SICE-ICASE International Joint Conference 2006

Oct. 18-2 1, 2006 in Bexco, Busan, Korea

A Survey and Analysis of Wireless Fieldbus for Industrial Environments
Pulat Matkurbanovl, SeungKi Lee2, and Dong-Sung Kim3
Department of Electronic Engineering, Kumoh National Institute of Technology, Gumi, Korea
(Tel: +82-54-478-7464; E-mail: pulat a)kumoh.ac.kr, skissue a)kumoh.ac.kr, dskim a)kumoh.ac.kr)
Abstract: This paper presents survey and analysis of Wireless Fieldbus in industrial environments. In case of industrial
environment, reliability and tight timing requirements are difficult to satisfy by the specific properties of the wireless
communications. In this paper, we discuss fundamental problems of wireless channel, comparison and practical test of
resent Wireless Fieldbus technology in industrial environments.
Keywords: Wireless Fieldbus, Industrial Environments, Reliability and tight timing requirement

1. INTRODUCTION test in industrial environment is presented. Finally,

Wireless Fieldbus can be one of solution where real
time communication between controllers and
sensor/actuators at the field-level of factory automation.
Wireless Fieldbus technologies have the potential
capability and significant benefits in industrial
application.
In factory, the cost and time needed for the
installation and maintenance of the large number of
cables can be reduced by wireless technology. This is
important in harsh environment where vibrations, high
temperature or moving parts exist that could potentially
damage any sort of cabling [1].
There were several researches on the Wireless
Fieldbus. In [2], the performance analysis of the
Wireless Medium Access Control (WVM4AC) protocol
and the Remote Frame Medium Access Control
(RFMAC) protocol for a Wireless Control Area
Network (WCAN) was presented. In R-Fieldbus project
[3], the requirements as basis for the development as
well as the investigations of the radio channel
characteristics in industrial environmental conditions
were investigated. The wireless repeater design for the
extension of a Field Instrumentation Protocol (FIP)
were described in [4] [5]. The characteristics of
industrial wireless networks demanded different
approaches to design protocols and transmission
schemes than for other types of wireless networks [6].
Many wireless industrial applications were integrated
by Fieldbus systems such as PROFIBUS [7] [8], CAN
[9] [10]. In [11], industrial requirement such as high
availability, quality of service (QoS), interference were
investigated.
The objectives of this paper lie on feasibility analysis
on usage Wireless Fieldbus and comparison of recent
industrial wireless technology. For this, we investigate
the fundamental problem of Wireless Fieldbus and
details of each wireless technology. For an experimental
test, wireless technologies are applied to a pilot CIM
plant.
This paper is organized as follows. Fundamental
problems of Wireless Fieldbus communication are
described in Section 2. Section 3, the comparison of
Wireless Fieldbus technology is discussed. Hybrid
wireless network protocols for industrial environments
are presented in Section 4. In Section 5, the practical
conclusions are drawn in Section 6.
2. FUNDAMENTAL PROBLEMS OF
WIRELESS FIELDBUS COMMUNICATION
This section introduces the fundamental problems of
wireless network when it is applied to an industrial
environment.
2.1 Interference problem of wireless network in
industrial environment
Wireless Local Area Network (WLAN) and the
Wireless PAN standard (Bluetooth and Zigbee) utilizes
the unlicensed 2.4 GHz ISM band. Due to their
dependence on the same band, the potential for
interference exists.
In [12], the experiments and measurements were
evaluated to qualify the interference effect of Bluetooth
device on the throughput performance of the IEEE
802.llg and 802.1lb. The results show how 802.llg is
immune to interferences than 802.11b when the signal
strength of the WLAN is strong.
In [13], the packet error rate (PER) of IEEE 802.15.4
low rate WPAN under the interference of IEEE 802.1 lb
WLAN was analyzed. The bit error rate (BER) of IEEE
802.15.4 is obtained from the offset quadrature phase
shift keying modulation.
The bandwidth of IEEE 802.1 lb is larger than that of
IEEE 802.15.4, the in band interference power of IEEE
802.11b is considered as the additive white gaussian
noise for the IEEE 802.15.4. Since the collision, time is
calculated under assumption that the both packet
transmissions are independent.
If the distance between IEEE 802.15.4 and WLAN is
longer than 8 m, the interference of WLAN does not
affect the performance of the IEEE 802.15.4. If the
frequency offset is larger than 7 MHz, the interference
effect of the WLAN is negligible to the performance of
the IEEE 802.15.4. Finally, three additionally channels
of the IEEE 802.15.4 on 2260 MHz, 2350 MHz, and
2470 MHz can be used for the coexistence channels
under the interference of the between IEEE 802.15.4
and WLAN [14].

89-950038-5-5 98560/06/$10 © 2006 ICASE

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2.2 Important properties of wireless industrial can be granted to each terminal. Disadvantage is that
network when load is small, in order that the token may go round,
* Intersymbol interference: The time dispersion is futility occurs. Since there are losses of the token or
large, it can happen that waveforms belonging to duplication of tokens, a system must become
different symbols overlap at the receiver. In case of complicated [19].
intersymbol interference, particular effort is necessary * Problems for CSMA based protocol: Wireless
to reconstruct the original symbol [ 15]. Fieldbus systems on CAN use CSMA-based protocols
* Path Loss: Path loss is the attenuation undergone by where collisions are possible. CSMA-based protocols
an electromagnetic wave in transit from a transmitter to work in a distributed way, where a station wishing to
a receiver. Path loss may be due many effects such as transmit first needs to sense the transmission medium. If
free space loss, refraction, diffraction, and reflection. It the medium is determined to be idle, the station starts to
is affected by factors such as terrain contours, different transmit. The many Carrier-Sense Multiple Access
environments the distance between the transmitter and (CSMA) variants that exist differ in what happens when
the receiver, the height and location of their antennas. sensing the medium bus. The CAN protocol is based on
* Half-duplex operation of transceivers: A half-duplex a deterministic mechanism to resolve this contention.
system allows communication in both directions, but However, this mechanism is difficult to use for wireless
only one direction at a time not simultaneously. Any media. It relies on a stations ability to transmit and
wireless system where use over to indicate the end of receive simultaneously on the same channel, which is
transmission, or any other procedure to ensure that only impossible with half-duplex wireless transceivers [7].
the party broadcasts at a time been a half-duplex system.
The primary disadvantages of this approach are the time 3. ANALYSIS OF
loss experienced from explicit receives-transmit WIRELESS FIELDBUS TECHNOLOGY
turnovers.
* Channel errors: In industrial environment, a wireless Wireless Fieldbus systems have to designed to deliver
transmitter propagates waveforms and it can be subject hard real-time communications under industrial
to reflections, or scattering. As a result, multiple copies environmental conditions. Correspondingly, a Wireless
of the same waveform can reach the receiver after Fieldbus designed to provide as stringent timing and
following different path with different relative lengths reliability guarantees as possible over wireless links,
and travel dispersion times. Intersymbol interference that is, it should strive to optimize its hard real-time
and small-scale or multipath fading are two important performance. In Table 1, are shown wired/wireless
consequences in time dispersion [7]. Fieldbus such as PROFIBUS, DeviceNet, R-Filedbus,
and vendor specific protocol by Elpro technology. In
2.3 Consistency problems of Fieldbus technology this the maximum retransmission range according to
When a wireless control network system uses the data rate and number of allocable node.
producer-distributor-consumer communication model,
which Fieldbus does, communication is based on Table 1. Comparison table between wired and wireless
unacknowledged broadcasts of data identifiers to which Fieldbuses
the station possessing the identified data item broadcasts
its actual value. Technolo Wired Wireless
If wireless channel is same for every transmitter- gy
receiver pair a packet is corrupted independently with a
certain probability. When the producer receives the Name Profibus DeviceNet R-Fieldbus Elpro R
[20]
identifier and broadcasts the data value, reaching spatial Segment 1200 500
consistency requires that consumers receive the data length 600 250 100 2000
packet, which happens with probability. To achieve (m) 200 100
relative temporal consistency, all the sensors must Data rate
182.5
1255
125
250 2000 4.8
sample the process within the same pre-specified time (kbps)
k-s)
500 500
window [16] [17]. Nodes 32 64 30 95
* Problems for token-passing protocols: Wireless

Fieldbus systems like the PROFIBUS rely on 3.1 Wireless CAN

distributed token passing in order to circulate the right
to initiate transmissions between numbers of controllers.
The master stations are arranged in a logical ring on top
of a broadcast medium that repeated losses of token
packets are severe problem for the stability of the
logical ring [18].
Token passing protocols thus serve as an example for
the fact that it is often not only the raw presence of bit
errors that is important, but also the characteristics of the
errors as well. Advantage is that the transmitting right
In general, the CAN and M\AC protocols cannot be
implemented directly on top of a wireless medium, two
different approaches were developed.
The distributed WV\MAC protocol uses a CSMA/CA
scheme, where a station waits for backoff time after the
medium become idle. The backoff is chosen according
to the packet's priority. If another station starts
transmission during the backoff time, the station defers.
In the centralized RFMIAC protocol, the base station
broadcasts the identifiers of the variables to be polled,

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and their producers transmit them according to the given European Fieldbus standards and with the necessary
schedule. protocol extensions for the additional services (real-time
In another distributed scheme, the CAN message distributed control traffic, industrial related multi-media
priority value was mapped onto the channel using an traffic, mobility, etc.).
on-of-keying scheme a station transmits a short burst, if * an interconnection mechanism, enabling the
the current priority bit is a logical one, or it switches to interconnection of the R-Fieldbus system to Wireless
receive mode if it is a zero. If the station receives data in Fieldbus networks already existent in the industrial
the receiver mode, it resumes from contention. The environments.
priority bits are handled from the most significant bit to * a QoS mechanism to guarantee the required quality
the least significant bit. This approach requires tight of service to the multi-media communication services.
synchronization and fast switching between transmit * a set of application-level support services covering
and receiver mode for the radio modem, which is issues such as the exchange of hard real-time control
problem for certain WLAN technologies. In all data, exchange of industrial multi-media traffic and
references, neither station failures nor transmission mobile IP, providing transparent access to
errors were considered, and thus no statements about manufacturing and management information systems.
their stochastic hard real-time behavior can be made * advanced network management services to support
[21]. the real-time requirements and the required robustness
of the Wireless Fieldbus, including fault tolerance,
Table 2. Comparison of WCAN and CAN security and safety mechanisms.
The R-Fieldbus system can be tested and evaluated
WCAN CAN within two different field trials based on pilot
Transmitted applications. These trials can demonstrate both the R-
Several nodes may Fieldbus technical feasibility in real industrial
Control communicate and act periodically,
sporadically or on environments and its benefits for the end-user
together demand applications [17], [23].
MAC WMAC RFMAC CSMA/CA
protocol 4. HYBRID NETWORK PROTOCOLS
Each node FOR INDUSTRIAL ENVIRONMENT
must wait
Property the Enables up Provides sending In a hybrid wired/wireless Fieldbus system has
of the messages down and requesting recently used in different environment. In industrial
protocol priority stream messages environments, networks are required for real-time
inter-frame communication between master and slaves. In master-
space time slave a wired (wireless) be able to send a request to a
wireless (wired) slave and get a response back.
By Table 2, WCAN and CAN satisfy the Hybrid networks are helpful, at the device level,
requirements of the distributed automotive control when there is the necessity of exchanging data with
system applications. At 125 Kbit/s, the messages with either a sensor or an actuator mounted on a moving
lower priorities are not delivered within the given time device.
because of the high load of the channel. The employment of hybrid networks use coupling
devices to connect different network segments was
3.2 R-Fieldbus analyzed in [7]. Three types of coupling devices
The R-Fieldbus architecture one of example on the identified based on the protocol layer at which they
integration of emerging wireless technologies for operate. Repeaters works at the physical layer, bridges
broadband systems and networks with existent industrial are employed at the data link layer, and gateways
communication protocols such as those specified in the operate at the application layer [23], [27].
European Standard EN50 170 [22] [23].
The R-Fieldbus system provide full transparent access 4.1 Wireless sensor/actuator communication system
to any information needed on-site, such as data Wireless Interface for Sensor and Actuators (WISA)
concerning real-time requirements of control and status was been developed which provides both wireless
data as well as a user defined QoS for the multi-media communication and wireless power supply [27].
communications, or transparent access to specification WISA cells may operate on the same industrial
drawings and other industrial type information. The R- environment, and each cell may use the 2.4 GHz ISM,
Fieldbus support mobile industrial devices and its without any need for inter-cell coordination such as
interoperability with existing devices supported by frequency planning or synchronization, except different
wired industrial networks [24]. frequency hopping sequences. WISA cell radius of 5 m
The main sub-systems of the R-Fieldbus system are: requires a minimum distance from neighboring cells 16
* a high-speed, high-performance and reliable radio
m for interference free operation. Interference depends
physical layer capable of guaranteeing important on the correlation properties of the frequency hopping
industrial requirements, such as real-time and reliability. sequences and the cell traffic load [28].
* a data link layer co-existing with dominant

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 WISA base station (BS) shown in Figure 1. supports time [32].
up to 120 wireless sensors/actuators with a cycle time 2
ms and is controlled by a small microcontroller. Table 3. Comparison of Wireless protocols
The BS simultaneously receives signals from
sensors/actuators with a dynamic range, and must
protect against blocking from external systems. The BS Characteristic ZigBee Bluetooth IRDA
provides two connectors for there are transmit and
receive antennas, which are frame WISA cyclically
switched. In order to boost the effect of antenna Range 10-100 m lom Im
diversity in a multipath environment, one antenna uses Special kit 100 m.
left circular polarization, while the other uses right 400 m
doors dep. radio
circular polarization. Universal
Actnel saves
Active slave
channel access 15 ms 2 ms cordless
cneto
connection
Data rate Kbps 1 MBPS Mbps
Number of 2 to
devices per 65.000 7 40
network
Network Ad hoc, Ad hoc Ad hoc
topology star, mesh
hybrid piconet piconet
Medium,
Flexibility High profile High
dependent
Resilience and Medium,
re iab ity High profile High
remplabiity Simple Comdependent
Fig. 1. WISA base station [28] Complexity Simple Complex Simple
The effect on the WISA base stations was measured in 5. PRACTICAL TEST IN INDUSTRIAL
realistic scenario. The antennas of the interfering base ENVIRONMENT
stations are set to point towards the WISA system under
test, thus simulating multi-cell operation. WISA The test-bed of wired/wireless hybrid system in
retransmissions are all within the delay limit also in this industrial environment is shown in Fig. 2. This system
case. This confirms the robustness of the design.
consists of 4 and 6 axis robots, programmable logic
control (PLC), wireless communication devices such as
4.2 Personal wireless area network for hybrid the IEEE 802.15.4, Bluetooth, DeviceNet, Wireless
network Fieldbus protocols, and PROFIBUS. The DeviceNet
We turn to a comparison of the three (ZigBee, master with wired and wireless slaves located only on
Bluetooth and Infrared Data Association IrDA) the wired part was added.
protocols (Table 3) in terms of the desirable features
and reference Bluetooth, ZigBee and IrDA are three
solutions for three different application areas. The
differenced are from their approach to their desired
application.
Bluetooth has addressed a voice application by
embodying a fast frequency hopping system with a
master slave protocol [30].
ZigBee has addressed sensors, controls, and short
message applications by embodying a direct sequence
system with a star or peer-to-peer topologies. ZigBee's
uses a basic master-slave configuration suited to static
star networks of many infrequently used devices that
talk via small data packets [31].
IrDA systems use a motherboard mounted IrDA
transceiver to exchange data with in IrDA device.
Communications between the host negotiates
connection establishing communication parameters. Fig. 2. Test-bed of the wired/wireless control network
These include items such as baud rate and turn-around

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5.1 Commercial test devices of Wireless Fieldbus of an interference problem of wireless industrial
In Figure 3 presents a block diagram of Wireless investigated.
Fieldbus system. In the block diagram, each device are Some related researches study have been presented
connected around factory using wireless device and the coexistence problem between the ZigBee and the
Fieldbus. WLAN [31] [32]. In [32], the PER ofthe ZigBee under
the IEEE 802.1 lb and IEEE 802.15.1 is obtained by
experiments.
I i DeviceNet master Profibus master
The frequency interference between ZigBee and
WLAN are shown in Figure 5. Figure 5. illustrates the
It!J ;-- X DeviceNet gateway Profibus salve
analysis without interference using ZigBee Figure 5 (a)
<> < --
4 and with interference Figure 5 (b). During analysis,
Wireless 1/0 Wireless1/O three channels of the IEEE 802.15.4 on 2260 MHz,
2350 MHz, and 2470 MHz are used for the coexistence
of the channels under the interference between IEEE
Probsms salDe Ethnet IEE0 802.15.4 and WLAN. The distance between IEEE
802.15.4 and WLAN is 8 meters, the interference of
Profibus master DeviceN et I/0
WLAN does not affect the performance of the IEEE
802.15.4. If the frequency offset is larger than 7 MHz,
Fig. 3. Block diagram of experimental system the interference effect of the WLAN is negligible to the
performance ofthe IEEE 802.15.4.
In Figure 4, Wireless Fieldbus Network devices are
shown. These devices were designed for efficient radio
band usage, with event reporting communications,
automatic acknowledgment and error-correction, peer to
peer addressing, multiple path routing, and data
encryption for system security.

(a) Signal strength without interference

(a) Fieldbus gateway (b) Wireless P/O (c) Wireless gateway

Fig. 4. Wireless Fieldbus Network devices.
In Figure 4. (a), (b) the Fieldbus gateway and
wireless I/0 devices were provided a wireless interface
between Fieldbuses used in process and automation
applications. The wireless gateway (c), makes possible
to connect compatible portable and stationary
communication device using Bluetooth technology. The
wireless technology uses as available frequency range
to ensure communication compatibility.
The features a flexible web server with a set of
integrated web pages that dynamically can include data (b) Signal strength with interference of IEEE 802.11
from the device on the Wireless Fieldbus network.
These web pages can be viewed with any standard web Fig.5. ZigBee and WLAN interference frequency
browser.
The details of application devices are following: When DeviceNet master and wireless gateway is
* the Fieldbus gateway interfaces between wireless I/0 connected, DeviceNet I/Os provide for simplified
and various Fielbuses. communication scheme based on master and slave
* connect wireless I/0 to PLC's, DCS, SCADA or relationship.
Internet. In Figure 6. transmitting the request and, response
* Wireless interconnectivity between Fieldbuses and messages using CANking signal analyzer is estimated.
wireless devices.
5.2 Test of Hybrid wireless technology
In this chapter, we discuss about one of the problems
of wireless Fieldbus through experimental test. In first

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 Fig.7. The estimated CANking Signal analysis based on
Bluetooth wireless gateway and Elpro.
Through this experimental test we can analyze the
feasibility of wireless technology.

(a) A estimated M\AC ID message
(b) A estimated vendor ID and Serial Number.
Fig.6. A estimated CAN message of DeviceNet
master and wireless gateway.
Figure 7 shows within DeviceNet master and the
wireless gateway. The request and response signal
through wireless gateway based on Bluetooth and Elpro.
(a) A request signal
(b) A response signal
6. CONCLUSION
In this paper, an overview of the problems and issues
about application of wireless technologies on Wireless
Fieldbus technology included Wireless CAN and its
protocols, R-Fieldbus, and Hybrid networks in industrial
environments has been presented. The timing analysis
of wireless device is presented.
The analysis of the frequency interface between
ZigBee and WLAN using three channels proved that
both standards were useful for designing and
implementing networks.
From the results of the analysis it can also be seen
that the ISM band is commonly used for the lower cost
radios such as WLAN and IEEE 802.15.4 with
unrestricted access to the high level of interference. The
analysis of Wireless Fieldbus can be useful basic work
for the future study.
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