Chapter 2.6 Layer 7 Application Layer 1 Layered model automation system Application Process Application Data Link Physical Manage ment 2 1
PROFINET Layer 3.6. Application L 3 Communication channel with PROFInet.(ref: www.profibus.com) EtherNet/IP and DeviceNet Layer 3.6. Application L 4 CIP: Common Industrial Protocol Source: http://www.feldbusse.de/devicenet/devicenet.htm 2
CANOpen Communication structure is defined by the application Suitable for cars Special solution for each node Idea: make it more general, that a system integrator can use components without reprogramming them Higher Level Protocols (Layer 7) Examples Device Net, CANOpen, CanKingdom,... CANOpen Forced by smaller companies CiA Can in Automation 5 Protocol Layer Interaction Approach: Objects Transmitting Device Receiving Device CANopen Application Layer Object at Index CANopen Application Layer CAN Data Link Layer CAN Physical Layer ID+Data ID+Data Recessive Recessive dominant CAN Data Link Layer CAN Physical Layer 6 3
How to describe Objects Describtion available on the device Object directory (e.g. CANOpen) Description available outside the device (description file) EDS (Electronic Data Sheet, DeviceNet) GSD (Profibus, Profinet) 7 CANOpen Device Model Communication Object Dictionary Application I/O CAN SDO PDO Special Function Objects NMT Objects Data Types Communication And Application Objects Application Program Device Profile Implementation 8 4
Object Dictionary 9 Ordered List to Structure the Device Information can be accessed by Index Sub index All Information can be accessed in a Client- Server concept using a peer to peer communication using SDO s The application can read and write to the Object dictionary Process-PDO PDO are transmitted by the device. The content and transmission behaviours ( rate, ID, mapping) is defined in the Object dictionary Behaviour of a device can be parameterised Need: Device-Profiles Object Dictionary 10 Index Object-Types 0 reserved 0001-001F Static Data Types 0020-003F Complex Data Types 0040-005F Manufacturer Specific Data Types 0060-007F Device Profile Specific Static Data Types 0080-009F Device Profile Specific Complex Data Types 00A0-0FFF Reserved 1000-1FFF Communication Profile Area 2000-5FFF MAnufacturer Specific Profile Area 6000-9FFF Standardized Device Profile Area A000 - FFFF Reserved for future Use 5
Objects (Example) Index Information 1000 Device type 1001 Error-Register 1002 specific status register 1003 List of errors 1005 COB-ID of SYNC 1009 Hardware-Version 100A Software-Version 100B Node-ID 100E COB-ID Node guarding 1011 Restore default parameter 1200-127F Parameter for SERVER SDO 1280-12FF Paramerer for Client SDO 1400-15FF Parameter for Receive-PDO 1600-17FF Mapping receive PDO's 1800-19FF Parameter Transmit PDO 1A00-1BFF Mapping transmit PDO 11 Device-Profiles CiA 401: Device profile for generic I/O modules CiA 402: Device profile for drives and motion control (servo controller, stepper motor controller, frequency inverter) CiA 404: Device profile for measuring devices and closed-loop controllers CiA 406: Device profile for encoders (rotating and linear) CiA 408: Device profile for proportional valves and hydraulic transmissions CiA 410: Device profile for inclinometers CiA 412: Set of device profiles for medical devices (e.g. colimator, dosimeter) CiA 413: Set of device profiles for truck gateways CiA 414: Set of device profiles for weaving machines (e.g. feeder) CiA 415: Application profile for road construction machine sensors CiA 416: Application profile for building door control systems CiA 417: Application profile for lift control systems CiA 418: Device profile for battery module CiA 419: Device profile for battery charger CiA 420: Set of device profiles for extruder downstream devices CiA 421: Application profile for train vehicle control networks (intergration platform on vehicle sublevel) CiA 422: Application profile for municipal vehicles (e.g. garbage trucks) CiA 423: Application profile for power drive systems (e.g. diesel engine) CiA 424: Application profile for rail vehicle door control systems CiA 425: Set of device profiles for medical add-on devices (e.g. contrast media injector) CiA 426: Application profile for exterior rail vehicle lighting CiA 430: Application profile for auxiliary rail vehicle devices (e.g. cooling fans, engine pre-heating) CiA 433: Application profile for interior rail vehicle lighting CiA 444: Set of device profiles for crane add-on devices (e.g. spreader) CiA 445: Device profile for RFID reader CiA 446: Interface profile for AS-Interface gateways 12 6
Up to here! Layer 3.6. Application L 13 Warm up! Describe some functions and features which are located at layers 5 and 6. What are ports? What is socket-pair? (Which information are included) 14 7
Communication Objects Process Data Objects (PDO) (each node) Service Data Objects (SDO) (each node) Special Function Objects Synchronisation Object (SYNC) (one node) Time Stamp Object (one node) Emergency Object (EMCY) (each node) Network Management Objects NMT Message (one node) Boot Up Object (one node) Error Control Object (each node) Identifier have to be assigned! 15 PDO (1) Transmission Modes Process data, build as described in OD. Synchronous and asynchronous transmission Sync-Object Synchronous Window length 16 Synchronous PDO Asynchronous PDO Transmission types: 0: after SYNC, only if a defined event occurred before 1: after every SYNC N: after every N-th SYNC 8
PDO (2) Trigger modes Event driven Device specific event, defined in Device-Profile SYNC Object for synchronous PDO Timer driven Device specific event Specified time has elapsed Remotely requested Remote request 17 SDO (1) SDO s provides access to the Object Dictionary Upload and Download is possible with a peerto peer communication Exchange of small Parameters is defined Exchange of large Blocks is defined Protocol is defined OD-entries can be write-protected Parametration of a Device is possible 18 9
CANOpen Network Node ID NMT Master Node-ID 2 Slave Node ID 3 Slave Node ID 4 Slave Bus lines Each node has a unique node-id (often manually defined) Identifier for Communication objects depend on Node-ID 19 Identifier (Predefined) 10 9 8 7 6 5 4 3 2 1 0 Function Code Node-ID Function Code to distinguish between different objects Node ID 0 is reserved, is interpreted as Broadcast 127 nodes in a network are possible 20 10
Predefined connection set 21 Object Function Code (binary) resulting COB-ID NMT 0 0 0 0 0 (0x00) SYNC 0 0 0 1 128 (0x80) TIME STAMP 0 0 1 0 256 (0x100) Peer to Peer Objects Emergency 0 0 0 1 0x081-0x0FF PDO1 (tx) 0 0 1 1 0x181-0x1FF PDO1 (rx) 0 1 0 0 0x201-0x27F PDO2 (tx) 0 1 0 1 0x281-0x2FF PDO2 (rx) 0 1 1 0 0x301-0x37F PDO3 (tx) 0111 1 1 0381 0x381-03FF 0x3FF PDO3 (rx) 1 0 0 0 0x401-0x47F PDO4 (tx) 1 0 0 1 0x481-0x4FF PDO 4(rx) 1 0 1 0 0x501-0x57F SDO (tx) 1 0 1 1 0x581-0x5FF SDO (rx) 1 1 0 0 0x601-0x67F NMT Error Contro 1 1 1 0 0x701-0x77F Network Initialisation Configuration of all device parameters Including communication parameters (via default SDO) (Optional) Start transmission of SYNC, wait for Synchronisation of all devices (Optional) Start t Node-Guarding di Stetting of all nodes to Operational State 22 11
State Diagram of a Device Power on Initialisation Reset Comm. Reset Node Pre-Operational Start Enter Pre-Op Operational Enter Pre-Op Start Stop Stop Stopped 23 Messages in different States Init Pre-Operational Operational Stopped PDO x SDO x x SYNC x x TimeStamp x x EMCY x x BootUp x NMT x x x Message: NMT ID 0 Length 2 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 0x01 Start Remote Node 0x02 Stop Remote Node 0x80 Enter Pre-Operational Mode 0x81 Reset Node 0x82 Reset Communication Byte 1 24 node-id 0 Command valid for all nodes Command valid for the given node 12