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Real-Time Ethernet Technology Comparison
SERCOS Seminar AtlantaSeptember 16, 2009
Peter Lutz, Managing DirectorSERCOS International e.V.
No. 2(c) SERCOS International 2009
Real-Time Ethernet Competition
No. 3(c) SERCOS International 2009
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: http://www.real-time-ethernet.de/
No. 4(c) SERCOS International 2009
Overview on Real-Time Ethernet Technologies (Selection)
CC Link IEDrive CliQ EPA EtherCAT EtherNet/IP + CIP
Sync Ethernet Powerlink IEEE 1588 / PTPJetSync Modbus RTPS Mechatrolink III
PowerDNA Profinet RAPIEnetRTEXSafetyNET p SERCOS IIISynqNet TCnetVaran Vnet/IP
Source: http://www.real-time-ethernet.de/
No. 5(c) SERCOS International 2009
Overview on Real-Time Ethernet Technologies (Selection)
CC Link IEDrive CliQEPA EtherCAT EtherNet/IP + CIP
Sync Ethernet PowerlinkIEEE 1588 / PTPJetSync Modbus RTPS Mechatrolink III
PowerDNA ProfinetRAPIEnetRTEXSafetyNET p SERCOS IIISynqNet TCnetVaran Vnet/IP
Source: http://www.real-time-ethernet.de/
No. 6(c) SERCOS International 2009
Overview on Real-Time Ethernet Technologies (Selection)
CC Link IEDrive CliQEPA EtherCAT EtherNet/IP + CIP
Sync Ethernet PowerlinkIEEE 1588 / PTPJetSyncModbus RTPS Mechatrolink III
PowerDNA ProfinetRAPIEnetRTEXSafetyNET p SERCOS IIISynqNet TCnetVaranVnet/IP
Source: http://www.real-time-ethernet.de/
No. 7(c) SERCOS International 2009
Real-Time Ethernet Protocols:Efficiency / Performance
a) SERCOS III:
b) EtherCAT:
c) Profinet, Ethernet/IP, Ethernet Powerlink:
RT1 RT2 RT3
Tunnelled Ethernet frames
Separate Ethernet frames(non-real-time channel)
ETH ETH …
Separate Ethernet frames
Collective telegrams(Real-time channel)
Collective telegrams
Communication cycle
Communication cycle
Communication cycle
Separate Ethernet frames
t
t
t
RTi: Real-time data of node i, ETH: Ethernet frame with non-real-time data
…
…RT1
Padding
RT1 RT2 RT3 ETH1 ETH2 … RT1 …ETH1
RT1 RT2 … RT1 …RT3ETH1
No. 8(c) SERCOS International 2009
Rx Rx
TxTx
Tx
Rx
Tx
Rx
Tx
Rx
Rx
Tx
Tx
Rx
Master Slave 1 Slave 2 Slave (n)
Direct cross communication in forward path (here between slave 1 and slave 2)
Direct cross communication in reverse path (here between slave 2 and slave 1)
CAT5
Real-time processing during passing through a node
Tx: Ethernet transmitter (Sender), Physical Interface
Rx: Ethernet receiver (Receiver), Physical Interface
Signal transmission without interpretation
Example: Cross Communication with SERCOS III
No. 9(c) SERCOS International 2009
Rx Rx
TxTx
Tx
Rx
Tx
Rx
Tx
Rx
Rx
Tx
Tx
Rx
Direct cross communication in forward path (here between slave 1 and slave 2)
Indirect cross communication in reverse path (here between slave 2 and slave 1)
Rx Rx
TxTx
Tx
Rx
Tx
Rx
Tx
Rx
Rx
Tx
Tx
Rx
Master Slave 1 Slave 2 Slave (n)
Tx Rx Tx Rx
a)
b)
Tx Rx Tx Rx
CAT5
Real-time processing during passing through a node
Tx: Ethernet transmitter (Sender), Physical InterfaceRx: Ethernet receiver (Receiver), Physical Interface
Signal transmission without interpretation
Example: Cross Communication with EtherCAT
No. 10(c) SERCOS International 2009
Transmission of real-time datain line topology
Detection of redundancy caseby redundancy manager (M)
Normal operation: Fault case:
Activation of reserve lineafter successful reconfiguration
Fault case:
Example:Redundancy Concept of EtherCAT
M
S1
S2 S3
S4
t
M
S1
S2 S3
S4
M
S1
S2 S3
S4
Reserve line (inactive duringnormal operation
Link break duringreconfiguration
Activatedreserve line
No. 11(c) SERCOS International 2009
Recovery time: < 25 µs
No reconfiguration required!
Cyclic, redundant transmission of real-time data in primary and secondary ring
t
Splitting up into two lines
Normal operation: Fault case:
M
S1
S2 S3
S4
M
S1
S2 S3
S4
Example:Redundancy Concept of SERCOS III
No. 12(c) SERCOS International 2009
Example: Interoperability with SERCOS III and EtherCAT
SERCOS III
S-3 Profile
SERCOS III S-3 Profile
SERCOS III
S-3 Profile
SERCOS III
Ethercat
S-3-A
Ethercat DS402-B
Ethercat
DS402-C
Ethercat
…
Control
Vendor A
Vendor B
Vendor C
Control
Vendor A
Vendor B
Vendor C
Drives
Drives
No. 13(c) SERCOS International 2009
Comparison of selected Real-Time Ethernet Solutions
SERCOS III EtherCATPROFINET
IRTEthernet
Powerlink
EtherNet/IP+ CIPsync & CIPmotion
Performance ++ ++ + o o
EthernetConformity + o + ++ ++
InstalledBase + ++ + ++ o
Variety of Suppliers &
Products+ ++ o o o
Indepen-dence + o o o o
No. 14(c) SERCOS International 20092007
Evolution of Fieldbus and Drivebus Technologies
DeviceNetDeviceNet
ProfibusProfibus
InterbusInterbus
CANopenCANopen
SERCOS IISERCOS II
2001 2003 2005
Ethernet/IP+CIP Sync Ethernet/IP+CIP Sync
Profinet IRTProfinet IRT
EthercatEthercat
PowerlinkPowerlink
SERCOS IIISERCOS III
No. 15(c) SERCOS International 2009
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
