실시간 EtherCAT 마스터 구현에 관한 연구

A Study on Implementation of Real-time EtherCAT Master

  • 강성진 (한국기술교육대학교 전기전자통신공학부)
  • Kang, Sung Jin (School of Electrical, Electronics & Communication Engineering, Korea University of Technology and Education)
  • 투고 : 2021.06.16
  • 심사 : 2021.06.21
  • 발행 : 2021.06.30

초록

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.

키워드

과제정보

이 논문은 2020학년도 한국기술교육대학교 연구연간제 연구비 지원에 의하여 연구되었음.

참고문헌

  1. EtherCAT Technology Group, http://www.ethercat.org [accessed June 21, 2021]
  2. C. Huang, C. Lin, C. Wu, "Performance Evaluation of Xenomai 3", Available at http://wiki.csie.ncku.edu.tw/embedded/xenomai/rtlws_paper.pdf [accessed June 21, 2021]
  3. S. Kim, E. Shin, "A Performance Evaluation of Open Source-based EtherCAT Master Systems", in Proc. of the 4th ICCDR, pp. 128-1-128-4, 2017.
  4. Xenimai, https://source.denx.de/Xenomai/xenomai/-/wikis/home [accessed June 21, 2021]
  5. Igh EtherCAT master, https://www.etherlab.org/en/index.php [accessed June 21, 2021]
  6. Open EtherCAT Society, Simple Open EtherCAT Master (SOEM), https://openethercatsociety.github.io/ [accessed June 21, 2021]
  7. S. Park, J. Choi, "Cycle Time Improvement of EtherCAT Networks Using Linux Kernel Space Application Module", in the Transactions of the KIEE, Vol. 69, No. 1, pp. 184-189, 2020. https://doi.org/10.5370/KIEE.2020.69.1.184
  8. https://xenomai.org/downloads/ipipe/v5.x/x86/ [accessed June 21, 2021]
  9. R. Delgado, B. Choi, "New Insights into the Real-Time Performance of a Multicore Processor", in IEEE Access, Vol. 8, pp. 186199-186211, 2020. https://doi.org/10.1109/access.2020.3029858
  10. https://github.com/OpenEtherCATsociety/SOEM [accessed June 21, 2021]
  11. RTnet, https://source.denx.de/Xenomai/xenomai/-/wikis/RTnet [accessed June 21, 2021]
  12. https://rtt-lwr.readthedocs.io/en/latest/rtpc/rtnet.html [accessed June 21, 2021]
  13. https://www.hilscher.com/products/product-groups/analysis-and-data-acquisition/ethernet-analysis/nanlb500g-re/ [accessed June 21, 2021]
  14. https://www.infineon.com/cms/en/product/evaluationboards/kit_xmc48_relax_ecat_v1/ [accessed June 21, 2021]