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

6 References

  1. Acontis, EtherCAT Master Stack, web page
  2. IBV icECAT, EtherCAT® Master Stack for Embedded Systems, web page
  3. RealPars, CODESYS Basics | What is CODESYS and Why is it Important?, web page
  4. The Linux Foundation, Cyclictest, web page
  5. Open Source Automation Development Lab (OSADL) eG, OSADL QA Farm on Real-time of Mainline Linux, web page
  6. Open Source Automation Development Lab (OSADL) eG, Home, web page
  7. CODESYS, CODESYS Control Standard S, web page
  8. Beckhoff, EtherCAT | System Description | EtherCAT State Machine, web page
  9. CODESYS, Optimization for Linux Systems, web page
  10. CODESYS, Mapping of Task Priorities on a Linux System, web page
  11. CODESYS, CODESYS Task Configuration, , web page
  12. CODESYS, Multicore, web page
  13. Texas Instruments, How to Tune Real Time Linux- Disable Unnecessary Drivers, , web page
  14. IBV - Echtzeit, icECAT EtherCAT Master Stack Benchmark, document