Performance analysis of Linux-based EtherCAT DC synchronization

We analyze the performance of Linux-based EtherCAT synchronization technique, namely the distributed clock (DC). The IgH EtherCAT master module is an open source program for the desktop Linux PC. In order to use the EtherCAT master in Linux system environment, we change and compile a Real-time patched kernel. As a result, we become able to use Linux-based EtherCAT master with the EtherCAT slave hardwares in the real experiments. Experiment results show that the system time differences between the reference clock and the slave clock are precisely measured in the real experiments; the DC mechanism appropriately compensates the time offsets; and the stability is achieved in the Linux-based real EtherCAT network.