| Summary: | 碩士 === 國立中正大學 === 資訊工程研究所 === 106 === In the application of CNC machine, the immediacy and synchronization of the motor is very important, EtherCAT excels in both performance over other traditional industrial networks such as CANopen, Sercos, and it can compatible with tranditional industrial networks, combine into CoE(CANopen Over EtherCAT)、SoE(Sercos over EtherCAT) and so on, is most mainstream industrial network.
Because EtherCAT’s master software is now mostly provided by the manufacturer, can only use in Windows system, can't test the immediacy different between kernels like Linux system. This thesis uses the open source software EtherCAT IGH and SOEM to connect motor driver. And try different versions of Kernels, the transmission speed of the driver instructions will have different changes, find the suitable Kernel version. In the future, if we want to develop EtherCAT programs, we can choose the most suitable Kernel version to get the best immediacy.
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