International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Development of Realtime EtherCAT Master Library Using INtime

  • Moon, Yong-Seon (School of Information Communication, Sunchon National University) ;
  • Trong, Tuan Anh Vo (School of Information Communication, Sunchon National University) ;
  • Ko, Nak-Yong (Dept. Control, Instrumentation, and Robot Engineering, Chosun University) ;
  • Seo, Dong-Jin (Robotics Institute, Redone Technologies, Ltd.) ;
  • Lim, Seung-Woo (Dept. of Information and Communication, DongKang College)
  • Received : 2009.06.01
  • Accepted : 2009.06.08
  • Published : 2009.06.30
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Abstract

This paper proposes an architecture of a real-time EtherCAT master library called RtEML. The controls EtherCAT slaves under EtherCAT protocol in real-time. It provides a simple programming interface which is useful in developing robot application in C/C++ or C#. To achieve deterministic, hard real-time control in Microsoft Windows environment without additional hardware, INtime is used. Since INtime is designed specifically to take advantage of the powerful capabilities of the x86 processor architecture, the proposed RtEML achieves microseconds of real-time performance.

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References

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