1TECHNOLOGY OVERVIEW SERIESPERFORMANCE WITHOUTCOMPROMISE
EtherNet/IP™ combines with
CIP Motion™ to deliver
high-performance motion control

Executive Summary
Ever increasing performance requirements for equipment that delivers higher quality andmore varied product at reduced scrap rates is familiar territory for end-users and OEMs
alike. Most of the time, high performance motion control systems are one of the key
enablers for fulfilling these requirements. Automation networks for machines with highperformance motion control have proven to be a “win-win” for both OEMs and end-users
by simplifying the tasks of installation, commissioning, product changeover andmaintenance and ultimately have improved return on investment by providing bettermachines at a lower overall production cost.
Most high performance motion applications combine motion control with other key
disciplines such as safety and general machine or process control. To manage thiscombination of disciplines, a traditional implementation might use multiple dedicatednetworks or it might hardwire certain portions of the control. For example, motion control
often had its own dedicated network while general machine control required a second.
Safety, often, was not networked at all, but instead was hardwired into the control
system. This disparate approach existed because the network technology was notcapable of integrating these controls together – and the automation suppliers andproducts were typically focused on certain areas of control. Although workable, this“hodge-podge” approach of integration brought a lot of complexities and hidden costs.
Multiple people were often required to manage and setup each network; additional costs
were required for multiple communications gateways and also for programming the
movement of data from each non-interoperable network to the control. Finally, and notleast important, this implementation demanded ongoing maintenance costs totroubleshoot and correct problems in the plant on this equipment.
But now there is a simpler and more cost effective approach to equipment design thatdelivers performance without compromise – EtherNet/IP™ – a single automation
network that can combine machine control, safety and high performance motion control
capabilities into one, standard Ethernet network that is available on a wide offering ofinteroperable products from the world’s leading automation companies. In addition,
EtherNet/IP-enabled equipment provides users with the foundation needed to adopt a
converged network architecture throughout their production plants. EtherNet/IP is the
only automation network available today that implements the complete range ofnecessary machine control capabilities on a technology platform using the most widely
installed Ethernet standards found today. The overall result can be a multiplicative gain
in return on investment from state-of-the art equipment, increased overall enterpriseproductivity and reduced costs for training and maintenance.
In this paper, ODVA lays out the building blocks for the EtherNet/IP technology thatmake it unique among industrial networks in solving applications requiring highperformance motion control on a standard Ethernet platform, including: The network application layer used by EtherNet/IP – CIP™ – that allows it toprovide a comprehensive communication framework for industrial applications
needing real-time control;
 Ethernet standards that, together with CIP, constitute EtherNet/IP;
 Services, known as CIP Safety™ and CIP Sync™, that allow EtherNet/IP to
combine safety and synchronization in a single real-time control network; Capabilities in EtherNet/IP, known as CIP Motion™, that allow it to provide
motion control for high performance applications; andTECHNOLOGY OVERVIEW: PERFORMANCE WITHOUT COMPROMISE (PUB00288R0)2

The suppliers and association behind EtherNet/IP that help to ensure long-term
availability of a robust ecosystem of interoperable products on this open network
standard.

Along the way, end-users and OEMs also share their experiences using EtherNet/IP onequipment for applications requiring high performance motion control. The audience forthis paper includes manufacturing executives and specifying engineers at industrial
enterprises who are seeking to define their future network architecture for equipment
within the plant and for the plant as a whole. The audience also includes productmanagers at automation suppliers who are developing product roadmaps for their
network connected products for OEM applications requiring high performance motion
control.
KEY WORDS:
Motion, Safety, Real-time, Ethernet, OEM, Machine, ProducerConsumer, COTS, Quality-of-Service, QOS, IEEE 1588, IEEE 802, Internet Protocol,
Servo, Encoder, Drive, Feedback, PTP, Precision Time Protocol, Safe Motion

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The EtherNet/IP Technology – CIP
CIP, short for the “Common Industrial Protocol,” is ODVA’s network application layer for
real-time, industrial automation applications. CIP uses an object-oriented design toprovide services and device profiles needed for real-time control applications and topromote consistent implementation of automation functions across a diverse ecosystemof products. At its core, CIP is media-independent but needs media-dependenttransport, network, data link and physical layers on which to reside. CIP was first
adapted to DeviceNet™ in the early 1990s and then subsequently to ControlNet™,
CompoNet™ and EtherNet/IP. Today it has a proven track record in real-time control
with tens of millions of CIP-enabled devices installed in the field. As a mediaindependent protocol, CIP does not inherently rely upon data rate and packet size to
optimize network efficiency. Rather it takes advantage of the communication efficiencies
possible with producer-consumer networks. Such networks can provide an efficientsolution for applications requiring real-time control, including high-performance motion,by making it possible for one message to be produced one time and then consumed
simultaneously by many nodes on the network using a technique called multicast
communication. The result is a flexible framework for industrial automation applications
that supports many communications relationships such as one-to-one, one-to-many andone-to-all, as well as alternative communication hierarchies including master-to-slave,
slave-to-multi-master (i.e., shared inputs), target-to-originator and peer-to-peer.

The EtherNet/IP Technology – Ethernet Standards
While other networks have adopted
Ethernet data link and physical layer
standards, EtherNet/IP stands alone inusing both of the most widely deployedcollections of Ethernet standards – theInternet Protocol suite and IEEE 802
project – to define the features andfunctions for its transport, network, datalink and physical layers. This approachgives EtherNet/IP significant advantages over other industrial networks, Ethernet andnon-Ethernet alike, and protects the user’s investment in the EtherNet/IP technology.
One way EtherNet/IP protects this investment is by taking continual advantage of therapid technical advancements and cost reductions possible with widely deployed,commercial-off-the shelf (COTS) technologies. Another way EtherNet/IP protects thisinvestment is by incorporating key elements of Ethernet’s standard capabilities andservices into the CIP object model framework. A case in point is the adaptation of theUser Datagram Protocol, a core member of the Internet Protocol Suite, to transport I/Omessages in CIP. Another case in point is the adaption of the message priority levels
found in the IEEE 802 project for Quality-of-Service (QoS) to meaningful priorities in a
CIP context. The application of these QoS priority levels throughout the entire
connection path is referred to as End-to-End QoS. End-to-End QoS plays an importantrole in the ability to use EtherNet/IP as a single network solution for industrial
applications requiring real-time control. It reduces the variability in the delivery of
message packets, known as jitter, and delays in their delivery, known as latency, andallows multiple message types – such as control, safety and motion – to sharebandwidth on the same network without compromising performance.

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The EtherNet/IP Technology – Distinctive Services for Safety
and Synchronization
Safety functions are essential to most equipment, due to concerns for operator safety
and regulations requiring their implementation. Although historically hardwired andinflexible, today’s safety networks have been developed and accepted by industry andregulators. In recent years, a “black channel” concept has been accepted that permits
safety messages to be transmitted independently from the underlying networkarchitecture. As a result, safety systems can be integrated on the same network with
control systems. EtherNet/IP, with CIP Safety (CIP services for safety functions), canprovide the necessary input/output functions needed for standard safety applications,such as perimeter guarding. Additional safe motion capabilities are also available forcontrol of typical motion safety circuits such as emergency stop.
Synchronization is another essential function for a wide range of applications fromregistration control to multi-axis transfer systems. Hardwired interrupts and purpose-built
motion networks are typical in these applications and often result in solutions that areeither complex, inflexible or both. However, EtherNet/IP can simultaneously reducecomplexity and increase flexibility with CIP Sync™ (CIP services for synchronization).
CIP Sync adapts the IEEE 1558 standard, known as the Precision Time Protocol (PTP),
to the CIP object-model framework such that all devices enabled with CIP Sync canoperate based on a common time base. These devices can be relied upon to perform
actions at precisely commanded times, effectively eliminating network performancevariations resulting from latency and jitter. Resulting synchronization between devices
can be optimized to meet application requirements with the capability of achieving lessthan 100 nanoseconds device to device time synchronization if necessary.

The EtherNet/IP Technology – A Better Approach forApplications Requiring High Performance Motion
Applications requiring high performance motion need sub-millisecond registration and
sub-millimeter axis-to-axis position coordination. Solving these applications without a
network dedicated to motion requires a different approach. EtherNet/IP uses a different
and better approach – an approach that aligns with business goals of cutting cost,
simplifying machine design and maintenance, and increasing flexibility today andtomorrow.
In EtherNet/IP, the approach to these demanding applications uses all of thefundamental building blocks that make up the EtherNet/IP technology and have been
explained in the preceding paragraphs – CIP, Ethernet standards, and CIP Distinctive
Services including CIP Safety and CIP Sync – plus one more building block: CIP
Motion™. CIP Motion combines the producer-consumer model of CIP and the common
time base of CIP Sync with parameters and services needed for the application of drives
in high performance motion control applications. The resulting objects and device
profiles are scalable from high-end multi-axis systems comprised of servo drives tosimple half-axis systems consisting of an incremental encoder.
Enabled with CIP Motion, EtherNet/IP can provide users with a single automation
network that can combine machine control, safety and high performance motion control

TECHNOLOGY OVERVIEW: PERFORMANCE WITHOUT COMPROMISE (PUB00288R0)5capabilities that achieves manufacturing performance goals without compromises incosts and flexibility. Motion commands in systems with up to 100 axes can all be
updated in one millisecond and motion systems can be integrated with other functions
from sensors to IT, or even voice and video. For manufacturers, it enables a converged
network architecture for plants where Ethernet and standard Ethernet infrastructure canbe deployed throughout, including at the machine level.

The EtherNet/IP Technology – Users Make Paradigm Shiftwith EtherNet/IP and CIP Motion
EtherNet/IP has been successfully deployed in wide-ranging industrial automation
applications around the world. With CIP Motion, this success is now being replicated inapplications requiring high performance motion control. The result is a paradigm shift
in the network architecture for these applications and in the ability of automation systems
to help companies meet their business goals. A sample of representative case studies
explains how.
Converting equipment supplier, Curt G. Joa, Inc., produces machinery with very highaxis counts custom built to the customer’s production requirements. Kevin Zeinemann,
Joa’s Manager of Electrical Engineering, describes Joa’s standardizing on EtherNet/IP
with CIP Motion as key to offering customers equipment that is not only modular, butalso provides high-quality product and more process data. Zeinemann says customer
specifications often change while building the equipment, sometimes even at the lastminute. “Joa always needs to have control equipment that is modular from both ahardware and software perspective so that we can continue to modify our design andmake upgrades in real-time to meet our customers’ evolving requirements,” Zeinemannsaid.
Joa’s customers also benefit from theability to improve product quality with
“TODAY CIP MOTION SITS ON
Joa equipment, increasing real-time
ETHERNET/IP WITH EVERYTHING ON
performance made possible by CIP
CIP INCLUDING DRIVES, I/O, HMI AND
Sync. With CIP Sync, Joa uses
CONTROLLERS. EVERYTHING IS
EtherNet/IP-enabled
high-speed
INTEROPERABLE BECAUSE OF THE
registration and output cams to identify
CIP OBJECT MODEL FRAMEWORK. IF
defects on a product and take corrective
A CUSTOMER COMES IN DURING THE
action in real-time. Due to the data-rich
COMMISSIONING PROCESS AND
object model that comes as a part of
NEEDS TO ADD 10 DRIVES FOR ANY
CIP Motion, Joa’s customers can also
REASON, IT’S NOT A PROBLEM FOR
look at more process information over
US TO COMPLY.”
the long term. No longer limited to a few
parameters such as position error,
KEVIN ZEINEMANN, CURT G. JOA, INC.
torque and speed, Joa customers can
CONVERTING OEM AND ETHERNET/IP
monitor many more parameters in realUSER
time on every drive. “Unlike our previous
designs, we don’t need to keepswitching between parameters to poll because we aren’t restricted in how much we canquery at any one time,” Zeinemann said. “As our customers realize what they can dowith the data, they ask us to provide more and more because it helps them make better
decisions and they have more information about what is going on with their processes.”

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Packaging machinery supplier, Aagard Group, builds custom equipment that typicallyhas 20-30 axes of motion with some applications as high as 50 axes. Daren Myren,
control engineer for Aagard, reports that, by standardizing on EtherNet/IP with CIP
Motion, Aagard has been able to replace three separate networks – one for machine
control, one for motion and one for safety – with one single EtherNet/IP network and also
to add some more new functionality. Myren states that “with electrical panels distributed
throughout our machines, it doesn’t make sense to loop multiple networks through every
electrical panel. With EtherNet/IP and CIP Motion, Aagard has been able to combine it
all into one network plus achieve better motion control.” Aagard needs to synchronize
many axes across their machines. For example, Aagard offers a flexible pouchingsystem which operates at speeds up to 200 pouches per minute. This requires that thepouch film travel at lines speeds in excess of 600 millimeters per second. CIP Sync isused to capture registration marks imprinted on the film and trigger precise cuts-on-thefly.
Aagard’s customers also are benefitting from machines that get up and running in lesstime, save operating costs and improve overall production efficiency. Ease oftroubleshooting has been another major benefit of Aagard’s single EtherNet/IP-based
network architecture. Myren remarks that “previously communication problems could
take days to isolate and resolve. But with EtherNet/IP, our customers are able to identify
in minutes where and when a device drops out.” Aagard now can provide morediagnostics and monitoring by integrating a number of other devices onto the same
network – such as barcode scanners, cameras, gluing systems and laser printers –without compromising machine performance. Aagard achieves this by using the QoS
features that are common to standard Ethernet and EtherNet/IP, noting that today atleast 75% of their customers now require run-time data for use in subsequent businessanalytics. With EtherNet/IP and CIP Motion, Aagard’s customers not only have accessto a rich set of drive parameters but also to data regarding machine state, machinemode, case counts and product counts.

The EtherNet/IP Technology – Putting It All Together with a
Common Set of Values
EtherNet/IP is supported by an ecosystem of over 300 leading automation suppliers who
are members of ODVA, the organization that manages the EtherNet/IP technology on
behalf of its contributing members. The values that ODVA and its members embracehave helped to create, and continue to help evolve, the overall EtherNet/IP value
proposition for users. Core values shared by this ecosystem are:
 To provide best-in-class industrial automation solutions using the EtherNet/IP
technology through a comprehensive specification and a diverse range of
products provided by a wide range of suppliers;
 To facilitate consistent user experiences with the EtherNet/IP technology throughproduct compliance with ODVA’s implementation specifications and productinteroperability in multi-vendor systems, as validated by ODVA’s vendorindependent conformance testing practice; and To maintain a level playing field for all through ODVA’s technology management
process that results in an open, vendor-independent implementation specification
for EtherNet/IP products and in the ability to make, sell and/or use EtherNet/IP
products on reasonable and non-discriminatory terms with zero royalties; andTECHNOLOGY OVERVIEW: PERFORMANCE WITHOUT COMPROMISE (PUB00288R0)7

To protect industry’s overall investment in information and communication
technologies by leveraging commercial-off-the-shelf technologies and industry
standards wherever possible.

Learn MoreODVA knows that, while high performance motion control applications share many
common attributes, every application is different. Thus, readers of this paper who wantto learn more are encouraged to visit ODVA’s website at www.odva.org to read more
about the technology and products available today on EtherNet/IP and where one canalso find a number of technical papers that provide in-depth explanations of the various
building blocks for EtherNet/IP and CIP Motion. One can also find papers by subject
matter experts on possible future innovations in ODVA technologies.

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