K. Langlois et al., EtherCAT Tutorial: An Introduction for Real-Time Hardware Communication on Windows [Tutorial], IEEE Robotics & Automation Magazine, vol. 25, no. 1, pp. 22-122, DOI: 10.1109/MRA.2017.2787224.
Setting up real-time hardware communication for applications such as precise motion control can be time consuming and confusing. Therefore, this tutorial introduces the deployment of an Ethernet for control automation technology (EtherCAT) protocol. We situate EtherCAT, briefly discuss the origins and working principles, and mention advantages over other widely used protocols. Additionally, the main objectives of the tutorial and the required software to complete it are presented. Online supplements are included, explaining all steps to run a Simulink model in real time on a Windows machine within a few hours.