KPA EtherCAT Master Stack Benchmark

Config “Simple”:
64Bytes Frame, 1 LRD / 1 LWR, No DC, No Mailbox (EK1100 – EL1004 – EL2004)

Config “Complex”:
1 Full frame (1514Bytes frame for PDO), LRD / LWR commands, DC, Mailbox via EVENT (EK1100-EL1004-EL2004-EL1252-EL3102-EL4102-EL6751-EL6751)

Test Platform:
CPU: Intel® Core i7-3770 CPU 3.40 GHz 3.39GHz
NIC: Intel® Gigabit CT desktop adapter
RAM: 8GB

1. Comparing Master performance results running on different RTOSes but on the same target Intel Core i7 (Single CPU core for all Master threads)

Master cycle time, µs	100	100	100	100	100
Jitter, ±µs	5	2	7	10	1
Slave response time (avg), µs	43	32	43	33	22
CPU load (avg), %	16	21	21	21	13,3

Config “Complex”:

Master cycle time, µs	200	200	200	200	200
Jitter, ±µs	4	2	3	4	1
Slave response time (avg), µs	170	150	171	166	154
CPU load (avg), %	10	12	13	13	3,8

2. Best Master performance results running on different RTOSes but on the same target (Single CPU core for all Master threads)

Config “Simple”:

Master cycle time, µs	50	50	100	100	50
Jitter, ±µs	10	3	7	10	1
Slave response time (avg), µs	43	32	43	33	22
CPU load (avg), %	31	41	21	21	27,5

Master cycle time, µs	200	200	200	200	200
Jitter, ±µs	4	2	3	4	1
Slave response time (avg), µs	170	150	171	166	154
CPU load (avg), %	10	12	13	13	3,8

3. Comparing Master performance while running it on the same board but with different ways of data transferring
(e.g. with Hardware timed send).