SPRADH0 August   2024 AM625 , AM6442 , AM69 , TDA4VM

 

  1.   1
  2.   Abstract
  3.   Trademarks
  4. 1Introduction
    1. 1.1 What is EtherCAT?
    2. 1.2 What is a PLC?
    3. 1.3 What is CODESYS?
  5. 2Evaluation Platform and Methods
    1. 2.1 Hardware
    2. 2.2 Software
    3. 2.3 Test Topology
  6. 3Performance Metrics
    1. 3.1 Cyclictest Performance Metrics
    2. 3.2 EtherCAT Performance Metrics
  7. 4Optimizations
    1. 4.1 Implemented Optimizations
    2. 4.2 Future Considerations
      1. 4.2.1 Set Maximum CPU Frequency
      2. 4.2.2 Isolate Cores
      3. 4.2.3 Set CPU Affinity
      4. 4.2.4 Isolate Cores and Set CPU Affinity
      5. 4.2.5 Ksoftirqs to FIFO
      6. 4.2.6 Increase the Real-Time Scheduling Time
      7. 4.2.7 Disable irqbalance
      8. 4.2.8 Use Separate Network Interface Card (NIC)
      9. 4.2.9 Disable Unnecessary Drivers
  8. 5Summary
  9. 6References
  10. 7Appendix A: How to Setup TI Embedded Processors as EtherCAT Controller Using the CODESYS Stack
    1. 7.1 Hardware Requirements
    2. 7.2 Software Requirements
    3. 7.3 Hardware Setup
    4. 7.4 Software Setup
      1. 7.4.1 Windows PC Setup
      2. 7.4.2 EtherCAT Controller Setup
      3. 7.4.3 CODESYS Development System Project
      4. 7.4.4 Execution
    5. 7.5 How to View Performance Measurements
      1. 7.5.1 Appendix A Resources
  11. 8Appendix B: How to Enable Unlimited Runtime on CODESYS Stack
    1. 8.1 CODESYS Licensing Background
    2. 8.2 Obtaining a CODESYS License
    3. 8.3 Activating CODESYS License
      1. 8.3.1 Background
      2. 8.3.2 Recommended Steps
    4. 8.4 Verifying CODESYS License Applied
      1. 8.4.1 Known Issues With Verifying CODESYS License Applied

3.2 EtherCAT Performance Metrics

Key performance indicators (KPI) of maximum measured cycle time and maximum jitter resulting from using the CODESYS EtherCAT stack are summarized in the following table, Table 3-1.

Table 3-1 CODESYS® EtherCAT Performance Summary (1ms cycle time)

HW

 Run Time ECAT Network Max Cycle Time Filtered Max Cycle Time(1)

Max Jitter

 Filtered Max Jitter(1)

AM62x

63 hours

11x Beckhoff EtherCAT devices

700µs

500µs

116µs

80µs

AM64x

63 hours

 11x Beckhoff EtherCAT devices

1906µs

865µs

973µs

112µs

AM69

63 hours

 11x Beckhoff EtherCAT devices

384µs

250µs

53µs

45µs

TDA4VM

63 hours

 11x Beckhoff EtherCAT devices

371µs

330µs

65µs

48µs

(1)

Refers to the approximate maximum cycle time after filtering out the startup outlier, see Section 4.1 for more information

All TI hardware platforms serving as EtherCAT controllers from Table 3-1 were benchmarked with an EtherCAT device network of ten Beckhoff 16-channel digital output devices (EL2889) connected through a Beckhoff EtherCAT coupler (EK1100). All 160 channels toggled between high and low every 1 second. The cycle period was configured to 1000µs.

The results for AM62x and AM64x in Table 3-1 are from performance improvement tunings.