Riassunto analitico
The real-time problem is a well-known problem in the control theory and embedded systems. Nowadays, industrial controllers supply tools and devices which allow to develop any kind of real-time control system. Indeed, these controllers allow to develop centralized or distributed control systems which guarantee the real-time performances.
Unfortunately, in case of a distributed control systems, each vendor has developed its solution for the implementation of a distributed real-time system. This characteristic limit the design space of engineers which are forced to use only one specific vendor to develop automatic solutions.
Therefore, this thesis wants to study and develop a real-time interfacing system which synchronizes different axes on the different controllers by means standard communication protocols.
Thanks to a standard protocol used to synchronize the clocks of different controllers in a network, it was possible to define a common time line with a high accuracy for the controllers. Then, thanks to the Ethernet/IP, the motion data are exchanged between the two controllers in order to synchronize different axes located on different controllers with a high accuracy and precision.
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