Abstract
This paper presents a performance analysis of an open source EtherCAT Master on a real-time embedded Linux extension, Xenomai. The system is implemented on an embedded target with the latest Linux kernel. Xenomai is a dual kernel approach that provides real-time characteristics to user-space applications integrated with the standard Linux kernel. IgH EtherCAT Master is an open source solution that supports real-time Ethernet protocol on top of real-time Linux extensions. However, as opposed to PC-based Linux, implementation of toolchains and patches is difficult on an embedded platform due to lack of systematic documents and technical support regarding kernel revisions. Therefore, this paper provides comprehensive procedures and detailed information to deal with latest embedded Linux kernels. We also evaluated the real-time performance in terms of cyclic task, jitter, and transaction time. Transaction time is defined as the time interval between the master sending a command to a slave and receiving the corresponding feedback. Finally, the system is tested by connecting the EtherCAT Master to a slave with CANopen protocol and the results are shown using a control client that exhibits on-the-fly processing. The results signify high potential of utilizing open source EtherCAT-based embedded control devices for commercial and industrial control systems.
| Original language | English |
|---|---|
| Pages (from-to) | 44603-44609 |
| Number of pages | 7 |
| Journal | International Journal of Applied Engineering Research |
| Volume | 10 |
| Issue number | 24 |
| State | Published - 1 Dec 2015 |
Keywords
- Bézier Curve
- Convolution
- High curvature path
- Obstacle avoidance
- Path planning
- Physical limits
