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http://dx.doi.org/10.5391/IJFIS.2009.9.3.244

Real-time EtherCAT Master Implementation on Xenomai for a Robot System  

Moon, Yong-Seon (School of Information Communication, Sunchon National University)
Ko, Nak-Yong (Dept. Control, Instrumentation, and Robot Engineering, Chosun University)
Lee, Kwang-Seok (Robotics Institute, Redone Technologies, Ltd.)
Bae, Young-Chul (Division of Electrical Electronic Communication, Chonnam National University)
Park, Jong-Kyu (Korea Institute of Science and Technology Information)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.9, no.3, 2009 , pp. 244-248 More about this Journal
Abstract
This paper describes a real-time EtherCAT Master library. The library is developed using Xenomai. Xenomai is a real-time development framework. It cooperates with the Linux kernel, in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment. The proposed master library implements EtherCAT protocol for master side, and supports Application Programming Interfaces(APIs) for programming of real-time application which controls EtherCAT slave.
Keywords
EtherCAT; Xenomai; real-time; master; slave;
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