Journal of the Semiconductor & Display Technology (반도체디스플레이기술학회지)

The Korean Society Of Semiconductor & Display Technology (한국반도체디스플레이기술학회)
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Implementation of an EtherCAT Master with SOEM on STM32 Microcontroller

STM32 마이크로 컨트롤러에서 SOEM을 이용하는 EtherCAT 마스터 구현

  • Sung Jin Kang (School of Electrical, Electronics & Communication Engineering, Korea University of Technology and Education) ;
  • Hwa Il Seo (School of Electrical, Electronics & Communication Engineering, Korea University of Technology and Education)
  • 강성진 (한국기술교육대학교 전기전자통신공학부) ;
  • 서화일 (한국기술교육대학교 전기전자통신공학부)
  • Received : 2023.04.10
  • Accepted : 2023.06.21
  • Published : 2023.06.30
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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, without operating system, we have implemented an EtherCAT master with an open source EtherCAT master stack SOEM on STM32 Nucleo-144 board with an STM32F767 microcontroller. And its jitter performance has been evaluated at the output of the network port to include all the effects of the entire system in the results. The results show that the implemented EtherCAT master has precise control performance for control frequencies from 1KHz to 8KHz and relatively superior jitter performance compared to the EtherCAT masters with real-time patched Linux operating system.

Keywords

Acknowledgement

이 논문은 2023년도 한국기술교육대학교 교수 교육연구진흥과제 지원에 의하여 연구되었음.

References

  1. EtherCAT Technology Group, http://www.ethercat.org [accessed April 10, 2023]. 
  2. S. Kang, "A Study on Implementation of Real-time EtherCAT Master," Journal of the Semiconductor & Display Technology, Vol. 20, No. 2, pp.131-136, 2021. 
  3. S. Kang, O. Kim, "Performance Evaluation of an Embedded EtherCAT Master with SOEM on PREEMPT_RT Linux," Journal of the Semiconductor & Display Technology, Vol. 21, No. 3, pp.26-32, 2022. 
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