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Industrial Ethernet-based motor drives offer many advantages for motion applications. This paper presents the implementation and analysis of a motor drive with the EtherCAT, an open real-time Ethernet standard, for high-precision motion systems. Considering the characteristics of the multitasked software and the network interface, we analyze the delay in actuating the motor in response to a command...
We present a distributed clock synchronization algorithm that guarantees an exponentially improved bound of O(log D) on the clock skew between neighboring nodes in any graph G of diameter D. In light of the lower bound of Omega(log D/ log log D), this result is almost tight. Moreover, the global clock skew between any two nodes, particularly nodes that are not directly connected, is bounded by O(D),...
Distributed real-time applications implement distributed applications with timeliness requirements. Such systems require a deterministic communication medium with bounded communication delays. Ethernet is a widely used commodity network with a large number of appliances and network components and represents a natural fit for real-time application; unfortunately, standard Ethernet provides no bounded...
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