The document discusses the evolution of Ethernet in motion and I/O control. It provides an overview of Galil Motion Control products and describes how initially proprietary network architectures were used, but Ethernet became more common due to benefits like being scalable, affordable, and flexible. It discusses determinism versus non-determinism in networks and explains Galil's Ethernet options like ASCII over UDP/IP, TCP/IP, Modbus TCP, EtherCAT, and more.
The document discusses the evolution of Ethernet in motion and I/O control. It provides an overview of Galil Motion Control products and describes how initially proprietary network architectures were used, but Ethernet became more common due to benefits like being scalable, affordable, and flexible. It discusses determinism versus non-determinism in networks and explains Galil's Ethernet options like ASCII over UDP/IP, TCP/IP, Modbus TCP, EtherCAT, and more.
The document discusses the evolution of Ethernet in motion and I/O control. It provides an overview of Galil Motion Control products and describes how initially proprietary network architectures were used, but Ethernet became more common due to benefits like being scalable, affordable, and flexible. It discusses determinism versus non-determinism in networks and explains Galil's Ethernet options like ASCII over UDP/IP, TCP/IP, Modbus TCP, EtherCAT, and more.
The Evolution of Ethernet in Motion and I/O Control
By Ann Keffer and Robin Riley ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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? Galils Ethernet Options The Future of Ethernet in Control Systems Summary Q&A ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: About Galil Established Reputation and Long History of Success Founded in 1983 by Jacob Tal and Wayne Baron Introduced 1 st 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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
ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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
ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: Benefits of Ethernet Ethernet architecture was used as an alternative to proprietary bus communication because its: Scalable Affordable Flexible Multi-vendor Ubiquitous
Ethernet ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 isnt used it is lost. Examples of protocols in a deterministic network is CanOpen and EtherCAT. Ethernet Non- Deterministic Deterministic ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: UDP/IP (User Datagram Protocol) No connection establishment Receiver doesnt 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: TCP/IP and UPD/IP Ethernet Non- Deterministic UDP/IP TCP/IP Incoming frame Ethernet driver IP TCP UDP Data Data ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: Galils 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: Recipes, Speed Labeling, Registration mark, Cammed Motion, For sealing Bottle Caps Analog, Digital I/O ModBus TCP Host PC ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: DMC-4040s RIO-47100 Ethernet/IP RIO-47100 AB PLC ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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 Telegram ECAT (6) (6) (2) (2) (10) (0.1486) C T R
Ethernet Trailer (4) (2) ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: DMC-4000 4 axes 2 local, 2 external Yaskawa and AMC 3 phase brush drives All axes coordinated as if local DMC-4000 Host PC EtherCAT ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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
ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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. ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com Sold & Serviced By: 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