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

2.2 Software

SK-AM62B and TMDS64EVM ran on a real-time Linux operating system, specifically booting using an SD card flashed with the PROCESSOR-SDK-LINUX-RT-AM62x and PROCESSOR-SDK-LINUX-RT-AM64x default wic image, respectively, from Software Development Kit (SDK) version 09.01.00.08.

The TDA4VM and AM69 ran on real-time builds from the respective SDK 09.01.00.06 versions.

CODESYS Control for Linux ARM64 version 4.9.0.0 were manually installed in the Linux root directory by downloading the software package from the CODESYS website, extracting the ipk package, copying the ipk into the Linux root directory of the target EtherCAT controller, and extracting the package with the opkg command.

In addition to the CODESYS Control for Linux ARM64 version ipk package, a CodeMeter application must also be installed to read the CODESYS license on a CODESYS USB dongle. This must be extracted as a deb package from the same CODESYS Control for Linux ARM64 downloaded package and manually installed on the target EtherCAT controller with the opkg command.

More specific instructions on how to setup the TI embedded processors as EtherCAT controller using the CODESYS stack can be found in Section 7.