Mobile QR Code QR CODE : The Transactions of the Korean Institute of Electrical Engineers
Title Cycle Time Improvement of EtherCAT Networks Using Linux Kernel Space Application Module
Authors 박성문(Sung-Mun Park) ; 최준영(Joon-Young Choi)
DOI https://doi.org/10.5370/KIEE.2020.69.1.184
Page pp.184-189
ISSN 1975-8359
Keywords EtherCAT; Cycle time; Linux; Kernel module
Abstract We propose a method to improve the cycle time of EtherCAT networks by implementing the EtherCAT application as a kernel space application module. Commonly, the EtherCAT application has been implemented as an application program in the user space of Linux, which causes time-consuming memory copies of EtherCAT frames between the kernel and user space and deteriorates the performance of cycle time. In order to deal with this problem, we move the EtherCAT application from the user space to the kernel space by implementing the EtherCAT application as a kernel space application module. Consequently, the time-consuming memory copies are prevented between the kernel and user space, and the performance of cycle time is significantly improved. We demonstrate the performance of the proposed method by performing experiments using an EtherCAT network composed of the off-the-shelf slaves and IgH EtherCAT master for Linux. The experimental results confirm that the cycle time is significantly improved, which verifies the effect of the master application implementation in the kernel space.