Abstract
In order to solve the problem of real-time communication for multi-axis in networked motion control systems(NMCSs), a field-programmable gate array (FPGA) based real-time solution is proposed. In the proposed solution, a hardware data processing strategy is designed and the data link layer of real-time communication is implemented on FPGA. Moreover, in order to decrease the forwarding delay, the forwarding of real-time communication data is shifted down to data link layer from application layer. Theoretical analysis and experimental results show that the FPGA-based real-time solution reduces jitter and delay of communication. After 20000 tests, each nodes delay is 1.180 μs in average, which achieves the same real-time performance as EtherCAT.
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Ding, M., Xu, X., Yan, Y., Xiong, Z. (2012). An FPGA-Based Real-Time Solution for Networked Motion Control Systems. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33515-0_57
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DOI: https://doi.org/10.1007/978-3-642-33515-0_57
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