@inproceedings{9a047286cc774ba39d2e2d787bbe646c,
title = "Scalable motion control system using EtherCAT-based shared variables",
abstract = "This paper presents the design of a scalable multi-axis control system that incorporates efficient data sharing using EtherCAT multicast over a set of homogeneous motion controllers. By associating each shared variable with a global clock-based timestamp and a dirty flag and by ensuring total order of distributed writes, the proposed system enables a cluster-architecture motion control environment for increased flexibility and scalability. Two types of data update schemes, i.e., synchronous update using clock events and asynchronous update using frame events, are described. The results from a preliminary experiment indicate that the design of an efficient frame relay is required in the EtherCAT master for the minimized cycle time and data inconsistency period.",
keywords = "EtherCAT, Scalable motion control system, distributed clock, shared variables",
author = "Woonggy Kim and Minyoung Sung",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 20th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2015 ; Conference date: 08-09-2015 Through 11-09-2015",
year = "2015",
month = oct,
day = "19",
doi = "10.1109/ETFA.2015.7301614",
language = "English",
series = "IEEE International Conference on Emerging Technologies and Factory Automation, ETFA",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "Proceedings of 2015 IEEE 20th Conference on Emerging Technologies and Factory Automation, ETFA 2015",
address = "United States",
}