enhancements to ethernet/ip for constrained …...1 = 802.15.4e tcp/ip type tbd (future compression...
TRANSCRIPT
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Enhancements to EtherNet/IP for Constrained Devices and Networks
David D. Brandt: Rockwell Automation, Inc.
Dayin Xu: Rockwell Automation, Inc.
Dr. Jörg Hähniche: Endress+Hauser Process Solutions AG
Matthias Dietrich: Endress+Hauser Process Solutions AG
October 10, 2018
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2
Purpose of Paper
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
© 2018 ODVA, Inc. All rights reserved.
This paper presents a set of proposed enhancements,
many adopted from or inspired by IETF and IEEE,
making it possible to use EtherNet/IP on constrained
devices and networks, thus enabling the single-network
vision - where all devices in an industrial plant can
communicate with the same set of protocols.
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3
ODVA Community Interest
• ODVA Conference Papers have expressed interest in support for better
addressing constrained devices
• 2014 – 2017
• Various applications:
– Process Automation
– In-Cabinet components
• Wired and wireless
• Considering usage of emerging technology
• See [1-6]
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© 2018 ODVA, Inc. All rights reserved.
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Industrial Network Convergence
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
© 2018 ODVA, Inc. All rights reserved.
Source: HMS networks, Feb 2018
(Parentheses indicate 2017 numbers)
Industrial Ethernet has exhibited rapid growth, with EtherNet/IP emerging as a leader.
Fieldbuses (and sensor networks) still retain a large position and many potential network nodes remain hardwired.
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The Single Network Vision
5
Single network advantages include:
Higher performance for a similar cost
Elimination of costly application-specific gateways
Leverage of a large existing ecosystem (protocols, security, network switches, etc.)
Reduced installation, maintenance, and management complexity
Simplified integration with cloud applications
Reduced interoperability issues
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
© 2018 ODVA, Inc. All rights reserved.
End users understand and seek the advantages of a harmonized network - based on Ethernet, IP, and the related open ecosystem.
APL
OPEN
AllianceDigital
Ceiling
IEEE IETF
Organizations promoting Ethernet and IP to the edge
(See backup slide)
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Barriers to the “Single Network Vision”
• Cost adder
• Component footprint
• Power consumption
• System wiring complexity
• Cable distance
• Network power solution
• Intrinsic Safety compatibility
• Low power wireless solution
• Protocol complexity
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The mix of Industrial Ethernet, fieldbuses, and hardwired nodes persists due to application constraints near the network edge.
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IETF: Constrained-Node Networks
7
Constrained Node characteristics:
Low cost
Small size
Limited memory [Flash, RAM], and processing resources
Limited power and energy [battery size or scavenging]
Limited upper layer services
Low weight
Constrained Network characteristics:
Low bitrate or throughput
High packet loss
Variability delivery rate
Asymmetric traffic
Small packet size
Limited availability [device sleeps]
Limited upper layer services
“Terminology for Constrained-Node Networks” in https://tools.ietf.org/html/rfc7228
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
© 2018 ODVA, Inc. All rights reserved.
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IETF: 6TiSCH Standards
• Enhancements for Constrained Nodes and Networks
• Applicable to both low power wireless and wired networks
• Features:
– Eliminates TCP overhead (UDP-only)
– Compresses messages
– Expands the address space (IPv6)
– Optimizes security (OSCORE)
– Shrinks the Web server (CoAP)
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IETF suite of IP standards solving IoT needs (similar to Fieldbus needs)
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IEEE Single Pair Ethernet(s)
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Automotive
Industrial Automation
Building Automation
Lighting
Elevators
Data Center
IEEE 802.3cg
Numerous industries sought
Ethernet enhancements to
displace edge networks.
• Communication and
optional power over a
single pair
• Reduction in wiring, node
cost, size, and power
consumption
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IEEE: Emerging SPE
10
IEEE P802.3cg 10 Mbit/s SPE (Estimated 2019)
10BASE-T1L Targeted at process automation instruments
1000 m, intrinsic safety compatible, legacy wiring
10BASE-T1S Targeted at replacing:
CAN, CAN FD, MOST and FlexRay in automotive
Hardwiring for in-cabinet components for industrial automation
I2C and SPI in data centers
25 m multidrop option
Determinism by PHY-level Collision Avoidance (PLCA)
Addresses long distance
Addresses low cost control
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© 2018 ODVA, Inc. All rights reserved.
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Constrained EtherNet/IP application areas
PAC/PLC/DCS PAC/PLC/DCSBasicControl
PAC/PLC/DCSSupervisoryControl
AutomationServers
ManufacturingSystems
EnterpriseSystems
FieldDevices
Constraints
IT, Cloud
PAC/PLC/DCS PAC/PLC/DCS
In-cabinet On-machine Process Automation Low-power Wireless
100BASE-TX and 1000BASE-T
10BASE-T1S multi-drop
TBD SPE
10BASE-T1L, 1000m, Ex e
10BASE-T1L, 200m, Ex i
Cost,size,power
Battery,rate,packet size
Intrinsicsafety,power
Power vs.cable size& length
#wires,size,power
6TiSCH + 802.15.4e
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UDP-only option
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UDP-only option
• Problem:
– EtherNet/IP requires both TCP and
UDP
– TCP presents substantial overhead
for constrained MCU limited Flash
and RAM
– “Chatty” TCP messaging reduces
battery life in low power wireless
devices
• Related Problem:
– CIP Security requires both TLS and
DTLS
• Solution:
– Add optional supportfor UDP-only and DTLS-only.
• Benefits:
– Use smallest MCUs
• UDP-only prototype shows 30% savings in Flash and RAM
– Draw enhancements from other sources
• Emerging IoT stacks like IETF CoAP rely on UDP exclusively
DTLS
UDP
TLS
TCP
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Simplified UDP-based Messaging
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• ListServices identifies
capability– UDP-only or TCP+UDP
or Both
• No TCP connections
• No encapsulation
sessions
• No bindings between
TCP connections and
EtherNet/IP sessions
Message and stack
complexityis reduced
Existing EtherNet/IP
Simplified EtherNet/IP
TCP-based
Forward_Open
TCP-based
Forward_Close
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Proposal
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
© 2018 ODVA, Inc. All rights reserved.
ExistingVolume 8
Secure UDP-only
• Support both secure and standard UDP-only
• Extend for full set of services
• Develop a unified capability discovery method
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Encapsulation and CPF
Header Compression option
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Encapsulation and CPF header compression option
• Problem:
– EtherNet/IP Encapsulation and
CPF headers message overhead is
significant for low power wireless
networks
• E.g., IETF 6TiSCH = 127B max.
• Wireless constrains packet size to
increase battery life
– Large messages either cannot be
sent or must be fragmented into
multiple packets
• Reduces battery life and increases
latency
• Solution:
– Compress EtherNet/IP encapsulation and CPF headers by well known (IETF 6TiSCH) techniques
• Lossless “eliding” of header fields and options that rarely change
• Added bits indicate the optional presence of byte or word fields (> 8:1 compression)
• Benefits:
– Increase battery life and reduce latency for low power wireless
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Proposal
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Prototype Examples
• Replaces and shrinks Encapsulation header
• Could be reduced further
• Encapsulation header
• CPF for Class 0/1
• CPF for UCMM
• CPFs used within CIP services
Evaluate Optional Compressions
Multiple
Items
ListIdentity ListService
General
UCMM Class0/1
0xB763 0xBF04 0xB76F
15 Header Comp. Flag 1 1 1
14 Reserved 0 0 0
13 Options 1 1 1
12,11 Sender Context 2 3 2
10 Status 1 1 1
9 Session Handle 1 1 1
8 Length 1 1 1
Bit7-0 Command 0x63 0x04 0x6F
0x8052 0x8092
15 CPF Comp. Flag 1 1
14 Message Type 0 0
13,12 Reserved 0 0
11,10 T->O Socketaddr 0 0
9,8 O->T Socketaddr 0 0
7,6 Data Item 1 2
5,4,3 Address Item 2 2
2,1,0 Item Count 2 2
Before compression (byte) 24 24 40 18
After compression (byte) 4 2 8 10
Header
Compress
ion and
Comman
d (HCC)
CPF
Compress
ion&Item
Count
(CCIC)
Word Value
Word Value
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Constrained EtherNet/IP
Physical Layers
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Constrained EtherNet/IP Physical Layers
• Problem:
– EtherNet/IP does not support
appropriate physical layers for
several constrained application
areas:
1. Process Automation wired
instruments for APL
2. Process Automation companion
wireless instruments
3. In-cabinet components
• Solution:
– Reference and extend 3 new PHYs:
1. IEEE P802.3cg 10BASE-T1L PHY
2. IEEE Std 802.15.4-2015 PHY
3. IEEE P802.3cg 10BASE-T1S PHY
• Benefits:
– Support important constrained
EtherNet/IP application areas
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Constrained EtherNet/IP
Communication Profile
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Constrained EtherNet/IP Communication Profile
• Problem:
– EtherNet/IP does not support
constrained device and network
requirements
• Solution:
– Develop a constrained EtherNet/IP
communication profile
Required:
• UDP-only
• Minimum objects
• UCMM and Class 1 only
• Simplified Connection
Manager object
Optional:
• DTLS-only security
• Encapsulation header
compression
• IPv6 mapping
Communication Profile
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Minimum device object model
• Same base objects for constrained
EtherNet/IP, but minimize
implementation of base objects
• Optional compression of Encapsulation
and CPF headers
• Minimized CIP transports over UDP
– UCMM + Class 1 only
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Object minimization example - Connection Manager
24
Original Definition in
EtherNet/IP Specification
Simplified Implementation for
Constrained Devices
Object level simplifications
20 optional attributes Zero attributes
4 common services Zero common services
8 object specific services 2 object specific services (Forward_Open and
Forward_Close)
Service level simplifications
Class 0 and 1 I/O connection Class 1 I/O connection
Unicast and multicast Unicast
Class 2 and 3 explicit connection No explicit connection, UCMM only
CIP Routing No CIP Routing
Listen-only or redundant owner No redundancy
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Constrained EtherNet/IP Capability CPF Item
25
• New “Constrained EtherNet/IP
Capability” CPF item
– Discover constrained device’s
EtherNet/IP capability using
ListIdentity
• New EDS entry [Constrained
EtherNet/IP Capability]
– Describe constrained device’s
EtherNet/IP Capability
Field
Type ID Constrained EtherNet/IP Capability
Length
Link Type 0 = Ethernet1 = 802.15.4e
TCP/IP Type TBD (future compression or feature reduction capabilities)
Encapsulation & CPF Compression
WORD1: ENCAP Header Compression ProfileWORD2: CPF Compression Profile
CIP Transport Type
Bit 0 = UCMMBit 1 = Class 1
CIP Application Type
Bit 0 = Active Report Manager
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Constrained EtherNet/IP over
6TiSCH Network
9-2 Data Link Layers
Though this specification is called “EtherNet/IP”, Ethernet is technically not required. The EtherNet/IP protocol may be used on any media that supports the transmission of the Internet Protocol.
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Constrained EtherNet/IP over 6TiSCH Network
• Problem:
– EtherNet/IP does not have a low power wireless option
• Proposed Solution:
– Specify necessary enhancements for EtherNet/IP over 6TiSCH:
• Leverage proposed constrained EtherNet/IP enhancements
• Add 802.15.4 MAC and PHY
• Add 6TiSCH router and network management objects
• IPv4/6 mapping to integrate 6TiSCH devices into IPv4
• Benefits:
– Complements wired Process
Automation (under APL)
A full IPv6 solution would be
beneficial, but is not proposed
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Motivation for IETF 6TiSCH
28
• Open (not industry specific) wireless
standard
• IP-based communication
• Self-organizing mesh network
– Robust, reliable, less engineering
• The market leader:
– “By 2023, there will be 4.5 billion
802.15.4 mesh devices sold worldwide.”
• https://onworld.com/research/zigbee/vip/
Simplified 6TiSCH Stack
IEEE Std 802.15.4 (PHYs)
IEEE Std 802.15.4e TSCH (MAC)
6top
6LoWPAN HC / 6LoRH HC
IPv6
UDP ICMPv6
Application Protocols:
CoAP / OSCORE
Optional DTLS 6LoWPAN ND
RPL
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Prototype: Important Enhancements for Integration of
Constrained EtherNet/IP over 6TiSCH
29
EtherNet/IPClient
Proxy +6LoWPAN Border
Router (6LBR)
Wireless Sensor Node (WSN)
Wireless Mesh Network
EtherNet/IPIPv4
ConstrainedEtherNet/IP
over 6TiSCH (IPv6)
Encap. Header CompressionTCP <-> UDP-only
IPv4 <-> IPv6UDP, IP <-> 6LoWPAN
Ethernet <-> 802.15.4e
No EtherNet/IP
changes
EtherNet/IPClient
6LoWPAN Border Router (6LBR)
Wireless Sensor Node (WSN)
Wireless Mesh Network
EtherNet/IPIPv4 + UDP-only
+ CPF Compression
IPv4 <-> IPv6UDP, IP <-> 6LoWPAN
Ethernet <-> 802.15.4eConstrainedEtherNet/IPSimplifies
integration and enables
security
Complex Integration
ConstrainedEtherNet/IP
over 6TiSCH (IPv6)
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Security for Constrained EtherNet/IP over 6TiSCH
• CIP end-to-end security is precluded by any 6LBR processing of the application layer (Encapsulation Layer compression)
• 6TiSCH requires IETF OSCORE security for network join, DTLS has some increase in overhead
EtherNet/IPClient
6LoWPAN Border Router
(6LBR)
Wireless Sensor Node
(WSN)
EtherNet/IP SecurityExtended to 6LBR
Link Layer Security is REQUIRED by IETF
EtherNet/IPClient
Wireless Sensor Node
(WSN)
EtherNet/IP SecurityExtended to WSN
6LoWPAN Border Router
(6LBR)
2 separate security systems
CIP Security end-to-end
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New objects for 6TiSCH Network
• 804.15.4 link object
– In both 6LBR and WSNs
– Similar to Ethernet: Interface Speed, Flags, Counters,
State, Label, Capabilities, Physical Address…
– New: RF characteristics
• 6TiSCH wireless network management object
– In 6LBR
– Network status information
– Network topology information
– Network routing information
– Device join and leave
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
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6T
802.15.4
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Stack Summary
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Constrained EtherNet/IP Stack
33
Eliminated
New
Modified
Unmodified
802.15.4 PHY
802.15.4e MAC
IPv4
10BASE-T1L10BASE-T1S
802.3
6TiSCH
2222/UDP
DTLS
2221/UDP44818/UDP
UDP ENCAP
2221/TCP
TLS
44818/TCP
TCP ENCAPSession
Class3 Class 1UCMM
Capability CPF
CM
MRAR
Objs.802.15.4
TCP
APP 1 APP 2 APP n
Optional attributes and services, multicast, CIP
routing6T
6LBRProfile
IPv4/6 Mapping
Encap. Header and CPF Compression
Modifiedor newLinks
Wireless Wired
EDS
- Capability- 802.15.4- 6LBR
UDP-only
DTLS-only
UCMM+CL1 onlyUCMM
CM: Connection Manager ObjectMR: Message Router ObjectAR: Active Report - related ObjectsTCP: TCP/IP ObjectEN: Ethernet Link Object6TiSCH: IPv6 over the Timeslotted Channel Hopping (TSCH)
mode of IEEE802.15.4e6LBR: 6LoWPAN Border Router for 6TiSCH
EN
ListIdentityListServices
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
© 2018 ODVA, Inc. All rights reserved.
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THANK YOU
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References
1. IEEE 802.3cg (10SPE) – 10 Mb/s Single Pair Ethernet Meeting Industrial Automation Objectives : 2017-ODVA-Conference_Brandt Xu Haehniche_IEEE-802-3cg-10SPE_R0_FINAL
2. DeviceNet of Things - Use Cases, Value Proposition and Status of Specification: 2017-ODVA-Conference_Caspers_DOT_FINAL
3. Resource-constrained Industrial Things - Proposal for the Adaptation of CoAP to EtherNet/IP: 2017-ODVA-Conference_Green Otterdahl_CoAP_FINAL
4. EtherNet/IP to the Edge – A Concept for "Low-complexity Ethernet” : 2017-ODVA-Conference_Alsup_Weingartner_Low-complexity_Ethernet_FINAL
5. Extending EtherNet/IP™ to Resource-Constrained Industrial Things: 2015_ODVA_Conference_Xu-Brooks_Extending-EtherNetIP-to-Resource-Constrained-Industrial-Things-FINAL
6. CIP over 6LoWPAN: Expand CIP to IPv6-based Field Wireless Network: 2014_ODVA_Conference_Xu_Brooks_Yu_Brandt_CIP_over_6LoWPAN_FINAL
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
© 2018 ODVA, Inc. All rights reserved.
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Outside efforts related to expanding
Ethernet and IP to edge devices
• OPEN Alliance: One Pair EtherNet Alliance, Automotive industry
organization focused on the all-Ethernet car
• Digital Ceiling: LED lighting connected and powered by Ethernet with PoE,
augmented by sensors and wireless communication
• IEEE: Standard for Single Pair Ethernet for Automotive, Industrial, Lighting,
Building, Elevator, Data Center, etc., reducing cost/size/weight
• IETF: Standards for IP protocol enhancements for constrained devices
• APL: Advanced Physical Layer, Process Automation effort to bring Ethernet
to instruments and other field devices
Technical Track 2018 Industry Conference & 19th Annual Meeting www.odva.org
© 2018 ODVA, Inc. All rights reserved.