Real-time motion control over switched industrial Ethernet utilising IEEE1588 synchronisation

With the application of distributed clocks synchronised with low jitter, devices interconnected with Ethernet switches can exchange data deterministically. To be applicable for motion control, low latency is required in addition to determinism. This paper presents a summary of network calculus and its application to real examples. Practical restrictions to the variables within the calculus are offered to show that devices utilising only standard Ethernet hardware and protocols can be used for high performance motion control.