Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Implementation of Linux RTAI Open CNC System Based on EtherCAT Network

EtherCAT 네트워크 기반 리눅스 RTAI 개방형 CNC 시스템 구현

  • Park, Sung-Mun (Department of Electronics and Electrical and Computer Engineering, Pusan National University) ;
  • An, Cheol-Jin (Department of Electronics and Electrical and Computer Engineering, Pusan National University) ;
  • Kim, Hyoungwoo (Department of Electronics and Electrical and Computer Engineering, Pusan National University) ;
  • Yi, Hyun-Chul (Department of Electronics and Electrical and Computer Engineering, Pusan National University) ;
  • Choi, Joon-Young (Department of Electronics and Electrical and Computer Engineering, Pusan National University)
  • 박성문 (부산대학교 전자전기컴퓨터공학과) ;
  • 안철진 (부산대학교 전자전기컴퓨터공학과) ;
  • 김형우 (부산대학교 전자전기컴퓨터공학과) ;
  • 이현철 (부산대학교 전자전기컴퓨터공학과) ;
  • 최준영 (부산대학교 전자전기컴퓨터공학과)
  • Received : 2015.06.05
  • Accepted : 2015.08.29
  • Published : 2015.10.01
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Abstract

We propose a method for the implementation of an EtherCAT communication bus in a Linux-based open source Computerized Numerical Control (CNC) system. Recently, increasingly more CNC systems support real-time Ethernet protocols such as EtherCAT, which is a high-performance industrial communication protocol. For real-time CNC control over an Ethernet-based protocol, an additional layer driver needs to be implemented between the CNC system and the master of industrial communication protocol. Among the various solutions for the connection layer driver, we employ a Hardware Abstraction Layer (HAL) driver based on Linux. The operation of the implemented CNC system is demonstrated and confirmed by Hal Meter, which is used to observe the pins, signals, or parameters of HAL.

Keywords

References

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