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EtherCAT 네트워크 기반 리눅스 RTAI 개방형 CNC 시스템 구현
박성문,안철진,김형우,이현철,최준영,Park, Sung-Mun,An, Cheol-Jin,Kim, Hyoungwoo,Yi, Hyun-Chul,Choi, Joon-Young 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.10
We propose a method for the implementation of an EtherCAT communication bus in a Linux-based open source Computerized Numerical Control (CNC) system. Recently, increasingly more CNC systems support real-time Ethernet protocols such as EtherCAT, which is a high-performance industrial communication protocol. For real-time CNC control over an Ethernet-based protocol, an additional layer driver needs to be implemented between the CNC system and the master of industrial communication protocol. Among the various solutions for the connection layer driver, we employ a Hardware Abstraction Layer (HAL) driver based on Linux. The operation of the implemented CNC system is demonstrated and confirmed by Hal Meter, which is used to observe the pins, signals, or parameters of HAL.
EtherCAT 네트워크 기반 리눅스 RTAI 개방형 CNC 시스템 구현
박성문(Sung-Mun Park),안철진(Cheol-Jin An),김형우(Hyoungwoo Kim),이현철(Hyun-Chul Yi),최준영(Joon-Young Choi) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.12
We propose a method for the implementation of an EtherCAT communication bus in a Linux-based open source Computerized Numerical Control (CNC) system. Recently, increasingly more CNC systems support real-time Ethernet protocols such as EtherCAT, which is a high-performance industrial communication protocol. For real-time CNC control over an Ethernet-based protocol, an additional layer driver needs to be implemented between the CNC system and the master of industrial communication protocol. Among the various solutions for the connection layer driver, we employ a Hardware Abstraction Layer (HAL) driver based on Linux. The operation of the implemented CNC system is demonstrated and confirmed by Hal Meter, which is used to observe the pins, signals, or parameters of HAL.
리눅스 커널 영역 응용 모듈을 이용한 EtherCAT 네트워크의 동작 주기 개선
박성문(Sung-Mun Park),최준영(Joon-Young Choi) 대한전기학회 2020 전기학회논문지 Vol.69 No.1
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.