Priority-driven swapping-based scheduling of aperiodic real-time messages over EtherCAT networks

• Real-time Ethernet (RTE) technologies are becoming increasingly popular, as they provide high bandwidth and are able to meet the requirements of industrial real-time communications. Among RTE protocols, the EtherCAT standard is suitable for motion control and closed-loop control applications, which require very short cycle times. As EtherCAT was specifically devised for periodic traffic, aperiodic real-time transmissions are far from being efficient, as they entail long cycle times. To overcome this limitation, this paper presents a general framework for priority-driven swapping (PdS)-based scheduling of aperiodic real-time messages over EtherCAT networks, which uniformly covers both dynamic and static priority and allows for very short cycle times. This paper provides a description of the PdS framework, a schedulability analysis for both static priority and dynamic priority scheduling, and simulative assessments obtained through OMNeT++ simulations.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Keyword

EtherCAT

Industrial networks

Priority-based real-time scheduling

Real-time Ethernet (RTE)

Ethernet

Telecommunication networks

Dynamic-priority scheduling

Real - time scheduling

Real time Ethernet

Real-time communication

Real-time transmissions

Schedulability analysis

Scheduling

Publication and Content Type

ref (subject category)

art (subject category)