On the in-controller performance of an open source EtherCAT master using open platforms

摘要

Because of the rapid development of EtherCAT as the standard fieldbus in control and automation and the increasing demands of low cost portable main controllers, we aim to assess the performance of an EtherCAT network in handling real-time demands using open source EtherCAT master protocol on open hardware platforms. In comparison to that of commercial products, the performance of open platforms is still indefinite and may depend on different indicators such as the kernel version, real-time architecture, and the protocol of EtherCAT. This paper provides implementation guidelines and procedures to develop the embedded platforms-a task which is difficult due to lack of systematic documents and technical support. The real-time evaluation of an open source EtherCAT master with a dual-kernel approach of real-time embedded Linux, Xenomai, is performed to validate that even low-cost open embedded hardware platforms are also capable in performing real-time EtherCAT control applications.