EtherCAT在不同Kernel上的效能分析;Performance Analysis of EtherCAT for Different Kernels

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Title:	EtherCAT在不同Kernel上的效能分析;Performance Analysis of EtherCAT for Different Kernels
Authors:	許凱揚
Contributors:	資訊工程研究所
Keywords:	即時性;工業網路;EtherCAT
Date:	2018
Issue Date:	2019-05-23 10:30:08 (UTC+8)
Publisher:	資訊工程研究所
Abstract:	在CNC工具機的應用中，馬達運轉的即時性和同步性是在機器運作時非常重要的一環，EtherCAT在這兩者的性能上是比起其他傳統的工業網路，如:CANopen、Sercos等來得出色，也可以和傳統的工業網路相容，結合成CoE(CANopen Over EtherCAT)、SoE(Sercos over EtherCAT)等，是現在最主流的工業網路。由於現在EtherCAT的主站軟體大多是由驅動器廠商提供，在Windows系統上才能使用，不像在Linux系統下可測試在不同版本下即時性的差異，因此本論文使用開源軟體EtherCAT IGH以及SOEM來連接馬達驅動器，並且嘗試在不同的Kernel版本下，傳輸驅動器指令的速度是否會有不同的變化，並且找尋比較適合的Kernel版本，未來如果要開發EtherCAT的相關程式時，就可以選擇最適合的Kernel版本去做開發，以達到最佳的即時性。 In the application of CNC machine, the immediacy and synchronization of the motor is very important, EtherCAT excels in both performance over other traditional industrial networks such as CANopen, Sercos, and it can compatible with tranditional industrial networks, combine into CoE(CANopen Over EtherCAT)、SoE(Sercos over EtherCAT) and so on, is most mainstream industrial network.Because EtherCAT’s master software is now mostly provided by the manufacturer, can only use in Windows system, can't test the immediacy different between kernels like Linux system. This thesis uses the open source software EtherCAT IGH and SOEM to connect motor driver. And try different versions of Kernels, the transmission speed of the driver instructions will have different changes, find the suitable Kernel version. In the future, if we want to develop EtherCAT programs, we can choose the most suitable Kernel version to get the best immediacy.
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