EtherCAT Tutorial: An Introduction for Real-Time Hardware Communication on Windows [Tutorial]

Langlois, Kevin; Hoeven, Tom van der; Rodriguez-Cianca, David; Verstraten, Tom; Baček, Tomislav; Convens, Bryan; Rodriguez–Guerrero, Carlos; Grosu, Victor; Lefeber, Dirk; Vanderborght, Bram

doi:10.1109/mra.2017.2787224

Cited by 39 publications

(19 citation statements)

References 22 publications

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“…The entire setup is controlled in real-time in the Beckhoff TwinCAT master environment, while the model of the entire benchmarking setup was created using Matlab Simulink R environment. More information on setting-up this environment can be found in [49].…”

Section: Experimental Test Setupmentioning

confidence: 99%

Varying mechanical compliance benefits energy efficiency of a knee joint actuator

et al. 2020

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In the field of wearable robots, actuator efficiency and user safety are frequently addressed by intentionally adding compliance to the actuation unit. However, the implications compliance has on the actuator's overall performance in different conditions and activities are not fully understood, largely due to single task-focused experimental evaluations of these devices. To overcome this, our paper analyzes the effects that changing mechanical compliance has on the actuator's overall performance in different ideal conditions in an experimental test setup. The torque performance and electrical energy consumption of an orthotic, adjustable-compliance knee joint actuator are evaluated during emulated walking and sit-to-stand-to-sit movements. Furthermore, the feasibility of joint operation of a dual mechanical compliance configuration during walking is investigated, and its outcomes reported in this work. The results demonstrate that varying mechanical compliance can lead up to 50% energy savings compared to a no-compliance configuration and show that, in general, changing compliance level leads to either energy-optimal or power-optimal actuator performance, but not both.

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Section: Experimental Test Setupmentioning

confidence: 99%

Varying mechanical compliance benefits energy efficiency of a knee joint actuator

et al. 2020

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“…EtherCAT, developed by Beckhoff, realizes rapid packet processing and extends the connectivity of automated systems from PLC to I/O and sensors by accessing real‐time Ethernet in automated applications 29,30 . Ethernet/IP, developed as the mainstay of Lockwell automation, is an application layer protocol, unlike EtherCAT, the MAC layer protocol 31 .…”

Section: Related Work and Problem Scopementioning

confidence: 99%

Clustering method in protocol reverse engineering for industrial protocols

et al. 2020

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Automation in all aspects of industrial activity is currently needed in today's industries. Networks, which are the most essential elements of automation, have been widely used in industrial sites to realize such needs. However, network security threats and malfunctions at industrial sites can cause considerable physical damage. Damage can be prevented, and threats can be detected through network traffic monitoring. However, industrial protocols use selfdeveloped protocols to ensure rapid and efficient data transfer, and most selfdeveloped protocols are private networking protocols. Efficient network traffic monitoring requires a detailed understanding of the structure of industrial protocols. Studies on existing protocol reverse engineering methods for commercial protocols have indicated that there are many limitations in applying these methods to industrial protocols. Therefore, in this paper, we propose a method of analyzing the structure of private protocols that can be employed as industrial protocols. This methodology consists of six modules: traffic collection, message extraction, message clustering by size, message clustering by similarity, field extraction, and session analysis. We collect traffic using the Schneider Modicon M580 and demonstrate the validity of the proposed methodology by comparing collected traffic with existing protocol reverse engineering methods.

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“…It consists of a cage, a Beckhoff servomotor (AM8032, 3-phase, rated power 0.8kW, rated torque 2.26Nm, max speed 10000rpm, with 40:1 NP03535S planetary gearbox), named in the following test bench limb emulator, a torque sensor (DRBK, ETH Messtechnik, 200Nm, 0.0122Nm resolution) and two flexible couplings (ETH Messtechnik). The main control loop was running in Matlab R real-time target at 1KHz with EtherCAT real-time communication protocol in the Beckhoff TwinCAT R environment [52] on an Intel i7 core laptop with 16GB RAM.…”

Section: Test Bench For Experimental Validationmentioning

confidence: 99%

Variable stiffness ankle actuator for use in robotic-assisted walking: Control strategy and experimental characterization

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Baček

et al. 2019

Mechanism and Machine Theory

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Despite the increasing interest in using powered ankle-foot orthoses for assistive purposes, their development and benchmarking still present core challenges. Powered orthoses have to be safe and provide adequate torque while keeping limited size and weight. The discordance of these requirements is a challenge for the development of these devices. This paper describes the control strategy and characterization of a compact variable stiffness actuator, to be used in an assistive ankle-foot orthosis for impaired subjects. The results of the characterization experiments show the advantageous behavior of the actuator and its performance in providing different relevant assistive torque profiles, with different actuator stiffnesses, during emulated walking experiments. However, some divergences in the results obtained in different testing conditions highlight the need for more general benchmarking techniques. Towards this objective, the paper also proposes a novel performance indicator that can be used to better evaluate the performance of robotic actuators both in quasi-static and in dynamic conditions. The article concludes with a call for research on new benchmarking techniques, to understand more in-depth series elastic's actuators behavior under dynamic conditions.

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EtherCAT Tutorial: An Introduction for Real-Time Hardware Communication on Windows [Tutorial]

Cited by 39 publications

References 22 publications

Varying mechanical compliance benefits energy efficiency of a knee joint actuator

Varying mechanical compliance benefits energy efficiency of a knee joint actuator

Clustering method in protocol reverse engineering for industrial protocols

Variable stiffness ankle actuator for use in robotic-assisted walking: Control strategy and experimental characterization

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