Abstract

Ethernet for Control Automation Technology (EtherCAT) [ETG12] is a high-performance Ethernet-based fieldbus system. The main reason for its development was the adoption of Ethernet in automation applications, where short cycle times and low communication jitters are required. Nowadays, EtherCAT is a popular solution for enabling access to field devices by control applications in industrial environments, including motion-control systems. Communication equipment and devices are available off-the-shelf, which are based on purposely developed hardware [ET1100].