OBJECTIVE

To measure performance of the pcap POWERLINK demo while

  • IO data is exchanged in the isochronous phase and
  • A video is streamed over the asynchronous phase

Video Demonstration

The video demonstration shows a master connected with two slaves through a switch. Master runs at 50ms cycle time and transmits payload through Process Data Object (PDO).

 

DEMO SETUP

Figure – 1 Environment Set up

 

 

PERFORMANCE NUMBERS

Configuration

  • Cycle Time: 50 ms

  • Isochronous Data Size: 1 Byte Tx & 1 Byte Rx

  • Asynchronous Data Size: 1500 Bytes

  • The demo C program on the slave receives the data and loops it back into the network

Performance

  • The master is able to receive the data is sent into the network after the loop back at a delay of 200ms i.e. 4 cycles.

Demo-Powerlink

Figure – 2 Round trip time of a PDO

  • During the process master streams a video with the resolution of 176x144 @ 25fps into the network. One of the slaves in the network receives the streamed video with the delay of 2 seconds. The persistence (jitter) between the cycles was measured to be 4ms during the process.

img3

Figure – 3 Jitter measurements

 

 

OBSERVATION

  • We see that the network is stable and deterministic at 50 ms

  • To further reduce the cycle time, we can port the ethernet driver into the linux kernel and try using RtPrempt