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EtherCAT is a real-time Ethernet protocol for factory automation applications that enables periodic data exchange with cycle times of a few microseconds thanks to the capability to process frames "on-the-fly". EtherCAT does not provide efficient mechanisms for enabling the transmission of asynchronous real-time data from slave nodes. This paper proposes an EDFbased Swapping Approach that allows slaves to send real-time asynchronous traffic over EtherCAT networks in an efficient way, whiledoi:10.1109/etfa.2013.6647953 dblp:conf/etfa/PattiBAM13 fatcat:mv4r2vyl6vfpdipktrpcnerbs4