Journal of the Semiconductor & Display Technology (반도체디스플레이기술학회지)

The Korean Society Of Semiconductor & Display Technology (한국반도체디스플레이기술학회)
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A Study on Implementation of Real-time EtherCAT Master

실시간 EtherCAT 마스터 구현에 관한 연구

  • Kang, Sung Jin (School of Electrical, Electronics & Communication Engineering, Korea University of Technology and Education)
  • 강성진 (한국기술교육대학교 전기전자통신공학부)
  • Received : 2021.06.16
  • Accepted : 2021.06.21
  • Published : 2021.06.30
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Abstract

EtherCAT is an Ethernet-based fieldbus system standardized in IEC 61158 and SEMI, and widely used in the fields of factory automation, semiconductor equipment and robotics. In this paper, a real-time EtherCAT master is implemented on Linux operating systems and its performances are evaluated. To enhance the real-time capability of mainline Linux kernel, Xenomai is applied as a real-time framework and an open source EtherCAT master stack, Simple Open EtherCAT Master (SOEM), is installed on it. Unlike other studies, the real-time performance of the EtherCAT master is evaluated at the output of the network interface card, so that the evaluation results include all possible effects from the EtherCAT master system. The implemented EtherCAT master can send and receive packets up to 20KHz control frequency with low jitter, even in stressed condition.

Keywords

Acknowledgement

이 논문은 2020학년도 한국기술교육대학교 연구연간제 연구비 지원에 의하여 연구되었음.

References

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