Implementation and analysis of the embedded master for EtherCAT

Song, Il-Seuk; Yong-Han, Jeon; Kim, Jin-Ho; Seo, Sang‐Hun; Kwon, Key-Ho; Chun, Jung-Hoon; Jeon, Jae-Wook

doi:10.1109/iccas.2010.5670288

Cited by 9 publications

(3 citation statements)

References 4 publications

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“…Fig. 2 shows the EtherCAT soft master framework [4] Master Module and Application Module. Master module realizes the protocol analysis, threads scheduling and applies interfaces for net device and application.…”

Section: Porting Of Ethercat Soft Master To Armmentioning

confidence: 99%

Porting of EtherCAT Soft Master and Developing of a New Type of Open Motion Controller

Min

Yang

Fei

2010

AMM

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It is an expectation of most of the numerical control products manufacturer that have a powerful controller with whole won intellectual property and without restriction from other companies. The paper introduces a new type of motion controller that based on ARM and EtherCAT field bus. It concludes the analysis and porting method of the EtherCAT soft master source code, and how to modify the driver of dm9000 to make EtherCAT master works correctly. It also gives an example to confirm the reliability of the controller. Since ARM has an open architecture, EtherCAT soft master does not depend on any special hardware card, and Linux OS is an open source system, this controller has open and flexible characteristic both on hardware and software.

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Section: Porting Of Ethercat Soft Master To Armmentioning

confidence: 99%

Porting of EtherCAT Soft Master and Developing of a New Type of Open Motion Controller

Min

Yang

Fei

2010

AMM

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“…The article [5] enhanced the operating efficiency of EtherCAT masters by optimizing the EtherCAT frame size. Except for the stack optimization, the most common approach is ameliorating the real-time environment of operating platforms, such as installing the Xenomai patch in the Linux kernel to provide high real-time support [6] or porting EtherCAT masters to high-performance embedded processors to mitigate system jitter [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

A Novel Heterogeneous Parallel System Architecture Based EtherCAT Hard Real-Time Master in High Performance Control System

et al. 2022

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EtherCAT is one of the preferred real-time Ethernet technologies. However, EtherCAT is not applicable in high-end control fields due to real-time constraints. Clock synchronization and cycle time are the most representative limitations. In this paper, a novel Heterogeneous Parallel System Architecture (HPSA) with features of parallel computation and hard real-time is presented. An HPSA-based EtherCAT hard real-time master is developed to significantly improve clock synchronization and shorten cycle time. Traditional EtherCAT masters feature serial processing and run on a PC. This HPSA-based master consists of two parts: EtherCAT master stack (EMS) and EtherCAT operating system (EOS). EMS implements the parallel operation of EtherCAT to realize the shorter cycle time, and EOS brings a hard real-time environment to the HPSA-based master to improve clock synchronization. Furthermore, this HPSA-based master operates on a heterogeneous System-on-a-chip (SoC). EMS and EOS form a heterogeneous architecture inside this SoC to achieve low-latency process scheduling. Experimental results show that in our HPSA-based EtherCAT hard real-time master, the cycle time reaches the sub-50 μs range, and the synchronization error reduces to several nanoseconds. Thus, this HPSA-based master has great application value in high-performance control systems.

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“…EtherCAT is a kind of technology that applies Ethernet in industrial control network. 9 Because the EtherCAT adopts special coding technology to carry several stations' data in one data frame, 10,11 the EtherCAT network does not need to send data to each station separately. G Prytz 12 made a performance analysis of EtherCAT and PROFINET IRT.…”

Section: Introductionmentioning

confidence: 99%

CBSBS: A classification-based size-based scheduling and its application in industrial network

2017

International Journal of Distributed Sensor Networks

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Integration of industrial control network and normal office network makes Ethernet to be widely used in industrial control. The improvement of industrial Ethernet service quality has become a hot research topic because the traditional Ethernet does not optimize the performance for industrial use. The main ideas related to research results are improving the link layer protocols or the scheduling algorithms. The method of improving scheduling algorithm is more suitable for integration of industrial and office network because it does not need to modify the link layer protocol, and it can easily realize the compatibility between office network and industrial network. The size-based scheduling proves to be effective for improving the forwarding performance of small packets (such as industrial packets). One of the newest research results of size-based scheduling is least attained recent service. Least attained recent service optimizes the queuing algorithm by applying historical accumulation factor and decay cycle factor. Least attained recent service improves the forwarding performance of small data flows significantly in data link access. But the application of the two factors in least attained recent service also results in the problem of high memory occupancy rate and unstable performance. We analyzed the cause of least attained recent service problems and designed a classification-based size-based scheduling algorithm according to the quality-of-service requirements of office and industrial networks integration. The tests prove that classification-based size-based scheduling algorithm, which can keep basic characteristics of size-based scheduling algorithm, reduce the memory consumption, and provide more stable forwarding performance than traditional least attained recent service, is an effective algorithm that can provide quality of service in the industrial network and office network integration applications.

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Implementation and analysis of the embedded master for EtherCAT

Cited by 9 publications

References 4 publications

Porting of EtherCAT Soft Master and Developing of a New Type of Open Motion Controller

Porting of EtherCAT Soft Master and Developing of a New Type of Open Motion Controller

A Novel Heterogeneous Parallel System Architecture Based EtherCAT Hard Real-Time Master in High Performance Control System

CBSBS: A classification-based size-based scheduling and its application in industrial network

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