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\par }{\b\insrsid5587302 
\par 
\par }{\fs28\insrsid5587302 Aleksandar Klai\'e6
\par }{\insrsid5587302 Brodarski institut - Marine Research & Special Technologies
\par Av. V. Holjevca 20, 41020 Zagreb, Croatia
\par E-mail: sasa@irs.hrbi.hr
\par 
\par 
\par }\pard \qj \li0\ri0\nowidctlpar\tx1701\faauto\rin0\lin0\itap0 {\b\insrsid5587302 Abstract - The paper describes comparable characteristics of a few 
industrial computer networks, the so-called fieldbusses. Some standardised protocols (PROFIBUS, CAN) and some manufacturer-specific protocols (SUCONET, \'b5
NET) are chosen for comparison. Basic terms from the process field level are explained. Problems in dev
elopment and implementation of the control systems based on these fieldbusses are considered, as well as the availability of different manufacturers' software and hardware support.
\par }{\insrsid5587302 
\par 
\par 1. INTRODUCTION
\par }\pard \qj \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 
\par \tab The equipment installed in the field for the automation
 of technical processes, such as sensors, actuators, programmable logic controllers and embedded systems, uses increasingly digital microelectronics. For the communication between these devices as well as with higher level automation components, industria
l computer networks, the so-called fieldbusses, are being increasingly used.
\par \tab The earlier trend (80's) in the development of incompatible computer networks produced a large number of incompatible manufacturer-specific realisations in the field area, making 
components from different manufacturers unintegrable in a larger common system. These kind of fieldbusses (manufacturer-specific) are usually developed by one manufacturer or interest group for a specific application or a group of products (e.g. SUCONET).
 
Some of these fieldbusses become very popular among users, which made them standardised very soon (e.g. CAN). On the other hand, in the late 80's the efforts were directed towards following some recommendations such as Open Systems Interconnection Referen
c
e Model (OSI) of the International Standardisation Organisation (ISO). Unlike in the case of the mentioned manufacturer-specific fieldbusses, the development of manufacturer-independent  fieldbusses (standard) is usually based on a joint project. Funded b
y some government ministry, created by a few technical institutes and dozens of industrial companies (e.g. PROFIBUS), the development is being made independently of the participants' individual interests.
\par 
\par 
\par 2. COMMUNICATION CONCEPTS IN TODAY'S AUTOMATION
\par 
\par \tab 
Openness as a communication concept ensures that devices of different manufacturers can communicate with each other without an interface adaptation (Standard networks / OSI - Fig.1.). It means, that it is possible to achieve communication between differen
t
 manufacturer application systems, if they are equipped with the same fieldbus interface. On the other hand, there are manufacturer-specific networks (Fig.1.), the so-called CSI architecture (Closed Systems Interconnection). In the CSI architecture all th
e components come from and are designed by the same manufacturer. The user buys complete solutions from one manufacturer and adheres to that manufacturer for maintenance and all future extensions.
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\par }\pard \qc \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\b\fs18\insrsid5587302 Fig. 1}{\fs18\insrsid5587302 . Network standards
\par 
\par }\pard \qj \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 \tab The 
layered model is recommended in the ISO/OSI Reference Model. The entire communication process is partitioned into a hierarchy of 7 layers to be traversed one by one by the message either top down or vice versa during the communication. Every layer provide
s
 services to the next higher layer and in turn uses services of the next lower layer to execute its tasks. Within one station each layer exchanges information only with adjacent layers. What is defined in the ISO/OSI Reference Model is an accurate interfa
ce between all of these layers.
\par \tab The hierarchical model of Computer Integrated Manufacturing (CIM) distinguishes factory, process, cell, control and field level because the information flow in a company can be very complex. What is really different in these
 levels are demands on the devices and communication concepts applied. Every hierarchical level places a number of demands on the physical transmission media (cable, optical fibre, radio), on the transfer method (e.g. protected/unprotected, baseband/broad
band) and on performances (e.g. master-slave/multimaster). There are other parameters such as installation expenses, physical and legal limits, investments already made, and price/performance ratio.
\par 
\par 
\par 3. FIELDBUSSES
\par 
\par \tab Fieldbusses are type of networks in the
 bottom automation level next to the technical process. They belong to the class of local area networks (LAN), to the type which is known as tertiary LANs or "low cost LANs". The use of shielded twisted pairs and inexpensive coaxial cables in baseband tec
hnology makes the installations of such networks inexpensive and easily manageable. Transmission rates range from 9.6 Kbps to 2.5 Mbps, while transmission distances usually reach up to 2,500 meters.
\par \tab Serial busses can be classified according to the following features (Fig.2.):
\par }\pard \qj \fi-284\li1134\ri0\nowidctlpar\tx850\faauto\rin0\lin1134\itap0 {\insrsid5587302 \bullet \tab message transmission methods (frequency-division or time-division multiplexing),
\par \bullet \tab synchronous or asynchronous transmission protocol,
\par \bullet \tab controlled or random bus access,
\par \bullet \tab centralised or decentralised bus control.
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\par }\pard \qc \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\b\fs18\insrsid5587302 Fig.2. }{\fs18\insrsid5587302 Subdivision of serial busses [2]
\par 
\par }\pard \qj \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 \tab 
Fieldbusses never have all of the layers that are defined in the ISO/OSI Reference Model. Usually they have architecture divided into layer 1 (Physical Layer), layer 2 (Data Link Layer) and layer 7 (Applica
tion Layer). The basic reasons for such simplification are real-time requirements and low cost implementation. Fieldbus protocols must be restricted only to the functionality that is absolutely necessary. Some of the requirements for a fieldbus system are
:
\par }\pard \qj \fi-284\li1134\ri0\nowidctlpar\tx850\faauto\rin0\lin1134\itap0 {\insrsid5587302 \bullet \tab simple protocol,
\par \bullet \tab short messages,
\par \bullet \tab safe transmission,
\par \bullet \tab simple medium, two wire line,
\par \bullet \tab length up to a few thousand meters,
\par \bullet \tab different topology: line, tree,
\par \bullet \tab different transmission rates,
\par \bullet \tab optional power supply via bus,
\par \bullet \tab optional enhancement of availability,
\par \bullet \tab low effort in implementation, etc.
\par }\pard \qj \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 
\par 
\par 4. COMPARABLE CHARACTERISTICS OF SOME FIELDBUSSES
\par 
\par \tab Four fieldbusses are chosen for comparison. There are software protocols, field and control devices for these fieldbusses avail
able on the market. These four fieldbusses are very good examples because of their different performances, field of application, way of implementation, way of programming, prices, manufacturer's support, etc. Generally speaking, there is a different appro
ach philosophy in each of the four cases.
\par \tab The parameters which precisely describe performances of each fieldbus have to be distinguished. In other words, the performance parameters have to be put in the real surroundings of the project development, describ
ed by the factors like technical demands, know-how of the development team, chosen computer technology, character of the application, desired level of system openness, cost efficiency etc. These factors are key for choosing the fieldbus for an application
.
\par 
\par \tab The following fieldbusses are chosen for comparison:
\par }\pard \qj \fi-284\li1134\ri0\nowidctlpar\tx850\faauto\rin0\lin1134\itap0 {\insrsid5587302 \bullet \tab SUCONET, developed by Klockner-Moeller, Germany,
\par \bullet \tab \'b5NET, developed by Phytec, Germany,
\par \bullet \tab CAN (Controller Area Network), standard network (ISO/DIS 11 898),
\par \bullet \tab PROFIBUS, standard network (DIN 19 245 part 1 and 2).
\par }\pard \qj \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 
\par In the following table some performance parameters for the chosen fieldbusses are given (Table 1.).
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\par }\pard \qc \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\b\fs18\insrsid5587302 Table 1. }{\fs18\insrsid5587302 PERFORMANCE PARAMETERS FOR THE CHOSEN FIELDBUSSES}{\b\fs18\insrsid5587302 
\par }\pard \qj \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 
\par 
\par }{\i\insrsid5587302 4.1 SUCONET
\par }{\insrsid5587302 
\par }\pard \qj \li0\ri0\sl240\slmult0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 \tab 
SUCONET is manufacturer-specific fieldbus developed by Klockner-Moeller for the purpose of networking their own PLCs (Programmable Logic Controllers). Klockner-Moeller provide controllers with SUCONET communication port which range from simple input/outpu
t units ("remote I/O") to complex control systems.
\par \tab "Master-slave" principle is used as the bus access method (one active station). There are two classes of SUCONET:
\par }\pard \qj \fi-284\li1134\ri0\nowidctlpar\tx850\faauto\rin0\lin1134\itap0 {\insrsid5587302 \bullet \tab K1, which allows only remote input/output units (unintelligent slaves), and fixed length of message frames,
\par \bullet \tab K2, which allows slaves to have their own user program (intelligent slaves), and variable lengths of message frames.
\par }\pard \qj \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 The way of programming is adapted to the PLC programming philosophy, and thus the use of remote or network capabilitie
s is quite simple for an experienced PLC software developer. The support for debugging networked system is integrated in the development software (PC/DOS version). Communication with the networked system is through a programming connector on the master un
it (PLC) with a help of RS232 / RS485 converter.
\par \tab The biggest problem of these manufacturer specific protocols is how the manufacturer can organise support in all of the aspects a network needs. There is a problem of manufacturing all different types of fie
ld and process devices potential users might need. This is way every manufacturer likes to have the third companies offering products that are made according to their  protocol. The trend towards manufacturing intelligent sensors with the capability of di
r
ect fieldbus connection, force sensor manufacturers to implement such fieldbus interfaces. The more equipment on the market support particular fieldbus interface, the more users (installations) such fieldbus get. Moreover, in the 90's the fieldbuss area i
s
 becoming more standardised. This means that communication protocols are no longer secrets. On the contrary, some standardised protocols are available to anyone interested for free. All these reasons force manufacturers "to open" their communication proto
cols. This is the way how to get more users (fieldbus installations) and to extend the number of the third companies that offer different peripheral equipment supporting their protocol.
\par \tab SUCONET Implementation Set is a tool for development of SUCONET compat
ible devices (e.g. terminals, intelligent sensors). The implementation set offers object code for Intel 8051 compatible microcontrollers. Although protected with license policy, it gives potential users a great opportunity to customise such CSI architectu
re.
\par \tab Despite its relatively low performances, great support of SUCONET compatible devices on the market justifies SUCONET applicability. Especially in the case of simple distributed applications (remote I/O) when fast realisation is a must.
\par \tab One of the appl
ication example is a control panel for monitoring and control of ship systems [12]. The control panel is made of independent panel parts (groups of components such as switches, pushbuttons, signal lamps, analog input panel meters, digital displays, etc.) 
f
or each logical function (e.g. fire alarm). Each panel part has its own controller (PLC) that control its group of components and communicate through the SUCONET with central unit. In that way the integration of the control panel is much easier considerin
g wiring, testing, commissioning, maintenance etc.
\par 
\par 
\par 
\par }{\i\insrsid5587302 4.2 \'b5NET
\par }{\insrsid5587302 
\par \tab \'b5NET is a software communication protocol developed by Phytec. It is Phytec support for the users orientated to manufacturing and/or integrating systems based on Intel 8051 and compatible microcontrollers. \'b5
NET is "software only solution". It means that there is no dedicated network controller, only the software for Intel 8051 or compatible microcontroller.
\par \tab Development Kit for \'b5NET contains object code and it is suitable for programming in C or assembler (e.g. Keil C51 PDS). Besides this, \'b5NET bus analyser and network monitor for phyPX on \'b5
NET are included in the development kit, along with four nodes sample hardware. PhyPX is Phytec application programmer's interface (API). Phytec offers phyPX as API for CAN and ARCnet also (Fig.3.). Separately bought, \'b5
NET licence gives the user right to buy Dallas DS2400 microchips, by which the protocol is protected (simple to install in any hardware).
\par \tab \'b5NET belongs to the middle performance class of fieldbusses. It has advantage in simple hardware solution without dedicated network controller. \'b5
NET node besides UART (Universal Asynchronous Receiver Transmitter) that is already implemented in 8051 core, needs only RS485 transceiver. It is easy to implement this software in existing 8051 solutions. In addition, 8051 microcontroller with \'b5
NET protocol can be used as a low-cost peripheral communication processor for other embedded systems (e.g. PC/AT communication card with 8051 and dual port RAM). The same API which they offer for three different network protocols (\'b5
NET, CAN, ARCnet) gives the user flexible way of optimising "network engine" using the same software approach.
\par }\pard \qj \li0\ri0\sb120\nowidctlpar\tx6520\faauto\rin0\lin0\itap0 {\b\fs18\insrsid5587302 \tab Fig. 3. }{\fs18\insrsid5587302 Phytec network support}{\b\fs18\insrsid5587302  
\par }\pard \qj \li0\ri0\nowidctlpar\tx850\faauto\rin0\lin0\itap0 {\insrsid5587302 
\par 
\par 
\par }{\i\insrsid5587302 4.3 CAN
\par }{\insrsid5587302 
\par \tab CAN Development Kit is Phytec implem
entation of CAN protocol. It is made according to standard ISO/DIS 11 898. This is one of the many CAN compatible products on the market. CAN protocol is implemented in hardware of the network controller. Besides stand alone CAN controllers such as Philip
s
 82C200 [6], there is an integrated version which consists of Philips 80C552 microcontroller and CAN controller called 80C592. Moreover, CAN standard gives the opportunity to use SLIO chips (Serially Linked Input Output), which are remote I/Os. With no so
ftware on SLIO board, there are analog and digital I/Os remotely controlled by CAN controller.
\par \tab CAN Development Kit contains object code for 8051 compatible microcontrollers and for 80x86 microprocessors. It is suitable for programming in C or assembler (e.
g. Keil C51, Borland C/C++). Besides this, CAN bus analyser and network monitor for phyPX on CAN are included along with five nodes sample hardware (two SLIOs). PhyPX is application programmer's interface (API) as it is the case for \'b5
NET (Fig.3.). Separate
ly bought, CAN licence gives the user right to buy Dallas DS2400 microchips, by which the protocol is protected (simple to install in any hardware). The same component (DS2400) is used for the protection of all network implementations made by Phytec (thes
e components bought from Phytec are interchangeable).
\par \tab CAN is high performance network, suitable for real-time applications, with great error detection and correction capabilities. Extremely short messages (< 8 bytes), no station addresses (only broadcast a
nd multicast messages), multi-master, object orientation and standardisation make CAN a good choice for future oriented, distributed systems. Firstly developed for automotive industry applications by Bosch and Intel, CAN became world-wide industrial stand
ard. The same API that Phytec offers for three different network protocols (CAN, \'b5NET, ARCnet) gives the user additional flexibility in optimising "network engine" using the same software approach (API).
\par \tab High performances that CAN offers are used in the ap
plication of battery monitoring system of an underwater vehicle [14]. The monitoring system is based on intelligent sensors that locally measure process parameters (cells voltage, temperature and density of electrolyte, capacity of batteries, ventilation 
i
n battery space etc.) and communicate with central units through the CAN bus. Complete measuring reports are stored, displayed, and printed on the PC-DOS compatible embedded system. CAN bus is installed along the underwater vehicle linking all devices tha
t
 belong to the battery monitoring system, eliminating complex wirings. Moreover, this system is open for extensions. More temperature signals for example, could be processed by a new node on the CAN bus. The whole system for the battery monitoring could b
e linked with other systems on the underwater vehicle through the standard services provided by  the CAN specification.
\par 
\par 
\par 
\par }{\i\insrsid5587302 4.4 PROFIBUS
\par }{\insrsid5587302 
\par \tab PROFIBUS (PROcess FIeld BUS) is probably one of the best organised efforts to standardise fieldbus area. It was started
 in 1987 by the German Federal Ministry for Research and Technology, as a joint project of 13 companies and 5 institutes. The official goal of the project was to propagate quickly PROFIBUS as the fieldbus standard. In 1991 PROFIBUS was standardised in the
 
German standard, DIN 19245. The completely specified fieldbus standard is available world-wide to anyone interested license-free. In 1989 PROFIBUS User Organisation was founded. Some of the tasks of this organisation are exchange of information, further d
evelopment, conformance testing, public relations etc. Everybody using PROFIBUS communication may become a member of the PROFIBUS User Organisation.
\par \tab There are PROFIBUS controllers available on the market for many systems such as processor families Intel 80
51, Intel 80x86, Motorola 68000, and various programmable logic controllers (PLC). The Siemens SINEC L2, the Phoenix Contact INTERBUS-P, and the Klockner-Moeller SUCONET-P are all the implementations of the PROFIBUS protocol.
\par \tab Although very complex protoco
l, PROFIBUS offers profiles as the way of simplification for low-cost field devices. The PROFIBUS profiles are a selection of functions and features within the limits of the entire PROFIBUS specification (e.g. profiles for sensor and actuator technology, 
building automation, textile machine engineering, etc.). These profiles allow manufacturing of low-cost field devices according to PROFIBUS specification (e.g. encoder with direct PROFIBUS connection).
\par \tab PROFIBUS is high performance network suitable not only
 for field, but also for higher, process level. Variable length messages, multi-master or master-slave, object orientation, standardisation in all of the three layers defined (the Physical, the Data Link, and the Application Layer), profile definitions fo
r the application areas, etc. are some of the performances which ensure good and promising future development for the PROFIBUS.
\par \tab Different manufacturers, in combination with different computer platforms on which PROFIBUS is implemented, offer a variety of d
evelopment tools from software libraries and communication cards for specific processor families (e.g. Softing, TMG) to complete systems (e.g. Siemens, Klockner-Moeller).
\par \tab A conceptual design of computer system for propulsion system control and monitoring 
[13] uses PROFIBUS to link three subsystems: bridge propulsion control panel, central station in the control room, and substations in the engine rooms (stern and stem). Combination of multi-master and master-slave is used, which results in additional flex
i
bility considering station failures. The failure of one master station neither influence on other master stations work, nor on any of the slave stations work. The reduced functionality of the failed master station can be maintained in such case, because o
ther master stations take on some of its tasks.
\par 
\par 
\par 5. CONCLUSION
\par 
\par \tab 
Choosing a standard fieldbus protocol instead of manufacturer-specific one gives users the opportunity to adhere to different manufacturer. On the other hand, a question remains which fieldbus standard to choose, since there is a variety of them. The answ
e
r should be the one that fits a particular application. If it is standardised, it will offer the user a great variety of products that conform to that standard, giving him the way to optimise price/performance characteristics and to choose among different
 manufacturer support tools and services.
\par \tab Whether the confirmation to the standard is guaranteed by hardware (e.g. CAN controller 82C200 made by Philips) or by software (e.g. PROFIBUS protocol software for Intel 8051 made by Softing), it always means the s
ame: different manufacturer systems must communicate with each other without additional adaptation.
\par 
\par 
\par 6. REFERENCE
\par 
\par }{\fs18\insrsid5587302 [1]\tab The PROFIBUS Standard, PROFIBUS Nutzerorganisation e.V., Wessesling, 1992
\par [2]\tab K. Bender: PROFIBUS, Prentice Hall International (UK) Ltd, Hertfordshire, 1993
\par [3]\tab Networking Programmable Controllers, Klckner Moeller, Bonn, 1990
\par [4]\tab SUCONET Field Bus SIS-1 Implementation Set, Klockner Moeller, Bonn, 1988
\par }\pard \qj \fi-851\li851\ri0\nowidctlpar\tx850\faauto\rin0\lin851\itap0 {\fs18\insrsid5587302 [5]\tab J. Ehrenberg, E.-J. Heins, P. Leymann, W. Schumacher: CAN-Bus mit OSI-Schicht 7 offne
t Tor zur Fabrik, Elektronik 22/1991, 70-80 (Teil 1), Elektronik 23/1991, 62-70
\par [6]\tab PHILIPS: PCA82C200, Stand-alone CAN-controller, Data sheet, 1990
\par [7]\tab DIGITAL: Digital Industrial Networks - Guidebook, 1988
\par [8]\tab PHYTEC: CAN Development Kit, Mainz, 1994
\par [9]\tab PHYTEC: \'b5NET Development Kit, Mainz, 1994
\par [10]\tab SOFTING: Data sheets of PROFIBUS products, 1994
\par [11]\tab SIEMENS: SINEC, Industrielle Kommunikationsnetze, 1994
\par [12]\tab A. Klai\'e6, P. Crnkovi\'e6: Conceptual Design of Computer System for Monitoring and Control of Ship Systems and for Ship Protection, Brodarski institut - BR04-01-000, Zagreb, 1994
\par [13]\tab A. Klai\'e6, \'8e. Herman: Conceptual Design of Computer System for Propulsion System Control and Monitoring, Brodarski institut - BR04-01-001, Zagreb, 1994
\par [14]\tab A. Klai\'e6: Battery Monitoring System of the Underwater Vehicle, ELMAR '94, Zadar,  1994, 52-56
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