Galil Presentation The Evolution Of Ethernet In Motion And I/O Control Webinar

Galil Motion Control
ICALEPCS October 2013
The Evolution of Ethernet in
Motion and I/O Control
By Ann Keffer and Robin Riley
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Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
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sales@electromate.com
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Agenda
•Galil
•About
•Product Overview
•Before Ethernet
•Motion Control and Ethernet
•Proprietary Network Architecture
•Benefits of Ethernet
•Determinism and Non-Determinism Defined
•Is Non-Determinism Relevant?
•Galil’s Ethernet Options
•The Future of Ethernet in Control Systems
•Summary
•Q&A ELECTROMATE
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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
Ethernet.
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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TCP/IP and UPD/IP
Ethernet
Non-
Deterministic
UDP/IP
TCP/IP
Incoming frame
Ethernet
driver
IP
TCP UDP
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
Detrministic
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
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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
Host PC
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Ethernet/IP
•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
Detrministic
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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DMC-4040’s
RIO-47100
Ethernet/IP
RIO-47100
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 TelegramECAT
(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-4000Host PC
EtherCAT
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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 support@galilmc.com
In Canada contact:
Electromate
1 877 737 8698
Email: sales@electromate.com

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