The software and hardware processing time and the importance and effect of the various components are analyzed and evaluated. Three different implementations are presented, and the Modbus extension’s performance is validated regarding the efficiency in the use of the acquisition cycle time. The proposed Modbus extension specifications are extended by defining the new optimized message format, and the structure of the acquisition cycle for obtaining a deterministic temporal behavior and solutions are presented for the description of devices at the MODBUS protocol level. This paper presents the relevant aspects regarding the experimental implementation and performance evaluation of an Internet of things (IoT) gateway for the Modbus extension.
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