1、Introduction to Automation and Control Network工业自动化和控制网络介绍,Introduction to Automation and Control （自动化与控制简介）Industrial Network Protocols （工业控制网络协议）Profinet Modbus/TCPEtherNet/IP CIP (Common Industrial Protocol)Industrial Resilience Protocols （工业网络弹性协议）MRPREP,Agenda (议程）,自动化和控制介绍Introduction to Autom
2、ation and Control,开始之初,Motion in the manufacturing space was accomplished with human, wind, water (including steam), and great beasts (horses). With the advent of electricity and electric motors the use of logical circuits to control motion from fluid power actuators and motors and electric motors b
3、egan to take shape. Often distributed across the entire manufacturing plant, or refinery or mine.,To improve the efficiency of wiring and control large relay control cabinets were constructed and located in key central locations. The logic was basic Boolean using timers, relays, and counters.Problem
4、s remained and new problems came to pass:Human motion and energy was still much required Troubleshooting these panels were time consuming and required intuition as well as skill. Much was analog.,中心化 Centralization,A solid state device that controls output devices based on input status and a user de
5、veloped program.Receives input data from sensorsMakes decisions based upon the input data and pre-programmed logicSends control signals to actuators in real-time,PLC（可编程逻辑控制器）(Programmable Logic Controller),Input Module: Device that receives input signals from multiple sensors and combines them into
6、 messages for transmission on a networkOutput Module: Device that receives network messages containing multiple control signals and separates them for control of individual outputs,I/O 设备,Sensor: Device that measures some element of the physical process and converts that measurements into an electri
7、c input signalActuator: A type of motor that is responsible for moving or controlling a mechanism or system.Cell control: An area/zone containing sensors for gathering information from the manufacturing process, as well as actuators for implementing the manufacturing process,传感器和驱动器 Sensor and Actua
8、tor,HMI is a device or group of devices that:Receives data from a controller and displays it for operatorsAccepts commands from operators and transmits them to a controller,人机界面 Human Machine Interface (HMI),过程控制回路 Process Control Loop,HMI,工业网络协议Industrial Network Protocols,Used for data communicati
9、on between automation and control devicesMajor industrial automation protocols include: EtherNet/IP CIPProfinetModbus TCPNetwork redundancy protocols include:REP (Resilient Ethernet Protocol)MRP (Media Redundancy Protocol)DLR (Device Level Ring),工业自动化协议Industrial Automation Protocols,工业网络协议概览Industr
10、ial Network Protocol Overview,市场份额Market Shares,*Control Engineering Magazine Ethernet Study, November 2013,IMS Research, 2013,工业网络协议用途Industrial Network Protocol Usage,PROFINET,Industrial Ethernet Standard published by PI (PROFIBUS & PROFINET International)Protect legacy asset (compatible with PROF
11、IBUS), improve efficiency, increase uptime An object-oriented application to serve in device network to collect information, push configuration and diagnosis including monitor switch alarmsPROFINET uses GSD file (General Station Description) to describe properties and functions of field devicesUsed
12、in discrete, process application, motion control, vertical integration, safety, power energy saving,PROFINET介绍,PROFINET NRT (Non Real-Time)Standard TCP(UDP)/IPPROFINET CBAConfiguration, diagnostics, managementNon time critical status informationPROFINET RT (Real Time)802.1p tagged L2 FramePrimarily
13、PROFINET IO, some PROFINET CBAControl traffic, time critical alarms and messagingPROFINET IRT (Isochronous Real-Time)All device clock/bus cycles synchronized,PROFINET协议栈,Minimum of 3 devices to make a PROFINET system:IO Controller Typically a PLC on which the automation program runsIO Supervisor A p
14、rogramming device (ES), personal computer (PC), or human machine interface (HMI) device for commissioning, control or diagnostic purposesIO Device A distributed I/O field device that is connected via PROFINET IO,PROFINET设备术语,General Station Descriptor. An XML file used to describe the properties of
15、deviceContains the devices default symbolic (logical) nameDescribes configurable settingsIdentifies slots/modules/channels that provide IONo IO data in Slot 0 this is the Device Access Point (DAP)IO data or alarms always comes from sub slots or channelsIs used by IO Supervisor (e.g. SIMATIC STEP7) t
16、o program IO Controllers,PROFINET GSD文件,Defines the “networking” capabilities for individual devices,PROFINET 一致性分类（Conformance Classes）,Conformance Class C (CC-C),Conformance Class B (CC-B),Conformance Class A (CC-A),Standard Ethernet ComponentsCertified Devices and ControllersInfrastructure Manufa
17、cturer CertifiedCopper, Fibre, Wireless (all)CommunicationTCP/IP, RTCyclic I/O (100-512ms)AlarmsLLDP for Topology InformationRedundancy Class 1 (Optional)Typical ApplicationsBuilding Automation,Standard Ethernet ComponentsCertified InfrastructureCopper, FibreCommunicationLLDP-MIB for InformationLLDP
18、 PROFINET TLVsCyclic I/O (1-10ms)SNMP DiagnosticsSupport PDEV ProfileRedundancy Class 1 (Required)Redundancy Class 2 (Optional)Typical ApplicationsFactory AutomationProcess Automation,Proprietary Ethernet ComponentsDeterministic Ethernet - IRTCommunicationIRTCyclic I/O (250s-1m)Time Synchronisation
19、(PTP)Hardware Bandwidth ReservationRedundancy Class 1 (Required)Redundancy Class 2 (Required)Redundancy Class 3 (Required)Typical ApplicationsMulti-axis Motion Control,Connection between distributed IO Devices and Controllers.Enables “Real-time” operationDefines three communication channelsPROFINET
20、NRT Non-Real-TimePROFINET RT Real-TimePROFINET IRT Isochronous Real-TimeIP application protocols for configuration and maintenance functions: DHCP, DNS, SNMP, HTTP/S,PROFINET 定义了2个程序类,Component Based AutomationBuilt on DCOM (Distributed Component Object Model) and RPC (Remote Procedure Call) technol
21、ogiesObject oriented approach to communications between distributed islands of automationProvides a scalable architecture for dealing with complex distributed automation and control systems,PROFINET CBA,PROFINET IO,=,PROFINET NRT (Non Real-Time)Response (cycle) times of up to 100msStandard TCP(UDP)/
22、IPUsed by PROFINET CBA and PROFINET IOConfiguration downloads, diagnostics, managementNon time critical status informationPort 34964 UDP/TCP for PROFINET Context ManagerPort 34962 UDP/TCP for PROFINET IO UnicastPort 34963 UDP/TCP for PROFINET IO MulticastContext manager creates and manages communica
23、tion relationships,PROFINET IO 通信信道Communication Channels,PROFINET RT (Real Time or Soft Real-Time)Cycle times of up to 10ms802.1p tagged L2 FrameCalled “in-subnet” trafficPrimarily PROFINET IO, some PROFINET CBAControl traffic, time critical alarms and messaging,PROFINET IO 通信信道Communication Channe
24、ls,PROFINET IRT (Isochronous Real-Time)Cycle times of up to 1ms with less than 1s jitterAll device clock/bus cycles synchronisedStandard L2 FrameUses IEEE 1588 PTP with extensionsRequires proprietary ASIC and an FPGA! CC-CPROFINET IO for complex motion control trafficNiche applications - 5% typicall
25、y in a factory/plantNot supported by Cisco switches,Definition:Isochronal or isochronous (ahy-sok-ruh-nuhs)-adjHaving the same time duration; equal in timeOccurring at equal time intervals; having a uniform period of vibration or oscillation From Greek isokhronos, iso + khronos time,PROFINET IO 通信信道
26、Communication Channels,EtherNet/IP,Standard Unmodified EthernetIEEE 802.3 standardBuilt on TCP/IPOpen Standard: ODVA,EtherNet/IP协议,CIP - Common Industrial ProtocolMessages and Services for Industrial AutomationUDP Real Time I/O ControlTCP Explicit MessagingOpen standard ODVA Media IndependentDeviceN
27、et, ControlNet, CompoNet,Ethernet/IP,EtherNet/IP CIP协议,EtherNet/IP CIP消息(Messaging),Explicit MessagesTCP/IP Communications ProtocolUnscheduled Request/ResponseUsually Triggered by the PLCExamples:PLC to Drive MSG InstructionDevice DiagnosticsProgram Upload/Download,Implicit MessagesReal Time Control
28、of Inputs and OutputsTime Critical, ScheduledUDP Communications ProtocolRPI Setting Schedules Updates(Requested Packet Interval)Unicast or MulticastTTL=1,EtherNet/IP CIP消息(Messaging),EtherNet/IP CIP Extensions,CIP SafetyFunctional Machine SafetyGuardsSafety GatesLight CurtainsSIL 3 Certified - IEC 6
29、1508Standard and Safety I/O on the Same Network,Safety I/O,Safety I/O,Controller,I/O,Safety Controller,I/O,HMI,VFD,Servo Drive,PLC,Servo Drive,EtherNet/IP CIP扩展 （CIP Extensions）,CIP MotionDeterministic, Real-time, Closed Loop Motion ControlFull Standard Ethernet/IEEE 802.3 and TCP/IP ComplianceUses
30、IEEE-1588 PTP (Precision Time Protocol) SynchronizationUp to 100 Coordinated Servo Axes w/ 1ms Update,Safety I/O,Safety I/O,Controller,I/O,Safety Controller,I/O,HMI,VFD,Servo Drive,PLC,Servo Drive,CIP SyncIEEE 802.3 Precision Clock Synchronization Sub-millisecond TimestampsUsed Cases:Pharma audit tr
31、ailPower Gen SOE/Fault AnalysisMultiple Controller Time ManagementPrecision Action Coordination,Safety I/O,Safety I/O,Controller,I/O,Safety Controller,I/O,HMI,VFD,Servo Drive,PLC,Servo Drive,EtherNet/IP CIP扩展 （CIP Extensions）,Modbus TCP,Modbus 用于哪里？,Used in multiple master-slave applications to moni
32、tor and program devices; to communicate between intelligent devices and sensors and instrumentsTo monitor and program field devices using PCs and HMIsModbus is also an ideal protocol for RTU applications where wireless communication is required. For this reason, it is used in innumerable gas and oil
33、 and substation applicationsModbus is not only an industrial protocol, Building, infrastructure, transportation and energy applications also make use of its benefits,Modbus 为何使用？,Developed with industrial applications in mindOpenly published and royalty-freeEasy to deploy and maintainMoves raw bits
34、or words without placing many restrictions on vendors,Modbus TCP介绍,To move Modbus into the 21st century, an open Modbus TCP/IP specification was developed in 1999Modbus TCP is simply the Modbus RTU protocol with a TCP wrapper that runs on standard Ethernet,Since Modbus TCP shares the same physical a
35、nd data link layers of the OSI stack and the same TCP/IP suite of protocols, it remains fully compatible with the already installed Ethernet infrastructure (cables, NICs, switches),Modbus TCP-术语,Client - ScannerServer AdapterThe Client devices send read and write messages to the Server devices. Clie
36、nts can connect to multiple Server devices and request data from all of them. Server devices usually support a connection with a single Client but may offer multiple Client connections. When multiple Client connections are supported, only one connection is allowed to write data points in the Server.
37、,Modbus TCP 为何使用？,Simplicity: Modbus TCP/IP simply takes the Modbus instruction set and wraps TCP/IP around it. If you already have a Modbus driver and you understand Ethernet and TCP/IP sockets, you can have a driver up and running and talking to a PC in a few hours. Development costs are exception
38、ally low. Minimum hardware is required, and development is easy under any operating systemOpen: The Modbus protocol was transferred from Schneider Electric to the Modbus Organization in April 2004, signaling a commitment to openness. The specification is available free of charge for download, and th
39、ere are no subsequent licensing fee,Modbus TCP - Why,Standard Ethernet: There are no exotic chipsets required and you can use standard PC Ethernet cards to talk to your newly implemented deviceAvailability of many devices: Interoperability among different vendors devices and compatibility with a lar
40、ge installed base of Modbus-compatible devices makes Modbus an excellent choice,工业网络弹性协议,工业弹性协议比较Industrial Resiliency Protocol Comparison,MRP,媒体冗余协议MRP(Media Redundancy Protocol),L2 ring redundancy protocolRecommended for NRT (TCP/IP) and RT trafficStandardised as IEC 62439-2:2010 (new version due
41、soon!)Support is mandatory for CC-BLimited to single ring topologyMRP switches enable multiple rings to be joinedDefines 4 specific recovery time limits:10ms for max of 15 switches (FastMRP)30ms for max of 50 switches (FastMRP)200ms for max of 50 switches500ms for max of 50 switches,何谓MRP环？,Media Re
42、dundancy Protocol MRPEnables a redundant PROFINET Network through ring topologyEliminate switches in the ringEasy maintenance Origins from Hirschmann/Siemens HiPER-RingDefined in IEC/EN 62439-2 since 2008Based on IEEE 802.3 & 802.1D, operated in MAC layer,MRP的元素构成,MRP Profile: supports the 200ms (re
43、covery timer) MRM: Manager node, sends control frames to check ring stateMRC: Client node, reacts or receives configuration from Manager NodeMRP port states: disabled, blocked, forwarding Disabled: drop all frames receivedBlocked: drop all frames except the control framesForwarding: forward all the
44、received framesMRP sends 3 types of control frames: Test frame to monitor ring statusTopoChange frame to detect failure/recovery portLinkChange frames, notification sent from MRC to MRM,MRP拓扑结构：1个管理、多个终端MRP Topology: One Manager and Many Clients,MRP如何工作？,A loop free ring formed by a Manager(MRM), ma
45、ny MRP Client (MRC) nodes.One of the MRM port in forwarding state, another in blocked state but allows test frames and LLDP onlyMRM sends test frames (every 20 ms) from both ring ports and receive from other end of ring port, traffic is blocked on standby/blocked ring port.If MRM fails to receive it
46、s test frame, it open the blocked ring port to normal traffic, the fault neighbor moves to disabled. If multiple MRMs in the same ring, MRM become MRA (media redundancy auto manager),媒体冗余协议- MRPMedia Redundancy Protocol,MRM Medium Redundancy ManagerControls the ring, sends test framesProvides logica
47、l break in the ringCloses ring if failure detectedOne per ring,MRC Medium Redundancy ClientForward test and supervision framesCloses the ringMany per ring,MRC,MRC,Normal Operation,With Link Failure,MRP 如何工作？Watchdog packets check if all links are up,Redundancy Manager,Blocked port,MRP 如何工作？,Redundan
48、cy Manager,As soon as the MRM receives no watchdog packets, the redundant path will be activated immediately,MRP-如何工作？,MRP Manager,Blocked port,The Redundant path is enabled by the MRP ring manager, communication is routed over the alternate path.The failure is limited to the damaged segment or node,MRP 如何工作？,Redundancy Manager,When the failed link gets fixed, the MRM resume its closed ring state, block port resumes to original block port,
