Performance evaluation of an EtherCAT master using Linux and the RT Patch

This paper has the twofold goal of investigating the real-time performance of an EtherCAT master entirely built from open-source components (using Linux and the RT Patch at the operating system level) and assess its ability to support concurrent best-effort tasks without compromising the real-time ones, depending on kernel configuration. This is especially important for the successful adoption of the proposed approach in real-world applications. A hardware-based data acquisition system enables measurements to be taken for long periods of time, and with high resolution and precision. At the same time, this method guarantees that the measurement process does not influence the behavior of the system under test in any way.