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Application of Ethernet Powerlink for Communication in a Linux RTAI Open CNC system

Krystian Erwi´nski , Marcin Paprocki , Lech M. Grzesiak , Senior Member, IEEE , Kazimierz Karwowski, and Andrzej Wawrzak. Application of Ethernet Powerlink for Communication in a Linux RTAI Open CNC system. 9933252 林煜翔. Introduction Multiaxis CNC System Proposed Solution

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Application of Ethernet Powerlink for Communication in a Linux RTAI Open CNC system

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  1. KrystianErwi´nski, MarcinPaprocki, Lech M. Grzesiak, Senior Member, IEEE, Kazimierz Karwowski, and Andrzej Wawrzak Application of Ethernet Powerlink forCommunication in a Linux RTAIOpen CNC system 9933252林煜翔

  2. Introduction Multiaxis CNC System Proposed Solution Experimental Setup and Test Results Conclusion References Outline 9933252林煜翔

  3. CNC：Computerized numerical control Standalone controllers Utilize PCs Ethernet Powerlink(EPL) Ethernet fieldbus Introduction 9933252林煜翔

  4. Realtime Nonrealtime Real time ： V x T = S 9933252林煜翔

  5. PC-based open CNC mutiaxis machine system with EPL PC-RTOS CNC controller Low cost Flexibility Ease of implementation In This Paper 9933252林煜翔

  6. Achieve the best possible time determinism available to a purely software solution. Linux Real Time Applocation Interface (RTAI) Enhanced machine controller 2 Main Goal 9933252林煜翔

  7. Structure 9933252林煜翔

  8. A line network topology PC is the first node Structure - EPL 9933252林煜翔

  9. Synchronously Priority G Code Interpolation PC-Based CNC Controller 9933252林煜翔

  10. PC-Based CNC Controller 9933252林煜翔

  11. Standard Ethernet： Packet collision Object dictionary (OBD) EPL Data Link Layer Network management (NMT) EPL Communication Module 9933252林煜翔

  12. One master managing node (MN) Slave controlled nodes (CN) EPL Communication Module 9933252林煜翔

  13. Start of cycle Poll request Poll response Start of asynchronous cycle Asynchronous send EPL Communication Module 9933252林煜翔

  14. Shared memory buffers were replaced by direct function calls to improve performance Linux kernel functions were replaced by their RTAI counterparts The network interface driver was modified to use RTAI interrupts RTAI timers were utilized instead of Linux ones Proposed solution 9933252林煜翔

  15. Unnecessary devices and device drivers were disabled. the network interface card was assigned an interrupt with as high priority as possible. network card interrupt was assigned only to the real-time core via the interrupt request affinity kernel system call. Proposed solution 9933252林煜翔

  16. Test Results

  17. Test Results

  18. Time-stamp counter (TSC) 64-bit counter Running at the processor frequency (2.33 GHz) Measuring EPL cycle jitter – 1ms Test Results

  19. Test Results

  20. Low-cost Flexible Purely software CNC system that can utilize various commercially available servo drives CONCLUSION

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