Accuracy Improvement of Master–Slave Synchronization in EtherCAT Networks
In the study, we develop a method to improve the accuracy of master-slave synchronization in EtherCAT networks. The method involves two key compensations that are not considered in the EtherCAT protocol. First, the propagation delay between the master and reference slave is measured, and the system...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9044831/ |
| _version_ | 1818579584525795328 |
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| author | Sung-Mun Park Hyoung-Woo Kim Hong-Ju Kim Joon-Young Choi |
| author_facet | Sung-Mun Park Hyoung-Woo Kim Hong-Ju Kim Joon-Young Choi |
| author_sort | Sung-Mun Park |
| collection | DOAJ |
| description | In the study, we develop a method to improve the accuracy of master-slave synchronization in EtherCAT networks. The method involves two key compensations that are not considered in the EtherCAT protocol. First, the propagation delay between the master and reference slave is measured, and the system time of the reference slave is then compensated for the measured propagation delay. Second, the bias component of the synchronization error between the master and reference slave is periodically estimated, and system time of each slave is then compensated for the estimated bias component. The entire method is implemented as part of the master application without modifying the EtherCAT protocol or requiring excessive computation load or large memory space. Thus, the developed method is advantageous because it can be immediately applied at low cost to existing EtherCAT networks. By performing extensive experiments based on a Linux-based EtherCAT master, we demonstrate that the developed method significantly improves the accuracy of the master-slave synchronization in EtherCAT networks. |
| first_indexed | 2024-12-16T07:04:02Z |
| format | Article |
| id | doaj.art-5bd219da8ad446ab926ce71f10f02cf0 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-16T07:04:02Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5bd219da8ad446ab926ce71f10f02cf02022-12-21T22:40:05ZengIEEEIEEE Access2169-35362020-01-018586205862810.1109/ACCESS.2020.29827049044831Accuracy Improvement of Master–Slave Synchronization in EtherCAT NetworksSung-Mun Park0https://orcid.org/0000-0002-5946-8279Hyoung-Woo Kim1https://orcid.org/0000-0002-6593-4125Hong-Ju Kim2https://orcid.org/0000-0001-7393-7601Joon-Young Choi3https://orcid.org/0000-0002-5160-3739Department of Electronics Engineering, Pusan National University, Busan, South KoreaDepartment of Electronics Engineering, Pusan National University, Busan, South KoreaKorea Electrotechnology Research Institute, Changwon, South KoreaDepartment of Electronics Engineering, Pusan National University, Busan, South KoreaIn the study, we develop a method to improve the accuracy of master-slave synchronization in EtherCAT networks. The method involves two key compensations that are not considered in the EtherCAT protocol. First, the propagation delay between the master and reference slave is measured, and the system time of the reference slave is then compensated for the measured propagation delay. Second, the bias component of the synchronization error between the master and reference slave is periodically estimated, and system time of each slave is then compensated for the estimated bias component. The entire method is implemented as part of the master application without modifying the EtherCAT protocol or requiring excessive computation load or large memory space. Thus, the developed method is advantageous because it can be immediately applied at low cost to existing EtherCAT networks. By performing extensive experiments based on a Linux-based EtherCAT master, we demonstrate that the developed method significantly improves the accuracy of the master-slave synchronization in EtherCAT networks.https://ieeexplore.ieee.org/document/9044831/Distributed clockEtherCATmaster–slave synchronizationpropagation delayslave–slave |
| spellingShingle | Sung-Mun Park Hyoung-Woo Kim Hong-Ju Kim Joon-Young Choi Accuracy Improvement of Master–Slave Synchronization in EtherCAT Networks IEEE Access Distributed clock EtherCAT master–slave synchronization propagation delay slave–slave |
| title | Accuracy Improvement of Master–Slave Synchronization in EtherCAT Networks |
| title_full | Accuracy Improvement of Master–Slave Synchronization in EtherCAT Networks |
| title_fullStr | Accuracy Improvement of Master–Slave Synchronization in EtherCAT Networks |
| title_full_unstemmed | Accuracy Improvement of Master–Slave Synchronization in EtherCAT Networks |
| title_short | Accuracy Improvement of Master–Slave Synchronization in EtherCAT Networks |
| title_sort | accuracy improvement of master x2013 slave synchronization in ethercat networks |
| topic | Distributed clock EtherCAT master–slave synchronization propagation delay slave–slave |
| url | https://ieeexplore.ieee.org/document/9044831/ |
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