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

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44-4 Industrial Communication Systems # Bits: 3 ... 15 1 2 8 2 8 2 2 Idle Idle Transmission start sequence Frame start sequence Byte start sequence Frame end sequence FIGURE 44.3 Coded frame (static segment). In the dynamic segment, an additional dynamic trailing sequence is inserted after the frame end sequence. The dynamic trailing sequence is a low period of variable length followed by a high bit; it extends a frame until the next action point. Termination needs to be applied at the two nodes that are set apart with the longest wiring distance. It is calculated as equal to the nominal cable impedance between the two points. One concept is split termination, where one half of the cable impedance to ground is connected between the two bus lines. Furthermore, a common mode choke should be applied between bus driver and termination circuitry. The maximum transfer rate is 10.Mbps/channel allowing for a maximum cable length of up to 24.m between two active components. Hence, when two cascaded star couplers are in use up to 72.m can be spanned at 10.Mbps. Lowering the data transfer rates allows elongating the cabling; in particular, reducing the data rate, for example, to 5.Mbps, allows doubling the cabling distance. The standard specifies an electrical physical layer using either shielded or unshielded twisted pair cables. An optical medium can be used as well; however, the latter is not yet specified in the standard. 44.3 System Architecture To address the diverse requirements of the automotive industry, the FlexRay specification allows for a lot of different topologies and options in the node design. 44.3.1 topologies A communication system of multiple nodes connected via at least one communication channel directly (bus topology) or by star couplers (star topology) is called a cluster. FlexRay supports point-to-point, linear bus, star topologies, or hybrids thereof cascaded with up to two star couplers, cf. Figure 44.4. Furthermore, communication can take place in a redundant fashion via two separate channels or in a nonredundant fashion. A maximum of 22 active nodes may be attached to one segment (a linear bus or a passive star); there is, however, no guarantee that such a system is operational. It is up to the system designer to verify the electrical interplay between bus drivers, cables, and termination circuitry. Node A Node B Node C Node D Node E Node A Node B Node C Node D Star coupler Star coupler FIGURE 44.4 Topology examples. © 2011 by Taylor and Francis Group, LLC
FlexRay 44-5 Host subsystem Controller host interface FlexRay controller Bus guardian Protocol engine Bus driver Communication channels FIGURE 44.5 Node architecture. 44.3.2 Node Architecture A typical node architecture consists of a host CPU subsystem, a network controller, and bus drivers for the separate channels; see Figure 44.5. Interfacing between the host and the network subsystem is facilitated via a controller host interface employing some kind of dual-ported memory. This choice of an interface allows separating control from data flow, creating some kind of temporal firewalls restricting error propagation to defined areas. Optional bus-guardians may be installed either at the nodes or at central, active star couplers. The bus-guardians oversee and inhibit bus access whenever a node is not allowed to transmit in order to avoid so-called babbling idiot failures; situations where a node playing havoc disrupts the entire communication. 44.3.3 Star Couplers Both passive and active star couplers are supported by the FlexRay protocol. Whereas passive star couplers are simply circuits that relay the signal received on one branch to all other branches; active star couplers provide logic and circuitry for power-down and wakeup, error detection and isolation, as well as signal reshaping. Typically, an active star coupler listens on all branches for traffic and when a signal is detected it is relayed—in an error free case—to all other branches. Whenever an error occurs or before a cluster is synchronized, collisions of data frames or symbols may occur. In this case, an active starcoupler relays the superimposed signal to the other branches. 44.4 System Design Considerations Guaranteed bandwidth and reliable operation are some of the benefits of time-triggered communication systems. On the other hand, such systems may become less flexible (especially when frequent system changes occur) and require higher efforts at design time. 44.4.1 Configuration Next to topology considerations, one has to configure which nodes act as coldstarters and participate at the clock synchronization (sending of sync frames). At least two or more nodes should be assigned therefore; in fact, more of these nodes enhance the availability of the cluster but increase, however, the likeliness for the establishment of cliques (cliques are groups of nodes that are able to communicate with each other, however, not with other nodes), cf. [MHS08]. Furthermore, the physical distribution of these nodes as well as the distribution of their slots impairs the overall robustness of the cluster. In fact, having these nodes and slots evenly dispersed over the cluster and schedule, respectively, will likely improve the overall availability. Furthermore, configuring more nodes as the minimum to transmit the specified wakeup patterns and perform coldstart attempts will improve the startup mechanism. When one of these so configured nodes, however, is faulty, a higher © 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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xviii Preambles are the same. Commu
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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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xxviii Editors J. David Irwin recei
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Contributors Teresa Albero-Albero E
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Contributors xxxiii Georg Gaderer I
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Contributors xxxv Peter Neumann Ins
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Contributors xxxvii Thomas Tamandl
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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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Media 2-3 TABLE 2.1 Overview over S
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Media 2-5 Single ended Differential
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Media 2-7 2.2.6 Standards Numerous
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Media 2-9 2.3.3 transmitters and Re
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Media 2-11 uses light backscatterin
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Media 2-13 G 1 Maximum intensity Av
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Media 2-15 As an example, the three
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4 Routing in Wireless Networks Tere
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5 Profiles and Interoperability Ger
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6 Industrial Wireless Sensor Networ
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Industrial Wireless Sensor Networks
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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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Functional Safety 21-3 IEC 61508:20
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Functional Safety 21-5 safety engin
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TABLE 21.8 Measures Hazard Network-
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22 Security in Industrial Communica
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25 Process Automation Alois Zoitl V
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27 Industrial Multimedia Javier Sil
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Industrial Multimedia 27-3 Multimed
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Industrial Multimedia 27-5 FIGURE 2
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Industrial Multimedia 27-7 which wo
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28 Industrial Wireless Communicatio
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29 Protocols in Power Generation Tu
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III Technologies 31 Controller Area
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31 Controller Area Network Joaquim
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32 Profibus Max Felser Bern Univers
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33 INTERBUS Juergen Jasperneite Ost
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INTERBUS 33-3 One total frame Loopb
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34 WorldFip Francisco Vasques Unive
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35 Foundation Fieldbus Carlos Eduar
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36 Modbus Mário de Sousa Universit
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37 Industrial Ethernet Gaëlle Mars
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40 PROFINET Max Felser Bern Univers
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50 ZigBee Stefan Mahlknecht Vienna
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ZigBee 50-3 Wireless communication
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51 6LoWPAN: IP for Wireless Sensor
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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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START FIGURE 55.3 COLD WARM STOP E_
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START RUNSTOP COLD INIT INITO WARM
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FIGURE 55.9 Different addresses of
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EtherNet FIGURE 55.11 Device: LED1
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60 User Datagram Protocol—UDP Ale
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61 Transmission Control Protocol—
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65 Semantic Web Services for Manufa
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V Outlook 67 Trends and Challenges
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68 Processing Data in Complex Commu
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