Industrial Networks: the Choices for Real Time Motion Control
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The webinar discusses real-time motion control options in industrial networks, focusing on EtherCAT and Ethernet Powerlink technologies. It highlights the fast data transmission capabilities, system flexibility, and safety features of these protocols, demonstrating their application in various industrial settings. Key details include the integration of decentralized safety logic and the ability to efficiently manage multiple axes on a network.
Industrial Networks: the Choices for Real Time Motion Control
- 1. Industrial Networks -the Choices for Real Time Motion Control
- 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. Moderator Presenters Leslie Langnau Shaun Kneller Joey Stubbs Design World B&R Industrial Automation EtherCAT Technology Group
- 4. EtherCAT for Motion Control Overview Joey Stubbs, PE, PMP North American Representative EtherCAT Technology Group
- 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. 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. 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. Frame Processing order in the EtherCAT network EtherCAT Segment Master Ethernet cable Path of EtherCAT Frame
- 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. 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. 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. EtherCAT Distributed Clocks • EtherCAT Node measures time difference between leaving and returning frame IPC Master
- 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. 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. 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. Adoption Rate in Drive Suppliers
- 17. Adoption Rate in Master Controllers
- 18. Record setting number of vendors on one network 35 different Axes 24 different Vendors 1 EtherCAT Network
- 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. 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
- 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. 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. 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. 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. 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. EthernetPowerlink in Real-Time Motion Control • Multiplexing Axes
- 28. EthernetPowerlink in Real-Time Motion Control • Topology – Network matches machine requirements not the other way around Star Daisy • Ring Chain
- 29. EthernetPowerlink in Real-Time Motion Control • Topology – Combinations of distribution types are freely available
- 30. EthernetPowerlink in Real-Time Motion Control • Redundancy • Ring • Wire break detection and recovery • Slip rings
- 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. EthernetPowerlink in Real-Time Motion Control •Synchronized Loops and Scans Control Scan Loop Update
- 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. 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. 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. 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. 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. 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. 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