1. Peter Lutz, Managing Director SERCOS International e.V.
Ausdruck vom:
Real-Time Ethernet Technology Comparison SERCOS Seminar Atlanta September 16, 2009
Peter Lutz, Managing Director
SERCOS International e.V.
(c) IGS, 2005

2. Real-Time Ethernet Competition
Ausdruck vom:
Real-Time Ethernet Competition
(c) SERCOS International 2009
(c) IGS, 2005

3. Overview on Real-Time Ethernet Technologies (Selection)
Ausdruck vom:
Overview on Real-Time Ethernet Technologies (Selection)
CC Link IE
Drive CliQ
EPA
EtherCAT
EtherNet/IP + CIP Sync
Ethernet Powerlink
IEEE 1588 / PTP
JetSync
Modbus RTPS
Mechatrolink III
PowerDNA
Profinet
RAPIEnet
RTEX
SafetyNET p
SERCOS III
SynqNet
TCnet
Varan
Vnet/IP
Source:
(c) SERCOS International 2009
(c) IGS, 2005

4. Overview on Real-Time Ethernet Technologies (Selection)
Ausdruck vom:
Overview on Real-Time Ethernet Technologies (Selection)
CC Link IE
Drive CliQ
EPA
EtherCAT
EtherNet/IP + CIP Sync
Ethernet Powerlink
IEEE 1588 / PTP
JetSync
Modbus RTPS
Mechatrolink III
PowerDNA
Profinet
RAPIEnet
RTEX
SafetyNET p
SERCOS III
SynqNet
TCnet
Varan
Vnet/IP
International Standard
Source:
(c) SERCOS International 2009
(c) IGS, 2005

5. Overview on Real-Time Ethernet Technologies (Selection)
Ausdruck vom:
Overview on Real-Time Ethernet Technologies (Selection)
CC Link IE
Drive CliQ
EPA
EtherCAT
EtherNet/IP + CIP Sync
Ethernet Powerlink
IEEE 1588 / PTP
JetSync
Modbus RTPS
Mechatrolink III
PowerDNA
Profinet
RAPIEnet
RTEX
SafetyNET p
SERCOS III
SynqNet
TCnet
Varan
Vnet/IP
User Organization
Source:
(c) SERCOS International 2009
(c) IGS, 2005

6. Overview on Real-Time Ethernet Technologies (Selection)
Ausdruck vom:
Overview on Real-Time Ethernet Technologies (Selection)
CC Link IE
Drive CliQ
EPA
EtherCAT
EtherNet/IP + CIP Sync
Ethernet Powerlink
IEEE 1588 / PTP
JetSync
Modbus RTPS
Mechatrolink III
PowerDNA
Profinet
RAPIEnet
RTEX
SafetyNET p
SERCOS III
SynqNet
TCnet
Varan
Vnet/IP
High-Performance
Source:
(c) SERCOS International 2009
(c) IGS, 2005

7. Real-Time Ethernet Protocols: Efficiency / Performance
Ausdruck vom:
Real-Time Ethernet Protocols: Efficiency / Performance
a) SERCOS III:
Collective telegrams (Real-time channel)
Separate Ethernet frames (non-real-time channel)
RT1
RT2
RT3
ETH1
ETH2
ETH1 …
RT1 …
Communication cycle t
b) EtherCAT:
Tunnelled Ethernet frames
Collective telegrams
RT1
RT2
ETH1
RT3 …
RT1 … …
Communication cycle t
c) Profinet, Ethernet/IP, Ethernet Powerlink:
Separate Ethernet frames
Separate Ethernet frames
Padding … …
RT1
RT2
RT3
ETH
ETH
RT1
Communication cycle t
RTi: Real-time data of node i, ETH: Ethernet frame with non-real-time data
(c) SERCOS International 2009
(c) IGS, 2005

8. Example: Cross Communication with SERCOS III
Ausdruck vom:
Example: Cross Communication with SERCOS III
Master
Slave 1
Slave 2
Slave (n)
Direct cross communication in forward path (here between slave 1 and slave 2) Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx
CAT5
Direct cross communication in reverse path (here between slave 2 and slave 1)
Real-time processing during passing through a node
Signal transmission without interpretation
Tx: Ethernet transmitter (Sender), Physical Interface
Rx: Ethernet receiver (Receiver), Physical Interface
(c) SERCOS International 2009
(c) IGS, 2005

9. Example: Cross Communication with EtherCAT
Ausdruck vom:
Example: Cross Communication with EtherCAT
Direct cross communication in forward path (here between slave 1 and slave 2) a) Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx
CAT5
Master
Slave 1
Slave 2
Slave (n) b) Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx Tx Rx
Indirect cross communication in reverse path (here between slave 2 and slave 1)
Real-time processing during passing through a node
Signal transmission without interpretation
Tx: Ethernet transmitter (Sender), Physical Interface
(c) SERCOS International 2009
Rx: Ethernet receiver (Receiver), Physical Interface
(c) IGS, 2005

10. Example: Redundancy Concept of EtherCAT
Ausdruck vom:
Example: Redundancy Concept of EtherCAT
Normal operation:
Fault case:
Fault case:
Transmission of real-time data in line topology
Detection of redundancy case by redundancy manager (M)
Activation of reserve line after successful reconfiguration
Reserve line (inactive during normal operation
Activated reserve line M M M S1 S4 S1 S4 S1 S4 S2 S3 S2 S3 S2 S3
Link break during reconfiguration t
(c) SERCOS International 2009
(c) IGS, 2005

11. Example: Redundancy Concept of SERCOS III
Ausdruck vom:
Example: Redundancy Concept of SERCOS III
Normal operation:
Fault case:
Cyclic, redundant transmission of real-time data in primary and secondary ring
Splitting up into two lines M M S1 S4 S1 S4 S2 S3 S2 S3
Recovery time: < 25 µs
No reconfiguration required! t
(c) SERCOS International 2009
(c) IGS, 2005

12. Example: Interoperability with SERCOS III and EtherCAT
Ausdruck vom:
Example: Interoperability with SERCOS III and EtherCAT
Vendor A
S-3 Profile
Control
Vendor B
S-3 Profile
SERCOS III
Drives
SERCOS III
SERCOS III
S-3 Profile
SERCOS III
Vendor C
Vendor A
S-3-A
Control
Vendor B …
DS402-B
Ethercat
Ethercat
Drives
Ethercat
DS402-C
Ethercat
Vendor C
(c) SERCOS International 2009
(c) IGS, 2005

13. Comparison of selected Real-Time Ethernet Solutions
Ausdruck vom:
Comparison of selected Real-Time Ethernet Solutions
SERCOS III
EtherCAT
PROFINET IRT
Ethernet Powerlink
EtherNet/IP + CIPsync & CIPmotion
Performance ++ + o
Ethernet Conformity
Installed Base
Variety of Suppliers & Products
Indepen-dence
(c) SERCOS International 2009
(c) IGS, 2005

14. Evolution of Fieldbus and Drivebus Technologies
Ausdruck vom:
Evolution of Fieldbus and Drivebus Technologies
DeviceNet
Ethernet/IP+CIP Sync
Profibus
Profinet IRT
Interbus
Ethercat
CANopen
Powerlink
SERCOS II
SERCOS III
(c) SERCOS International 2009
2001
2003
2005
2007
(c) IGS, 2005

15. Ausdruck vom:
Summary
SERCOS III …
combines the proven mechanisms of SERCOS interface (IEC 61491) with Ethernet (IEEE 802.3)
uses the established and proven synchronization mechanisms and profiles of the existing SERCOS interface
allows an easy migration from SERCOS II to SERCOS III
is based on a cost-efficient and flexible standard hardware
covers all actual and future requirements for motion control applications (C2C, Safety, I/O)
develops from a specialized drive bus to an universal real-time Ethernet network
(c) SERCOS International 2009
(c) IGS, 2005