POWERLINK
The Standard for
Industrial Ethernet
POWERLINK
Segrate, 9 ottobre 2015
The standard for Industrial Ethernet
POWERLINK – Office of
EPSG
Bonsaiweg 6
15370 Fredersdorf
Germany
Miodrag Veselic
Technology Manager
Tel.: +49 (0)30 - 85 08 85 - 29
[email protected]
www.ethernet-powerlink.org
B&R Automazione Industriale
S.r.l.
Società Unipersonale
Dott. Ing.
Alessandro Cazzola
Business Development Engineer
[email protected]
Via Turrini, 19/B
40012 Calderara di Reno (BO)
Italy
Tel: +39 051 64608 - 17
Fax: +39 051 727860
Mobile: +39 335 5784429
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Content
Segrate, 9 ottobre 2015
Demands of the automation industry
Demands of the automation industry
Efficient, powerful and integrated solutions
POWERLINK technology
Functional principle
Features
Implementation of POWERLINK
Software / Hardware / FPGA
Open Source
Segrate, 9 ottobre 2015
Demands of the automation industry
Demands of the automation industry
Segrate, 9 ottobre 2015
Faster processing
Higher throughput
Higher accuracy
Higher reliability
Cost effective solution
Topology comparison
Conventional structure
Segrate, 9 ottobre 2015
Bus 3
Bus 4
I/O
Safety
PLC
Bus 6
Vision
Bus 5
Axis
Bus 2
Axis
Axis
control
Axis
Bus 1
Axis
PLC
<1ms jitter
<5ms cycle time
Sensor
>100 bytes
Sensor
<10$
I/O
Sensor
I/O
I/O
Sensor
>1Mbits/s
Normative
Topology comparison
Segrate, 9 ottobre 2015
Integrated automation
Axis
Axis
Axis
Vision
Axis
I/O
Axis
I/O
Axis
I/O
I/O
Axis
100 ns jitter
100 µs cycle time
1 to 1490 bytes
100 Mbit/s
<10$
Sensor
Axis
I/O
Axis
Safety
PLC
Axis
PLC
I/O
Segrate, 9 ottobre 2015
Segrate, 9 ottobre 2015
POWERLINK technology
POWERLINK Frame Structure
Segrate, 9 ottobre 2015
Standard Ethernet IEEE802.3
Phyisical layer (OSI Layer 1)
MAC Layer (OSI layer 2)
Ethernet payload: 42 – 1500 Byte
CANopen Reference Model
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POWERLINK is CANopen over Ethernet
Same device profiles
CANopen application layer
Same mechanisms (PDO, SDO, Object Dictionary…)
POWERLINK mechanism
Segrate, 9 ottobre 2015
PLC
PReq
SoC
SoA
CNn
CN1
CN2
Synchronous phase
Asynchronous phase
CYCLE TIME
MN = Managing Node (master)
CN = Controlled Node (slave)
SoC = Start of Cycle
SoA = Start of Asynchronous
Async. data
PRes CN1
PRes CN2
PRes CNn
I/O
Drive
I/O
Direct Cross Communication
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PReq
SoC
CN1
PLC
PRes CN1
Encoder
Drive
Encoder
Fastest drive synchronization
Centralized and decentralized architectures
Drive
Multiplexing
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°C
°C
°C
2
1
3
100
90
80
70
60
50
40
30
20
10
0
-10
-20
7 8 9 10 11
100
90
80
70
60
50
40
30
20
10
0
-10
-20
100
90
80
70
60
50
40
30
20
10
0
-10
-20
6
5
4
Cycle i
1
2
3
4
5
Cycle i+1
6
A
1
2
3
7
8
Cycle i+2
9
Dynamic cycle configuration
Perfect for integrated automation
A
1
2
3 10 11
Cycle i+3
A
1
2
3
4
5
6
A
Poll response chaining
Segrate, 9 ottobre 2015
PLC
PRes
SoC
SoA
MN
PReq
CNn
Synchronous phase
Asynchronous phase
CYCLE TIME
Async. data
PRes CN1
PRes CN2
PRes CN3
PRes CNn
Station 1
Station 2
Station 3
I/O
Ideal for centralized control (robotics)
Multiple Asynchronous Send
Segrate, 9 ottobre 2015
PLC
PReq
AInv
SoC
SoA
CN1
CN2
Asynchronous phase
Synchronous phase
CYCLE TIME
PRes CN1
Axis 1
PRes CN2
Axis 2
Increased asynchronous bandwidth
Multiple asynchronous frames per cycle
Async.
data
Vision
sensor
Async.
data
Async.
data
Video
Camera
Video
Camera
High availability
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Ring redundancy
PLC
Minimizes down time
Easy to Use
High availability
Redundant master
Media redundancy
Segrate, 9 ottobre 2015
PLC
PLC
Extremely fast change over
No down time
PLC
High availability
Segrate, 9 ottobre 2015
3.0
Average number of lost bits per cycle
Sum frame procedure
Single telegrams (POWERLINK)
2.5
2.0
1.5
1.0
0.5
0.0
0
5
10
15
20
25
Number of nodes
Single frame = robust protocol
Stable even for a high number of nodes
30
35
40
45
50
Segrate, 9 ottobre 2015
Performance
Segrate, 9 ottobre 2015
Exceptional performance
Example:
17 stations
800 digital I/O
180 analog I/O
24 axes
Cycle time of 370 µs
Timing characteristics
0.1 µs system synchronization
> 30 µs cycle time
Device Description
Files
XML Device Description Files (XDD)
Segrate, 9 ottobre 2015
XML file containing description of a device
Delivered with each POWERLINK device
Examples of XDD files
Available at http://www.ethernet-powerlink.org/
(section Downloads / Technical Documents)
<ISO15745ProfileContainer
xmlns="http://www.ethernet-powerlink.org"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd">
<ISO15745Profile>
<ProfileHeader>
<ProfileIdentification>Powerlink_Device_Profile</ProfileIdentification>
<ProfileRevision>1</ProfileRevision>
<ProfileName>MyDevice device profile</ProfileName>
<ProfileSource/>
<ProfileClassID>Device</ProfileClassID>
…
POWERLINK configuration
Segrate, 9 ottobre 2015
Automatic configuration of all nodes
XML Device Description file (XDD file) for Controlled Nodes
Managing Node configures all Controlled Nodes
Via SDO mechanism
Managing Node (MN)
Slave configuration via SDO
XDD
Controlled Nodes (CNs)
Controlled Nodes (CNs)
Segrate, 9 ottobre 2015
Implementation of POWERLINK
Segrate, 9 ottobre 2015
Open Source
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Open Source
License recognised by the Open Source Initiative
Open Source Definition (“10 Criteria”)
BSD license
Source code is open
Everybody is allowed to use and change it
Ability to re-publish changes under any other license
Why Open Source?
Segrate, 9 ottobre 2015
Better Quality
Availability of
Source Code
without license
Lower Costs
No Vendor “Lock in”
Why Open
Source?
Security
POWERLINK implementation
Segrate, 9 ottobre 2015
POWERLINK is an open protocol
No license, no patents
Free specification
Open-source protocol stack available
POWERLINK providers
B&R
Hilscher
HMS
Ixxat
Kalycito
Port,
Softing
Systec,
POWERLINK implementation
Segrate, 9 ottobre 2015
Any hardware
Any operating system
Example: FPGA Design
Segrate, 9 ottobre 2015
Industrial Ethernet FACTS
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Comparison of 5 major Industrial Ethernet technologies
Available at http://www.ethernet-powerlink.org/
openPOWERLINK
Segrate, 9 ottobre 2015
Open-source POWERLINK stack (MN and CN)
BSD license
Developed for Linux
Ported to Windows and VxWorks
Other platforms under development
Project hosted at SourceForge.net:
http://sourceforge.net/projects/openpowerlink/
openPOWERLINK on Raspberry Pi 2
Segrate, 9 ottobre 2015
http://www.kalycito.com/index.php/qsg-to-run-openpowerlink-on-raspberry-pi2
openPOWERLINK on Raspberry Pi 2
Segrate, 9 ottobre 2015
http://www.kalycito.com/index.php/qsg-to-run-openpowerlink-on-raspberry-pi2
openPOWERLINK on Raspberry Pi 2
Segrate, 9 ottobre 2015
http://www.kalycito.com/index.php/qsg-to-run-openpowerlink-on-raspberry-pi2
openPOWERLINK on Raspberry Pi 2
Segrate, 9 ottobre 2015
http://www.kalycito.com/index.php/qsg-to-run-openpowerlink-on-raspberry-pi2
openPOWERLINK on Raspberry Pi 2
Segrate, 9 ottobre 2015
http://www.kalycito.com/index.php/qsg-to-run-openpowerlink-on-raspberry-pi2
openPOWERLINK on Raspberry Pi 2
Segrate, 9 ottobre 2015
https://www.youtube.com/watch?v=78M1_WZnFgQ&feature=youtu.be
Raspberry Pi 2 – Raffle!
Segrate, 9 ottobre 2015