2004 R.A. Hulsebos.

Contributions from Michael Bryant, ProfiBus and Paul Griem, Foundation Fieldbus

Profibus
Process Field Bus Ca. 1990 Profibus International

Foundation Fieldbus H1

DeviceNet

CANOpen
Ca. 1995. CiA (CAN In Automation) User Group EN 50325/4

Modbus-1
Modicon Bus Ca. 1979. Modicon / Gould / Groupe Schneider (US) www.modbus.org -

Ethernet
Ca. 1975 Xerox (US)

General
Abbreviation Available since (ca.) Developer Foundation Fieldbus ca 1996 Ca. 1996 The Fieldbus Foundation (U.S.) Allen-Bradley, now Open DeviceNet Vendors Assoc. (ODVA) ISA SP50 EN 50170 IEC 61158 http://www.fieldbus.org/ ISO 11898 &11519 SEMI E54.x

National standards European standards International standards Industry standards Official website Non-official website Email list available?

DIN 19-245 (Germany) EN 13321/1 (FMS), EN 50254/2, EN 50170/2 IEC 61158 Type 3 SEMI E54.8 (DP) www.profibus.com

IEEE 802.3 ISO 8802.3 www.iaona-eu.com

www.odva.org

www.can-cia.de www.canopen.us Yes, see www.vectorinformatik.com/canlist/

www.us.profibus.com
Yes, see www.profibus.cz/archive

Yes, see www.modbus.org There used to be an email list of the Industrial Ethernet Association, but this one is no longer active. 1, 2

OSI layers covered

1, 2, 7

1, 2, 7

1,2,7

1, 2, 7. A specification for 2, 7 layer 5 (session management) exists but is not often implemented. V1, V2, V3, V4 plus minor variations on these. V4 ASCII, RTU (Remote Terminal Unit) RTU

Variants

FMS, PA, FDL, DP (with subversions DP/E, DP/V1 and DP/V2)

H1, HSE

No

10Base2 (coax), 10Base5 (coax), 10BaseT (twisted-pair), 100BaseTX (idem) 10BaseT, 100BaseTX

Most often used variant at DP/V1 this moment Compatibility between these FMS and DP and FDL are variants incompatible; but they can be connected to the same network without problems.

H1 fully compatible

Both variants have the Compatible when switches or same commandset but a hubs are used that handle the different transmissionconversions. format; they can not be both on the same network. V1, V2, V3. ASCII 10Base2, 10Base5

Variants that are not used anymore or are seldomly used Intrinsically safe variant available? Safety variant available?

FDL, FMS

none

Yes (PA). Yes (ProfiSafe).

Yes (H1) under development

No Yes

Under Consideration, NIST IEEE 1451.6 Yes (CAN/Open Safety).

Yes -

No -

 2004 R.A. Hulsebos. Contributions from Michael Bryant, ProfiBus and Paul Griem, Foundation Fieldbus Ethernet variant available?

Profibus
Under development (ProfiNet); first serious usable version announced for end of 2003. ProfiDrive, ProfiNet, various others for DP and FMS.

Foundation Fieldbus H1
HSE

DeviceNet
Yes

CANOpen
No.

Modbus-1
Yes, Modbus/TCP.

Ethernet
-

Profiles

FF uses Function Blocks, both Device Profiles, MFCs, standard and supplier-defined, endpoint devices for SEMI. for various application functions.

I/O, measuring devices, One (for semiconductor closed loop controllers, PLCs, equipment). encoders, maritime devices, drives, passenger info systems, fluid power, inclinometers, medical devices, truck gateways, weaving machines, road construction, building door control, lift control, battery chargers, extruders, injectors, municipal vehicles ("ClEanOpen").

Other protocols that resemble it Specification of basic protocol free?

MPI (Multi-Point Interface) from Siemens (like FDL). Only for members of the user's group; otherwise must be bought. No, must be bought from the user's group.

none

CANOpen, SDS

Yes for FF members. See http://www.fieldbus.org

CAL (CAN Application Layer), The French "J-Bus" is not the predecessor of officially a Modbus-1 CAN/Open. variant, but for 99% compatible. Only for members of the user's Only for members of the Yes, can be downloaded group; otherwise must be user's group. Others can get from the website. bought. the previous version for free from the website. Only for members of the user's group. Others can get the previous version for free from the website. Yes, can be downloaded from the website.

Yes, can be downloaded from the IEEE website www.ieee.org

Specification of profiles free?

For Function Block specs, see http://www.fieldbus.org

Stability of the system?

FMS is stable since about 10 years, but may be phased out. All new developments since about 8 years are for DP and PA. ProfiNet is a completely new development.

H1 is very stable, and has been High implemented by all major process industry suppliers. The first HSE products have entered the market.

High, although the CAN/Open High. specification is known to be unclear at some points.

High; the versions developed 20 years ago are still compatible.

Books about this system?

Yes; 1 book about FMS See publications from ISA and Several and many books (German / English), but sold out. FF about CAN also discuss this About a dozen books about DP protocol. (mostly German, some English). No No No

Three books specifically for CAN/Open, but many books about CAN also discuss this protocol. No, except for a partial implementation by www.esacademy.com/

5; there are many other books, but these are usually written for the office-user of Ethernet.

Available as shareware or open source?

Yes (various). Also not very difficult to implement yourself.

 2004 R.A. Hulsebos. Contributions from Michael Bryant, ProfiBus and Paul Griem, Foundation Fieldbus Most important competitor(s) Major supporting company Notes

Profibus
PA: Foundation Fieldbus. DP: Interbus, CAN. Siemens (Germany) -

Foundation Fieldbus H1
Profibus PA

DeviceNet
CanOpen

CANOpen
Profibus/DP, DeviceNet.

Modbus-1
Schneider -

Ethernet
Ethernet itself is not a network, only a way of cabling. A higherlevel protocol (ProfiNet, IDA, Ethernet/IP, Modbus/TCP, etc. etc. etc.) is always needed.

Allen-Bradley, Cutler-Hammer, Omron Intended as the successor to 420 mA for process control devices such as transmitters, valves, controllers CAN/Open is an extension of the older "CAL" (CAN Application Layer) whose specification was lacking, too formal and too difficult to understand for many users.

Usage
Applicable for sensor/actuator I/O? Applicable for remote I/O? Applicable for communication between controllers, PC's, and/or intelligent equipment? Yes Yes (DP only). Yes Yes (HSE) Yes Yes No Yes. Yes. Yes. No. Yes. No, hardware too large. Yes.

Yes (FMS for communication Intended for process control between controllers, PA for field devices such as transmitters, instruments). valves, controllers

Yes, but officially only for Yes. Modicon / Schneider controllers, although many other controller vendors also support Modbus. Discrete industry, process industry. Office automation; higher levels of industrial networks.

Application areas

Discrete industry (DP), process industry (PA) Yes, several vendors.

Process industry

Material Handling, SEMI

Many (see list of profiles above). Yes, several vendors.

Availability of interface cards for PC's

Yes, several vendors.

Yes, several vendors

Not needed when RS232 is Most modern PCs come with used; for RS422/485 a an integrated Ethernet on the converter can be used or a motherboard. normal PC plug-in board. In many cases the Windows or Linux support suffices. Comes with Windows or Linux (virtually for free).

Driver Availability

Comes with the PC card or the PLC. For DP, a network configuration package is also needed.

Yes

Cabling
Cable 2-wire. 2-wire 5-wire 2-wire. Commonly used are either Coax (10Base2, 10Base5), 4RS232 or RS422/485, wire twisted pair (10BaseT, although this is not formally 100BaseTX). specified.

 2004 R.A. Hulsebos. Contributions from Michael Bryant, ProfiBus and Paul Griem, Foundation Fieldbus Cable color

Profibus
Purple (DP), blue (PA).

Foundation Fieldbus H1
Orange/blue (H1) HSE uses Ethernet cabling

DeviceNet
gray

CANOpen
Not specified.

Modbus-1
Not specified.

Ethernet
Yellow (coax 10Base5), black (coax 10Base2), or usually grey for all other variants. Yes .

Redundant cabling possible?

Not yet (only specification for redundant slaves is now available).

H1 is not intended for redundant cabling. HSE can use several types of redundant Ethernet networks Yes (via repeaters). Yes, via the communication wires. Normal instrument wiring practice is typically used. Connectors are available. Bus, chicken foot

No

No.

Depends on vendor.

Fiber optic possible? Power supply for nodes on the network Connector

Yes (via repeaters). Via separate connection (FMS,DP). With PA via the network itself. 9-pins sub-D connector (most common); other connectors possible. Bus (FMS, DP, PA), or chicken feet (PA). 3 resistors at both ends of the cable (FMS, DP). Combination of R and C (PA). Nodes with terminators may not be switched off or be removed from the network.

Yes (via repeaters). Yes

Yes, depends on vendor. Via separate connection.

Yes, depends on vendor. Not specified.

Yes. Via separate connection.

Many available

9-pins sub-D connector (most Not specified; often 9-pin 15-pins sub-D (10Base5), BNC common); other connectors sub-D is used, but the (10Base2), RJ45 (10BaseT, possible. pinning is always different. 100BaseTX). Bus. Bus. Bus (10Base2, 10Base5), star (10BaseT, 100BaseTX). 1 resistor at both ends of cable (10Base2, 10Base5 only).

Topology

Bus

Termination

Terminators are available Resistor of 120 Ohm at both embedded in termination ends of the cable. blocks or as separate modules Operation with incorrect Too many or too few can termination is not defined, but degrade network performance H1 network might operate depending on number of nodes and cable length IEC 61158

Resistor of 120 Ohm at both ends of the cable.

Not specified, depends on supplier (when using RS422/485).

Vulnerability for incorrect termination

Nodes with terminators may not be removed from the network (however they may be switched off).

Nodes with terminators None. may not be switched off or be removed from the network (not applicable for RS232). Ethernet specific.

Signal transmission

According RS485 (FMS, DP) or IEC 61158/2 (PA). 1200 m.

According CAN datalink layer According RS232 or specified in ISO 11898. RS422/485. According RS232 (1560m), or RS422/485 (1200m).

Maximum length (without using repeaters). Speed (bit rate)

Nominally 1900m. Depends on 500 m type of power system H1 is 31.25 kbps only HSE runs at Ethernet rates, nominally 100 Mbps 125K, 250K, 500K Network length varies inversely

500m (10Base5), 200m (10Base2), 100m (10BaseT, 100BaseTX).

9.6 / 19.2 / 93.75 / 187.5 / 500 Kbit/s (FMS), DP like FMS but also supports 45.45 Kbits and 1.5 / 3 / 6 / 12 Mbit/s; PA only supports 31.25 Kbit/s.

10 / 20 / 50 / 125 / 250 / 500 / Not specified; usually not 10 Mbit/s (10Base2, 10Base5, 800 Kbit/s and 1 Mbit/s. higher than 38,4 Kbit/s and 10BaseT) or 100 Mbit/s most often only 19,2 or 9,6 (100BaseTX). Kbit/s (lower speeds are also possible).

 2004 R.A. Hulsebos. Contributions from Michael Bryant, ProfiBus and Paul Griem, Foundation Fieldbus Stubs possible? Repeaters possible?

Profibus

Foundation Fieldbus H1

DeviceNet

CANOpen
Yes.

Modbus-1
Yes.

Ethernet
Yes (only 10Base5) Yes, but nowadays usually hubs or switches are used.

Yes, with limitations (up to 1.5 H1 spurs can be up to 200m Yes. Mbit/s only). Yes, maximum 3 according to H1 can have up to 4 repeaters Yes standard, but more (up to 10..20) per IEC 61158 possible in practice (supplierdependant!). 10 km (copper), more than 90 km (fiber optic). Via local switches or software configuration; DP sometimes have an autobaud feature. Not needed for PA (only has 1 speed). 9.5 km not required

Yes, although the CAN timing Yes, according to requirements are very strict RS422/485 specification. and repeaters are not very commonly found. Not known.

Maximum length (when using repeaters). Speed configuration

Not applicable. Not possible.

Via local switches or software Via local switches or software Via local switches or configuration. configuration. software configuration.

Nodes
Maximum number of nodes 32 (limitation of RS485). without using repeaters Typically 8-16; depends on power consumption of nodes and type of power system 64 64. 2 (with RS232) or 32 (RS422/485). Practically no limits.

Maximum number of nodes 126 (= maximum 125 slaves + 1 Typically 8-16; depends on with use of repeaters. master). power consumption of nodes and type of power system Network address configuration. Via local switches, or sometimes via the network via the network itself (DP).

64 127.

2 (with RS232), 250 (RS422/485).

Practically no limits.

Via local switches or software Via local switches or software Via local switches of configuration. configuration. software. None. Not necessary.

Not necessary.

Network address configured None (FMS), 126 (DP/PA) in "out of the box". case no local switches are available. Communication relations between nodes. Message destination. Broadcast implementation. Multi-master (FMS), master/slave (DP/PA), producer/consumer (DP/V2). Point-to-point, multicast and broadcast possible. Use network address 127.

a set of temporary addresses is 1 reserved for devices joining the H1 network publisher-subscriber and client- Master/Slave, Multi-master, server Producer/Consumer Point-to-point, multicast and broadcast possible. See FF specifications Point-to-point, multicast and broadcast possible.

Every Ethernet-node has a worldwide unique 48-bit address (MAC-address). Multi-master, but higher protocol layers can limit this. Point-to-point, multicast and broadcast possible. Via MAC-address FF:FF:FF:FF:FF:FF

Many

Master/slave.

Point-to-point, broadcast. Via special CAN identifiers.

Point-to-point, broadcast. Use network address 0. Note that this is very often not implemented in a slave.

 2004 R.A. Hulsebos. Contributions from Michael Bryant, ProfiBus and Paul Griem, Foundation Fieldbus Network management.

Profibus

Foundation Fieldbus H1

DeviceNet
Master/Slave

CANOpen
Master/slave; but slaves may communicate amongst each other via special CAN identifiers.

Modbus-1
Master/slave.

Ethernet
CSMA/CD for 10Base5 and 10Base2, and 10BaseT with hubs. Software may determine additional management strategies (such as token-bus, master/slave, etc.). No limitation.

Via token-ring between masters; Via one of the Link Masters otherwise master/slave. becoming the Link Active Scheduler

Maximum number of masters.

No limitation (in practice usually No limit; at least 2 in practice, no more than 1). often 3-4

1 (but the network1. management master can be a different node than the application master).

Messaging
Maximum data in one message Minimum data in one message Overhead per message 241 bytes (FMS), 244 bytes (DP,PA) 0 bytes. 9 bytes (SD2), plus 3 bits per byte. Also short transmit pause between messages. 244 bytes 8 bytes 8 bytes (in a so-called "Process Data Object"). 0 bytes. 47 bits, plus a variable number of stuff bits (average ca. 5) depending on the message contents. Minimum 2*n (for inputs and for outputs). However it is possible to work event-driven, so with stable data less messages need to be sent. 250 bytes (=125 registers or 2000 single bits). 0 bytes. 1500 bytes.

0 bytes. see IEC 61158 and FF specifications

0 bytes

46 bytes. 38 bytes, plus minimal 46 bytes in the data field. For small amounts of data a minimum message is thus 672 bits long.

Number of messages needed for handling 'n' remote I/O modules

2*n (for inputs and for outputs).

2*n (for inputs and for outputs). Minimum 2*n (for inputs and for outputs). However it is possible to work event-driven, so with stable data less messages need to be sent.

4*n (for inputs and for 2*n (for inputs and for outputs). outputs, which must be handled via two separate commands). Optionally 2*n, if the combined read/write command is used (often not supported). Paritybit per byte (optional); 32 bit CRC per message. 8 bit checksum per message (ASCII) or 16 bit CRC (RTU). None (to be handled by higher protocol layers).

Fault detection

Balanced transmission per bit; see IEC 61158 and FF parity bit per byte; 8 bits specifications checksum per message; Hamming distance 4 on first and last byte of a message. Configurable 1..8. configurable

Balanced transmission per bit; 15 bits CRC per message; automatic error counters with bus-off after exceeding limits. configurable

Balanced transmission per bit; 15 bits CRC per message; automatic error counters with bus-off after exceeding limits.

Number of retries after a fault is detected.

Indefinite (automatically Not specified; it is vendorhandled by the CAN controller specific and this usually chip). means that application program must handle the retries by itself.

 2004 R.A. Hulsebos. Contributions from Michael Bryant, ProfiBus and Paul Griem, Foundation Fieldbus

Profibus
Calculate number of bits transmission for inputs of slave, and also for the outputs. Add overhead: twice 9 bytes, and add master and slave pause which are bit rate dependent. Add 3 bits overhead per byte. Do this for all slaves, and sum the outcome. Divide by the bit rate. This gives a theoretically best cycle time.

Foundation Fieldbus H1

DeviceNet

CANOpen

Modbus-1

Ethernet
Per remote I/O node this costs 672 bits per message. Multiply this by twice the number of slaves, and divide by 10 or 100 Mbit/s. This is the theoretical best cycle time (at 100% network load). In practice software delays cause much longer (slower) cycle times.

Remote I/O
Cycle time calculation CAN/Open has no standard Modbus has no standard for this, therefor it is for it, therefor it is impossible to calculate a cycle impossible to calculate a time in advance. The best cycle time in advance. case cycle time is calculated Basically one can cycle I/O by having 2 PDO's (for inputs with separate commands and outputs) per device in for read and for write of every cycle. To this the master- inputs and outputs, or with overhead (vendor dependent) one command for should be added. combined reading and writing. This can either be done in ASCII or RTU, giving 4 different methods to calculate a cycle time.

Analogue I/O possible Maximum I/O per node

Yes. 244 bytes for inputs and 244 bytes for outputs in any combination analogue / digital.

yes yes There is no limit on the number of I/O a node may have

Yes. 8 Bytes data per event; multiple events per node are possible depending on the vendor.

Yes. 250 bytes for inputs and 250 bytes for outputs in any combination analogue / digital.

Yes. 1500 bytes for inputs and 1500 bytes for outputs in any combination analogue / digital. No standard known.

Configuration

FMS is not standardized; the All FF devices have Device Electronic Data Sheet (EDS) specification for using GSD files Description files, by which they is hardly implemented. DP is are configured by FF hosts configured via GSD files and a network-configurator. PA idem, and it also has EDD files.

Each node has an "Object No standard known. Dictionary", which is usually set by the vendor. The master is often configured via configuration files for each node, but this is not strictly necessary. Which nodes are present ("node guarding"). Not specified (vendor specific).

Diagnostics at the network level

Which nodes are present and of FF hosts report devices what type (active or passive). entering/leaving network, Counters for transmission errors, communication errors, etc. etc. Part standard diagnostics bits (specified by DP); remainder is supplier-specific or profilespecific. IEC 61158 and FF specs define several diagnostics

Yes

None (to be handled by higher protocol layers).

Diagnostics at the node level

Yes

A diagnostic command is None (handled by higher specified, although very protocol layers). often it is not implemented,

 2004 R.A. Hulsebos. Contributions from Michael Bryant, ProfiBus and Paul Griem, Foundation Fieldbus Vulnerabilities

Profibus
Nodes with terminators that are removed or switched off; shortcircuit on the bus; dual use of network-addresses.

Foundation Fieldbus H1

DeviceNet

CANOpen
Improper termination, short circuit of bus, duplicate addressing

Modbus-1
Nodes with terminators that are removed or switched off; short-circuit on the bus; dual use of networkaddresses. Yes; this is detected if the master regularly communicate with that node (a timeout is the result).

Ethernet
Failure of hub/switch (10BaseT, 100BaseT); or failure of the power-supply of that equipment.

Incorrect termination; improper Improper termination, short grounding; short-circuit on the circuit of bus, duplicate bus addressing

Can I/O nodes be removed Yes; this is detected. from a running network?

Yes, that is expected and detected.

Yes; this is detected (if switched on for that node).

Yes; this is detected (if switched on for that node).

Yes, but detection must be done in higher protocol layers.

Can I/O nodes be connected to a running system?

Yes. If node was configured earlier, it is activated again.

Yes, that is expected and detected.

Yes, if previously configured.

Yes (but there are Yes. protocolstacks that depend on the application to handle this). Ignored. Ignored.

Is possible when supported by higher protocol layers.

What happens when a node Ignored. is connected that is not configured? Synchronous reading of inputs possible? Synchronous activation of outputs possible? Yes; but only if supported by supplier (it is an option in DP). Not possible in FMS. Yes; but only if supported by supplier (it is an option in DP). Not possible in FMS.

Its presence is reported, but it is not used until configured

iIgnored

Depends on higher protocol layers. Is possible when supported by higher protocol layers. Is possible when supported by higher protocol layers.

Yes

Yes