1588 Final
1588 Final
1588 Final
Contents
Contents ..................................................................................................................................... 1
Time Synchronisation ................................................................................................................ 2
History.................................................................................................................................... 2
Problems in modern substations ............................................................................................ 4
Technologies to synchronise time.............................................................................................. 5
Current Systems ..................................................................................................................... 5
IEEE 1588 .............................................................................................................................. 7
Suppliers of IEEE-1588 products .......................................................................................... 9
Appendices............................................................................................................................... 10
Advantech & Intel solutions for time synchronisation ........................................................ 10
Advantech solutions ............................................................................................................. 12
Additional Information ........................................................................................................ 14
Time Synchronisation
History
Trying to finish breakfast and still catch the train to get to work on time presents a daily
problem in time synchronisation that is understandable to us all which one of the many
timing devices do we use ? Do we use the expensive but inaccurate self-winding watch;
the cheap digital watch that is precise but probably not accurate; the three kitchen equipment
clocks on the microwave, the oven and the fridge that all show different digital times; the
clock on the wall; the mobile phone; or the set-top box ? Is the one we choose today also
going to be the best choice tomorrow ? Even if we manage to work out which one is the most
accurate clock in the house, is there any guarantee that the local train company uses the same
standard, or that our company bosses do ?
Time is dependent on some kind of reference, how close we can get to that point, and how
reliably we do so day after day. The same problems we face are also faced by builders of
automation systems, and are an important part of the history of civilised mankind.
For many thousands of years, civilised man lived with just one time piece, a flaming great
ball in the sky called the Sun. The ancient Egyptians (and maybe others) worked out that
every 365 days it returned to the same point in the sky. A second point of reference was
added when it was noticed that the subtler white one called the moon also seemed to move
through the sky like clockwork. For two thousand years, astronomers tried to synchronise the
movements of both, and added to the complexity by looking at the planets and the stars, too.
The main driver for calendars and writing was taxation, with the oldest written te xts
demanding payment one month after the harvest when presumably the recipient was flush
with cash. Leap years had to be invented to keep the calendar in line with the agricultural
seasons.
However hard the astronomers tried, though, none of the celestial bodies behaved perfectly as
predicted. Even so, the differences were insignificant for people who relied on the sun for
most purposes. Sundials, candles and water clocks were all used by astronomers, until these
were replaced by mechanical clocks. Early clocks were inaccurate and had to be regularly
corrected to the astronomical time by the specialists. Wherever an astronomer could see the
sun, and had some means of interpreting time between midday one day and midday the next
day, people had a fairly good idea of the time. In Europe, churches tolled the population of
the time, and controlled the hours with their calls to prayer, work and lunch, at least within
the range of the sound of the bells. In the Middle East, this function was adopted by the
muezzin.
It was only in the Middle Ages, with Europes growing population settling up the many misty
valleys and struggling to get up in the morning to milk the cows on foggy mornings where no
sun was visible for weeks on end, that cuckoo clocks (also known as pendulum clocks) made
an appearance, eventually being found in every farm and many homes, freeing the peasants
from the tyranny of the church bell- tower.
Pendulum clocks also introduced the curiosity that an accurate clock looked inaccurate whe n
compared to the sun: the suns arrival at midday on any day of the year varies over a period
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of about 30 minutes, with it arriving perfectly on time on only 4 days a year. This is due to
the tides, the movement of the Poles, Earths non-circular orbit around the Sun and its
inclination to the plane of orbit (which also gives us our summers and winters). These
fluctuations created the need for special clocks which fluctuated along with the sun, for
astronomers, and other clocks which remained steady, but which were OK on average for the
year for everybody else. Thus was Mean Time invented.
Global reference
Until the first trains ran from London to Bristol, every town had pretty much its own
independent mean time, based on the sun, and its arrival every day overhead. Many towns
still have a local hill or geographically-stable feature referred to as Midday, which defined 12
oclock. A train travelling at 600 miles an hour would leave London and arrive at Bristol at
the same time. Although, of course, trains never travelled this fast, the idea was enough for
Britain to create the worlds first national mean time. Greenwich Mean Time was born.
GMT was renamed rather arrogantly Universal Time and is now based on a noon-day
observation of a distant star. Atomic clocks, with absolute time produced by radioactive
decay, generate a precise time stream measured by atoms emitting microwaves, with an
accuracy of less than 1 second error in 138 million years. Coordinated Universal Time
(UTC) uses several of these clocks to ensure a global reference.
Even with all this technology, current time pieces are so accurate that they show up time
changes due to weather, plate tectonics and the movement of the iron core in the centre of the
Earth.
In conclusion, it can be said that time itself is not a smooth running signal given off by a
stable body, rather the result of interactions from many physical objects in a galaxy (or
universe) of immense complexity. Time pieces try to keep in step with a single reference,
which itself is changing. The best we can do is to choose a point of reference and try to
synchronise our various time pieces to it as often and as closely as need to for our
requirements.
Precise vs accurate
In science, accuracy of a system is the closeness of measurements to that quantity's actual
value. The precision of a system is the degree to which repeated measurements under
unchanged conditions show the same results. Thus a clock can be accurate, it can be precise,
or it can be accurate and precise. A clock can be accurate to solar equation time, or to solar
mean time, but presumably not to both.
An officially-certified chronometer is not necessarily an accurate clock, but it has to be very
precise. The first marine chronometers, built to help the British Royal Navy navigate its way
around the world, were precise but not particularly accurate by the standards of todays
quartz watches. A chronometer gained or lost time every day, but regardless of the weather,
the vibration and shock of the ships motion and the state of winding, the time gained or lost
was always the same. So it was possible to work out what the right time was, anywhere in
the world at any time, with reference to Greenwich. Every day at noon, just before the
midday sunsight, the ships navigator would set all the ships clocks to the correct local time
based on GMT originally, the reference point for early UK navigators.
IRIG
The Inter Range Instrumentation Group (IRIG) is the standards body set up to manage missile
testing in the USA, with all the launch and telemetry equipment necessary. IRIG-B is the
version typically used for substations. Accuracy up to 1 s can be achieved.
IRIG is a standard which takes GPS clock data and transmits it around a network. IRIG-B
transmits its time signals on a dedicated network. For new installations, this requires that two
separate networks (one for IT and one for IRIG-B) are implemented (three, if redundant
networks are used). If all devices are connected to IRIG-B the cost can be very high. In
practice, the lack of support for IRIG-B in many devices means that this technology is not
practical for many applications.
In addition, more and more installations now require timing throughout the substations
covering large areas with long distances of cabling for example, out to the switchyard
which can be 100m long - , which IRIG-B is not designed to support. IRIG is also not
designed to support many units on a single cable, so a large substation can be prohibitively
expensive to install.
IRIG-B will continue to be used in the substation, especially in a central control room where
it is already installed, and is capable of providing absolute time signals and synchronisation
to locally-connected devices. However, it is not suitable for time signals for synchrophaser
measurement as the accuracy granularity is larger than the sampling rate. Olde r devices that
support IRIG-B can be maintained in a 1588 network using 1588-IRIG convertors.
PPS
PPS is also a method for accurately and precisely determining a second. PPS needs to be
connected to a GPS time signal and can then send out its pulse every second. The pulse is
only a second counter, so a computer receiving the pulse needs to interpret the time using a
separate program to keep track of the minutes and the days. To ensure that the PPS signal is
received in good time, a separate low-jitter network is used in the substation. Like IRIG-B,
where it is already in use it will continue to be used, and it may provide the link between a
GPS receiver and a computer in the substation network, but will not be used for providing
time signals directly to many intelligent devices.
NTP
The Network Time Protocol (NTP) is designed to maintain many thousands of computers on
a global network (internet) synchronised to the second. Best accuracy is of the order of
milliseconds when using a real-time OS, but is unpredictable with office systems like
Windows. NTP is typically synchronised with a GPS-based clock, and operates using
standard IT networks, working with all major equipment like routers, switches and hubs.
NTP uses the IT network to provide its time information, and can work successfully with PPS
and IRIG-B as time data sources connected to a GPS clock. NTP itself does not require
additional network installation, so there are no hardware costs for its operation. NTP is
specifically developed for packet-switched networks like Ethernet, where each packet has a
variable and unpredictable latency, and their typical non-deterministic operating systems like
Windows.
Unfortunately, many applications require accuracy better than can be achieved by NTP on
non-real-time operating systems. NTP also requires a compute load on its host that may
affect some embedded devices with low power (and low power consumption) processors.
NTP shows, however, that it is possible to create a global time reference for many thousands
of devices connected across IP networks. What is missing is a small CPU and memory
footprint and options for greater precision.
SNTP
The Simple Network Time Protocol is a simplified version of NTP, with less accuracy. It is
not suitable for substation automation applications.
SyncE
Synchronised Ethernet (ITU-T Rec. G.8261, 8262 and 8264) is a high-quality time
synchronisation system for Ethernet, but which requires special hardware on each device
(actually the Ethernet NIC).
IEEE 1588
IEEE 1588 is a network-based protocol called Precision Time Protocol (PTP) or, more fully,
the IEEE Standard for a Precision Clock Synchronization Protocol for Networked
Measurement and Control Systems. That is, it uses exclusively the IT network infrastructure
and requires no additional cabling to function. In this sense it is a development of NTP
Network Time Protocol but now with the right level of precision and footprint for automation
and other demanding environments like printing machines or fly-by-wire aircraft with
predominantly embedded or less-powerful systems. Precision of +/- 5ns is possible.
IEEE 1588 supports the many clocks that are typically found in modern networks, but
manages negotiation among the various clocks to find the best one, which becomes the
master. The master is the reference point for all other clocks. The master sends out a signal
to all its slaves enabling precise synchronisation. Typically, the master gets its time from a
GPS clock, the easiest way to source an accurate time signal. GPS clocks are now available
with support for IEEE-1588.
PTP signals in cables travel at the speed of light. Even so, the propagation delay is enough
that for high-accuracy systems it becomes an issue. Twisted pair cabling used for Ethernet
has a delay of more than 5 ns per meter. In simple networks, this delay is fixed, but in
complex, routed networks, the delay can be variable. PTP calculates the fixed delay in
propagation, but cannot manage the packet delay variation caused by routing changes.
A network hub has very low latency for data packets, but in passing through switches the PT
packets can be held up for unpredictable periods. Most critical networks will be switched, so
an intelligent switch (one that is designed for IEEE-1588 v2) handles PTP packets by adding
its own latency to the time payload. Switches that are not PTP-enabled will cause inaccuracy
to creep into the system, limiting a network to three or four switches in size. Builders of
systems that implement 1588 will prefer to use switches that are 1588-ready and these are
available from major manufacturers.
IEEE 1588 results in very good synchronisation; that is, all devices in the network will
closely agree to a particular time. But the time itself is dependent on the master clock
quality, and may or may not be accurate. That is why 1588 is called Precision Time Protocol,
and not Accurate Time Protocol.
Each individual device in a network will have its own system clock, and in some cases will
have an IEEE-1588 clock as well. This additional clock will be much more accurate and
precise than a standard PC real- time clock, which can lose 100ms a day. A good quality
clock somewhere in the network is important in case the signal from the GPS clock is lost.
This clock, with a good quality oscillator, can maintain an accurate time signal for up to a
month (rubidium atomic clock) or a week at least (quartz) without access to the GPS.
can be the standard network interface of the device, or it can be a 1588 NIC added just for
time-stamping.
In non-real time operating systems, like Microsoft Windows, it is necessary to use hardware
time-stamping. This can be in the devices standard network interface, or in a special PTP
network interface.
To drive the time-stamping, drivers are needed. These can be written at a low-level in the
TCP/IP drivers that control the network connection; or the y can be written at a much higher
level in the operating system or even in the application itself. Depending on where they are
written, the implementation affects performance and portability. The closer to the hardware,
the more precise and the harder to port to a different platform or OS later on will be the
implementation. This is a fundamental design consideration.
Multiple sub- nets of the network may be connected using routers especially if these are
located on different sites. IEEE-1588 v2 supports boundary clocks which enables the linking
of these sub- nets with a single clock-time (although not all implementations support
boundary clocks).
Thus, one of the advantages of IEEE-1588 is that, even though in many cases special
hardware is needed to properly time stamp, it is possible to run PTP on any device. This
makes it possible to implement new designs with modern devices that are fully supporting
1588, but also to retrofit the protocol to devices that may not have the hardware support built
in. In both cases, no additional networking is installed.
PTP is available as software stacks for FPGA and CPUs, as operating system-ready
applications or APIs, and as hardware network interface cards (NICs) with their drivers.
Implementations can be made to take advantage of hardware features in network chipsets
which provide the highest degree of precision.
Performance
Performance of PTP depends on its implementation. For RTOS implementations, running the
PTP in the operating system (so that developers can easily change from one hardware to
another) accuracy of +/- 50 s is possible, or using a driver to hook on the hardware in the
network interface card, +/- 5s. Full hardware time-stamping with RTOS can achieve
precision down to 5 ns. These times are usually good enough for automation applications.
For non-deterministic operating systems, hardware time-stamping in the NIC, network chip
or PHY is necessary, and its integration into the time application forces hardware
dependency. Performance can be very good, with accuracy of +/- 5ns, but typical
applications with a non-deterministic OS can achieve 10-50 s.
Oregano Systems
Oregano Systems offers a full range of clock cores, which are compatible with the IEEE1588 Standard. The IP cores differ in footprint, number of I/Os, interface, and supported
features. There are IP cores suited for simple attaching to an existing processor that runs the
required IEEE-1588 stack (e.g. Oregano Systems syn1588 PTP Stack) and there are single
chip solutions requiring only an external Ethernet PHY device. There is also a standard PCIe
Ethernet NIC that supports Linux and Windows.
Real-Time Systems
Real-Time Systems GmbH, a member of the Intel Intelligent Systems Alliance and a
Microsoft Embedded Gold Partner provides IEEE 1588 software stacks supporting all
versions of Microsoft Windows, Linux as well as a wide variety of real-time operating
systems on x86 (Intel Architecture), ARM, PowerPC (PPC) and other CPUs. Support for
Intel network chips is available. Real-Time Systems engineers were in involved in PTP
IEEE 1588 since the very beginning of the standard (Version 1 - 2002). Real- Time Systems is
also a leading provider of embedded Hypervisors for Intel Architecture.
IXXAT
With over 25 years experience, IXXAT supplies embedded systems and data communication
products for industrial automation and automotive applications. This includes hardware and
software products and services. IXXATs product portfolio includes CAN, all popular
Industrial Ethernet standards (e.g. Profinet, sercos, EtherCAT, EtherNet/IP), IEEE 1588,
FlexRay, and LIN. IXXAT develops and delivers custom OEM hardware components and
complete system solutions.
ZHAW
The Institute of Embedded Systems at the Zurich University of Applied Sciences School of
Engineering provides a range of hardware, software and services around IEEE 1588 / PTP.
The offerings are based around protocol software representing a fully implemented Precision
Time Protocol (PTP) Ordinary Clock including VHDL, C and object code, PCI NIC card and
a USB 1588 cable..
Sourceforge
Sourceforge has a number of open source PTP solutions.
openPTP
PTPd
Linuxptp
sourceforge.net/projects/openptp *
ptpd.sourceforge.net *
linuxptp.sourceforge.net *
Appendices
Advantech & Intel solutions for time synchronisation
Many of Advantechs industrial and embedded computers are designed to support IEEE-1588
Precision Time Protocol. Current Intel controllers supporting IEEE 1588 are the Intel
82574, 82576, and 82580 Gigabit Ethernet Controllers, the Intel 82599 10 Gigabit Ethernet
Controller, and Intel Ethernet Controllers I210 and I350.
Using Intels Network chipsets that have 1588 support (time-stamping), Advantech
customers can easily develop solutions for PTP. Some of these products include:
UNO-4xxxx
Advantechs UNO-4000 series is the first certified Substation Computer to support Intels
Corei7 performance in a ruggedized (-20 to + 70C) fanless form- factor. Also available in
ATOM dual core (D510) version, the UNO-4000 modular PC provides the greatest flexibility
in IO fibre-optic, isolated and non- isolated serial, Ethernet as well as IRIG-B, hard and
solid state drives, and support for Advantech and third-party cards in PCI, PC-104, PCI
Express and Mini PCIe form- factors. Single and dual-power versions are available.
(Datasheet)
UNOP-1514RE/PE
The UNOP is a series of accessories for the modular UNO-4000 series. The UNOP-1514 is
available in two versions RJ45 and small- format pluggable (SFP). The 1514 is a four-port
Gigabit Ethernet card based on Intels 82580 4-Port Gigabit Ethernet Controller which
supports IEEE-1588. As with all UNO-4000 options, the cards support operating
temperatures of -20 to +70C. (Datasheet)
UNO-3000
The UNO-3082 and other PCs in the UNO-3000 range use the Intel 82574L Gigabit
Ethernet Controller which supports IEEE1588. The UNO-3000 is an expandable PCI-based
fanless embedded PC with a wide range of CPU options and features for automation
applications. Regularly used in the substation market for synchrophaser data concentration,
protocol conversion or SCADA serving, the UNO supports RAID 0/1 dual disks, watchdogs,
DI/O and remote monitoring and management. (Datasheet)
UNO-2000
Advantechs UNO-2184G, 2174G and 2174GL are high-performance Intel 2nd generation
Core computers with PCI-104 daughterboard expansion and 2 x Mini PCIe sockets. Their
CPUs are Intels Core i7-2655LE and Celeron 847 and 807UE. The 4 x Gigabit LAN ports
support teaming function with fault tolerance, link aggregation, and load balance features and
the UNO-2184G supports AMT for full remote management. The UNO-2184G/2174G/GL
are high end computing platforms designed to support applications with tremendous data
volume and 3D visualisation. (Datasheet)
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UNO-1100
The UNO-1172 uses the Intel 82583V Gigabit Ethernet Controller which supports IEEE1588. The UNO-1172 is a wall or DIN-rail mounted fanless PC with PC-104 expansion
capabilities in its AE version, and DI/O, watchdog and a real-time clock which makes it a
standard for automation applications requiring a small, flexible PC. (Datasheet)
NCP-3110
The NCP-3110 is the entry-level Packetarium network appliance. With 32 cores and 10
Gigabit Ethernet, the NCP-3110 is a powerful network appliance for security and
communications applications. With support for IEEE-1588 it is ideal for time-sensitive
applications where this is required, for example in a substation. (Datasheet)
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Advantech solutions
As the leading manufacturer of industrial computing, it is natural that Advantech products are
used today in all aspects of industrial automation and communications.
Video Walls
Large infrastructure networks are managed from central control rooms. Traditional display
systems for the engineers and operators used video but modern substations receive more and
more information as IP streams, whether it is from control devices, IT or security. To display
this information in real-time and effectively, video walls offer an ergonomic solution.
Advantechs video wall solutions are fully-certified by Mura for its MPX range of cards.
Powered by Intels Xeon CPU, the AVS product range supports up to 5 Matrox Mura MPX
cards for a total of 20 input channels and 20 video outputs. With Intels 82574L Ethernet
Controller on board, it would be possible to display precise IEEE-1588 time on the displays.
(More information)
Embedded PCs
Advantechs fanless embedded PCs are used extensively in automation. Advantechs UNOs
are the standard choice for fanless cyber security, data concentration and protoco l conversion
(gateway) and SCADA serving. Supporting virtualisation and multiple operating systems,
including embedded and standard versions of Windows, Linux and real-time operating
systems, UNO is available in standard and substation-hardened versions with IEC-61850-3
certification. (More information)
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RTU Platforms
Advantechs APAX and ADAM PLC platforms provide powerful PC-based control options
with flexible local and remote IO and fieldbus options (Profinet, EtherNet/IP, Modbus/TCP).
APAX-5522PE is a fully IEC 61850-3 certified platform, supported with IEC 61131 softPLC
control solutions with IEC 61850 protocols (GOOSE, Client/Server) from automationX and
Copalp. Time-stamping, 1ms response times, even with up to 32 IO slots, and Ethernet-based
remote IO architectures make the APAX the ideal RTU platform for demanding automation
and distribution substation requirements. (More information)
Eco-system Partners
Advantechs customers and eco-system partners provide added-value products and services.
SCADA software
ABB MicroSCADA
Alstom e-terra
Alstom PACiS
Copa-Data zenon
Schneider PACiS
Siemens SICAM PAS
Wonderware InTouch
automationX ax5
Copalp straton energy
IEC-61131 control
KW ProConOS
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Additional Information
Wikipedia
Precision Time Protocol
NIST
IEEE-1588
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Contact Details
Real-Time Systems
Gerd Lammers
Real-Time Systems GmbH
Phone: +49 (0) 751 359 558 0
Email: [email protected]
Web: www.real-time-systems.com
Address: Gartenstrasse 33 - 88212 Ravensburg - Germany
Oregano
Oregano Systems Design & Consulting GesmbH
Phone: +43 (676) 84 31 04-200
Email: [email protected]
Web: www.oreganosystems.at
Address: Franzosengraben 8, 1030 Wien, Austria
IXXAT
Dr. Norbert Binder
Sales Manager
IXXAT Automation GmbH
Phone: +49-751-56146-0 or 182
Email: [email protected]
Web: www.ixxat.com
Address: Leibnizstr. 15 - 88250 Weingarten - Germany
Intel
Christoph Johann
Intel
Mobile: +49 173 579 6543
Email: [email protected]
Web: www.intel.com
Address: Dornacher Strae 1 - 85622 Feldkirchen, - Germany
ZHAW
Professor Hans Weibel
Institute of Embedded Systems
Technikumstr. 9 - P.O.Box - CH-8401 Winterthur - Switzerland
Tel. +41 58 934 75 52
E-Mail: [email protected]
Web: www.ines.zhaw.ch
Advantech
Tony Milne
Business Development Manager, Power & Energy
ADVANTECH
Mobile: +33 633 963 185
Email: [email protected]
Web: www.advantech.eu/energy
Address: Le Noblet - 1/3 Bd Charles de Gaulle - 92700 Colombes - France
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