The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Implementation of Real-time EtherCAT Control System based on Open Source

오픈소스 기반의 실시간 EtherCAT 제어 시스템의 구현

  • Yunjin Kyung (Mechanical Engineering, Myong Ji University) ;
  • Dongil Choi (Mechanical Engineering, Myong Ji University)
  • Received : 2023.05.26
  • Accepted : 2023.08.01
  • Published : 2023.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

Real-time control communication network system is important for developing defense robots because it affects environmental interaction, performance, and safety. We propose a real-time control communication network using the Xenomai real-time operating system and the open-source EtherCAT master library, SOEM. EtherCAT is an Ethernet-based industrial communication method. It has low latency and many functions such as cable redundancy and distributed clock synchronization. We use Xenomai RTOS and Intel NUC to develop the system. Experimental tests demonstrate the Real-time EtherCAT master implementation, and communication with CiA301-based slave devices. The jitter measurement was conducted to validate the real-time performance of the system. The proposed system shows possibility for real-time robotics applications in various defense robots.

Keywords

Acknowledgement

This research was supported by the Challengeable Future Defense Technology Research and Development Program through the Agency for Defense Development (ADD) funded by the Defense Acquisition Program Administration in 2021 (No.915018201)

References

  1. EtherCAT Technology Group, EtherCAT Overview & ETG Introduction, [Online], https://www.ethercat.org, Accessed: Aug. 10, 2023. 
  2. MotionControl, Understanding Industrial Network EtherCAT, [Online], https://www.motioncontrol.co.kr, Accessed: Aug. 10, 2023. 
  3. S. Y. Kim and E. C. Shin, "Performance Verification of Opensource-based EtherCAT Master by Linux Platform," Journal of the Korean Society of Precision Engineering Conference, [Online], vol. 2017, no. 5, pp. 149-150, May, 2017, [Online], http://www.riss.kr/link?id=A103271379.  103271379
  4. IgH, EtherLab, [Online], https://gitlab.com/groups/etherlab.org/, Accessed: Aug. 16, 2023. 
  5. T.-Y. Son and S.-R. Rim, "An Experimental Performance Evaluation with Xenomai for WSN," Journal of the Korea Academia-Industrial cooperation Society, vol. 18, no. 1, pp. 709-714, Jan., 2017, DOI: 10.5762/KAIS.2017.18.1.709. 
  6. S. J. Kang, "A Study on Implementation of Real-time EtherCAT Master," Journal of the Semiconductor& Display Technology, vol. 20, no. 2, pp. 131-136, Jun., 2021, [Online], https://koreascience.kr/article/JAKO202121137920799.page.