Industrial Networks: the Choices for Real Time Motion Control

532 views
348 views

Published on

Among the versions of Ethernet for real-time motion update, two are leading the industry today: EtherCAT, Ethernet/IP, and Powerlink. Each handles real-time messaging differently, and the differences affect your design choices. The leading vendors behind these networks will discuss the ways each handles real-time updates. By watching this special, free 1-hour on-demand webinar you will gain a better understanding of the key factors necessary to make the best network choice for your motion application.

Published in: Technology, Business
0 Comments
0 Likes
Statistics
Notes
  • Be the first to comment

  • Be the first to like this

No Downloads
Views
Total views
532
On SlideShare
0
From Embeds
0
Number of Embeds
0
Actions
Shares
0
Downloads
11
Comments
0
Likes
0
Embeds 0
No embeds

No notes for slide

Industrial Networks: the Choices for Real Time Motion Control

  1. 1. Industrial Networks -the Choices for Real Time Motion Control
  2. 2. Before We Start This webinar will be available afterwards at designworldonline.com & email Q&A at the end of the presentation Hashtag for this webinar: #IndNet
  3. 3. Moderator Presenters Leslie Langnau Shaun Kneller Joey Stubbs Design World B&R Industrial Automation EtherCAT Technology Group
  4. 4. EtherCAT for Motion Control Overview Joey Stubbs, PE, PMP North American Representative EtherCAT Technology Group
  5. 5. Functional Principle -- Ethernet “on the fly” Slave Device Slave Device EtherCAT Slave Controller EtherCAT Slave Controller • Process data is extracted and inserted on the fly: – Process data size per slave almost unlimited (1 Bit…60 Kbyte, if needed, using several frames) – Compilation of process data can change in each cycle, e.g. ultra short cycle time for axes, and longer cycles for I/O updates possible – in addition: asynchronous, event-triggered communication
  6. 6. Frame Processing within Each Node Master EtherCAT Segment (Slaves) IPC .. .. DVI Node n Node n+1 DPRAM DPRAM EtherCAT Slave Controller EtherCAT Slave Controller Ethernet Frame
  7. 7. The fastest Industrial Ethernet Fieldbus available today Transmission Rate: 2 x 100 Mbit/s (Fast Ethernet, Full-Duplex) Update Times: 256 digital I/O in 11 microseconds (µs) 1,000 digital I/O distributed to 100 nodes in 30 µs = 0.03 ms 200 analog I/O (16 bit) in 50 µs, 20 kHz Sampling Rate 100 Servo-Axes (each 8 Byte In + Out) in 100 µs = 0.1 ms 12,000 digital I/O in 350 µs
  8. 8. Frame Processing order in the EtherCAT network EtherCAT Segment Master Ethernet cable Path of EtherCAT Frame
  9. 9. Functional Principle -- Ethernet “on the fly” PLC Data NC Data HDR 2 ECAT HDR HDR 2 Ethernet Header HDR 1 Master Data n Ethernet • Minimal protocol overhead via implicit addressing – – – – – Optimized telegram structure for decentralized I/O Communication completely in hardware: maximum (+ predictable!) performance No switches needed if only EtherCAT devices are in the network Outstanding diagnostic features Ethernet-compatibility maintained
  10. 10. EtherCAT: Mapping moved into Slave Devices PLC Data NC Data HDR 3 ECAT HDR HDR 2 Ethernet Header HDR 1 logical process images up to 4 GByte Master Data n Ethernet Data n PLC Data NC Data Datagram 1 • • Datagram 2 Datagram n Control System is unburdened, master becomes very simple Data is transmitted according to the application requirements: extremely fast, flexible and efficient
  11. 11. Distributed Clocks: EtherCAT Propagation Delay Measurement • EtherCAT Node measures time difference between leaving and returning frame EtherCAT Frame Processing Direction EtherCAT Frame Forwarding Direction
  12. 12. EtherCAT Distributed Clocks • EtherCAT Node measures time difference between leaving and returning frame IPC Master
  13. 13. EtherCAT Synchronization • Precise Synchronization (<< 1 µs!) by exact adjustment of Distributed Clocks M S ∆t IPC Master S S S S S S
  14. 14. Precision of EtherCAT • • Long Term Scope View of two separated devices 300 Nodes in between, 120m Cable Length Interrupt Node 1 Simultaneousness: ~15 ns Jitter: ~ +/-20ns Interrupt Node 300
  15. 15. EtherCAT in IEC 61800-7: Profiles for electrical power drive systems IEC 61800-7: Generic Interface and use of profiles for power drive systems IEC 61800-7-1: Interface Definition Annex A: Annex B: Annex C: Annex D: Mapping to Mapping to Mapping to Mapping to DS402 CIP PROFIdrive SERCOS IEC 61800-7-200: Profile Specifications IEC 61800-7-201: IEC 61800-7-202: IEC 61800-7-203: IEC 61800-7-204: Profile CiA 402 Profile CIP Motion Profile PROFIdrive Profile SERCOS IEC 61800-7-300: Mapping of Profiles to Network Technologies IEC 61800-7-301 Mapping toMapping to Mapping to CANopen EtherCAT EPL B C ... ... IEC 61800-7-304 Mapping to Mapping to Mapping to SERCOS I/II SERCOS III EtherCAT
  16. 16. Adoption Rate in Drive Suppliers
  17. 17. Adoption Rate in Master Controllers
  18. 18. Record setting number of vendors on one network 35 different Axes 24 different Vendors 1 EtherCAT Network
  19. 19. Additional Tools for Easy Drive implementation Slave Sample code now contains CiA402 Drive implementation Conformance Test Tool (CTT) • tests EtherCAT slave conformance to the specification • now tests drive profile conformance CiA402 Drive Implementation Directive • document referencing all CiA402 objects and how to implement them in an EtherCAT Servo Drive
  20. 20. Plus safety with FSoE, even on motion control systems • • Decentralized Safety-Logic Standard PLC routes the safety messages Standard PLC Safety Inputs Safety Outputs S S S Safety Drives Safety Logic S
  21. 21. For additional information: www.EtherCAT.org
  22. 22. EthernetPowerlink in Real-Time Motion Control EthernetPowerlink in Real-Time Motion Control Presented by Shaun Kneller Key Account Manager B&R Industrial Automation
  23. 23. EthernetPowerlink in Real-Time Motion Control • Network Features • 250 Axes per segment • Network updates of less than 400µs with 250 Nodes • Operating System, System configurations and Setups Automatically downloaded across the network • Fast swap out of axes in the field • Easy update of axes • No requirement to preconfigured hardware from OEM. •Worldwide available directly to User
  24. 24. EthernetPowerlink in Real-Time Motion Control • Data frames and sequencing •Multiplexed Controlled Nodes cycle in a set sequence Async Node Sends network reply •Master Data initiatesControlled Nodes Reply in set Nodes • All nonNodePortion data to Multiplexed Controlled sequence Master Multiplexed
  25. 25. EthernetPowerlink in Real-Time Motion Control • Crosstalk between Axes • Slave axes can monitor Master axis data • Inter Axis communications without passing through central control Master 1 Axis Slave to Master 1 Axis Slave to Master 1 Axis Slave to Master 2 Axis Master 2 Axis
  26. 26. EthernetPowerlink in Real-Time Motion Control • Multiplexing Axes Cycle 1 2 3 Cyclic Node Cyclic Node Cyclic Node Multiplexed Node Multiplexed Node Multiplexed Node
  27. 27. EthernetPowerlink in Real-Time Motion Control • Multiplexing Axes
  28. 28. EthernetPowerlink in Real-Time Motion Control • Topology – Network matches machine requirements not the other way around Star Daisy • Ring Chain
  29. 29. EthernetPowerlink in Real-Time Motion Control • Topology – Combinations of distribution types are freely available
  30. 30. EthernetPowerlink in Real-Time Motion Control • Redundancy • Ring • Wire break detection and recovery • Slip rings
  31. 31. EthernetPowerlink in Real-Time Motion Control •Distributed or Central Control Controller Scan Position Loop Setpoint Generation Position Loop Velocity Setpoint Generation Current Loop Velocity Loop Current Loop
  32. 32. EthernetPowerlink in Real-Time Motion Control •Synchronized Loops and Scans Control Scan Loop Update
  33. 33. EthernetPowerlink in Real-Time Motion Control •Safe Motion and Network Safety •STO Safe Torque Off •SOS Safe Operating Stop •SS1 Safe Stop 1 •SS2 Safe Stop 2 •SLS Safe Limited Speed •SMS Safe Maximum Speed •SDI Safe Direction •SBC Safe Brake Control
  34. 34. EthernetPowerlink in Real-Time Motion Control •EthernetPowerlink Meets Requirements EthernetPOWERLINK Dist I/O+ Safety Hubs and Switches Bridges Third Party Drive Products Dist I/O + Safety Motion Operator Encoders Interfaces PCI Interfaces Diagnostic Tools Displays Safety VFD Safe Motion TCPIP Bridge EPL EPL Master OR Slave (MN) (CN)
  35. 35. EthernetPowerlink in Real-Time Motion Control • Multiplexing and Crosstalk • Allow fast communication between axis without Manager involvement • Electronic Gears, Cams, Axis synchronization • Reduces Network Cycle time • Synchronized Loops, Scans and Updates • Allows simple access to drive parameters in sync with motion functions • Network Safety Motion features • Eliminating Safety relays and E-Stop wiring • Limitless capabilities on one network • I/O, VFDs, Visualization, Motion, Safety, etc.
  36. 36. EthernetPowerlink in Real-Time Motion Control • Flexibility in Network Architecture • Bus, Star, Ring and Daisy Chain • Cable Redundancy • Centralized or Distributed control • High integrity localized control • High Speed centralized control • Distributed control speed not limited by the network • High speed network • I/O networks and drives <200µs
  37. 37. EthernetPowerlink in Real-Time Motion Control Thank You for your time and Attention Presented by Shaun Kneller Key Account Manager B&R Industrial Automation
  38. 38. Questions? B&R Industrial Automation Design World Leslie Langnau lllangnau@wtwhmedia.com Phone: 440.234.4531 Twitter: @wtwh_rapidmfg Shaun Kneller shaun.kneller@br-automation.com Phone: 770-410-3212 LinkedIn: http://linkd.in/q6ibLY Twitter: @BR_Automation EtherCAT Technology Group Joey Stubbs j.stubbs@ethercat.org
  39. 39. Thank You  This webinar will be available at designworldonline.com & email  Tweet with hashtag #IndNet  Connect with  Twitter: @Design_World  Facebook: /engineeringexchange  LinkedIn: Design World Group  YouTube: /designworldvideo  Discuss this on EngineeringExchange.com

×