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 Example:
Redundancy Concept of EtherCAT

Normal operation: Fault case: Fault case:

Transmission of real-time data Detection of redundancy case Activation of reserve line

in line topology by redundancy manager (M) after successful reconfiguration

Reserve line Activated

(inactive during reserve line
normal operation
M M M

S1 S4 S1 S4 S1 S4

S2 S3 S2 S3 S2 S3

Link break during

reconfiguration

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Example:
Redundancy Concept of SERCOS III

Normal operation: Fault case:

Cyclic, redundant transmission of Splitting up into two lines

real-time data in primary and secondary ring

M M

S1 S4 S1 S4

S2 S3 S2 S3

Recovery time: < 25 µs

No reconfiguration required!
t
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Example: Interoperability with
SERCOS III and EtherCAT
Vendor A
Control S-3 Profile Vendor B

SERCOS III S-3 Profile

Drives
SERCOS III SERCOS III

S-3 Profile

SERCOS III
Vendor C
Vendor A
Control S-3-A Vendor B
… Ethercat DS402-B
Drives
Ethercat Ethercat

DS402-C

Ethercat
Vendor C
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Comparison of selected Real-Time
Ethernet Solutions

EtherNet/IP
PROFINET Ethernet
SERCOS III EtherCAT + CIPsync &
IRT Powerlink
CIPmotion

Performance ++ ++ + o o
Ethernet
Conformity + o + ++ ++
Installed
Base + ++ + ++ o
Variety of
Suppliers & + ++ o o o
Products

Indepen-
dence + o o o o
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Evolution of Fieldbus and Drivebus
Technologies

DeviceNet Ethernet/IP+CIP Sync

Profibus
Profinet IRT
Interbus
Ethercat
CANopen
Powerlink

SERCOS II SERCOS III

2001 2003 2005 2007

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Summary

SERCOS III …
 combines the proven mechanisms of SERCOS interface (IEC
61491) with Ethernet (IEEE 802.3)
 uses the established and proven synchronization mechanisms and
profiles of the existing SERCOS interface
 allows an easy migration from SERCOS II to SERCOS III
 is based on a cost-efficient and flexible standard hardware
 covers all actual and future requirements for motion control
applications (C2C, Safety, I/O)
 develops from a specialized drive bus to an universal real-time
Ethernet network

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