The CIP Motion Peer Connection for
Real-Time Machine to Machine Control
Steve Zuponcic and Mark Chaffee
Rockwell Automation
Technical Trackwww.odva.org

Today’s Motion Market Lacks a RealTime Machine to Machine Standard

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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Today’s Motion Market Lacks a RealTime Machine to Machine Standard

There is no existing Machine to Machine Technology forreal-time coordination
Existing physical layer is available for line control and cancarry this information between controllers.
Vendor drive technology is unaffected.

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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page 3www.odva.org

CIP Motion Peer Connection
Built on Standard Ethernet Stack Allows for layering of real-time information on existing line

control network• CIP Sync technology provides the reference for real-time interpolation or
extrapolation of position across a multi-vendor configuration
 Uses existing Ethernet stacks typically used in today’s HMI,

Engineering Workstations, and Historian Products Allows for non-intrusive
distribution of real-timemotion information forgearing and line-shafting
applications.
 Vendor core drive
technology is not modified orchanged.
Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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Use Case 1: Produced Axes fromVendor A to Vendors B, C, & D

HMIMachine 1

Produced Axis

Technical Track© 2012 ODVA, Inc.

Vendor A

Machine 1

Vendor B

Consumed Axes

HistorianEngineering
Workstation

Line Controller

Machine 1

Vendor C

Consumed Axes

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Machine 1

Vendor D

Consumed Axes

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Use Case 2: Produced Virtual Axis
from Line Controller
Produced Virtual Axis
HMIMachine 1

Consumed Axis

Technical Track© 2012 ODVA, Inc.

Vendor A

Machine 1

Vendor B

Consumed Axes

HistorianEngineering
Workstation

Line Controller

Machine 1

Vendor C

Consumed Axes

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Machine 1

Vendor D

Consumed Axes

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Use Case 3: Produced Virtual Axis To
Robot Controller
Produced Virtual Axis
HMIMachine 1

Technical Track© 2012 ODVA, Inc.

Vendor A

Line Controller

Machine 1Engineering
Workstation

Vendor B

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Historian

The CIP Motion Peer Connection
Object Model

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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Proposed CIP Motion Peer Connection

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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Command Position and Time Stamp Allow for
Proper Interpolation / Extrapolation

Master Axis
Gear to Master
Actual Position

250 usecMotion
TaskActualPosition

Tpro
Producer

Corrected
ActualPosition

ConsumedMaster Axis

Extrapolation Time = Tcon - Tpro = 250 usec
Tpro

Motion
Task

Consumer
Tcon

Gear to Master
Actual Position

Consuming Slave Axis
Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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Time Stamp Correction with Fast
Producer and Slow Consumers

Master Axis
Capture Master
Actual Position

Capture Master
Actual Position

Capture Master
Actual Position

Motion
Task

Motion
Task

MotionTask

250 usec
Producer
ActualPosition

Tpro

Corrected Actual Position
Tcon - Tpro = 250 usec

ConsumedMaster Axis
Consumer

Tpro

Corrected Actual Position
Tcon’ - Tpro’ = 125 usec

Tpro’

Motion
Task

MotionTask

375 usec
Tcon

Gear to Master
Actual Position

Consuming Slave Axis
Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
All rights reserved.

page 11www.odva.org

Time Stamp Correction with Slow
Producer and Fast Consumers
Master Axis
Gear to Master
Actual Position

250 usec
Motion
Task

Producer

Motion
Task

Actual Tcon-Tpro = 125 usec
Position

Tpro

Tcon-Tpro = 250 usec

Tpro
Motion
Task

Motion
Task

Motion
TaskMotionTaskConsumerTcon
Gear to Master
Actual Position

Consuming Slave Axis
Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
All rights reserved.

page 12www.odva.org

The CIP Motion Peer Connection for aDistributed Motion Architecture
The Traditional Centralized Motion Planner
Model Allows for Easy Coordination of aMulti-Axis SystemAll coordination is managed from a single controller
Single programming environment for programming andexecution of motion control
However, system
CIP Motion DriveAutomation Controller
performance isdependent on thepower of a single controller
Communications between
CIP Motion Drive
the controller and the axes
can be highly loaded
CountScaling

MotionPlanner

I/O

Axis
ObjectTechnical Track© 2012 ODVA, Inc.

UserScaling

CountScaling

2012 ODVA Industry Conference & 15th Annual Meeting
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EtherNet /IPUser
Scaling

Drive Task

Drive Core

Axis
ObjectMotor
Control

Drive Task

Drive Core

Axis
ObjectMotor
Control

EtherNet /IP

Axis
ObjectI/O

EtherNet /IP

Motion Task

page 13www.odva.org

The CIP Motion Peer Connection for aDistributed Motion Architecture
The advent of the CIP Motion Peer Connection
Enables the Migration of the Motion Plannerto the Drives

Distributes performance throughout the system
Real-time communications between the controller and thedrives is dramatically reduced
System performance
CIP Motion Drive
Automation Controller
capacity easily increases
by an order of magnitude
Real-timecommunications is shared
CIP Motion Driveacross the Peer
Connection from drive todrive
Motion Task
User
ScalingDrive Core

Axis
ObjectDrive Core

Drive Task

User
ScalingCount
Scaling

EtherNet /IP

Axis
ObjectAxis
ObjectMotionPlanner

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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MotorControl

MotionPlanner

EtherNet /IP

PeerCount
Scaling

EtherNet /IP

Axis
ObjectDrive Task

I/O

page 14www.odva.org

MotorControl

Distributed Motion Functionality
Current Trends in Lean Drive Design Push for
the Offloading of Motion Functions toDistributed Devices

Feedback
Motion I/O
Control
Converter

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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Distributed Motion Functionality

HMI

Line Controller

Engineering
Workstation

HistorianDistributed Feedback
Time Stamped Position

Input Device
Registration

Technical Track© 2012 ODVA, Inc.

Output Device
Output Camming2012 ODVA Industry Conference & 15th Annual Meeting
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Feedback Device
Automation Controller

Master Encoder Device

Motion Task

CIP
Axis
Object(Tag 1)

Ethernet

NIC
D2C
Parse

C2D
Assem

D2C
Conn
Map
Object

MAC&StackC2D

NIC

ModuleC-Tag

MAC&StackNIC
Peer

Encoder Update
Period

D2C
Assem

D2C

C2D

CIP I/O Connection Tasks

MAC&Stack

C2D
Parse

Axis
Object#1

EncoderInterface
CoreE

CIP Peer Connection Task
Peer
Assem

Axis
Object#1

Slave Drive Device
NICPeerMAC&Stack

CIP Peer Connection Task
Peer
Parse

Axis
Object#2Motion
PlannerModule
C-Tag
NIC

CIP
Axis
Object(Tag 2)

Technical Track© 2012 ODVA, Inc.

D2C
Parse

C2D
Assem

NIC
D2C

Conn
Map
ObjectDrive Update
PeriodMAC&Stack

C2D

D2C
Assem

D2C

C2D

CIP I/O Connection Tasks

MAC&Stack

C2D
Parse

2012 ODVA Industry Conference & 15th Annual Meeting
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Axis
Object#1

DriveControl
CoreM
E

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Feedback Device

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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Motion Registration Input

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2012 ODVA Industry Conference & 15th Annual Meeting
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Motion Position Output

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2012 ODVA Industry Conference & 15th Annual Meeting
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Motion I/O

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
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Converter Module

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2012 ODVA Industry Conference & 15th Annual Meeting
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Converter Module

Technical Track© 2012 ODVA, Inc.

2012 ODVA Industry Conference & 15th Annual Meeting
All rights reserved.

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