Galil Webinar May 2014. The Evolution of Ethernet in Motion and I/O Control

Galil Motion Control

The Evolution of Ethernet in Motion and I/O Control

By Ann Keffer and Robin Riley

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Agenda •Galil Motion Control

•About •Product Overview

•Before Ethernet •Motion Control and Ethernet

•Proprietary Network Architecture •Benefits of Ethernet •Determinism and Non-Determinism Defined •Is Non-Determinism Relevant? •UDP/IP and TCP/IP

•Galil’s Ethernet Options •The Future of Ethernet in Control Systems •Summary •Q&A




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About Galil

Established Reputation and Long History of Success •Founded in 1983 by Jacob Tal and Wayne Baron •Introduced 1st microprocessor-based servo controller •Profitable for over 110 consecutive quarters •Delivered over 750,000 motion controllers and PLCs

Excellent Technical Support and Service •World-wide network of factory-trained reps & distributors •Technical support team with over 100 man-years of motion control experience •On-line support tools at www.galil.com




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Product Overview

Multi-axis Motion Controllers For ultra high-speed performance •DMC-40x0, DMC-18x6

For low-cost precise control •DMC-41x3,DMC-18x2, DMC-21x3

Single-Axis Motion Controllers • DMC-3x00x

Prior General Motion Controllers •DMC-14x5, CDS-3310

Ethernet I/O Controllers (PLC) •RIO-47xxx




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Before Ethernet

Before Ethernet was widely used in control systems, there was:

•Bus based communication •Daisy-Chain Serial Communication •RS-485 multi-drop •Various serial communication networks such as CANOpen and DeviceNet

Galil Introduced first Ethernet Motion Controller in 1999




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Proprietary Network Architecture

Initially control systems used proprietary network architectures to communicate between multiple devices

•Vendors had complete control because they were single vendor solutions (Syncnet, MACA, Mecatrol Link) •Mutli-vendor solutions such as Profibus, CANOpen and MultiNet did not become ubiquitous due to limited capabilities •Higher cost •Barrier to migration




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Benefits of Ethernet Ethernet architecture was used as an alternative to proprietary bus communication because its:

•Scalable •Affordable •Flexible •Multi-vendor •Ubiquitous

Ethernet




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Determinism and Non-Determinism Defined

A Non-Deterministic network allows any device on the network to transmit at any time. Many masters and many slaves can exist, the network can be closed (not connected to the outside) or open (Internet). Because devices can talk at the same time, collisions can occur requiring the devices to retransmit. An example of a protocol in a non-deterministic network is TCP/IP.

A Deterministic network has a guaranteed ‘same time’ delay for data transfer. A deterministic network typically has one master and many slaves. If the given time to transmit isn’t used it is lost. Examples of protocols in a deterministic network is CanOpen and EtherCAT.

Ethernet

Non-Deterministic Deterministic




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Is Non-Determinism Relevant?

A collision occurs if two devices transmit at the same time. Are collisions likely to cause problematic delays for control systems?

•Assume 100Mbit/s wire speed •100 bits of data, 8 bits/byte = 8 microseconds transmission time (packet size is typically small) •Closed network •One master transmitting

Any Ethernet network that is deterministic must be a closed network because network traffic must be controlled

Ethernet

Non-Deterministic Deterministic




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UDP/IP (User Datagram Protocol) •No connection establishment •Receiver doesn’t acknowledge receipts •Multicast and broadcast •No connection state •Suitable for closed networks •Greater throughput due to fewer packets

TCP/IP (Transmission Control Protocol) •Guarantees data arrives in the correct order •Only one transmitter and receiver •Receiver acknowledges receipt assuring no lost packets •Provides congestion control •Suitable for open networks and large closed networks

UDP/IP and TCP/IP

Ethernet

Non-Deterministic

UDP/IP

TCP/IP

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UDP/IP and TCP/IP

Ethernet

Non-Deterministic

UDP/IP

TCP/IP

Incoming frame

Ethernet driver

IP

UDP TCP

Data Data




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Galil’s Ethernet Options

•Ascii over UDP/IP •Ascii over TCP/IP •ModBus TCP •Ethernet/IP •EtherCAT

Ethernet

Non-Deterministic

UDP/IP TCP/IP

ModBus TCP

Ethernet/IP

Deterministic

EtherCAT




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ASCII over UDP/IP

•Can be managed without proprietary software •Suitable for most closed control networks •Default communication protocol for current generation Galil software (GalilSuite)

Ethernet

Non-Deterministic

UDP/IP

TCP/IP

IP Datagram

IP Header

UDP Data

20 Bytes

UDP Datagram

UDP Header 8 Bytes

Ethernet Header

Ethernet Trailer

14 Bytes




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HMI

Contour Mode Pos, Time

Buffer Depth Positions, I/O DMC-4080

CNC 5 Axes

Various modes of motion supported such as: Contour mode and PVT mode

UDP/IP Application




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ASCII over TCP/IP •Can be managed without proprietary software for example:

•Telnet and socket based communication (Windows, Linux etc.)

•Appropriate for complex control networks with varying types of data, long distances between devices and many devices such as switches and routers •Open network •Default protocol for API toolkit (GalilTools)

IP Datagram

Ethernet Header

IP Header

Data

14 Bytes 20 Bytes

Ethernet Trailer

4 Bytes

Ethernet Frame

TCP Header 20 Bytes

Ethernet

Non-Deterministic

UDP/IP

TCP/IP




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Achieving Ultra-Fast Precision with TCP/IP over Ethernet

Time to command, move, settle and alert the host PC

•Galil DMC-40x0 •Schneeberger linear motor stage •Copley digital amplifier




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ModBus TCP

•Well defined format within TCP packet •Typically used for sharing I/O and array data •Multi-vendor support •Standard I/O commands in Galil programming language for ModBus I/O

IP Datagram

Ethernet Header IP Header Data

14 Bytes 20 Bytes

Ethernet Trailer

4 Bytes

TCP Header

20 Bytes

IP Header TCP Header Data

Ethernet Frame

TCP Segment

TCP Header Data

ModBus TCP Data

ModBus TCP is embedded in data segment of TCP frame

Ethernet

Non-Deterministic

UDP/IP TCP/IP

ModBus TCP




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Recipes, Speed

Labeling, Registration mark, Cammed Motion, For sealing Bottle Caps

Analog, Digital I/O

ModBus TCP Application

Host PC




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Ethernet/IP Application

•Compatible with some proprietary control systems •Built on TCP/IP protocols •Packet data allows sharing multi- vendor motion and I/O commands •Galil offers Ethernet/IP as an available solution

Ethernet

Non-Deterministic

UDP/IP TCP/IP

ModBus TCP

Ethernet/IP

Deterministic

IP Datagram

Ethernet Header

IP Header

Data

14 Bytes 20 Bytes

Ethernet Trailer

4 Bytes

Ethernet Frame

TCP Header

20 Bytes

Ethernet IP




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Ethernet/IP Application

RIO-47100

RIO-47100

DMC-4040’s

AB PLC

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EtherCAT

•Deterministic protocol based on CANOpen •Built on Ethernet physical layer •Ensures reliable servo loop closure over network •Suitable for physically distant drives •Galil offers an EtherCAT master for motion applications •Needs closed network

Ethernet

Non-Deterministic

UDP/IP TCP/IP

ModBus TCP

Ethernet/IP

Deterministic

EtherCAT

constant header completely sorted (mapped) process data

Working Counter: constant

DA SA Type Frame HDR

EtherCAT HDR Data

Ethernet Header EtherCAT Telegram ECAT

(6) (6) (2) (2) (10) (0….1486)

CTR

Ethernet Trailer

(4) (2)




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•DMC-4000 •4 axes – 2 local, 2 external •Yaskawa and AMC 3 phase brush drives •All axes coordinated as if local

DMC-4000 Host PC

EtherCAT Application




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The Future of Ethernet and Control Systems

•Beyond Gigabit •Wireless is viable •Internet of Things •Standardization of protocols so that anything can identify itself and run anywhere •Smart Sensors




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Summary

The introduction of Ethernet into control systems has provided a easy-to-configure, reliable, high performance,

vendor-neutral means of communication between devices. Ethernet is a base for many versions of data transmission that be chosen based on the control application. It is cost

effective and ubiquitous.

Galil offers a variety of Ethernet protocols for motion control systems.




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Q&A?

Contact Galil technical support if you have questions: 1 800 377 6329, email [email protected]

In Canada contact: Electromate 1 877 737 8698 Email: [email protected]




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Technology

Galil Webinar May 2014. The Evolution of Ethernet in Motion and I/O Control