International Journal of Fuzzy Logic and Intelligent Systems

Korean Institute of Intelligent Systems (한국지능시스템학회)
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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)
  • Received : 2009.07.17
  • Accepted : 2009.09.09
  • Published : 2009.09.30
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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.

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References

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