• Journal of the Semiconductor & Display Technology
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• v.20 no.2
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• pp.131-136
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• 2021

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, a real-time EtherCAT master is implemented on Linux operating systems and its performances are evaluated. To enhance the real-time capability of mainline Linux kernel, Xenomai is applied as a real-time framework and an open source EtherCAT master stack, Simple Open EtherCAT Master (SOEM), is installed on it. Unlike other studies, the real-time performance of the EtherCAT master is evaluated at the output of the network interface card, so that the evaluation results include all possible effects from the EtherCAT master system. The implemented EtherCAT master can send and receive packets up to 20KHz control frequency with low jitter, even in stressed condition.

• Journal of the Semiconductor & Display Technology
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• v.21 no.3
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• pp.26-32
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• 2022

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.

• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.2
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• pp.117-125
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• 2014

The EtherCAT protocol has become a very promising alternative for real-time industrial application due to its ability to eliminate uncertainties in the Ethernet. However, the extended markup language (XML) for the EtherCAT network system, which is required in the design, lacks systematic development to take advantage of model transformation techniques. This paper focuses on the system development procedure of the EtherCAT-based encoder system using the CANopen over EtherCAT (CoE) protocol. UML modeling is being adapted to design for XML of EtherCAT-based encoder system. To this purpose, this paper analyzes the object dictionary (OD) of a commercial encoder and CANopen over EtherCAT. A UML diagram is then designed based on the analysis, and XML is generated through the designed UML diagram. Finally, an experimental test_bed for the EtherCAT-based encoder system is implemented and its performance is compared with a commercial encoder.

• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.463-464
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• 2009

기존 필드버스의 낮은 트래픽 전송률로 인하여 IEEE 802.3 이더넷이 필드버스의 대안으로 제시되었다. 하지만, 이더넷은 CSMA/CD 메카니즘을 사용하기 때문에 실시간 성이 떨어진다는 단점이 있다. 이러한 단점을 개선하기 위하여 EtherCAT이 개발되었다. 본 논문에서는 EtherCAT의 Cycle Time 성능을 분석하고 개선하기 위하여 M-EtherCAT을 제안한다. M-EtherCAT은 EtherCAT과 달리 각 Telegram이 Slave를 거치지 않기 때문에 EtherCAT 보다 Cycle Time의 최소 주기를 더 줄일 수 있다.

• Journal of the Semiconductor & Display Technology
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• v.22 no.2
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• pp.11-16
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• 2023

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, without operating system, we have implemented an EtherCAT master with an open source EtherCAT master stack SOEM on STM32 Nucleo-144 board with an STM32F767 microcontroller. And its jitter performance has been evaluated at the output of the network port to include all the effects of the entire system in the results. The results show that the implemented EtherCAT master has precise control performance for control frequencies from 1KHz to 8KHz and relatively superior jitter performance compared to the EtherCAT masters with real-time patched Linux operating system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.7
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• pp.785-797
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• 2014

Support for the precise time synchronization of EtherCAT, known as distributed clock (DC), enables the design of highly synchronized operations in distributed real-time systems. This study evaluates the performance of the EtherCAT DC through extensive experiments in a real automation system. We constructed an EtherCAT control system using Xenomai and IgH EtherCAT stack, and analyzed the clock deviation for different devices in the network. The results of the evaluation revealed that the accuracy of the synchronized clock is affected by several factors such as the number of slave devices, period of drift compensation, and type of system time base. In particular, we found that careful decision regarding the system time base is required because it has a fundamental effect on the master operation, which results in significantly different performance characteristics.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.71-72
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.371-372
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.369-370
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• 2013

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.281-284
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• 2023

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.