Programska potpora za EtherCAT protokol u skladu sa zahtjevima na funkcionalnu sigurnost

master's thesis

• Title (english): Software for EtherCAT Protocol in Accordance With Functional Safety Requirements
• Author: Karlo Strbad
• Mentor: Hrvoje Džapo (mentor)
• Committee member: Hrvoje Džapo (predsjednik povjerenstva)
• Committee member: Mario Cifrek (član povjerenstva)
• Committee member: Željka Lučev Vasić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

EtherCAT komunikacijski protokol jedan je od popularnijih komunikacijskih protokola u robotici i automatizaciji zahvaljujući visokim performansama i mogućnosti razmjene podataka na sigurnosni i na nesigurnosni način. Cilj ovoga rada bio je upoznati značajke EtherCAT protokola i način na koji se ovim protokolom razmjenjuju podaci te proučiti FSoE nadogradnju EtherCAT protokola i mehanizme koji se koriste kako bi se ostvarila razmjena podataka u skladu sa zahtjevima na funkcionalnu sigurnost. Za potrebe robotskog vozila, u praktičnom dijelu ovoga rada napravljena je modifikacija postojeće EtherCAT biblioteke na način da bude kompatibilna s FSoE specifikacijom. Implementiran je FSoE master uređaj na odabranoj mikrokontrolerskoj platformi temeljenoj na Cortex-R ARM arhitekturi, a programska potpora razvijena je bez korištenja operacijskog sustava za rad u stvarnom vremenu.

Abstract (english)

EtherCAT communication protocol is one of the most popular communication protocols in robotics and automation technology, due to its excellent performance and capability to provide safe and non-safe data communication. The aim of this thesis was to investigate the features of the EtherCAT protocol and how data is exchanged using this protocol, and also to analyze the FSoE safety protocol as the extension of EtherCAT protocol and mechanisms how to achieve data exchange to conform with functional safety requirements. To comply with autonomous robot vehicle requirements, in the practical part of this work a modification of the existing EtherCAT library was made to provide compatibility with FSoE specification. FSoE master device was implemented on the selected microcontroller platform based on Cortex-R ARM architecture, with software implementation that does not depend on using a real-time operating system.

• Keywords: EtherCAT protokol; FSoE; funkcionalna sigurnost; Cortex-R ARM arhitektura
• Keywords (english): EtherCAT protocol; FSoE; functional safety; Cortex-R ARM architecture
• Language: croatian
• URN:NBN: urn:nbn:hr:168:579468
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 16:11:10