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

2.3 Test Topology

As described in Section 2.1, each TI embedded processor acting as EtherCAT controller is connected to 10 Beckhoff digital output devices using a Beckhoff EtherCAT coupler. In addition to this, through another ethernet port, each tested EtherCAT controller is connected to an Ethernet switch which also connects a Windows machine running the CODESYS Development System for monitoring the performance metrics in real time. Optionally, a DHCP server can be connected to the Ethernet switch to dynamically assign IP addresses to the Windows machine and target EtherCAT controller. The benchmarks reported here are with statically assigned IP addresses. If the Windows machine is previously connected to the internet, after connecting to the EtherCAT network, internet access may no longer be available.

AM6442, AM625, AM69 EtherCAT Network Test Topology Using CODESYS Control for Linux ARM SLFigure 2-1 EtherCAT Network Test Topology Using CODESYS Control for Linux ARM SL
AM6442, AM625, AM69 EtherCAT Network With AM64x as Controller and Beckhoff Devices as EtherCAT DevicesFigure 2-2 EtherCAT Network With AM64x as Controller and Beckhoff Devices as EtherCAT Devices