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class="vector-toc-numb">1</span> <span>Description</span> </div> </a> <button aria-controls="toc-Description-sublist" class="cdx-button cdx-button--weight-quiet cdx-button--icon-only vector-toc-toggle"> <span class="vector-icon mw-ui-icon-wikimedia-expand"></span> <span>Toggle Description subsection</span> </button> <ul id="toc-Description-sublist" class="vector-toc-list"> <li id="toc-Factory_buses" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Factory_buses"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.1</span> <span>Factory buses</span> </div> </a> <ul id="toc-Factory_buses-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-CPU_buses" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#CPU_buses"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.2</span> <span>CPU buses</span> </div> </a> <ul id="toc-CPU_buses-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Field_buses" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Field_buses"> <div class="vector-toc-text"> <span class="vector-toc-numb">1.3</span> <span>Field buses</span> </div> </a> <ul id="toc-Field_buses-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Why_not_use_the_same_network_everywhere?" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Why_not_use_the_same_network_everywhere?"> <div class="vector-toc-text"> <span class="vector-toc-numb">2</span> <span>Why not use the same network everywhere?</span> </div> </a> <ul id="toc-Why_not_use_the_same_network_everywhere?-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-OSI_model" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#OSI_model"> <div class="vector-toc-text"> <span class="vector-toc-numb">3</span> <span>OSI model</span> </div> </a> <button aria-controls="toc-OSI_model-sublist" class="cdx-button cdx-button--weight-quiet cdx-button--icon-only vector-toc-toggle"> <span class="vector-icon mw-ui-icon-wikimedia-expand"></span> <span>Toggle OSI model subsection</span> </button> <ul id="toc-OSI_model-sublist" class="vector-toc-list"> <li id="toc-Layer_1:_Physical" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Layer_1:_Physical"> <div class="vector-toc-text"> <span class="vector-toc-numb">3.1</span> <span>Layer 1: Physical</span> </div> </a> <ul id="toc-Layer_1:_Physical-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Layer_2:_Data_link" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Layer_2:_Data_link"> <div class="vector-toc-text"> <span class="vector-toc-numb">3.2</span> <span>Layer 2: Data link</span> </div> </a> <ul id="toc-Layer_2:_Data_link-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Layer_3:_Network" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Layer_3:_Network"> <div class="vector-toc-text"> <span class="vector-toc-numb">3.3</span> <span>Layer 3: Network</span> </div> </a> <ul id="toc-Layer_3:_Network-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Layer_4:_Transport" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Layer_4:_Transport"> <div class="vector-toc-text"> <span class="vector-toc-numb">3.4</span> <span>Layer 4: Transport</span> </div> </a> <ul id="toc-Layer_4:_Transport-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Layer_5:_Session" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Layer_5:_Session"> <div class="vector-toc-text"> <span class="vector-toc-numb">3.5</span> <span>Layer 5: Session</span> </div> </a> <ul id="toc-Layer_5:_Session-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Layer_6:_Presentation" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Layer_6:_Presentation"> <div class="vector-toc-text"> <span class="vector-toc-numb">3.6</span> <span>Layer 6: Presentation</span> </div> </a> <ul id="toc-Layer_6:_Presentation-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Layer_7:_Application" class="vector-toc-list-item vector-toc-level-2"> <a class="vector-toc-link" href="#Layer_7:_Application"> <div class="vector-toc-text"> <span class="vector-toc-numb">3.7</span> <span>Layer 7: Application</span> </div> </a> <ul id="toc-Layer_7:_Application-sublist" class="vector-toc-list"> </ul> </li> </ul> </li> <li id="toc-Typical_usages_of_field_buses_at_the_application_levels" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Typical_usages_of_field_buses_at_the_application_levels"> <div class="vector-toc-text"> <span class="vector-toc-numb">4</span> <span>Typical usages of field buses at the application levels</span> </div> </a> <ul id="toc-Typical_usages_of_field_buses_at_the_application_levels-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Field_bus_protocol" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Field_bus_protocol"> <div class="vector-toc-text"> <span class="vector-toc-numb">5</span> <span>Field bus protocol</span> </div> </a> <ul id="toc-Field_bus_protocol-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Properties_of_field_buses" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Properties_of_field_buses"> <div class="vector-toc-text"> <span class="vector-toc-numb">6</span> <span>Properties of field buses</span> </div> </a> <ul id="toc-Properties_of_field_buses-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Topology" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Topology"> <div class="vector-toc-text"> <span class="vector-toc-numb">7</span> <span>Topology</span> </div> </a> <ul id="toc-Topology-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Advantages_of_field_buses" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Advantages_of_field_buses"> <div class="vector-toc-text"> <span class="vector-toc-numb">8</span> <span>Advantages of field buses</span> </div> </a> <ul id="toc-Advantages_of_field_buses-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Disadvantages_of_field_buses" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Disadvantages_of_field_buses"> <div class="vector-toc-text"> <span class="vector-toc-numb">9</span> <span>Disadvantages of field buses</span> </div> </a> <ul id="toc-Disadvantages_of_field_buses-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Aspects_to_consider_when_choosing_a_field_bus" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Aspects_to_consider_when_choosing_a_field_bus"> <div class="vector-toc-text"> <span class="vector-toc-numb">10</span> <span>Aspects to consider when choosing a field bus</span> </div> </a> <ul id="toc-Aspects_to_consider_when_choosing_a_field_bus-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-The_most_used_different_field_buses" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#The_most_used_different_field_buses"> <div class="vector-toc-text"> <span class="vector-toc-numb">11</span> <span>The most used different field buses</span> </div> </a> <ul id="toc-The_most_used_different_field_buses-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Overview_of_the_most_used_bus_systems" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Overview_of_the_most_used_bus_systems"> <div class="vector-toc-text"> <span class="vector-toc-numb">12</span> <span>Overview of the most used bus systems</span> </div> </a> <ul id="toc-Overview_of_the_most_used_bus_systems-sublist" class="vector-toc-list"> </ul> </li> <li id="toc-Further_reading" class="vector-toc-list-item vector-toc-level-1 vector-toc-list-item-expanded"> <a class="vector-toc-link" href="#Further_reading"> <div class="vector-toc-text"> <span class="vector-toc-numb">13</span> <span>Further reading</span> </div> </a> <ul id="toc-Further_reading-sublist" class="vector-toc-list"> </ul> </li> </ul> </div> </div> </nav> </div> </div> <div class="mw-content-container"> <main id="content" class="mw-body"> <header class="mw-body-header vector-page-titlebar"> <nav aria-label="Contents" class="vector-toc-landmark"> <div id="vector-page-titlebar-toc" class="vector-dropdown vector-page-titlebar-toc 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class="vector-body" aria-labelledby="firstHeading" data-mw-ve-target-container> <div class="vector-body-before-content"> <div class="mw-indicators"> </div> <div id="siteSub" class="noprint">From Wikibooks, open books for an open world</div> </div> <div id="contentSub"><div id="mw-content-subtitle"><div class="subpages">< <bdi dir="ltr"><a href="/wiki/Embedded_Control_Systems_Design" title="Embedded Control Systems Design">Embedded Control Systems Design</a></bdi></div></div></div> <div id="mw-content-text" class="mw-body-content"><div class="mw-content-ltr mw-parser-output" lang="en" dir="ltr"><div align="center" style="border: 1px solid #CCDDFF; background-color: #7788AA;"> <table width="100%" style="background-color: #7788AA;"> <tbody><tr><td rowspan="2"> <div class="center"><span style="color:white;"><small>The Wikibook of</small></span> <p><br /> </p> <div style="font-size: 200%;"><span style="color:white;">Embedded Control Systems Design</span></div> <p><br /> </p> </div> </td> </tr></tbody></table> </div> <p>This chapter looks at the inter-system communication components that occur in the embedded motion systems this book is focusing on. </p> <ul><li>Serial lines</li> <li>Controller Area Network (CAN)</li> <li>Profibus</li> <li>Realtime ethernet (RTnet, EtherCat, ProfiNet...)</li> <li>Devicenet</li> <li>Inter-Integrated Circuit (I2C)</li> <li>Serial Peripheral Interface (SPI)</li> <li>Firewire</li></ul> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="Description">Description</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=1" title="Edit section: Description" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=1" title="Edit section's source code: Description"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>A <b>field bus</b> is a part of a system which provides the communication between several components in that system (for example an actuator or a sensor). A bus is a cable with an interface on the two ends . A bus system is a collective noun for all buses, this means that there is a distinguish between: </p> <ul><li>Factory buses (or a factory network)</li> <li>CPU buses</li> <li><a href="https://en.wikipedia.org/wiki/Fieldbus" class="extiw" title="w:Fieldbus">Field busses</a></li></ul> <div class="mw-heading mw-heading3"><h3 id="Factory_buses">Factory buses</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=2" title="Edit section: Factory buses" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=2" title="Edit section's source code: Factory buses"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>A factory bus supports the management. The data of consequence for planning, logistic, quality, etc. will be sent over this network. A factory bus has been developed especially for the connection between several computers (for example: PCL, VME, etc.). </p> <div class="mw-heading mw-heading3"><h3 id="CPU_buses">CPU buses</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=3" title="Edit section: CPU buses" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=3" title="Edit section's source code: CPU buses"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>See the chapter about <a href="/wiki/Embedded_Control_Systems_Design/Processors" title="Embedded Control Systems Design/Processors">processors</a> </p> <div class="mw-heading mw-heading3"><h3 id="Field_buses">Field buses</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=4" title="Edit section: Field buses" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=4" title="Edit section's source code: Field buses"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Three communication types exist for field buses, namely <a href="https://en.wikipedia.org/wiki/Serial_communications" class="extiw" title="w:Serial communications">serial</a>, <a href="https://en.wikipedia.org/wiki/Parallel_bus" class="extiw" title="w:Parallel bus">parallel</a> and <a href="https://en.wikipedia.org/wiki/Wireless" class="extiw" title="w:Wireless">wireless buses</a>. The difference between serial and parallel field buses is principally the quantity of data that can be sent in one cycle. For a serial bus the process of sending data is one bit at one time. This is in contrast to parallel communications, where all the bits of each symbol are sent together. Wireless field busses are nowadays still in development. Because of this, the use of wireless field buses is limited in control systems. </p> <div class="mw-heading mw-heading2"><h2 id="Why_not_use_the_same_network_everywhere?"><span id="Why_not_use_the_same_network_everywhere.3F"></span>Why not use the same network everywhere?</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=5" title="Edit section: Why not use the same network everywhere?" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=5" title="Edit section's source code: Why not use the same network everywhere?"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Networks such as <a href="https://en.wikipedia.org/wiki/TCP/IP" class="extiw" title="w:TCP/IP">TCP/IP</a> and Novell have already been on the market for a long time. Much software has been developed for it, and the paediatrics diseases are already solved. Field buses are still “young” networks which are aimed, in contrast to standard networks, to transport small quantities of information. Field busses need less hardware than standard networks. Because of this, they can be incorporated in the smallest sensors and actuators. Field bus applications secure special requirements to the hardware, for example intrinsic safe, voltage supply over the network, very high protection against electric jamming, galvanic separation, control at several places, etc. </p> <div class="mw-heading mw-heading2"><h2 id="OSI_model">OSI model</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=6" title="Edit section: OSI model" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=6" title="Edit section's source code: OSI model"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <table class="wikitable" align="right"> <tbody><tr> <th colspan="5">OSI model </th></tr> <tr> <th> </th> <th>Data unit </th> <th>Layer </th> <th style="width:10em;">Function </th></tr> <tr> <th rowspan="3">Application <br />(Control systems) </th> <td rowspan="3">Data </td> <td>Application </td> <td><small>Network process to application</small> </td></tr> <tr> <td>Presentation </td> <td><small>Data representation and encryption</small> </td></tr> <tr> <td>Session </td> <td><small>Interhost communication</small> </td></tr> <tr> <th rowspan="4">Transport </th> <td>Segments </td> <td>Transport </td> <td><small>End-to-end connections and reliability (TCP)</small> </td></tr> <tr> <td>Packets </td> <td>Network </td> <td><small>Path determination and logical addressing (IP)</small> </td></tr> <tr> <td>Frames </td> <td>Data link </td> <td><small>Physical addressing (MAC & LLC)</small> </td></tr> <tr> <td>Bits </td> <td>Physical </td> <td><small>Media, signal and binary transmission</small> </td></tr></tbody></table> <p>The operation of the network program can be described by the <b>OSI layer model</b>. The OSI, or <b>Open System Interconnection</b>, model defines a network frame for implementing protocols in 7 layers. Control is passed from one layer to the next, starting at the application layer in one station, proceeding to the bottom layer, over the channel to the next station and back up the hierarchy. </p><p>In each of these layers there are certain rules. Two computer systems that want to make contact with each other, must keep themself to these rules. Otherwise there will be misunderstandings and the communication between both will go wrong. </p><p><b>Transport:</b> </p> <div class="mw-heading mw-heading3"><h3 id="Layer_1:_Physical">Layer 1: Physical</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=7" title="Edit section: Layer 1: Physical" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=7" title="Edit section's source code: Layer 1: Physical"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>In this layer is described which sort of cable (serial/parallel/wireless) with which bit rate is used. This layer conveys the bit stream through the network at the electrical and mechanical level. Fast Ethernet and RS232 are protocols with physical layer components. </p> <div class="mw-heading mw-heading3"><h3 id="Layer_2:_Data_link">Layer 2: Data link</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=8" title="Edit section: Layer 2: Data link" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=8" title="Edit section's source code: Layer 2: Data link"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>This layer fixes how and at which moment a message from a computer to another computer can be sent over the same cable. Also defining the addresses and the format of the messages belongs to the agreements of this layer. The data link layer is divided into two sub layers: The Media Access Control (MAC) layer and the Logical Link Control (LLC) layer. The MAC sub layer controls how a computer on the network gains access to the data and permission to transmit it. The LLC layer controls frame synchronization, flow control and error checking. </p> <div class="mw-heading mw-heading3"><h3 id="Layer_3:_Network">Layer 3: Network</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=9" title="Edit section: Layer 3: Network" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=9" title="Edit section's source code: Layer 3: Network"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>This layer provides switching and routing technologies, creating logical paths, known as virtual circuits for transmitting data from node to node. If several networks are put together it is necessary to make agreements: -How does the general addressing happen and on how is the route chosen that the message must follow? </p> <div class="mw-heading mw-heading3"><h3 id="Layer_4:_Transport">Layer 4: Transport</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=10" title="Edit section: Layer 4: Transport" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=10" title="Edit section's source code: Layer 4: Transport"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>This layer provides transparent transfer of data between end-systems, or hosts, and is responsible for end-to-end error recovery and flow control. In this way we obtain a reliable network connection. It ensures complete data transfer. </p><p><b>Application (control systems):</b> </p> <div class="mw-heading mw-heading3"><h3 id="Layer_5:_Session">Layer 5: Session</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=11" title="Edit section: Layer 5: Session" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=11" title="Edit section's source code: Layer 5: Session"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>This layer establishes, manages and terminates connections between applications. There are three kinds of sessions in the OSI-model: - ‘one way’: the information will be sent in one direction. - ‘two way simultaneously’: both participants can send and receive at the same time (full duplex). - ‘two ways alternate’: both sides can various send and receive (half duplex). </p> <div class="mw-heading mw-heading3"><h3 id="Layer_6:_Presentation">Layer 6: Presentation</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=12" title="Edit section: Layer 6: Presentation" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=12" title="Edit section's source code: Layer 6: Presentation"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>This layer provides independence of differences in data representation (e.g., encryption) by translating from application to network format, and vice versa (for example: from ASCII to EBCDIC). </p> <div class="mw-heading mw-heading3"><h3 id="Layer_7:_Application">Layer 7: Application</h3><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=13" title="Edit section: Layer 7: Application" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=13" title="Edit section's source code: Layer 7: Application"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>This layer specifies which applications are available to the user. Everything at this layer is application specific. The user programs are situated in this layer with which you can read files on another computer, run a process, etc. </p> <div class="mw-heading mw-heading2"><h2 id="Typical_usages_of_field_buses_at_the_application_levels">Typical usages of field buses at the application levels</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=14" title="Edit section: Typical usages of field buses at the application levels" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=14" title="Edit section's source code: Typical usages of field buses at the application levels"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>There are several typical usages of field buses, the differences are mainly in the way they handle information. The different types in control systems are: </p> <ul><li><b>Remote I/O</b> (central controllers, distributed sensors, machine tools with CAN I/O):</li></ul> <p>This type of field bus acts as a multiplexer. The data bits are offered to the network and further transported to the outputs elsewhere in the network. </p> <ul><li><b>Master/slave</b> (master controller, distributed slave controllers)</li></ul> <p>The master can send a task to the slave via the bus. The slave processes this task and gives an answer. Slaves can’t communicate mutually. </p> <ul><li><b>Client/server</b> :</li></ul> <p>A field bus with several masters. A client gives a task to the server. These will carry out the task first and answer afterwards. A station can be both client and server at the same time and so they can send several tasks at the same time. </p> <ul><li><b>Consumer/producer</b>:</li></ul> <p>A field bus with several masters where each consumer station is interested in a certain piece of data, while the producer station provides the information to the consumer that wants to subscribe to the producer data. </p> <div class="mw-heading mw-heading2"><h2 id="Field_bus_protocol">Field bus protocol</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=15" title="Edit section: Field bus protocol" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=15" title="Edit section's source code: Field bus protocol"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The field bus interface encodes the commands or the state of an in- or output to digital information which is arranged for transport over the cable. </p> <div class="mw-heading mw-heading2"><h2 id="Properties_of_field_buses">Properties of field buses</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=16" title="Edit section: Properties of field buses" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=16" title="Edit section's source code: Properties of field buses"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li>Short response time</li> <li>Large reliability</li> <li>Cheap wiring</li> <li>Open standards</li> <li>Simple protocols</li> <li>Low price per connection</li></ul> <p><b>Response time:</b> </p><p>In real time: deterministic response time (for example CAN) </p><p>-very short response time: For the link PLC - periphery Examples: Profibus DP, CAN and Interbus-S. </p><p>-average response time: For the link PLC - supervision system Example: Profibus FMS </p><p><b>Wiring for field busses:</b> </p><p>The trend is as follows: </p> <ul><li>parallel -> serial -> wireless:</li></ul> <p>-previous coax (Ethernet cable) </p><p>-often RS485 </p><p>advantages: cheap, easy to install </p><p>disadvantage: no high speeds </p><p>-also glass fiber </p><p>advantage: large distances possible </p><p><b>Open standard</b> </p><p>-why: </p><p>To make communication possible between heterogeneous systems from different vendors that exists for different OSI layers </p><p>-Examples: </p><p>DIN 19245 (Profibus), IEEE 1118 (Bitbus) ISO/DIS 11519-1 AND ISO/DIS 11898 (CAN) </p> <ul><li>field bus with layer 1 and layer 2</li></ul> <p>-protocols in hardware or software <br /> -applicable in devices <br /> -not arranged for link of heterogeneous devices <br /> -Example: CAN </p> <ul><li>field bus with layer 1, layer 2 and layer 7</li></ul> <p>-more complex protocols in software<br /> -arranged for link of heterogeneous apparatuses<br /> -Example: Profibus-FMS </p> <div class="mw-heading mw-heading2"><h2 id="Topology">Topology</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=17" title="Edit section: Topology" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=17" title="Edit section's source code: Topology"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>The construction of a network that is built by some field buses can take several physical forms. Such a form is called a topology of a network. Some examples of different topologies are: </p> <ul><li><a href="https://en.wikipedia.org/wiki/Star_network" class="extiw" title="w:Star network">Star</a></li> <li><a href="https://en.wikipedia.org/wiki/Bus_network" class="extiw" title="w:Bus network">Line</a></li> <li><a href="https://en.wikipedia.org/wiki/Tree_(graph_theory)" class="extiw" title="w:Tree (graph theory)">Tree</a></li> <li>Mono-master</li> <li>Multi-master</li></ul> <div class="mw-heading mw-heading2"><h2 id="Advantages_of_field_buses">Advantages of field buses</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=18" title="Edit section: Advantages of field buses" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=18" title="Edit section's source code: Advantages of field buses"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li>Only a few cables necessary</li> <li>No problems with 4-20 mA conversion (direct communication with PLC or PC.)</li> <li>More intelligence possible in equipment</li> <li>Simple to extend without extra wiring</li> <li>Maintenance and jamming can be searched through the network</li> <li>Digital technique</li></ul> <div class="mw-heading mw-heading2"><h2 id="Disadvantages_of_field_buses">Disadvantages of field buses</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=19" title="Edit section: Disadvantages of field buses" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=19" title="Edit section's source code: Disadvantages of field buses"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li>There is not yet a standardization of the user interface</li> <li>Sometimes you must contact several manufacturers for support when you have got a problem</li></ul> <div class="mw-heading mw-heading2"><h2 id="Aspects_to_consider_when_choosing_a_field_bus">Aspects to consider when choosing a field bus</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=20" title="Edit section: Aspects to consider when choosing a field bus" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=20" title="Edit section's source code: Aspects to consider when choosing a field bus"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li>The maximum bus length (see overview)</li> <li>Number of clients</li> <li>Data rate</li> <li>Topology</li> <li>Price</li> <li>The time (difficulty) to add/remove a client</li> <li>The maximum cycle time</li> <li>Compatibility between the different field buses</li> <li>Stability of the system</li> <li>Applicability for communication between controllers, PC’s, and/or intelligent equipment</li> <li>Availability of interface cards for PC’s</li> <li>Maximum number of repeaters</li> <li>Maximum number of nodes without using repeaters</li> <li>Maximum number of nodes with use of repeaters</li> <li>Maximum data in one message</li> <li>Maximum number of masters</li></ul> <div class="mw-heading mw-heading2"><h2 id="The_most_used_different_field_buses">The most used different field buses</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=21" title="Edit section: The most used different field buses" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=21" title="Edit section's source code: The most used different field buses"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="https://en.wikipedia.org/wiki/INTERBUS" class="extiw" title="w:INTERBUS">Interbus</a></li> <li><a href="https://en.wikipedia.org/wiki/Profibus" class="extiw" title="w:Profibus">Profibus</a></li> <li><a href="https://en.wikipedia.org/wiki/Controller_Area_Network" class="extiw" title="w:Controller Area Network">CAN</a></li> <li><a href="https://en.wikipedia.org/wiki/Ethernet" class="extiw" title="w:Ethernet">Ethernet</a></li> <li><a href="https://en.wikipedia.org/wiki/EtherCAT" class="extiw" title="w:EtherCAT">EtherCAT</a></li> <li><a href="https://en.wikipedia.org/wiki/AS-interface" class="extiw" title="w:AS-interface">AS-Interface</a></li> <li><a href="https://en.wikipedia.org/wiki/DeviceNet" class="extiw" title="w:DeviceNet">DeviceNet</a></li></ul> <div class="mw-heading mw-heading2"><h2 id="Overview_of_the_most_used_bus_systems">Overview of the most used bus systems</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=22" title="Edit section: Overview of the most used bus systems" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=22" title="Edit section's source code: Overview of the most used bus systems"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Bus systems have been developed mostly to be used in a certain scope. In the table below an overview is given along with the specifications of the different bus systems. </p> <table class="wikitable"> <tbody><tr> <th colspan="1"> </th> <th colspan="1">Interbus </th> <th rowspan="1">Profibus </th> <th rowspan="1">CANopen </th> <th rowspan="1">Ethernet </th> <th rowspan="1">EtherCAT </th> <th rowspan="1">AS-Interface </th> <th rowspan="1">DeviceNET </th></tr> <tr> <td>bit rate </td> <td>500 kbit/s (Cu) 2 Mbit/s (fiberglass) </td> <td>9,6 / 19,2 / 93,75 / 187,5 and 500 kbit/s (FMS). DP like FMS but also supports 1,5 / 3 / 6 and 12 Mbit/s. PA supports only 31,25 kbit/s </td> <td>5kbit/s till 1Mbit/s </td> <td>10Base-2/5/T/F:10MBit/s <br /> 100Base-T/T4/TX/FX: 100 MBit/s </td> <td>10MByte/s </td> <td>167 kbit/s </td> <td>125kbit/s <br />250kbit/s <br />500kbit/s </td></tr> <tr> <td>bus length </td> <td>400 m <br /> 13 km (Cu) <br /> 80 km (fiberglass) </td> <td>100 m (12Mbit/s) <br /> 200 m (1,5Mbit/s) <br /> 400 m (500kbit/s) <br /> 1 km (187,5kbit/s)<br /> Maximum 10 km (Cu), more tan 90 km (fiber optic) </td> <td>40 m (1Mbit/s) <br /> 620 m (100kbit/s) <br /> 10 km (5kbit/s) </td> <td>10Base-2: 183m <br /> 10Base-5: 500m <br /> 10Base-T: 100m <br /> 10Base-F: 1000m <br /> 100Base-T/T4/TX: 100m <br /> 100Base-FX: -- </td> <td>10 m (E-bus) <br /> 100 m (2 Tln.) <br /> 2 km (fiberglass) </td> <td>100 m <br /> 300 m (repeater) </td> <td>100 m (500kbit/s) <br /> 250 m (250kbit/s) <br /> 500 m (100kbit/s) </td></tr> <tr> <td>Message size </td> <td>8 or 16 bit </td> <td>1 - 249 byte </td> <td>0 – 8 byte </td> <td> </td> <td> </td> <td>3 bit </td></tr> <tr> <td>safety-bus </td> <td>INTERBUSsafety </td> <td>ProfiSafe </td> <td>CANopen-safety </td> <td>Safe Ethernet </td> <td>--- </td> <td>ASi-Safety </td> <td>DeviceNET safety </td></tr> <tr> <td>cycle time </td> <td>1 ms (1 I/O) linear up to 7,8 ms (1096 I/O) </td> <td>after data rate and transfer 1ms (10Slaves/12Mbit/s) 2ms (10Slaves/1.5Mbit/s) 6ms (30Slaves/1.5Mbit/s) </td> <td>Depending on :<br /> - transport speed<br /> - the range of data<br />- communication type </td> <td>--- </td> <td>12 μs (256 D-I/O)<br /> 50 μs (200 A-I/O)<br /> 350 μs (12000 D-I/O) </td> <td>500 μs 5 ms <br /> (31 Slaves) <br /> 10 ms(62 Slaves) </td> <td>Depending on : <br /> <p>- transport speed <br /> - the range of data <br /> - communication type <br /> </p> </td></tr> <tr> <td>members </td> <td>256, 4096 I/O </td> <td>maximal 126 </td> <td>124 </td> <td>100 pro Segment <br /> 1024 pro Network </td> <td>65535 </td> <td>31 (124 I / 124 O) <br /> 62 (248 I / 186 O) </td> <td>64 </td></tr> <tr> <td>Address allocation </td> <td>automatic </td> <td>coder </td> <td>coder </td> <td>48-bit length </td> <td>software </td> <td>automatic </td> <td>Software, coder </td></tr> <tr> <td>Topology </td> <td>Ring, mono-master </td> <td>Mono-/Multi-master, line </td> <td>Multi-master, line </td> <td>Star </td> <td>Line, star, tree </td> <td>Line, star, tree, mono-master </td> <td>Multi-master </td></tr> <tr> <td>OSI layers covered </td> <td>1, 2 and 7 </td> <td>1, 2 and 7 </td> <td> </td> <td>1, 2 </td> <td> </td> <td> </td> <td> </td></tr> <tr> <td>Transport layer </td> <td>RS485 </td> <td>RS485 </td> <td> </td> <td>Ethernet specific </td> <td> </td> <td> </td> <td> </td></tr> <tr> <td>Message destination (layer 3 & 4) </td> <td>Point-to-point </td> <td>Point-to-point, multicast and broadcast </td> <td> </td> <td>Point-to-point, multicast and broadcast </td> <td> </td> <td> </td> <td> </td></tr> <tr> <td>Price </td> <td> </td> <td> </td> <td> </td> <td> </td> <td> </td> <td> </td> <td> </td></tr> <tr> <td>Resistance against jitter </td> <td> </td> <td> </td> <td>120 Ohm </td> <td> </td> <td> </td> <td> </td> <td> </td></tr></tbody></table> <div class="mw-heading mw-heading2"><h2 id="Further_reading">Further reading</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&veaction=edit&section=23" title="Edit section: Further reading" class="mw-editsection-visualeditor"><span>edit</span></a><span class="mw-editsection-divider"> | </span><a href="/w/index.php?title=Embedded_Control_Systems_Design/Field_busses&action=edit&section=23" title="Edit section's source code: Further reading"><span>edit source</span></a><span class="mw-editsection-bracket">]</span></span></div> <ul><li><a href="/wiki/Wikibooks:Information_technology_bookshelf#Serial_Communications" title="Wikibooks:Information technology bookshelf">Wikibooks:Information technology bookshelf#Serial Communications</a></li> <li><a href="https://en.wikipedia.org/wiki/Serial_Peripheral_Interface_Bus" class="extiw" title="wikipedia:Serial Peripheral Interface Bus">Wikipedia:Serial Peripheral Interface Bus</a> is a popular short-range bus (for chips on the same PCB).</li> <li><a href="https://en.wikipedia.org/wiki/Controller_Area_Network" class="extiw" title="wikipedia:Controller Area Network">Wikipedia:Controller Area Network</a> is a popular long-range bus</li></ul> <table width="100%" style="background-color: #7788AA; 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