- Hardware setup:
– EK1100 ethercat coupler.
– Four EL2008 modules for 32-bit digital output.
– Four EL1018 modules for 32-bit digital input.
– Two DC 24V SMPS
- Software setup:
(1) Debian Jessie and Xenomai dual kernel.
(2) Ubuntu 14.04 and RT-preempt kernel.
(3) Debian Wheezy and RTAI dual kernel.
- Test result: cycle-time 190 us in DC mode.