Abstract
This paper provides an applicable implementation of real-time Ethernet named CASNET, which modifies the Ethernet medium access control (MAC) to achieve the real-time requirement for motion control. CASNET is the communication protocol used for motion control system. Verilog hardware description language (VHDL) has been used in the MAC logic design. The designed MAC serves as one of the intellectual properties (IPs) and is applicable to various industrial controllers. The interface of the physical layer is RJ45. The other layers have been implemented by using C programs. The real-time Ethernet has been implemented by using field programmable gate array (FPGA) technology and the proposed solution has been tested through the cycle time, synchronization accuracy, and Wireshark testing.
Highlights
Motion control systems have been widely used in various applications of factory automation systems for a long time
This paper proposes an isochronous real-time Ethernet (RTE) network named CASNET, which modifies the Ethernet medium access control (MAC) achieved by the field programmable gate array (FPGA) to meet the real-time requirements for motion control
Both the CASNET master and the slave can in principle be operated by using Ethernet physical layer, such as copper cables (100 base TX) and fiber optic (100 base Fx)
Summary
Motion control systems have been widely used in various applications of factory automation systems for a long time. More and more controllers connected servo drivers use the communication network. The communication systems in the motion control system should guarantee the domain-specific requirements: real-time (maximum transfer delay, jitter in the transmissions, and available bandwidth). Isochronous real-time Ethernet is used for motion control. The isochronous real-time Ethernet (RTE) devices provide more predictable and reliable real-time data transfer and means to support the precise synchronization of automation equipment according to IEEE 1588 [4, 5]. The protocols of available RTE network are too complex to grasp and add to difficulty in its development They use specific chips and communication cards, another negative element on road of its development. This paper proposes an isochronous RTE network named CASNET, which modifies the Ethernet MAC achieved by the FPGA to meet the real-time requirements for motion control.
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