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ARC Heitzer
ARC Heitzer
PROFINET
Heitzer Bernhard#1
1
bernhard.heitzer@stud.hs-regensburg.de
#
Maschinenfabrik Reinhausen
Falkensteinstrasse 8
93059 Regensburg
Jürgen Mottok#2
2
Juergen.Mottok@hs-regensburg.de
#
Laboratory for Save and Secure Systems, HS-Regensburg
Seybothstrasse 11
93059 Regensburg
C. Conformance Class C
This duration is called Propagation Delay pmax . The
Propagation Delay can be determined exactly by using the
PTCP.
G. Bridge Delay: q
The throughput time for a frame from one port to
another port in a switch is called Bridge Delay q . An
estimated value for the Bridge Delay in PROFINET
Figure 3. PROFINET IRT RTC2
switches is q max = 10 µs for RTC1/RTC2 and ca.
qmin = 3µs for RTC3 (the exact value is given in the
E. RT-Class-3 GSD-file). For further calculation also a variable d is
In RTC3 there is no time reserve left in the IRT-interval. specified which represents the number of IO-Devices in
This will only work under the prerequisite that the the network.
topology of the network is known before startup. On base
of this information the communication plan hast to be H. Transmission Delay: t
calculated before. The calculation with an engineering- One Ethernet-frame has a specified header-length of 34
tool, that also requires throughput times of the switches. Bytes and has an additional CRC-value with 4 Bytes. The
In RTC3 this throughput time is approximately 3, 5µs. data-field has a minimum size of 46 Byte and therefore
The exact throughput times for RTC1/RTC2/RTC3 are the minimum size of one Ethernet-frame is 84 Byte. If the
available in the PROFINET GSD-file which can be data-field is completely filled the maximal size of one
processed by the engineering-tool. Every PROFINET Ethernet-frame is 1538 Byte. The PROFINET system
manufacturer has to offer a GSD-file for the produced runs with a speed of 100Mbit/s. The calculated
Device, so throughput times for every Device are known transmission time for one Ethernet-frame with minimum
by the engineering-tool. size t min is:
Forwarding of RT-frames in RTC3 is not based on 84 Byte ÷ 100 MBit / s = 6 , 72 µs
MAC-addresses anymore. The network topology is
and for one Ethernet-frame with maximum size t max :
planned with the engineering-tool before startup and with
this information the engineering-tool creates a table for 1538 Byte ÷ 100 MBit / s = 123 ,04 µs
the RT-frame routing. This table is stored on every
I. Transmission Time without waiting Time: Tmin
involved switch. Now it is possible to make accurate
predictions when and where a specific RT-frame is The example in Figure 4 shows a calculation for the
forwarded. This means that the communication is transmission time of one PROFINET frame (minimal size
deterministic. 84 Byte) from the IO-Master to the IO-Device 4. The
Worst-case scenario for IRT-communication is a line Mathematical formula for the calculation in Figure 4 is:
topology. In this case the defined send order causes that Tmin = d * (qmax + p ) + t min
the RT-frame for the last IO-Device in the line-topology Since the bridge delay is 10µs and because of this a
to be sent first. When the first RT-frame is on its way, the RTC1 or RTC2 communication must be used.
second RT-frame is sent to the second to the last IO- Nevertheless, it could happen that a RTC frame has to
Device. wait until another frame is transmitted on the wire, as
shown in the next example.
6. PERFORMANCE CALCULATION
F. Propagation Delay: p
The Ethernet standard specifies a maximal section
length of 100m between switches for cooper wire.
Electrical signals spread at a speed of ca. 200000km/s in
cooper. The maximal duration to send one bit within one
section is:
100 ÷ 200000 km / s = 0 ,5 µs
RTC-frame. The IO-Master transmits four RTC3-frames
(minimum size 84 Byte) one for each IO-Device. The
Mathematical formula for the calculation in Figure 6 is:
U = d * t min + q RTC 3 + p
Since IO-Device 2, 3 and 4 receive the frames before
the IO-Master transmission is finished, q and p are
considered only once.
The previous examples calculate how long it takes to
4 * (10 µs + 0 ,5 µs ) + 6 ,72 µs = 48 ,72 µs
transmit one PROFINET-frame. In practice it is common
that more than one frame is sent in one bus-cycle. Every
Figure 4. Min. Transmission Time time more than one frame shall be sent the second and
further frames are queued until the previous frame has
been forwarded. In Figure 6 RTC3 communication with
J. Transmission Time with waiting Time: Tmax
the TDMA method is used and, additionally the IO-
The example in Figure 5 shows a calculation for the Master has knowledge of the network topology. As
transmission time of one PROFINET frame (minimal size described earlier the IO-Master builds a send order. The
84 Byte) from the IO-Master to the IO-Device 4. frame for the last IO-Device in the line is transmitted first.
The Mathematical formula for the calculation in Figure This method saves time, because the forwarding time is
5 is: optimized.
Tmax = d * (q max + p ) + t min + (d − 1) * (t max + q max )
The calculation is influenced by the fact that the RTC
frame has to wait before it can be forwarded. Again a
bridge delay of 10µs is used. In this worst case the
transmitted frame has to wait at every IO-Device until a
maximum UDP-frame (size 1538 Byte) is transmitted on
the wire. The UDP-frame was sent just before the
PROFINET frame has arrived. This leads to a waiting
time for the PROFINET frame of 123, 04µs at every IO-
Device.
4 * 6,72 µs + 0 ,5 µs + 3 µs = 29 ,93 µs
The Update time also gives a reference for the duration
of a bus-cycle for a specific number of IO-Devices. In
opposite it is also possible to calculate how many IO-
! "#$% ! "#$% ! "#$%
Devices can be connected to a PROFINET network with a
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given bus cycle time. The Mathematical formula for the
maximal number of IO-Devices for a given bus-cycle is:
4 * (10 µs + 0,5µs ) + 6,72 µs + ( 4 − 1) * (123,04 µs + 10µs ) = 447,84µs
d = (t cycle − p − q min/ max ) ÷ t min/ max
E.g. how many IO-Devices can be updated with a bus-
Figure 5. Max. Transmission Time
cycle time of 250µs if every IO-Device is updated with a
minimum RTC3 frame?
K. Updating Time with RTC3: U (250 µs − 0,5µs − 3µs ) ÷ 6,72 µs = 36,68 ≈ 36
The example in Figure 6 shows a calculation for the Solution: With RTC3 it is possible to update 36 IO-
Update time of the process data. This is the time how long Devices with a bus-cycle time of 250µs (the result has to
it takes that every IO-Device in the network gets one adjust downward).
CONCLUSIONES
REFERENCES