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Institute of Embedded Systems
Prof. Thomas Müller
InstitutsleiterDozent für Software Engineering und Kommunikationstechnik
Institute of Embedded Systems (InES)
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03.03.2005 2
Institute of Embedded SystemsMehrsparten-Fachhochschule
RektorW. Inderbitzin
DepartementAngewandteLinguistik
DepartementWirtschaft
DepartementArchitektur
undBauingenieur-
wesen
DepartementTechnik,
Informatikund
Naturwissen-schaften
Verwaltungs-
direktion
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03.03.2005 3
Institute of Embedded SystemsDepartement T in Zahlen
Sechs Studiengängen umfassen
über 300 Mitarbeiter (Dozierende, Assistierende und Angestellte)
mehr als 1000 Studierende
ca. 4 Mio. Fr. Investitionen / Jahr für die Infrastruktur der Labors
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03.03.2005 4
Institute of Embedded Systems
Struktur des Departements Technik, Struktur des Departements Technik, Informatik und NaturwissenschaftenInformatik und Naturwissenschaften
Physik
Mathematik
Datenanalyseund
Prozessdesign
Spezialitäten-chemie
Chemical andBiochemicalEngineering
Chemische Mess-und
Sensortechnik
CIM-Center
MechanischeSysteme
Energietechnik,Thermo- und
Fluid-Eng.
MechatronischeSysteme
Elektronik undSignal-
verarbeitung
Regelung undAntriebe
Kommunikation
Institute ofEmbedded
Systems
Studiengang "Datenanalyse und Prozessdesign"
Studiengang "Chemie und biologische Chemie"
Studiengang "Maschinenbau / Maschinenbau-Informatik"
Studiengang "Elektrotechnik / Mechatronik"
Studiengang "Informationstechnologie"
Studiengang "Kommunikation und Informatik"
Informatik
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03.03.2005 5
Institute of Embedded SystemsInstitut für Embedded System (InES)
Personal: 34 Mitarbeiter total 17 Assistenten und wiss. Mitarbeiter11 Dozenten, (davon 3 Teilzeit)
3 technische Mitarbeiter1 Sekretärin2 Praktikanten
Finanzplan 2003:Aufwände: 4,40 Mio
Ertrag: 4,07 Mio (1,75 Lehre)Starthilfe: 0,33 Mio
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03.03.2005 6
Institute of Embedded SystemsReaktives, eingebettetes System
Ständige Interaktion mit den Prozessen:
BedienungseinrichtungenSchalter, Tastatur etc.
Steuerung
SensorenWeg, Geschwindigkeit etc. Technischer Prozess Aktoren
Schützen, Motoren etc.
Eingriffe,Parametrisierung
MenschFührung, Überwachung
Anzeigen, AlarmeOptisch, akustisch etc.
Prozessdaten
Visualisierung
Beeinflussung des Prozesses durch
Aktoren
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03.03.2005 7
Institute of Embedded Systems
Physikalische Prozesse – Keine Intelligenz (nicht-kognitiv)– Meist harte Schnittstellen
Mehrere asynchrone EreignisseHarte Echtzeitbedingungen
– Häufig isochrone Verarbeitung erforderlich (Regler)
SicherheitUmweltbedingungen
Maschinensteuerungen
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03.03.2005 8
Institute of Embedded SystemsAuswahl einiger Projekte
Industrial Ethernet Real-Time B&R, Lenze, HirschmannIEEE1588 Hirschmann, ABBBluetooth XemicsPROFInet Profibus, SAIA, SiemensWeb-Push Technologie BFAVoice over IP / GSM-Rail IMSIDOCAS / Verteiltes Antikollisionssystem …ESES / Enhanced Sheduling for ES …
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03.03.2005 9
Institute of Embedded SystemsRealtime Ethernet
Mitarbeiter:– Prof. Scheitlin Hans– Prof. Weibel Hans– Doran Hans
Themen:– Ethernet Powerlink– PROFInet IO, PROFInet V3– Ethernet/IP (IP = Industrial Protocol)– Precision Time Protocol (IEEE 1588)
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Institute of Embedded Systems
Leitebene
Zellenebene
Feldebene
Aktuator/Sensor-Ebene
PROCESS FIELD BUS
CANINTERBUS
Reak
tions
gesc
hwin
digk
eit
Dat
enm
enge
Gliederung der industriellenKommunikation
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Institute of Embedded Systems
Leitebene
Zellenebene
Feldebene
Aktuator/Sensor-Ebene
PROCESS FIELD BUS
CANINTERBUS
Warum ETHERNET?
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03.03.2005 12
Institute of Embedded SystemsEchtzeit-Klassifizierung
Echtzeit ist dann gegeben, wenn die Daten rechtzeitig beim Empfänger ankommen!
Jitter1µs 10µs 100µ
s1ms 10m
s100m
s1s
Klasse 1
Klasse 2
Klasse 3
Klasse 4
Real-TimeKlassen
10s
Hochdynamische synchronisierte Prozesse, „elektronische Getriebe“
Werkzeugmaschinen, schnelle Prozesse, Roboter
Förderanlagen, einfache Regelungen, Grossteil der Automationsanlagen
Gebäudetechnik, Leit-und Automationsebene, problemlose Prozesse, Lagersysteme
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03.03.2005 13
Institute of Embedded Systems
Beispiel Druckerei
Geschwindigkeit 25m/s ↔ 25mm/ms oder 40µs/mm
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03.03.2005 14
Institute of Embedded Systems
Wo liegt das Problem?
Kollisionsproblematik beim „shared“ Ethernet
St1 St2
Hups, ´ne Kollision!!
Mist!! Das hat nicht geklappt.
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03.03.2005 15
Institute of Embedded Systems
Queuing beim „switched“ Ethernet
Data 2
Data 1
Wo liegt das Problem?
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03.03.2005 16
Institute of Embedded Systems
Data 2
Data 1
Jeder Teilnehmer kann kollisionsfrei zum Switch übertragen; bei „Gleichzeitigkeit“muss aber eine (od. mehrere) Meldung zwischengespeichert werden.
Wo liegt das Problem?
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03.03.2005 17
Institute of Embedded Systems
Kollisionsvermeidung durch das Master-Slave-Verfahren
BMS1S2S3S4S5S6S7
1 2 3 4 5 6 7 1 2M1
M2M3
M4M5
M6M7
M1M2
Ein Lösungsansatz:
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03.03.2005 18
Institute of Embedded SystemsOperating Principle
Managing node generates scheduleConfigurable number and duration of time slotsCycle time down to 200µsSoC syncs all nodes (jitter always < 1µs)
Controlled nodes broadcast data on requestCross traffic for isochronous data (publisher/subscriber)Asynchronous data = IP frames
CycleTime
SoC
I1 I2 I3 I7 async
EoC
I8
PRq
PRs
Time Slot
SoC = Start of CycleEoC = End of CyclePRq = Poll RequestPRs = Poll ResponseMN = Managing NodeCN = Controlled NodeIx = Isochron. data
MN
CN
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03.03.2005 19
Institute of Embedded Systems
Operating PrincipleIsochronous Data
Bandwith Optimization– Data in every cycle (e.g. master axis)– Multiplexed data (e.g. slave axis)– N data frames in M slots (N>M)– Provides better Load Balance
Nodes
Cycle i
1 2 3 4 5 6 A 1 2 3 7 8 9 A 1 2 3 1011 A 1 2 3 4 5 6 A
Cycle i+1 Cycle i+2 Cycle i+3Every cycle:1,2,3
Multiplexed:4-11M=3, N=8
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03.03.2005 20
Institute of Embedded Systems
Operating PrincipleAsynchronous Data
For non time critical dataStandard IP datagramsOn request onlyManaging Node grants transfer
CM
Async Request
Access Granted
Controlled NodeC
M
Managing Node
Cycle x (400µs)
SoC
1 2 3 7 async. Data
Trans.
EoC
Controlled Nodes 8
M u l t i c a s t
1 2 3 7 8
asynchronousData TransferManaging Node
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03.03.2005 21
Institute of Embedded Systems
Ethernet Protected Mode
IP over Ethernet
IP over Powerlink
PC with std Interface
PC with Powerlink Interface
Bridge/Router Function
(1)
IP Connectivity
B
B
B
B
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03.03.2005 22
Institute of Embedded Systems
ETHERNET PowerlinkProtocol Stack
EthernetCSMA/CD
PowerlinkEthernet
CSMA/CD
IP
TCP UDP
IP
TCP UDP
ApplicationAsync.
Gateway
Non-deterministicEthernet Node
Application
EthernetCSMA/CD
Powerlink
EthernetCSMA/CD
Gateway
EthernetCSMA/CD
Powerlink
IP
TCP UDP
ApplicationIsochron async
ETHERNET Powerlink Node
Isochron async
ETHERNET Powerlink Node
Protected Segment Ethernet
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03.03.2005 23
Institute of Embedded SystemsEthernet Powerlink
Status:Lauffähige V2 Datalink Layerfür Managing und ControlledNodes
VED für Linux & VXworks
ZHW stellt Manger für Multi-Vendor-Demo an der HMI '04
Diverse Spezial-Lösungen
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03.03.2005 24
Institute of Embedded SystemsETHERNET Powerlink Multi-Manager
• Typical Application:Printing Machine with Feeder
• Autonomous Operation of both Units required
• Traditionally coupled by IOs• Network shall replace IOs• Multiple Managers are running
on the same Segment• Only one Manager may provide
the SOC Frame
OutputOutput InputInput
SlaveManager
SlaveManager
ControlledNode
ControlledNode
ControlledNode
ControlledNode
ControlledNode
ControlledNode
MasterManagerMaster
Manager
ControlledNode
ControlledNode
ControlledNode
ControlledNode
ControlledNode
ControlledNode
GeberGeber
Printing Machine Feeder
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03.03.2005 25
Institute of Embedded SystemsNetwork Monitor
Ethereal Network Analyzer Plugin‘s:– Ethernet Powerlink V1.0– Ethernet Powerlink V2.0– IEEE1588 – PROFINET IO
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03.03.2005 26
Institute of Embedded Systems
Metering
Precise Measurement of Jitter und Delay
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03.03.2005 27
Institute of Embedded SystemsPN Diagnose für Entwicklung / Test (1)
Ziel: Entwicklung eines Analyzers zur– Überprüfung der Isochronität (Jitter, Drift etc.)– Durchlaufzeiten von Switches (Delay, Jitter)– Durchlaufzeiten von I/O-Knoten– Analyse von Paket-Inhalten– Überwachung von Protokoll-State-Machines
Wobei gilt:– Es darf keine Beeinflussung des Netzwerk(-Timing)
geben.– Die Handlichkeit und Feldtauglichkeit ist zu beachten.
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03.03.2005 28
Institute of Embedded Systems
Erfassung von Kenngrössen, wie Jitter und Delay
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03.03.2005 29
Institute of Embedded SystemsDiagnose für Entwicklung
• Time Stamping Unit existiert
• Bauform nur für Labor geeignet
• Datenaufzeichnung unvollständig
• PCMCIA Modell
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03.03.2005 31
Institute of Embedded Systems
PROFInetRealtime KonzeptPROFInetRealtime Konzept
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03.03.2005 32
Institute of Embedded Systems
Koexistente Nutzung von Echtzeit- und IT-Kommunikation auf einer Leitung
Einheitliches Realtime-Protokoll für alle Anforderungen
Skalierbare Echtzeit-Kommunikation von performant bis taktsynchron
TCP/IP
Realtime
<1ms10ms100ms
Motion ControlFeldgeräteController und HMI
Ethernet als Multi-Purpose-Bus für PROFInet
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03.03.2005 33
Institute of Embedded Systems
Soft Realtime Kommunikation beiPROFInet
Ethernet
TCP
Real
time
PROFInet Anwendungen
1
IT-Anwen-dungenz.B.
HTTPSNMPDHCP...
2
Offener TCP/IP KanalGeräteparametrierungLesen von DiagnosedatenLaden von VerschaltungenAushandeln des Kommunikations-kanals für Nutzdaten
Echtzeit Kanal SRTPerformante ÜbertragungZyklische DatenEreignisgesteuerte Meldungen
1
2
Standard-Daten Realtime-Daten
IPSRT
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03.03.2005 34
Institute of Embedded SystemsVerteilung der Aktualisierungszeiten
n
t
PROFInet V1.2 (TCP/ IP)
PROFInet V2.0 (SRT)
100 msec
10 msec
15% 100%
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03.03.2005 35
Institute of Embedded Systems
100 MBit/s
Realtime-
Switch
Realtime- Realtime-Realtime-
Realtime-
Switch Switch Switch
Switch
IRT-Gerät
Konzept für Isochrones Realtime Ethernet
Zeitsynchronisation und Scheduling der Teilnehmerreservierte Bandbreite für Realtime neben TCP/IP
Realtime Switch ASIC mit 4 Ports
Integration Realtime Switch in IRT-Geräte
IRT-Gerät
IRT-Gerät
IRT-Gerät
IRT-Gerät
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03.03.2005 36
Institute of Embedded Systems
Zyklus 1 Zyklus 2 Zyklus n
IRT-Kanal
offenerKanal
(TCP/IP)IRT-
Kanal
offenerKanal
(TCP/IP)
z.B. 1 ms Lageregeltakt.
TCP/IP- DatenIRT- Daten
Deterministische Kommunikation offene KommunikationSynchro-nisation
Scheduling des Kommunikationssystems- getrennte Zeitbereiche für Echtzeit und Nicht-Echtzeit -
Konzept für Isochrones Realtime Ethernet
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03.03.2005 37
Institute of Embedded SystemsPN Diagnose: ProblemstellungPN ist ein verteiltes, geswitchtes SystemGleichzeitige Datentransfers auf verschiedenen Segmenten:
C 1 2 3
3
2
1
Line DelayBridge Delay
33
23
32
!
Einzelner Diagnose-Repeater fast nutzlosAnkopplung nicht trivial (Timing!)
Diagnose
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03.03.2005 38
Institute of Embedded Systems
PN Diagnose: Problemstellung
• Stecker-Montage erfolgt vor Ort: Fehlerwahrscheinlichkeit!• 50% der Verdrahtungsfehler werden durch Autonegotiation
(Auto-Crossover, Auto-Polarity) aufgelöst• Sporadische Fehler sind sehr schwer zu lokalisieren• Unterscheidung HW/SW anhand des Fehlerbilds ist
schwierig:
Software
Leistungsstufen
Netzwerk
LogischeFehler
Elektrische Einstreuungen
MechanischeErschütterungen
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03.03.2005 39
Institute of Embedded Systems
Real
time
2 SRT
Offener TCP/IP KanalGeräteparametrierungLesen von DiagnosedatenLaden von VerschaltungenAushandeln des Kommunikations-kanals für Nutzdaten
Echtzeit Kanal SRTPerformante ÜbertragungZyklische DatenEreignisgesteuerte Meldungen
1
2
1
1
2
Offener TCP/IP KanalGeräteparametrierungLesen von DiagnosedatenLaden von VerschaltungenAushandeln des Kommunikations-kanals für Nutzdaten
Echtzeit Kanal SRTPerformante ÜbertragungZyklische DatenEreignisgesteuerte Meldungen
Echtzeit Kanal IRTHoch-PerformanteÜbertragungTaktsynchrone DatenJitter <1µsec
Real
time
3SRT IRTRealtime
Realtime Switch ASIC
3
2
1
Ethernet
TCP
PROFInet AnwendungenIT-Anwen-dungenz.B.
HTTPSNMPDHCP... Standard-Daten Realtime-Daten
IP
Der Switch ASIC für die SRT/ IRT- Kommunikation- eine durchgängige und skalierbare Lösung -
Kommunikations-Architektur mit SwitchASIC
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Institute of Embedded Systems
n
t
PROFInet V1.2 (TCP/ IP)
PROFInet V2.0 (SRT)
100 msec
10 msec
Verteilung der Aktualisierungszeiten
PROFInet V3.0 (IRT)
0,25...1,0 msec
15% 100%
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03.03.2005 41
Institute of Embedded Systems
PROFInet Competence Center CH
Berner FachhochschuleHochschule fürTechnik und Informatik
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Institute of Embedded Systems
«EDiSoN – das Kompetenznetzwerkfür verteilte Automatisierung und
industrielle Kommunikation»
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03.03.2005 43
Institute of Embedded SystemsWer ist EDiSoN?
ZHW
FH-SO
SUPSI
EISI
FH-AG
HTA-LU
HSR
HEVS
Total der Erfassung:90 Personen (Doz, MA)40 Leistungsangebote
B-FH
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03.03.2005 44
Institute of Embedded Systems
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03.03.2005 45
Institute of Embedded SystemsSchritt 1 – TCP/IP Stapel
Folgende Schrittea.Portieren des TCP/IP
Stapels auf das Systemb.TCP/IP Test mit den
Testapplikationen „ping“, „arp“, ...
TCP/IP
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03.03.2005 46
Institute of Embedded SystemsSchritt 2 – RPC
Folgende Schrittea.Systemeinbindung
implementierenb.RPC Test mit der
Testapplikation „RPC Hello“
TCP/IP
RPC
Betrieb
ssystem
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03.03.2005 47
Institute of Embedded SystemsSchritt 3 – DCOM
Systemanpassungen:1. Zur unterlagerten Schicht
(RCP API, existiert schon)2. Systemeinbindung zum
Betriebssystem (~ CRuntimeFunktionen)
3. DCOM Diagnose (optional)
TCP/IP
RPC
DCOM
Betrieb
ssystem
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03.03.2005 48
Institute of Embedded SystemsSchritt 4 – Auto Marshaller
Systemanpassungen1. Zur unterlagerten Schicht
(DCOM API, existiert schon)2. Systemeinbindung zum
Betriebssystem (C-RuntimeFunktionen)
3. Auto Marshaler Diagnose (optional)
TCP/IP
RPC
DCOM
Auto MarshallerBetrieb
ssystem
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03.03.2005 49
Institute of Embedded SystemsSchritt 5 – DCOM Applikationen
Systemanpassungen1. Zur unterlagerten Schicht
(DCOM API, existiert schon)2. Systemeinbindung zum
Betriebssystem (C-RuntimeFunktionen)
3. User-Schnittstelle zur SPS-Applikation: Zumindest Stubsfür alle DCOM Applikationen
4. DCOM Applikationen Diagnose (optional)
TCP/IP
RPC
DCOM
PDev, LDev
Auto Marshaller
SPS
Betrieb
ssystem
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03.03.2005 50
Institute of Embedded SystemsPROFINET-CBA
Grafischer Verschaltungseditor
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03.03.2005 51
Institute of Embedded SystemsPROFInet Demo-Anlage
5 Komponenten auf unterschiedlichen PattformenPhysisch nur über Ethernet verbundenAufwändiger Protokollstack (TCP/IP, RPC, DCOM)Zur Zeit noch keine Echtzeit-Unterstützung
1 - Verteilen 2 - Prüfen 3 - Bearbeiten 4 - Handhaben 5 - Sortieren
• IPC•Mandrake Linux 9.1•PROFInet Stack V1.2
•Siemens SoftSPS•Windows 2000 SP3•PROFInet Stack V1.2
• IPC•Windows 2000 SP3•PROFInet Stack V1.2
• IPC•VxWorks 2.2•PROFInet Stack V1.2
• Siemens S7-300•Siemens CP3431-PN•PROFInet Stack Siemens
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03.03.2005 52
Institute of Embedded SystemsPROFInet Demo-Anlage
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03.03.2005 53
Institute of Embedded SystemsPROFIbus Arbeitsgruppen
WG 1Procedures, Quali ty ManagementManfred PatzWG 2PROFIBUS PA CertificationDennis van Boom aWG 3PROFIBUS DP Slave Cer tificationArne NeumannWG 4PROFIBUS DP Master Cer tificationKarl WeberWG 5PROFInet Certi ficationManfred Popp
TC 1Test and Cer tification
Manfred Patz
WG 1Network Com ponentsManfred FlachWG 2Fiber OpticsHerm ann LoskeWG 3Data Link & Application LayerGerhard SchweigertWG 4Communication Function BlocksHans-Peter OttoWG 5PROFInet CoreNobert BechsteinWG 6Electrom echanicsAndreas HuhmannWG 7Intrinsic SafetyGerhard HammerWG 8Network Management PROFInetAndreas Köpke
TC 2Communication Profiles
Peter Neumann
WG 1Robot and Numerical ControlsWG 2Display & Panel DevicesWG 3PROFIBUS PA ProfileChr istian DiedrichWG 4EncoderRainer HaglWG 5Safety Profi leHerbert BarthelWG 6PROFIdriveWalter Möller-NehringWG 7Fluid Power/Hydraul icsMario ThronWG 8Semi-DevicesRudi BüngerWG 9Identification SystemsThom as Bangem annWG 10Weighing & Dosage DevicesWG 11Intell igent PumpsWG 12Low Voltage Switch Gear and Electric TransducersKarl HierethWG 13Remote I /O for Process ControlMartin WollschlägerWG 14PROFInet I/O IntegrationGerhard Schweigert
TC 3Application Profi les
Wolfgang Stripf
WG 1Device Description LanguageIngo WeberWG 2GSD SpecificationWerner GötzWG 3EngineeringAxel LohbeckWG 4DCS RequirementsLudwig WinkelWG 5Web Integration PROFInetJoachim Feld
TC 4System IntegrationKarl-Heinz Niemann
WG 1Factory AutomationThomas SchottWG 2Process AutomationChristian TepperWG 3Standardization StrategyPeter WenzelWG 4PROFInetRalph BüsgenWG 5PROFIdriveKlaus PatzlerWG 6PROFIsafeGerhard Mutter
TC 5Marketing
Thomas Schott
Advisory Board
More than 400 participants from all overthe world in more than 35 WorkingGroups take care of the ongoingdevelopment and future safetyof the PROFIBUS technology
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03.03.2005 54
Institute of Embedded SystemsIEEE 1588 (Hans Weibel & Co.)
•Cooperation with Hirschmann (HE)– Support for HE Ordinary Clock– KTI-Project with ABB and HE
•Member of the PROFInet RT-Sync WG– Siemens, Hilscher, Beckhof, Phönix– Definition of Extensions for Redundancy
•Participation in IEEE 1588 WGs– User Requirements Task Force– Technical Extensions Group – Conformance and Interpretations Task Force
(ZHW Secretary)
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Institute of Embedded Systems
Anwendungen hochpräzis synchronisierter Uhren
Automatisierungstechnik– Synchronisation von Antriebsachsen– Synchronisation von zyklisch arbeitenden Subsystemen
Messtechnik– Korrelation dezentral erfasster Messwerte– Time Stamping von Logging Daten
Energieversorgung– Steuerung von Schaltvorgängen– Rekonstruktion von Netzvorgängen– Problemeingrenzung (Unterscheidung von Ursache und Wirkung)
Vermessung– Triangulation
Backup anderer Zeitquellen– bei Verlust von GPS-Empfang
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Institute of Embedded Systems
Synchronisationsprotokolle im Vergleich
SNTP *) GPS IEEE 1588
Abdeckung Wide Area Wide Area einige Subnetze
Kommunikation Internet Satelliten LAN
Genauigkeit einige ms *) < µs < µs
Administration konfiguriert n/a selbstorganisierend
Spez. Hardware keine Receiver mit oder ohne
*) Angaben entsprechen der typischen Implementation von SNTP. Bei entsprechender Anpassung des Verfahrens und HW-Unterstützung (Low Level Time Stamping) ist auch eine wesentlich höhere Genauigkeit erreichbar.
SNTP Simple Network Time Protocol (RFC 2030)GPS Global Positioning System
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03.03.2005 57
Institute of Embedded SystemsZiele IEEE 1588
• Präzise Synchronisation von Systemuhren (<µs) • Anwendbar in jedem multicastfähigen Netzwerk• Einfache Installation; selbstkonfigurierend• Unterstützung einer heterogenen
Zusammensetzung von Uhren mit unterschiedlicher Genauigkeit, Auflösung und Stabilität
• Geringe Belastung von Netzwerk und Endgeräten
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Institute of Embedded Systems
Prinzipieller Ablauf eines Uhrenabgleiches
PTP
UDP
IP
MAC
Phy
PTP
UDP
IP
MAC
Phy
Master Clock Slave Clock
PTP Precision Time Protocol (Application Layer)UDP User Datagram Protocol (Transport Layer)IP Internet Protocol (Network Layer)MAC Media Access ControlPhy Physical Layer
Die Zeit des Master Clocks wird an den Slave Clock übermittelt. Es entsteht ein Fehler in der Grösse des Transfer Delays.
Netzwerk
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Institute of Embedded Systems
Hauptproblem: Auswirkungen von Delay und Jitter
PTP
UDP
IP
MAC
Phy
PTP
UDP
IP
MAC
Phy
Master Clock Slave Clock
Delay und
Jitter
Delay und Jitter
Delay und Jitter
tS1
tS2
tS3 tR1
tR2
tR3
Der Transfer Delay kann gemessen und eliminiert werden. Als Fehler bleibt die Fluktuation des Transfer Delays, der Jitter.
Netzwerk
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Institute of Embedded Systems
Ermittlung von Delay und Offset
Follow_up(t0)
Sync(testim)
testimt0
Delay_Resp(t3)t3 = t2-O+D
scheinbare GleichzeitigkeitO = Offset = ClocksSlave – ClocksMaster
Delay_Req
t3
t2B
Messwerte sind t1, t2, t3, t4
A = t1-t0 = D+O
B = t3-t2 = D-O
Delay D =
Offset O =
A + B2
A - B2
t1 = t0+D+O
A
O
D = Delay
Master Clock Slave Clock40
42
44
46
48
50
52
54
56
58
60
62
64
40
42
44
46
48
50
52
54
56
58
60
62
38
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Institute of Embedded Systems
The Test Platform--- The Evaluation Kit
Industrial PC: CPU Geode 300MHzOS: Gentoo Linux
kernel = vanilla 2.4.27PTP Protocol Engine:
Hirschmann Electronics
Timing Analyzer Board:Hardware clock and time stamping unit (time stamp resolution 20ns)
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Institute of Embedded Systems
The Test Platform--- The Evaluation Kit
PTP Protocol Engine
PHY PHY
TSU Clock
TSU Interface CLK Interface
PHY
MAC
IP
Application
TCP UDP
Port Interface
RDTD
TimeStamps
Drift Offset Time
Packets
PPS
PC/104 Timing Analyzer Board
OSC
Network Interface
NIC Driver
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03.03.2005 63
Institute of Embedded SystemsIEEE 1588 Products
Software StacksIEEE1588 / PTP SW: Source Code LicenseIEEE1588 / PTP SW: Object Code LicenseIEEE1588 / PTP SW: Evaluation LicenseIEEE1588 / PTP SW: Maintenance Contract
HardwareIEEE1588 / PTP HW: Evaluation KitIEEE1588 / PTP HW: VHDL code for a HW Time Stamping Unit and Clock
ServicesIEEE1588 / PTP SW: TrainingIEEE1588 / PTP SW: Support
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Institute of Embedded Systems
InES – Institut für Embedded SystemsZürcher Hochschule Winterthur (ZHW)
http://ines.zhwin.ch/