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

7.4.4 Execution

  1. Start the CODESYS control service on the EtherCAT controller with one of the following commands
    $ /opt/codesys/bin/codesyscontrol.bin /etc/CODESYSControl.cfg
$ systemctl start codesyscontrol.service
$ /etc/init.d/codesyscontrol start
  2. Open the CODESYS project
  3. Within the "Devices" window, double click "Device (CODESYS Control for Linux ARM64 SL)"
  4. Click the "Communication Settings > Scan Network" tab
  5. Click on the controller device (AM64x or AM62x device)
  6. Click "OK"
  7. Log in if necessary
  8. Within the "Devices" window, double click "EtherCAT_Master (EtherCAT Master)"
  9. Click the "General > EtherCAT NIC Settings > Source address (MAC) > Select..." button
  10. Select the MAC address and ethernet port that connects to the rest of the system (connects to the EtherCAT network)
  11. Within the "Devices" window, double click "MainTask (IEC-Tasks) > PLC_PRG"
  12. Click "Toolbar > Login (gear icon)" or "Alt + F8"
  13. Click "Toolbar > Start" or "F5"