firewire in automation - hochschule furtwangenspale/forall/pes/vorlesung/ppt/... · dr. ing. ji...
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Dr. Ing. Jiří Špale, 1394b in automation 1
1394b FireWire
in automation
Dr. Ing. Jiří ŠpaleFurtwangen University, Germany
Dr. Ing. Jiří Špale, 1394b in automation 2
FireWire = i.Link = IEEE1394
1. History and development2. Main technical features of FireWire3. FireWire versus Ethernet4. Has FireWire its place in automation?
- advantages and disadvantages5. Solutions with FireWire - examples
... Fast serial bus
Abstract:
Dr. Ing. Jiří Špale, 1394b in automation 3
History and development USA
• 1985 Apple: concept submitted - 2 development goals:- very fast, cheep desktop-LAN, simple in using- successor of SCSIcontemplated area of use: PC internal/external, multimedia
• 1986 development team extended by Sony and other companies IEEE P1394 Working Group build
• 1993 first presentation at Comdex 1993• 1994 1394 Trade Association grounded• 1995 open standard 1394-1995 (S100, S200) accepted by IEEE
Dr. Ing. Jiří Špale, 1394b in automation 4
• 2000 IEEE 1394a – speed version S400
• 2000 arrival of cheaper concurrence-bus USB 2.0 with 480 Mbit/s⇒ ambition of PC-market-leadership left⇒ new goals: - dominance in multimedia technology
- bus clone for TCP/IP- penetration into industrial automation
• 2002 1394b with speed standards S800, S1600 a S3200new cables, new plugs
• 2003 connection length 72m →→→→ 100m thanks 8B10B-coding• 2004 Wireless FireWire
History and development USA
Dr. Ing. Jiří Špale, 1394b in automation 5
History and development Europe• 2002 initiative of Nyquist a Wago: 1394 Automation Group created• 2002 presentation of specification 1394AP at SPS/IPC/DRIVES• 2004 fusion of 1394 Automation and 1394 Trade Association
Members of 1394 Automation Group:
Fraunhofer IPMS Dresden (Photonische Mikrosysteme)
Fraunhofer IPT Aachen (Produktionstechnologie)
Institut für Mikroelektronik- und Mechatronik-Systeme
Institute Industrial Technology TNO, Eindhoven
R&D institutions
BaslerVision
Eurotherm, Lust, maxon motor, Moteurs Leroy Somer, StöberBosch Rexroth (Nyquist), DanaherWAGO
Motion
(drives,
control technology,
contact technology)
Dr. Ing. Jiří Špale, 1394b in automation 6
IEEE1394a / 1394b Features #1• Transmission speed 100, 200, 400 (S100, ...) / 800, 1600, 3200 (S800, ...) Mbit/s
is given by the slowest device – mix of slow and fast devices possible
• Isochronous modus: real-time applications
• Asynchronous modus: peer-to-peer transmission
• Automatic self-identification
• Automatic self-addressing of devices
• Hot-plug: devices can be plugged in the working condition
• 4-wires-cable, event. 2 additive power-leads / 9-wires-cable
• Cable material: STP only / UTP, POF, HCPF, MMF also possible
• Distance between adjacent devices depends of the bus-speed, e.g. 4,5m@S400&STP, 14m@S200&STP / 100m@S100&UTP
• No bus-terminators necessary
• Bidirectional transmission in packets
Dr. Ing. Jiří Špale, 1394b in automation 7
IEEE1394a / 1394b Features #2• Topology: trees only, ring structures not possible / ring structures allowed
• Max. daisy chain length: 72m
• Max. 63 devices connectable at 1 bus(max. 16 devices at 1 daisy chain)
• Multi-master: 1 – 63 masters possible
• Max. 1023 busses connectable via bridges
• TCP/IP: IP transmission over 1394 possible (standard@Mac); features comparable with GB-eth
• On-bus power: 8..33V; 1,5A; max. 48W
• drivers: Standard@Windows>98SE,Mac>8.6,Linux
• 8B10B coding implemented in physical layer
• New signal levels „beta mode“
• New arbitration (protocol BOSS = Bus Ownership / Supervisor / Selector)
• Back-compatible with 1394a
Dr. Ing. Jiří Špale, 1394b in automation 8
Backplane environment
• Uses two single-ended conductors
• Can be used on the two serial bus pins defined in several common backplane busses (i.e. VME)
Dr. Ing. Jiří Špale, 1394b in automation 9
Cable environment #1
• IEEE 1394a: Thin flexible 6-wire cable:two differential signal pairs and a power pair- a group of consumer A/V companies has proposed an alternate cable without the power pair=> 4-wire cable- smaller connector- already has been used in some products on the market- connected in a non-cyclic tree
• IEEE 1394b: 9-wire cable- new connectors
Dr. Ing. Jiří Špale, 1394b in automation 10
Cable environment #2
• Each node regenerates signals
• Maximum length between adjacent nodes- 4.5 m by standard cable- 10 m by well shielded cables- 70 m by use of repeaters
• No more that 16 hops between any two nodes
• Well suited for connecting multiple units- Inside the same enclosure (such as CPU board to disk drive)- In separate enclosures (such as camcorder to VCR)
Dr. Ing. Jiří Špale, 1394b in automation 11
What kind of protocols does 1394
define?
• PHY- Bits on the wire- Arbitration- Reset & bus configuration
• Link- Packets on the wire
• Transaction- Read, write, lock, etc.
• Bus management
Dr. Ing. Jiří Špale, 1394b in automation 12
Higher layer protocols
• SBP- serial bus transport for SCSI-3- in addition to standard data read/write, SBP specifies isochronous storage and playback
• A/V command set- connection management- device control- data packet format
Dr. Ing. Jiří Špale, 1394b in automation 13
IEEE 1394 protocol stack
• ISO-7
7 Application layer6 Presentation layer5 Session layer4 Transport layer3 Network layer2 Data link layer1 Physical layer
• IEEE 1394
7-5 Bus manager
4-3 Transaction layer (Resource manager)2 Link layer1 Physical layer
Dr. Ing. Jiří Špale, 1394b in automation 14
Protocol StackApplication Layer
Hardware
Serial Bus Management
Firmware
Physical Layer
Link Layer
Encode/Decode Arbitration Media Interface
CycleControl Packet Transmitter Packet Receiver
FirmwareTransaction Layer
Cycle Master
Elektrical signals and mechanical interface
Symbols
Cable
Packets
Isochronous
transmission
Asynchr. transmission (read, write, lock)Configuration
Error check
IsochronousResource
Manager (IRM)
Node Control
Bus Manager
Dr. Ing. Jiří Špale, 1394b in automation 15
Main functions of PHY
• To translate the symbols used by the Link Layer Control (LLC) into the appropriate signals and vice versa
• to define the mechanical and electrical connections for the bus
• to provide arbitration to ensure that only one node or device can transmit data at a given time
• to ensure that all devices have an equitable access to the bus
Dr. Ing. Jiří Špale, 1394b in automation 16
Main functions of LINK
• To manage the data packet assembly/disassembly for both the asynchronous and the isochronous data
• To handle addressing, error control, data framing
• To generate the packet cycle timing and synchronizing signals
Dr. Ing. Jiří Špale, 1394b in automation 17
Transaction layer
• Control of the asynchronous data streamwrite operation : transmitter → receiver read operation: transmitter ← receiverlock operation: data is send on a round trip through the processing at both ends of the chain (test & control function)
Dr. Ing. Jiří Špale, 1394b in automation 18
Bus management layer
• Controls function of- PHY- LINK- transaction layerand operate in both the HW and SW
• There are 3 possible modes- fully managed system- non-managed system- limited bus management system
Dr. Ing. Jiří Špale, 1394b in automation 19
Fully managed system
• Host present: PC, smart device
• All modes of data transfer for up to 64 channels supported
• power management
• bus optimization
• able to create - rate maps- bus topology diagrams
Dr. Ing. Jiří Špale, 1394b in automation 20
Non-managed bus
• Cycle master present
• asynchronous data transfer only
• Examples:transfer camera - hard disk
hard disk - printer
Dr. Ing. Jiří Špale, 1394b in automation 21
Limited bus management
• Power management ability limited
• handling of both the asynchronous and isochronous data transfer for 8 - 64 channels possible
Dr. Ing. Jiří Špale, 1394b in automation 22
Bus managementWhat FireWire does not know:• No Host needed (necessary at USB)
Control functions can be executed by any device with appropriate technical sources
• User setupNo address configuration by a user is needed, no configuration programs must be launched
The following control functions are possible:• System Root-node
device with the highest node address - asynchronous arbitration (= decision which node should manage the bus)- synchronization of all devices for the isochr. transmission (cycle master role)
• Isochronous Resource Manager, IRM. - channel management, bandwidth allocation to discrete channels
• Bus Manager- bandwidth optimization
• Power Manager- power economization
Dr. Ing. Jiří Špale, 1394b in automation 23
Identification phases and arbitration• reset
- Occurs always if the bus must be reconfigured- always if a new device is plugged/unplugged and if the cycle master changes
• tree identification• the parent-child relation is recognized
• self-identification• physical IDs are assigned to the nodes• the neighbors are informed about the own speed capacity
• normally arbitration• decision what node should manage the bus• root-node hat normally the highest priority
Dr. Ing. Jiří Špale, 1394b in automation 24
Bus reset• occurs when any node is connected or disconnected
• takes ca. 300 µs
• the following activities run:- assignment of node addresses (node ID)- root node is choosen- assignment of other functions- eventually: other bus topology is done
Configuration ROM ... device information
Dr. Ing. Jiří Špale, 1394b in automation 25
Identification phases and arbitration• reset
- Occurs always if the bus must be reconfigured- always if a new device is plugged/unplugged and if the cycle master changes
• tree identification• the parent-child relation is recognized
• self-identification• physical IDs are assigned to the nodes• the neighbors are informed about the own speed capacity
• normally arbitration• decision what node should manage the bus• root-node hat normally the highest priority
Dr. Ing. Jiří Špale, 1394b in automation 26
Tree identification #1
branch
branch
branch
p
leaf leaf
After reset, the nodes onlyKnow if they arebranch (>1 port connected) o. leaf (exactly 1 port connected)
Dr. Ing. Jiří Špale, 1394b in automation 27
Tree identification #2
ch bus manager ch
p
After tree identification,the root node is choosen (event. other functions too) and every connected portis signed as chíld or parent
ch root ch
leaf
p
leaf
p
leaf
p
Dr. Ing. Jiří Špale, 1394b in automation 28
Self-identification #1
ch bus manager ch
p
ID 3
After self-identification,each node has its own explicit physical IDand the topology wasidentified by broadcasting
ch root ch
ID 4
leaf
p
ID 0
leaf
p
ID 1
leaf
p
ID 2
Dr. Ing. Jiří Špale, 1394b in automation 29
Self-identification #2
control / IPCch bus manager ch
p
ID 3
Configuration ROM wasread and the special node features was provided
drivech root ch
ID 4
IO module
leaf
p
ID 0
cameraleaf
p
ID 1
driveleaf
p
ID 2
Dr. Ing. Jiří Špale, 1394b in automation 30
Normally arbitration #1
control / IPCch bus manager ch
p
ID 3
Example:Nodes #0 and #2 requirethe bus in the samemoment. They send therequest to their parents...
drivech root ch
ID 4
IO modul
leaf
p
ID 0
cameraleaf
p
ID 1
driveleaf
p
ID 2
request
request
Dr. Ing. Jiří Špale, 1394b in automation 31
Normally arbitration #2
control / IPCch bus manager ch
p
ID 3
Example:They pass the requestto their parents
drivech root ch
ID 4
IO module
leaf
p
ID 0
cameraleaf
p
ID 1
driveleaf
p
ID 2
request
request
request
Dr. Ing. Jiří Špale, 1394b in automation 32
Normally arbitration #3
control / IPCch bus manager ch
p
ID 3
Example:The asked parents deny access to theirother children
drivech root ch
ID 4
IO module
leaf
p
ID 0
cameraleaf
p
ID 1
driveleaf
p
ID 2
request
request
request
deny
deny
Dr. Ing. Jiří Špale, 1394b in automation 33
Normally arbitration #4
control / IPCch bus manager ch
p
ID 3
Root grants the access tothe node which request it had received at first (#0). The node #3 had loose,that’s why it cancels itsrequest and sends theprohibition to the node #2
drivech root ch
ID 4
IO module
leaf
p
ID 0
cameraleaf
p
ID 1
driveleaf
p
ID 2
request
request
deny
deny
grant
deny
Dr. Ing. Jiří Špale, 1394b in automation 34
Normally arbitration #5
control/ IPCch bus manager ch
p
ID 3
Example:The winning node #0 begins with datatransmission and theloosing node #2 cancels its request
drivech root ch
ID 4
IO module
leaf
p
ID 0
cameraleaf
p
ID 1
driveleaf
p
ID 2
data prefix deny
deny
grant
deny
Dr. Ing. Jiří Špale, 1394b in automation 35
Normally arbitration #6
control / IPCch bus manager ch
p
ID 3
Node #4 sees the data prefix,it cancels its grant; deny changes in a data channel – all data flow into the right direction
drivech root ch
ID 4
IO module
leaf
p
ID 0
cameraleaf
p
ID 1
driveleaf
p
ID 2
data prefix data prefix
data prefix
data prefix
Dr. Ing. Jiří Špale, 1394b in automation 36
Address space
initial memory space
256TB-512MB=268 434 944MB
bus 0(nodes 0..63)
bus 1(nodes 0..63)
bus 1023local bus (nodes 0..63)
…
node 0
node 1
node 2
node 62
node 63(broadcast)
…
register space 256MB
(memoryaddressing)
private space256MB
256TB/node
control&statusregisters (CSR)
serial bus
ROM1kB
initial node space
Example of an address:
initial units space
256MB/register 2kB „boot“
63 54 53 48 47 0
0x3FE
bus 1022(nodes 0..63)
0x3E 0xFFFFF000020010 bits 6 bits 48 bits
Dr. Ing. Jiří Špale, 1394b in automation 37
Isochronous and asynchronous modes
• Cycle sync is always send by cycle master; cycle master must be root node
• Asynchronous and isochronous transactions split the bus bandwidth• Isochronous transactions can use max. 80% of the cycle length, i.e. 100µs• Asynchronous transactions can use 125µs minus isochronous transactions time
• Isochr. transactions are optional only; only async. traffic on the bus is also possible
Nominal cycle length = 125µs
Isochronous transaction Asynchronous transaction
cycle
sync
cycle
sync
Isochronous (short)
subaction gaps
Asynchronous (long)
subaction gaps (~10µs)
Cycle Start Telegram (CTS)
Acknowledge
gaps (~50ns)
AC
K
AC
K
Dr. Ing. Jiří Špale, 1394b in automation 38
Isochronous transactionCycle n (125µs)
Isochronous transaction Asyn. transaction
CTS
CH61
CH57 3
CH11
CH61
CH57 3
CH11
Cycle n+1
• Bandwidth reservation for isochronous transactions given by IRM• „isochronous talker“ designates the packets by channel numbers 0-63• Each node can listen if needed ( „listener“ ),
i.e. only one node sends, multiple nodes can receive• Isochronous packets are not acknowledged• Within each cycle the channels are send in the same sequence till transmission end
Dr. Ing. Jiří Špale, 1394b in automation 39
Asynchronous transaction #1
• Bus Config: all nodes take part• Arbitration: all nodes take part which want access the bus; only the winner may send• ACK: during the request subaction, ACK is send by relevant node a contrariwise• *: The communication partner does not rise to answer: this time may be used by
other packets
- is a transaction between 2 nodesCycle n (125µs)
Asyn. transaction
CTS
Cycle n+1
AC
K
AC
K
AR
B
AR
B
Pak
et
A
Pak
et
B
AC
K
AR
B
Pak
et
C
Bus Config
Asyn. transaction
Request
subaction
Request
subaction
Request
subactionResponse
subaction
ArbitrationGaps (bus is free)
*The isochronoustransaction isabsent in this cycle
Dr. Ing. Jiří Špale, 1394b in automation 40
Asynchronous transaction #2Cycle n (125µs)
CTS
Asyn. transaction
Cycle n+1 (125µs)
CTS
Asynchronous packets can delay the CST
• CST contents the 32-bit-information about the beginning of the sending with the accuracy of 40 ns
• Synchronization of the clock signal takes place in the link layer IC of the receiving node
• Accuracy of 125 µs-clock: < 500ps (jitter)
Dr. Ing. Jiří Špale, 1394b in automation 41
FireWire vs. ethernetRequirements for modern distributed automation systems:(1) compatible IT-systems, data transfer from fieldbus-environment into the control
administrative(2) integrity of automation system(3) low cost(4) visual information transmission (graphical monitoring, vision)(5) Real-time motion control data transmission (motion control)(6) interoperability between components of different manufacturer
Solution:1,3,6 → ethernet4,5,(6) → ethernet, its industrial derivates, Profibus, CANbus, SerCos
Problem with (2)1,2,3?,4,5 → FireWire: integrity is an inherent feature due to isochronous mode
FireWire & (6) … solution = 1394 AP
Dr. Ing. Jiří Špale, 1394b in automation 42
widely spread standardization and acceptance
real-time transmission problems, synchronization problems
Ethernet+
-
Solution:
• network segmentation, data flow restriction (EtherCat), special switches, time slicing systems (Profibus DPV3) → limitation of ethernet universality
• special protocols (Powerlink) → elimination of ethernet universality
• procedure according to IEEE 1588: synchronization of slave-clock with themaster-clock through the use of telegrams; compenzation of the unknown data transmission time throught the networkthrough the use of feedback-loops for time measurement in both master andslave nodes- software solution → big jitter (~1µs),jitter grows onward with the load on the bus
- solution by special hardware + protocol filtering → expensive
Dr. Ing. Jiří Špale, 1394b in automation 43
FireWire• jitter < 500 ps
• asynchronous and isochronous modes
• self-identification and automatic parametrization of nodes in theworking condition
• hardware implementation of protocols
• co-existance of protocols for
- machine control- programmable logic controller- video applications- internet protocols
on common physical interface
Dr. Ing. Jiří Špale, 1394b in automation 44
PHY circuits connection example
TPA:
• sends Strobe
• receives Data
TPB:
• sends Data
• receives Strobe
Bidirectional signals TPA, TPB:
Both signals are used for thearbitration as well
Dr. Ing. Jiří Špale, 1394b in automation 45
Data and Strobe coding
Data
Strobe
CLK(delayed)
1 0 0 0 0 0 01 1 1
CLK = Data ⊕ StrobeData change due to Strobe instead of CLK
Level change at Data and at Strobe never in the same timeResult: jitter < 500ps
Dr. Ing. Jiří Špale, 1394b in automation 46
1394AP
common base for automation components motion, vision a I/O
Following functionalities are defined in application layer:
• Format of transmitted data• Network management• Data Synchronization• Special register sets for node external control
Dr. Ing. Jiří Špale, 1394b in automation 47
IEEE1394AP for industrial automationCommunication Profiles and Device Profiles
IEEE1394AP (Application Layer for Industrial Automation)
Bus Management Interface AsynchronousTransfer Interface Isochronous Transfer Interface
Hardware
Management Layer
Firmware
Physical Layer
Link Layer
FirmwareTransaction Layer
Cycle Master
Electrical signals and mechanical interface
Symbols
Cable
Packets
Link
Layer
Services
Transaction Layer ServicesManagement Layer Services
Isochronous Resource Manager
Node Control
Bus Manager
např. 1394CP (1394 Communication Profile for CANopen
Management Services Servis Data Services Servis Data Services
Dr. Ing. Jiří Špale, 1394b in automation 48
1394AP: key wordsApplication Master (AM)• network control• cyclic data transmission to slave nodes (slave = all other nodes)• AM is mostly IP
Master Data Telegram (MDT)• source = AM, target(s) = slave node(s)• content process data• transmitted in every data packet• slave nodes filtrates the relevant data
Application Cycle (AC)
• gives the transmission speed of MDT• different at each application• fast or very accurate systems: AC = 1394 cycle
• lower performance systems: AC disposed in multiple 1394 cycles
Device Data Telegram (DDT)
• both source and target = slave nodes• data packet content:
e.g. state and control informations
Dr. Ing. Jiří Špale, 1394b in automation 49
1394AP: communication profiles
MDT, DDT ... Containers for control and state variables
Communication profiles:• Interpretation of MDT, DDT data• Functional overlay of 1394AP
Example:1394CP for CANopen• Application software written for CAN functions also in 1394CP/CAN
based devices
Dr. Ing. Jiří Špale, 1394b in automation 50
FireWire in the industry: advantages• Acquisition of video information (> 800Mbit/s)
Video information ca be transmitted together with inputs and outputs and with the motor control data
• high control accuracy, jitter < 500 ps• asynchronous transmission
for critical data or security-sensible data - information if transmission succeeded or about the reason of bad success
• Flexibility of 1394b network topology
both trees and ringsAll nodes are of the same value ⇒ no real-time demands on the central control, normally PC quite sufficient.
• integration of typical ethernet based services possible (IPower 1394)
nevertheless rather mixed configurations are expected in the praxis: - 1394 for real-time components - ethernet for control, service and visualization
Dr. Ing. Jiří Špale, 1394b in automation 51
FireWire in the industry: disadvantages
• insufficient throughput in office networks
• advantages of FireWire concern only a strait utilization area
• only the 1394b standard is suitable for the industry
due to cable length, there are only a limited variety of 1394b IC on the market
• limited number of nodes, limited throughput
at cable length 100m and speed 100Mbit/s
• in systems with only little number of real-time components
Ethernet Powerlink is preferable
• persistence of users
Dr. Ing. Jiří Špale, 1394b in automation 52
(isochronous)
FireWire in the industry: example 1
Source:J. Gorka, 1394 Automation e.V. , 32423 Minden
Dr. Ing. Jiří Špale, 1394b in automation 53
FireWire in the industry: example 2
Source:J. Gorka, 1394 Automation e.V. , 32423 Minden
Ethernet TCP/IP
Ethernet TCP/IP
VisualizationVisualization
Gateway
Client in office networks environment
ConfigurationService
Application
Windows XP
FireWireReal-timeenvironment
Dr. Ing. Jiří Špale, 1394b in automation 54
FireWire in the industry: example 3
Source: Fraunhofer IPT Aachen
Accurate turning lathe with high dynamics for treatment of
Non-circular intersection faces
• controller Nyquist/Kollmorgen• aim: optimal speed / accuracy• set-values transmitted as splines with variable
spline time to servo-amplifiers• the speed is planed in an IPC, original splines are
saved • interpolation of the spline on the speed requested
(4000 points/sec) is performed only in axes-drives• tested workpiece:
sinusoidal Al-screwline with passing from 4 to 2liftings per revolution
• lathe work speed: 400 rev/min
Dr. Ing. Jiří Špale, 1394b in automation 55
FireWire in the industry: example 4
Zdroj: Rexroth, Bosch Group
• Controller and drive unit in one• aim: application 100-1000 W• 1394 b• through 4 drives cards• 2 axes: 500W per axis or 1 axis 1 kW• 800 Mbit/s, real-time• more-channel SW oscilloscope on a PC
Bosch Rexroth NYCe 4000
Dr. Ing. Jiří Špale, 1394b in automation 56
FireWire in the industry: example 5
SD Serie 460SD Serie 230
2.400 through 24.000 W600 through 15.000 WOutput power
230 VAC or 460 VAC115 VAC or 230 VACInput voltage
Zdroj: ORMEC
ORMEC ServoWire SD drives
SMLC-160SMLC-80SMLC-30SMLC-SA
2 PC 104 +1 additional slot
1 PC 104 +1 additional slot
1 PC 104 +1 additional slot
18 built-in I/O18 built-in I/O18 built-in I/O29 built-in I/O
1,4 GHz Pentium M933 MHz Pentium III650 MHz Celeron400 MHz Celeron
through 16 axesthrough 8 axesthrough 3 axes1-axis-systems with integrated amplifier
ORMEC controller SMLC
Dr. Ing. Jiří Špale, 1394b in automation 57
Who uses industrial FireWire
1394 automation group members (excluding research)
Others
Dr. Ing. Jiří Špale, 1394b in automation 58
References 1. GORKA, J.: FireWire als Feldbus? Wie 1394AP die industrielle Highend-
Kommunikation IT-kompatibel macht, SPS-Magazin, 2003
2. GORKA, J.: 1394automation e.V. Ergebnisse und nächsten Schritte, SPS-
Magazin, 2004
3. PRESHER, A.: 1394b Motion Networking. In: Design News, Nr.6, Vol. 2006
4. RUIZ, L., DALLEMAGNE, Ph., DECONTIGNIE, J.D.: Using Firewire as
Industrial Network, report CSEM, Real-Time and Networking Group, Neuchâtel, 1999
5. SCHOLLES, M. : New FireWire standard targets industrial applications, VisionSystem Design, November 2005
6. TESCHLER, L.: Ready, aim, FireWire. In: Machine Design, Nr. 6, Vol. 2005
7. VAESSEN, D.: FireWire in Automatisierungseinsatz – es geht voran, IEE Nr.
11, Vol. 2004
Dr. Ing. Jiří Špale, 1394b in automation 59
Web Sources1. www.1394.org
2. www.fcga.de
3. www.ipms.fraunhofer.de
4. www.zayante.com