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Distributed Control System (DCS)
Published in Chanchal Dey, Sunit Kumar Sen, Industrial Automation Technologies, 2020
There are three types of communication (master/slave, client/server, and consumer/producer) supported by CANopen. In Communication Interface module, ‘Network Management’ is for changing the state of nodes (e.g., starting, stopping, or resetting) and detecting error conditions. ‘Synchronization’ message is used to synchronize the transmission of certain data from a range of nodes typically triggered by the master. ‘Emergency’ is used in case a node experiences a fatal error (e.g., a sensor failure) and it warns the rest of the network. Timestamp is used to configure a network specific ‘time of day’, which will be received by all nodes. ‘Process Data Object (PDO)’ is used to transfer real-time data between nodes. ‘Service Data Object (SDO)’ is used to access/change values in the Object Dictionary (OD) of a CANopen node. ‘Node Monitoring’ is used to evaluate if each node is able to communicate within the network. All CANopen nodes must have an OD, which is a standardized structure containing all parameters describing the behavior of a CANopen node. CANopen is widely used in machine control systems (textile, printing, packaging, injection molding, etc.), robotics, medical equipment, public transportation, ship control, etc.
Servo Feedback Devices and Motor Sensors
Published in Wei Tong, Mechanical Design and Manufacturing of Electric Motors, 2022
Ethernet was developed in the 1970s and emerged in products in the early 1980s. Nowadays, Ethernet is the dominant local area networking solution in the office environment and attracts a great deal of attention as a support for industrial communication. While real-time industrial Ethernet-based communication protocols (e.g., EtherNet/IP, EtherCAT, and ProfiNet) are becoming popular for larger systems with many devices working together, fieldbus communications (e.g., CANopen, DeviceNet, and ProfiBus) are well suited to standalone machine control systems. CANopen is a standardized, highly flexible, and highly configurable embedded network architecture used in industries such as servomotor, robot, medical, automotive, aerospace, and many others.
Protocols and Services in Controller Area Networks
Published in Richard Zurawski, Industrial Communication Technology Handbook, 2017
Gianluca Cena, Adriano Valenzano
CANopen is a CAN-based application layer protocol with very flexible configuration capabilities that was explicitly defined for automation systems. It unburdens the developer from dealing with CAN-specific details, such as bit timing and implementation-specific functions. Moreover, it defines standardized communication objects (COBs) able to cope with both real-time and configuration data, as well as network management (NMT).
A game-theoretic method for resilient control design in industrial multi-agent CPSs with Markovian and coupled dynamics
Published in International Journal of Control, 2021
Jiajun Shen, Xiangshen Ye, Dongqin Feng
In addition, the research approach of multi-agent control problems can be categorised according to centralised and decentralised information structure (LePape, 1990). In practical industrial multi-agent CPSs, bus and star topology are widely applied in most of fieldbus and industrial Ethernet technologies, such as Profibus, ProfiNet, EtherCAT, CANopen, Modbus, FF (Foundation Fieldbus), EPA (Ethernet for plant automation), etc. In addition, high real-time performance guarantees that each agent can collect the information/data/command messages from all the other agents, proceed/compute and make response to them promptly (in a quite short time period). Take EPA as an instance, due to its CSME (Communication Scheduling Management Entity) mechanism and PTP (Precise Time Protocol) realised in MAC layer, it can realise high-precision time synchronisation where skew is of nanosecond-level, and meanwhile the macro cycle time is of microsecond/millisecond-level (Lu et al., 2011; Thomesse, 2005). It indicates the reasonability and availability of applying CA setting and corresponding centralised information structure to our industrial multi-agent CPSs case.
CNC-C2: an ISO14649 and IEC61499 compliant controller
Published in International Journal of Computer Integrated Manufacturing, 2021
Eduardo Harbs, Gabriel H. Negri, Guilherme Jarentchuk, Allan Y. Hasegawa, Roberto S. U. Rosso Jr, Marcelo da Silva Hounsell, Fernando H. Lafratta, Joao Carlos Ferreira
For future work, the following investigations are suggested: expanding the developed compiler back-end in order to consider a larger number of STEP-NC features and processes will raise its conformity level with the standard; implementing different communication forms between PC and low-level controller, adopting, for example, the CANOpen communication protocol; embedding the developed execution environment in different IEC 61499 compliant hardware devices, such as PLCs and microcontrollers, and; creating an ISO10303-238 version of the compiler.
Communication method for manufacturing services in a cyber–physical manufacturing cloud
Published in International Journal of Computer Integrated Manufacturing, 2018
S. M. Nahian Al Sunny, Xiaoqing F. Liu, Md Rakib Shahriar
Interoperability and automation of machine tools have always been a big concern for manufacturers. In the early twentieth centuries, the mechanical technology and analog devices were the primary components of the process control systems and manufacturing systems. In 1970s, Programmable Logic Controller (PLC) with limited control functions was introduced which replaced the conventional relay based control systems (Erickson 1996). With the development of digital computers, the scenario changed radically. Numerically Controlled (NC) machines came into play and labyrinths of mechanical linkages were substituted by point-to-point wiring. But this created a new difficulty. Optimised communication networking among different machines in the factory floor became a necessity. In 1985, Fieldbus systems emerged to reduce the complexity of conventional point-to-point wiring systems by connecting digital and analog devices to central controllers (Thomesse 2005; Zurawski 2014). Because of being an open protocol, many Fieldbus systems were developed in parallel and today there exist a number of variations. Over the past two decades, Fieldbus systems have gone through a lot of modifications and become standardised, although not unified. PROFIBUS is considered to be the most successful fieldbus technology and is widely used in industrial automation systems including factory and process automation. As of 9 September 2016, PROFIBUS & PROFINET International (PI) group indicates on its website that PROFINET offers digital communication for data processing and transmission with speeds up to 12 Mbps and supports up to 126 addresses. Control Area Network (CAN) bus is a high-integrity serial bus system which was fundamentally designed to be an automotive vehicle bus (Tindell, Hansson, and Wellings 1994). CANopen and DeviceNet are higher level protocols standardised on top of CAN bus to allow interoperability with devices on the same industrial network (McFarlane 1997). Modbus is a simple, robust and openly published, royalty free serial bus protocol that connects up to 247 nodes (Modbus Organization 2006). Modbus is easy to implement and operate on RS-232 or RS-485 physical links with speeds up to 115K baud. CC-Link was originally developed by Mitsubishi and is a popular open-architecture, industrial network protocol in Japan and Asia (Wikipedia 2014).