Implementation and Analysis of a Networked Motor Drive using Real-Time Ethernet
Minyoung Sung, Kanghee Kim · 2011
Real-time Ethernets offer several advantages for high-precision multi-motor actuation. This paper presents the implementation and analysis of a motor drive with EtherCAT, an industrial standard for real-time Ethernet. Considering the characteristics of the developed multitask software and the network interlace, we analyze the delay of motor actuation for the networked motor drive. Using the delay analysis with the task execution times measured from the developed drive, we discuss the performance characteristics of the drive in respect of the end-to-end command delay and the maximum achievable throughput for non-realtime traffic.