Performance of a Real-Time EtherCAT Master Under Linux

Cereia, Marco; Bertolotti, Ivan Cibrario; Scanzio, Stefano

doi:10.1109/tii.2011.2166777

Cited by 60 publications

(24 citation statements)

References 19 publications

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“…For example, off-the-shelf available network interface cards (NICs) are employed by master nodes of EtherCAT (an example to this regard is provided in [26]). Similarly, commercial switches and NICs are commonly used in EtherNET/IP, Ethernet POWERLINK, and PROFINET IO configurations.…”

Section: Characterization Of Eee Componentsmentioning

confidence: 99%

Strategies and Services for Energy Efficiency in Real-Time Ethernet Networks

Tramarin

Vitturi

2015

IEEE Trans. Ind. Inf.

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The IEEE 802.3az amendment to the Ethernet standard, referred to as energy-efficient Ethernet (EEE), encompasses the new low power Idle operational mode that allows to strongly decrease the energy consumption of inactive links. The introduction of EEE in real-time industrial communications represents an interesting topic currently addressed by the scientific community, as well as by some standardization bodies. The outcomes of these activities are promising, since effective EEE strategies can be devised, and are able to cope with the very tight timing requirements of industrial communication. Unfortunately, the proposed analyses do not address implementation issues that, conversely, represent a crucial aspect in this scenario. Hence, in this paper, we specifically focus on practical issues concerned with the adoption of EEE strategies by real-time Ethernet (RTE) networks. At first, we address the use of commercially available network components and describe a measurement setup that can be adopted to achieve the adequate characterization of such components. Furthermore, we show that, in an RTE perspective, link activations/deactivations should be independently managed by suitably designed EEE strategies at the application level. Consequently, we defined a set of network services that have to be made available in the device drivers. Hence, we consider a generic RTE network and discuss methods for the practical implementation of those EEE strategies. A performance assessment carried out via theoretical models as well as numerical simulations shows that EEE strategies can be effectively implemented with considerable power savings at the expense of only minimal performance degradation.

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Section: Characterization Of Eee Componentsmentioning

confidence: 99%

Strategies and Services for Energy Efficiency in Real-Time Ethernet Networks

Tramarin

Vitturi

2015

IEEE Trans. Ind. Inf.

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“…The block diagram of experimental station is presented in Fig. 6 [14]. The blocks can be classified into a master and slaves.…”

Section: International Journal Of Future Computer and Communication mentioning

confidence: 99%

Preventing Data Loss in Linux-Based Ethe rCAT Master

An¹,

Yi²,

Kim³

et al. 2015

IJFCC

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“…Cereia et al evaluated the performance of a Linux-based EtherCAT controller in terms of the cycle accuracy of periodic control tasks [13]. Kim et al presented a statistical delay analysis of EtherCAT motor drives [4].…”

Section: Related Workmentioning

confidence: 99%

“…Kim et al presented a statistical delay analysis of EtherCAT motor drives [4]. These studies, however, have limitations because they either lack any consideration of the actual workload [13] or ignore the controller latency [4]. Precise clock synchronization among devices is also crucial for coordinated actuation and sensing.…”

Section: Related Workmentioning

confidence: 99%

“…Thus far, however, there have been few studies that have analyzed the end-to-end delay of EtherCAT automation systems. Although some recent works have addressed the performance of EtherCATbased automation, they remain incomplete in that they either lack any consideration of the actual automation workload [13] or only deal with the network-level performance [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

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Toward a Holistic Delay Analysis of EtherCAT Synchronized Control Processes

Sung

Kim

2013

INT J COMPUT COMMUN

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This paper analyzes the end-to-end delay of EtherCAT-based control processes that use the events of message frames and global clock for synchronized operation. With the end-to-end delay defined as the time interval between the start of a process cycle and the actual input or output, we develop a holistic delay model for control processes with EtherCAT, by taking into account the time for in-controller processing, message delivery, and slave-local handling. Based on the measurements from a real EtherCAT control system, we discuss the average and deviation of the process delay as we vary the number of slaves and process cycle time. The experiment results show that the output delays are mainly increased by the average controller delay, whereas the input delays are more affected by the deviation rather than the average of the controller delay. Our in-depth analysis on the controller reveals that the DMA (Direct Memory Access) overhead chiefly enlarges the controller delay for increasing number of slaves, while task release jitter is the main cause of the increased delay for longer cycle time. The presented delay model and evaluation results can be essentially used for the design of EtherCAT-based automation that requires highly synchronized operations, such as for coordinated motion and high-precision data sensing.

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Performance of a Real-Time EtherCAT Master Under Linux

Cited by 60 publications

References 19 publications

Strategies and Services for Energy Efficiency in Real-Time Ethernet Networks

Strategies and Services for Energy Efficiency in Real-Time Ethernet Networks

Preventing Data Loss in Linux-Based Ethe rCAT Master

Toward a Holistic Delay Analysis of EtherCAT Synchronized Control Processes

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