Journal of the Semiconductor & Display Technology (반도체디스플레이기술학회지)

The Korean Society Of Semiconductor & Display Technology (한국반도체디스플레이기술학회)
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Performance Evaluation of a Real-time EtherCAT Master According to Network Controllers

실시간 EtherCAT 마스터의 네트워크 컨트롤러에 따른 성능 평가

  • Hwa Il Seo (School of Electrical, Electronics & Communication Engineering, Korea University of Technology and Education) ;
  • Sung Jin Kang (School of Electrical, Electronics & Communication Engineering, Korea University of Technology and Education)
  • 서화일 (한국기술교육대학교 전기전자통신공학부) ;
  • 강성진 (한국기술교육대학교 전기전자통신공학부)
  • Received : 2024.04.22
  • Accepted : 2024.06.21
  • Published : 2024.06.30
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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, we summarize the current status of Xenomai real-time framework and RTnet, which are essential for Linux operating systems to operate in real-time, and implement a real-time EtherCAT master system with these open sources. The real-time performance of the implemented EtherCAT master is evaluated according to Intel network controllers 82574L, I219, I210, and I225, respectively. The results show that the implemented EtherCAT master provides precise control performance for control frequencies from 1KHz to 8KHz and similar performance for I219, I210, and I225, and relatively slightly larger jitter for 82574L.

Keywords

Acknowledgement

이 논문은 2024년도 한국기술교육대학교 교수 교육연구진흥과제 지원에 의하여 연구되었음

References

  1. EtherCAT Technology Group, http://www.ethercat.org 
  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. 
  4. S. Kang, H. Seo, " Implementation of an EtherCAT Master with SOEM on STM32 Microcontroller," Journal of the Semiconductor & Display Technology, Vol. 22, No. 2, pp.11-16, 2023. 
  5. https://xenomai.org/ 
  6. https://source.denx.de/Xenomai/linux-dovetail/-/tree/v6.1.y-dovetail?ref_type=heads 
  7. Open EtherCAT Society, Simple Open EtherCAT Master (SOEM), https://openethercatsociety.github.io/ 
  8. https://source.denx.de/Xenomai/xenomai/-/wikis/home 
  9. https://lore.kernel.org/all/20220914010218.15149-1-hongzhan.chen@intel.com/t/ 
  10. https://www.mail-archive.com/xenomai@xenomai.org/msg22220.html 
  11. https://source.denx.de/Xenomai/xenomai/-/tree/master 
  12. https://github.com/OpenEtherCATsociety/SOEM/releases