Real-time Ethernet networks for motion control
2011 (English)In: Computer Standards & Interfaces, ISSN 0920-5489, E-ISSN 1872-7018, Vol. 33, no 5, 465-476 p.Article in journal (Refereed) Published
Communication networks have been traditionally employed in motion control applications, especially withinfactory automation systems. While in the past they were merely used to exchange non time critical data (e.g.parameters and configuration data) nowadays they allow for much more powerful performance. In particular,the recently introduced Real-time Ethernet (RTE) networks, have been explicitly designed in order to copewith very tight timing constraints in terms of both determinism and real-time. In this paper we focus on twopopular RTE networks, namely Ethernet POWERLINK and EtherCAT, and provide an example of theiremployment for a coordinated motion control application. In particular, we consider the tracking of a circulartrajectory by the coordinated motion of two independent axes where the velocity set-points are transmittedto the electrical drives implementing the axis control by means of the RTE networks. After providing someessential features of the two networks, we describe the configurations adopted for the coordinated motioncontrol application. Then we check the effectiveness of the solution proposed by means of numericalsimulations which take into consideration possible error scenarios deriving from the adoption of thecommunication networks such as transmission errors, communication delays and cable breaks.
Place, publisher, year, edition, pages
Amsterdam: Elsevier, 2011. Vol. 33, no 5, 465-476 p.
Real-time Ethernet, Coordinated motion control, Ethernet POWERLINK, EtherCAT
Research subject Electrical Engineering
IdentifiersURN: urn:nbn:se:kth:diva-185822DOI: 10.1016/j.csi.2011.01.005ISI: 000291715100003ScopusID: 2-s2.0-79955606496OAI: oai:DiVA.org:kth-185822DiVA: diva2:924226
QC 201604292016-04-282016-04-282016-04-29Bibliographically approved