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Performance Evaluation of an Embedded EtherCAT Master with SOEM on PREEMPT_RT Linux  

Kang, Sung Jin (School of Electrical, Electronics & Communication Engineering, Korea University of Technology and Education)
Kim, Oe Cheol (Neo Health Technology, LTD.)
Publication Information
Journal of the Semiconductor & Display Technology / v.21, no.3, 2022 , pp. 26-32 More about this Journal
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, an EtherCAT master is implemented on an embedded board with Arm based 64-bit quad-core processor and its jitter performance is evaluated at the output of the network interface to include all the effects of the entire system in the results. For the EtherCAT master system, an open source EtherCAT master stack, Simple Open EtherCAT Master (SOEM), is installed on PREEMPT_RT patched Linux operating system for real-time operation. The results show that the jitter performance is comparable to that of Xenomai-based master and the EtherCAT master with two master instances has similar jitter performance to the EtherCAT master with one master instance.
Keywords
EtherCAT; Linux; PREEMPT_RT; Real-time; SOEM;
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  • Reference
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