Title :
An EtherCAT-based motor drive for high precision motion systems
Author :
Sung, Minyoung ; Kim, Kanghee ; Jin, Hyun-Wook ; Kim, Taehyoun
Author_Institution :
Dept. of Comput. Software Eng., Sangmyung Univ., Seoul, South Korea
Abstract :
Industrial Ethernet-based motor drives offer many advantages for motion applications. This paper presents the implementation and analysis of a motor drive with the EtherCAT, an open real-time Ethernet standard, for high-precision motion systems. Considering the characteristics of the multitasked software and the network interface, we analyze the delay in actuating the motor in response to a command from the control host. Based on a response time analysis and the times measured from the developed drive, we discuss performance characteristics of the drive in respect of the end-to-end delay and the maximum achievable throughput for non-real-time traffic when the drive is controlled in position, velocity, or torque mode.
Keywords :
controller area networks; delays; field buses; motion control; motor drives; multiprogramming; network interfaces; real-time systems; telecommunication traffic; time measurement; EtherCAT-based motor drive; end-to-end delay; high precision motion system; industrial Ethernet-based motor drive; motor actuation delay; multitasked software; network interface; nonreal-time traffic; open real-time Ethernet standard; response time analysis; time measurement; Delay; Hardware; Motor drives; Real time systems; Synchronization; Throughput; Torque;
Conference_Titel :
Industrial Informatics (INDIN), 2011 9th IEEE International Conference on
Conference_Location :
Caparica, Lisbon
Print_ISBN :
978-1-4577-0435-2
Electronic_ISBN :
978-1-4577-0433-8
DOI :
10.1109/INDIN.2011.6034856
