References for Real-Time Networking for Motion Control
Real-Time Communication for Automatic Control

Maximizes intelligent drive capabilities.
Designed for high speed serial communication in real-time.
Hard wiring replaced by fiber-optic cable.
Two-way communication between control and drive.


SERCOS stands for SErial Real-time COmmunications System

SERCOS is an open controller-to-intelligent digital drive interface specification, designed for high speed serial communication of standardized closed-loop data in real-time over a noise-immune, fiber-optic cable. SERCOS is the only internationally approved (IEC 1491), digital open standard with the performance required to synchronize multi-axis motion control.


    General Introduction

  1. 陳婉珮, "工業控制網路與Profibus通訊協定," 電力電子技術, pp.74-86, 2001, 6月.
  2. 桂人傑, "自動控制用高速工業網路", 機械工業雜誌, 205期, pp. 139-153, 4月, 2000.
  3. 李德淵、林義雄、龍仁光, "LonWorks 網路技術之研究與應用," 機電整合, pp. 89-96, 2001, 12月.

    Real-Time Ethernet

  4. 龍仁光, 周宗毅, 賴俊良, "網路控制『TCP/IP轉換器於工業控制』之應用," 機電整合雜誌, pp. 128-135, 2001年7月
  5. Bill Moss , "Real-time control on Ethernet," AMD&C Magazine, pp. 16-19, Apr., 2000.
  6. Teja Ulrich, "Automation networks plug into Ethernet," AMD&C Magazine, pp. 20, Apr., 2000.
  7. Uwe Nolte, "Using synergies:Ethernet,TCP/IP and interbus," AMD&C Magazine, pp. 22-24, Apr., 2000.
  8. Michael Meinhardt, "DA-a new standard for automation communication," AMD&C Magazine, pp. 8-11, May., 2000.
  9. Brian Kapitan and Ken Wyman, "Motion control enters the digital age," AMD&C Magazine, pp. 30-34, May., 2000.
  10. Eric Smetsers, "FireWire fulfils the OEM dream," AMD&C Magazine, pp. 41-42, Oct., 1999.

    Fieldbus for CIM

  11. "DeviceNet," Allen-Bradley, Dusselberger Str. 15, D-42781 Haan, Germany. Tel.: +49 2104-960193, Fax.: +49 2104-960158
  12. U. Kiencke et al., "Open Systems and Interfaces for Distributed Electronics in Cars (OSEK)," SAE Detroit, February/March 1995.
  13. K. Bender et al., "Profibus: The Fieldbus for Industrial Automation," Prentice-Hall, Englewood Cliffs, Nl, 1993.
  14. Bit-Bus,Intel Data Book.
  15. LON, Motorola Data Book.
  16. "ISO/OSI Open System Interconnect Basic Reference Model," ISO Reference number ISO 7498.
  17. "P-Net," International P-NET User Organization ApS, Silkeborg, Denmark.
  18. L. A. Berardinis, "HP develops open controller for CNC machines," Machine Design Int., pp. 38-40, Nov. 21, 1996.
  19. S. Davis, "PCIM '91 to highlight new technologies," Powerconvers Intell. Motion, pp. 23-27, Aug. 1991.
  20. J. R. Gyorki, "Business of programmable motion control," Machine Design Int., pp. 87-96, Feb. 22, 1996.
  21. S. H. Hansen, "Back to basics," Control Engineering., pp. 198, March 1998.
  22. R. Svacina, "Industrial business for motion control," Machine Design Int., pp. 564-592, Apr. 16, 1998.
  23. L. Teschler, "More big factories bid good-bye to proprietary connections," Machine Design Int., pp. 71, July 9, 1998.
  24. F. Wu, K. Brown and M. Stern, "Fiber-optic fundamentals for motion systems," Powerconvers Intell. Motion, pp. 21-25, Dec. 1991.
  25. Open, Modular Architecture Controls AT GM Powertrain, Powertrain, technology and implementation, Articles. May 14, 1996.

    Introduction to SERCOS

  26. Bob Brennan and Steve Cortese, "Proposed SERCOS standard to modernize Motion System Communications-PartⅠ: Basics, PartⅡ: Communication Fundamentals, and PartⅢ: Operation," PCIM , pp. 330-344, California , USA, Septermber 22-27, 1991.


  27. SERCOS-Based Cartoner Improves Flexibility & Customer Response, Control Enginerring Online Magazine Articles.
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  29. SERCOS-Based Cartoner Improves Flexibility & Customer Response, Control Engineering., July 1997.
  30. More SERCOS Products, More Installations, More experience, Machine Design Int., vol. 66, no. 16, pp. 56, Aug. 22, 1994.
  31. Tackling General-Prrpose Motion with SERCOS, Machine Design Int., vol. 66, no. 16, pp. 62, Aug. 22, 1994.
  32. Traveling in SERCOS Circles, Machine Design Int., vol. 66, no. 16, pp. 168, 170, Aug. 22, 1994.
  33. E. Bassi, F. Benzi, L. Lusetti, and G. S. Buja, "Communication protocols for electrical drives," IEEE IECON Conf. Rec., pp. 706-711, vol. 1, Orlando, FL, USA, Nov. 6-10, 1995.
  34. L. A. Berardinis, "SERCOS lights the way for digital drives," Machine Design Int., vol. 66, no. 16, pp. 52-55, 57-61, 63, 64, Aug. 22, 1994.
  35. L. A. Brrardinis, "SERCOS: threatening analog control," American Machinist., pp. 41-44, Aug. 1995.
  36. J. Best, J. M. Pacas, and K. Peters, EDITED BY: P. Ferraris, "Novel generation of drives for numerically controlled machines," EPE Conf. Rec., Firenze, Italy. Sept. 3-6, 1991.
  37. G. Cena, C. Demartani, and L. Durante, "Object oriented models and communication protocols in the factory," IEEE IECON Conf. Rec. pp. 1573-1579, vol. 2, Orlando, FL, USA, Nov. 6-10, 1995.
  38. G. Cena G, L. Durante, and A. Valenzano, "Standard field bus networks for industrial applications," Comput. Stand. Interfaces, vol. 17, no. 2, pp. 155-167, Jan. 1995.
  39. L. Durante, R. Sisto, and A. Valenzano, "A LOTOS specification of the SERCOS field-bus protocol," The 6th International Conference on Software Engineering and Knowledge Engineering Conf. Rec., pp. 139-147, 1994.
  40. G. Ellis, "Comparison of drive and controller architecture: SERCOS and analog," Powerconvers Intell. Motion, May 29, 1998.
  41. B. Gick, P. Mutschler, and S. Schultze, "Communications for electric motor drives," ETZ, vol. 112, no. 17, pp. 906, 908, 910-912, 914-918, Sept. 1991.
  42. K. Hantke and R. Stadlmayr, "Open communications between NC controls and drives," Eng. Autom., vol. 14, no. 5, pp. 22-23, Sept.-Oct. 1992.
  43. Scott Hibbard, "The SERCOS interface standard - standardized digital interfaces drive ahead," Vice President, Machine Tool Industry Group, Indramat Div. of Rexroth Corp.
  44. A. Joch, "A fiber-optic interface standard and programmable motors help build precise motion-control systems quicker," BYIT Magazine.
  45. A. Kochan, "SERCOS fieldbus standard comes of age," Design News., Sep. 23, 1996.
  46. R. Kennel, "SERCOS interface on its way to becoming the standard. Digital interface for closed control loops," PCIM Europe Conf. Rec., Nurnberg, Germany, June 25-27, 1991.
  47. E. Kiel and O. Schierenberg, "Single chip controller for the SERCOS interface. Integrated real time communication for measurement, control, and regulation technology," Elektronik, vol. 41, no. 6, pp. 50, 55-59, March 17, 1992.
  48. L. Langnau, "More choices link motors and drives to controls," Power Transm. Des., vol. 37, no. 7, pp. 33-36, July 1995.
  49. D. Newcorn, "Hershey "opens" up for digital," Packaging World., pp. June, 1998.
  50. H. P. Ott, "SERCOS=Sprecher Energie Control System (switchgear applications)," Sprecher Energ. Rev., no. 1, pp. 4-9, 1991.
  51. J. W. Parker and R. Perryman, "Communication network for a brushless motor drive system," Sixth International Conference on Electrical Machines and Drives Conf. Rec., pp. 641-646, Oxford, UK. Sept. 8-10, 1993.
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  53. W. Philipp, "Sercos interface in industrial application," Werkstatt Betr., vol. 129, no. 7-8, pp. 652-655, Aug. 1996.
  54. A. Rothwell, "Communication systems for variable speed drive applications," Drives and Controls, Exhibition and Conference Rec., pp. 1-6, Telford, UK. March 5-7, 1996.
  55. R. Ruess, "Sercos interface for sensors and actuators," Elektronik, vol. 41, no. 20, pp. 66-68, Sept. 1992.
  56. S. Schultze, "Fault-tolerance in real-time communication," IEEE ISIE Conf. Rec., pp. 583-587, June 1-3, 1993.
  57. F. Wu, K. Brown, and M. Stern, "Fiber-optic fundamentals for motion systems," Powerconvers Intell. Motion, vol. 17, no. 12, pp. 21-25, Dec. 1991.
  58. H. Yoshikawa, "Development of networking controller S-MAC," PCIM Int. Japan Proc., pp. 569-572, 1998.

    CAN Bus

  59. J. Bottcher, "Criteria of openness: how "open" are CAN, Interbus and Profibus?," Elektronik, vol. 46, no. 25, pp. 80, 82, 84-8, 91-2, Dec. 1997.
  60. K. Dietmayer, "Analysis of bit-timing in the CAN bus system," Elektronik, vol. 46, no. 22, pp. 78, 80, 82, 84, 86-8, Oct. 1997.
  61. M. Gergeleit, H. Streich, EDITED BY: J. I. Soliman and D. Roller, "Synchronising high-resolution clocks via the CAN-Bus," 28th International Symposium on Automotive Technology and Automation, pp. 739-745, Stuttgart, Germany, Sept. 18-22, 1995.
  62. R. Jamal, T. Ronpage, "Graphical programming environment for CAN bus applications," Elektron. Ind., vol. 28, no. 4, pp. 68, 70-1, April 1997.
  63. S. Rietz, B. Schneider, S. Bender, W. J. Fischer, H. Gratz, and A. Heinig, "Multisensor signal processing with CAN bus interface," Sens. Actuators A, Phys. vol. A62, no. 1-3, pp. 729-33, July 1997.
  64. J. Schill, "An overview of the CAN protocol," Embedded Syst. Program, vol. 10, no. 9, pp. 46-48, 50, 57-8, 60, 62, Sept. 1997.
  65. J. L. Sevillano, A. Pascual, G. Jimenez, F. D. del Rio, and A. Civit Balcells, EDITED BY: M. H. Hamza, "A performance study of CAN in manufacturing cells," Proceedings of the Fourteenth International Conference Applied Informatics, pp. 12-14, 1996.
  66. R. Baur, "CAN based control system with several interdependent actuators," PCIM Conf. Rec., pp. 553-559, Nurnberg, Germany, May 26-28, 1998.
  67. R. Weβ, "All for one: axis: stepping motor controller with CAN," PCIM Conf. Rec., pp. 525-534, Nurnberg, Germany, May 26-28, 1998.
  68. "Road vehicles-Interchange of digital information - Controller area network (CAN) for high speed communication," ISO Reference number ISO 11898, Nov. 15, 1993.
  69. "Road vehicles-Low-speed serial data communication-Part 2: Low-speed controller area network (CAN)," ISO Reference number ISO 11519-2, June 15, 1994.
  70. "CAN Specification Version 2.0," 1991 Philips Semiconductors Unternehmensbereich der Philips GmbH, Burchardstrasse 19, D-20095 Hamburg, Germany, 1991.
  71. W. Lawrenz et al., "CAN Controller Area Network," Grundlagen und Praxis, Huthig Verlag, 1994.
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  73. K. Etschberger et al., "CAN in Automation e.V," CiA, Am Weichselgarten 25, D-91058 Erlangen, Germany. Tel.: +49 9131-601091, Fax.: +49 9131-601092
  74. W. Lawrenz, "Network Application Layer," SAE, Detroit, February/March 1994.
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  76. "CAN-Tools Users Manual," I+ME GmbH, Ferdinandstr. 15 A, D-38300 Wolfenbuttel, Germany. Phone: +49 5331-97070.
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  81. W. Lawrenz, "Worldwide status of CAN - Present and future," CAN in Automation e.V., Am Weichselgaten 26, D-91058 Erlangen iCC '95 2nd International CAN Conference, pp. 0-12 to 0-25, 1995.
  82. "Open systems in automotive networks," International Workshop on Open Systems in Automotive Networks, University of Karlsruhe Germany, October 9, 1995.
  83. K. Tindell, H. Hansson, and A. Wellings, "Analysing Real-Time Communications: Controller Area Network (CAN)," Proc. l5th Real-Tirne Systems Symp, December, 1994.
  84. K. Tindell and A. Burns, "Guaranteeing Message Latencies on Control Area Network (CAN)", Proc. 1 st Intemational CAN Conference, October, 1994.
  85. W. Lawrenz, "CAN Controller Area Network. Sprhig-Verlag."
  86. W. Lawrenz, CAN system engineering from theory to practical applications, Spring-Verlag New York, Inc. 1997.
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  91. "CANopen," CAN in Automation e.V. (CiA), Am Weichslegarten 26, D-91058 Erlangen, Germany.
  92. "DeviceNet". Allen Bradley, Dusselberger Str. 15, D-42781 Haan, Germany.
  93. "Smart Distributed Systems - SDS," HCB AG, Webergutstr. 4, CH-3052 Zollikofen, Switzerland.
  94. "Information Processing Systems - Open Sytems Interconnection - Basic Reference Model," ISO 7498, 1984.
  95. U. Kiencke et al., "Open systems and interfaces for distributed electronics in cars (OSEK)". SAE Detroit, February/March 1995.
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  97. K. Etschberger et al., "CAN Controller-Area-Network, Grundlagen, Protokolle, Bausteine, Anwendungen," Carl Hanser Verlag, Munchen, Wien, 1994.
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  99. Housing Protection Classes according to DIN 40050
  100. Data Handbook 80C51-Based 8-bit Microcontrollers, Book IC20. Philips Semiconductor.
  101. ScBB V2.0, Product Manual. I+ME ACTIA, 38300 Wolfenbuttel Germany.
  102. CiA/DS 102 V2.0: "CAN Physical Layer for Industrial Applications," Draft Specification of WG Physical Layer 1994/1995, CiA e.V. Nurnberg, Germany.
  103. BasicCAN CCM/VM0 Software Driver for 80C51 compatibles V2.0 Product Manual. I+ME ACTIA, 38300 Wolfenbuttel, Germany.
  104. CAN-Controller Area Network, Functional Description, Bosch GmbH, Stuttgart, Germany.
  105. Philips P 82C200 Standalone CAN-Controller, Product Specification.
  106. Philips P 82C150 SLIO CAN-Controller, Product Specification.
  107. Philips P 82C250 Transceiver CAN-Controller, Product Specification.
  108. Philips P 8xC592 Microcontroller, Product Specification.
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    IEEE 1394

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