PyIgH : A unified architecture of IgH EtherCAT Master based on Python considering hard real-time constraints

IF 1.9 4区计算机科学 Q3 COMPUTER SCIENCE, HARDWARE & ARCHITECTURE

Microprocessors and Microsystems Pub Date : 2024-07-19 DOI:10.1016/j.micpro.2024.105085

Raimarius Delgado , Se Yeon Cho , Byoung Wook Choi

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引用次数: 0

Abstract

The increasing demand for rapid application development tools, especially those employing high-level languages such as Python, has underscored the importance of utilizing a wide array of popular libraries while addressing real-time constraints in distributed hardware systems. This paper introduces PyIgH, a unified architecture of an IgH EtherCAT master based on Python, specifically designed to satisfy hard real-time requirements in an EtherCAT network. Implemented as a Python module, PyIgH exposes the functionalities and capabilities of an open-source EtherCAT master, facilitating seamless configuration and control of EtherCAT slave devices within the Python runtime environment. Real-time adaptation of the POSIX library, encapsulated within Python, is also utilized to satisfy the timing requirements of EtherCAT. The feasibility of the proposed approach is verified by analyzing the real-time performance in terms of periodicity and in-controller delay of the EtherCAT control task with a 1 kHz cycle. Experimental results demonstrate that PyIgH is suitable for hard real-time applications and serves as a valid alternative to conventional low-level EtherCAT masters. Additionally, a practical application involving motion control of a six-axis collaborative robot showcases consistent performance of PyIgH within a real-time multi-tasking environment.

查看原文本刊更多论文

PyIgH：基于 Python 的 IgH EtherCAT 主站统一架构，考虑硬实时约束条件

对快速应用开发工具的需求日益增长，尤其是那些采用 Python 等高级语言的工具，这凸显了在解决分布式硬件系统中的实时性限制的同时利用各种流行库的重要性。本文介绍的 PyIgH 是一种基于 Python 的 IgH EtherCAT 主站统一架构，专门用于满足 EtherCAT 网络中的硬实时性要求。PyIgH 以 Python 模块的形式实现，公开了开源 EtherCAT 主站的功能和能力，便于在 Python 运行环境中对 EtherCAT 从站设备进行无缝配置和控制。此外，还利用封装在 Python 中的 POSIX 库进行实时调整，以满足 EtherCAT 的定时要求。通过分析周期为 1 kHz 的 EtherCAT 控制任务在周期性和控制器内延迟方面的实时性能，验证了所提方法的可行性。实验结果表明，PyIgH 适用于硬实时应用，是传统低级 EtherCAT 主站的有效替代方案。此外，一个涉及六轴协作机器人运动控制的实际应用展示了 PyIgH 在实时多任务环境中的稳定性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Microprocessors and Microsystems 工程技术-工程：电子与电气

CiteScore

6.90

自引率

3.80%

发文量

204

审稿时长

172 days

期刊介绍： Microprocessors and Microsystems: Embedded Hardware Design (MICPRO) is a journal covering all design and architectural aspects related to embedded systems hardware. This includes different embedded system hardware platforms ranging from custom hardware via reconfigurable systems and application specific processors to general purpose embedded processors. Special emphasis is put on novel complex embedded architectures, such as systems on chip (SoC), systems on a programmable/reconfigurable chip (SoPC) and multi-processor systems on a chip (MPSoC), as well as, their memory and communication methods and structures, such as network-on-chip (NoC). Design automation of such systems including methodologies, techniques, flows and tools for their design, as well as, novel designs of hardware components fall within the scope of this journal. Novel cyber-physical applications that use embedded systems are also central in this journal. While software is not in the main focus of this journal, methods of hardware/software co-design, as well as, application restructuring and mapping to embedded hardware platforms, that consider interplay between software and hardware components with emphasis on hardware, are also in the journal scope.