wilamowski-b-m-irwin-j-d-industrial-communication-systems-2011

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Industrial Ethernet 37-11 12. IEEE 802.3 edition 2005 IEEE Standard for Local and metropolitan area networks—Specific requirements Part 3: Carrier sense multiple access with collision detection (CSMA/CD) access method and physical layer specifications, Institute of Electrical and Electronics Engineers, New York. 13. IEEE 802.1D Edition 2004 IEEE Standard for Local and metropolitan area networks—Media Access Control (MAC) Bridges, Institute of Electrical and Electronics Engineers, New York. 14. IEEE 802.1Q Edition 2005 IEEE Standard for Local and metropolitan area networks—Virtual Bridged Local Area Networks, Institute of Electrical and Electronics Engineers, New York. 15. RFC 791 Internet Protocol, 1981, Internet Engineering Task Force (IETF), Reston, VA. 16. RFC 793 Transmission Control Protocol, 1981, Internet Engineering Task Force (IETF), Reston, VA. 17. RFC 3376 Internet Group Management Protocol, Version 3, 2002, Internet Engineering Task Force (IETF), Reston, VA. 18. ODVA, The organization that supports network technologies built on the Common Industrial Protocol (CIP)—DeviceNet, EtherNet/IP, CompoNet, and ControlNet, December 2009, available at http://www.odva.org/ 19. SERCOS, International E.V. and SERCOS North America, group of associations dedicated to developing, promoting and expanding the use of the SERCOS digital interface, December 2009, available at http://www.sercos.com/ 20. Fieldbus Foundation, A global not-for-profit corporation consisting of process end users and automation companies in order to develop an automation infrastructure on the Foundation technology, December 2009, available at http://www.fieldbus.org/ 21. TOSHIBA, A corporation dealing with their solution for time-critical information and control network, December 2009, available at http://www3.toshiba.co.jp/sic/english/seigyo/tcnet/ 22. Yokogawa Electric Corporation, A corporation dealing with their control network technology, December 2009, available at http://www.yokogawa.com/dcs/products/vnetip/dcs-vnetip-02-en.htm 23. International P-NET User Organization, December 2009, available at http://www.p-net.org/ 24. Open Source Automation Development Lab, The Open Source Automation Development Lab are promoting and supporting the usage of open-source software in the context of machine and plant control systems, December 2009, available at http://www.osadl.org/ © 2011 by Taylor and Francis Group, LLC
38 EtherCAT Gianluca Cena Istituto di Elettronica e di Ingegneria dell’Informazione e delle Telecomunicazioni Adriano Valenzano Istituto di Elettronica e di Ingegneria dell’Informazione e delle Telecomunicazioni Claudio Zunino Istituto di Elettronica e di Ingegneria dell’Informazione e delle Telecomunicazioni 38.1 Introduction.....................................................................................38-1 38.2 Physical Layer...................................................................................38-1 38.3 Communication Protocol..............................................................38-2 Commands 38.4 Addressing........................................................................................38-5 Physical Addressing. •. Logical Addressing: FMMU 38.5 SyncManager....................................................................................38-7 38.6 Distributed Clock............................................................................38-8 38.7 Application Layer............................................................................38-9 Mailbox Services References..................................................................................................38-10 38.1 Introduction Ethernet for control automation technology (EtherCAT) [ETG04,ETG05] is a high-performance Ethernet-based fieldbus system. Its main development goal was to apply Ethernet to automation applications, which require short-cycle times and low-communication jitters. EtherCAT is nowadays a popular solution for connecting control applications to field devices in industrial environments, including motion-control applications, and communication equipment and devices can be easily found off-theshelf [ESC20]. The EtherCAT protocol is an open standard currently managed by the EtherCAT technology group (ETG). Its specification has been recently integrated into the international fieldbus standards IEC 61158 [IE158] and IEC 61784 [IE784]. EtherCAT is based on a master/slave approach (where only one master is allowed in the network) and relies on a ring topology at the physical level. It can interoperate with both common TCP/IP-based networks and other Ethernet-based solutions, such as EtherNet/IP or PROFInet. 38.2 Physical Layer The EtherCAT master processes data via standard hardware (full-duplex Ethernet network interface controllers) and dedicated software (e.g., Beckhoff TwinCAT), but it supports also open source solutions based on Linux-like operating systems. On the contrary, purposely designed hardware has to be used on slaves. The master node completely controls traffic over the network by initiating all transmissions. Every slave, when receiving a datagram, processes it (in hardware) and then forwards it to the next slave in the physical ring. Unlike Ethernet switches and bridges, frames are not managed according to 38-1 © 2011 by Taylor and Francis Group, LLC
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The Industrial Electronics Handbook
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The Electrical Engineering Handbook
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CRC Press Taylor & Francis Group 60
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viii Contents 11 Industrial Strengt
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x Contents 46 Profisafe............
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Preface The field of industrial ele
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xvi Preambles Thilo Sauter Institut
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xx Preambles In order to cater to h
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xxii Preambles In this manner, it i
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Editorial Board Dietmar Bruckner Vi
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I Technical Principles 1 ISO/OSI Mo
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Technical Principles I-3 18 Clock S
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1-2 Industrial Communication System
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2 Media Herbert Schweinzer Vienna U
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16 Industrial Agent Technology Alek
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18 Clock Synchronization in Distrib
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20 Network-Based Control Josep M. F
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21 Functional Safety Thomas Novak S
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25 Process Automation Alois Zoitl V
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27 Industrial Multimedia Javier Sil
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32 Profibus Max Felser Bern Univers
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34 WorldFip Francisco Vasques Unive
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48 Wireless Local Area Networks Hen
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50 ZigBee Stefan Mahlknecht Vienna
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52 WiMAX in Industry Milos Manic Un
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53 WirelessHART, ISA100.11a, and OC
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TABLE 54.1 Characteristics of Some
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FIGURE 55.1 CPU IN-Log IN-Num OUT-l
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FIGURE 55.9 Different addresses of
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60 User Datagram Protocol—UDP Ale
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65 Semantic Web Services for Manufa
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V Outlook 67 Trends and Challenges
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