Application of Ethernet Powerlink for communication in a Linux RTAI open CNC control system

Abstract

In computerized numerical control (CNC) systems, the communication bus between the controller and axis servo drives must offer high bandwidth, noise immunity, and time determinism. More and more CNC systems use real-time Ethernet protocols such as Ethernet Powerlink (EPL). Many modern controllers are closed costly hardware-based solutions. In this paper, the implementation of EPL communication bus in a PC-based CNC system is presented. The CNC system includes a PC, a software CNC controller running under Linux Real-Time Application Interface real-time operating system and servo drives communicating via EPL. The EPL stack was implemented as a real-time kernel module. Due to software-only implementation, this system is a cost-effective solution for a broad range of applications in machine control. All software systems are based on GNU General Public License or Berkeley Software Distribution licenses. Necessary modifications to the EPL stack, Linux configurations, computer basic input/output system, and motherboard configurations were presented. Experimental results of EPL communication cycle jitter on three different PCs were presented. The results confirm good performance of the presented system.