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[FAQ] How to Setup an EtherCAT Network using TI Processors

Part Number: AM6442

Tool/software:

TI processors have the capability to run as an EtherCAT MainDevice to control EtherCAT SubDevices such Beckhoff I/O terminals or an AM243x running an EtherCAT subdevice example.

This is enabled by using a 3rd party EtherCAT master stack. The below are four options that can be used to setup a TI processor as an EtherCAT MainDevice.

1. CODESYS: https://www.codesys.com/products/codesys-fieldbus/industrial-ethernet/ethercat.html 

 - Further optimization in the Codesys driver can be achieved with for example https://be-services.com/en/control/ethercat-with-ti-sitaras-pru 

2. IBV icECAT: https://www.ibv-augsburg.de/en/products/icnet/ethercat-master/ 

3. IgH: https://gitlab.com/etherlab.org/ethercat 

4. Acontis: https://www.acontis.com/en/ethercat-master.html 

This FAQ provides the resources necessary for setting up these stacks. However, please note that we do not exhaustively test these 3rd party stacks. We only show that these stacks can be installed and run on TI processors. Any additional support needed in relation to these 3rd party stacks would need to be obtained by contacting the relevant 3rd party directly. 

Additionally, an older FAQ on more information about TI support on EtherCAT can be found here: https://e2e.ti.com/support/processors-group/processors/f/processors-forum/1229475/faq-processor-sdk-am64x-ethercat-maindevice-with-ti-sitara-mpu-devices