EtherCAT Master latency tests on Raspberry pi

>> YOUR LINK HERE: ___ http://youtube.com/watch?v=EetxFXsC9qI

All guide and source code will be posted at • http://www.simplerobot.net • https://github.com/thanhtam-h/soem-w5... • This video demonstrates latency of 3 EtherCAT masters on raspberry pi • Test condition: • Raspberry pi 3b+ with xenomai 3.x patched kernel • Two first CPU cores are assigned for xenomai use only • In all tests, application is running on xenomai user space with same priority of 90, cycle or 1 ms • While communication with an EtherCAT slave, a large file of 360MB is transfered to rpi • 1st test: • Igh EtherCAT Master 1.5 stable, generic network driver for rpi ethernet (eth0) • Worst communication time is about 19 ms • 2nd test: • SOEM EtherCAT Master 1.3.1, generic network driver for rpi ethernet (eth0) • Worst communication time is about 28 ms • 3rd test: • Patched SOEM EtherCAT Master with PiCAT board, realtime capable driver for W5500 • Worst communication time is about 400 us • Only EtherCAT Master with PiCAT guarantee reatime performance for periodic task frequency of 1kHz

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