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

7.1 Hardware Requirements

Table 7-1 describes the hardware required to setup a similar EtherCAT network described in this application note. Similar hardware can be required for some of the other hardware platforms described in this application note.

Table 7-1 Hardware Requirements for TI Processors as EtherCAT Controller
ItemQuantityDescriptionLink
SK-AM62B-P10-1AM62x device to serve as EtherCAT controllerhttps://www.ti.com/tool/SK-AM62B-P1
TMDS64EVM/SK-AM64B0-1AM64x device to serve as EtherCAT controller

https://www.ti.com/tool/TMDS64EVM

https://www.ti.com/tool/SK-AM64B

SK-AM690-1AM69 starter kit to serve as EtherCAT masterhttps://www.ti.com/tool/SK-AM69
TDA4VM0-1TDA4VM to serve as EtherCAT master

https://www.ti.com/tool/J721EXCPXEVM

https://www.ti.com/tool/J721EXSOMXEVM

Beckhoff EK11001EtherCAT Couplerhttps://www.beckhoff.com/en-us/products/i-o/ethercat-terminals/ek1xxx-bk1xx0-ethercat-coupler/ek1100.html
Beckhoff EL288910EtherCAT Terminal, 16-channel digital outputhttps://www.beckhoff.com/en-us/products/i-o/ethercat-terminals/el2xxx-digital-output/el2889.html
Linux PC0-1Optional Linux PC to serve as DHCP serverN/A
Windows PC164-bit Windows PC to run the CODESYS Development SystemN/A
Ethernet Switch0-1Optional Ethernet Switch to connect CODESYS Development System to EtherCAT networkN/A
Micro USB-B to USB-A Adapter0-1Required when using CODESYS License USB dongle on TMDS64EVM as EtherCAT ControllerN/A
CODESYS Key1USB dongle for secure storage of CODESYS licenses based on CodeMeter technologyhttps://us.store.codesys.com/codesys-key.html
Ethernet Cables2+At least 2 CAT5 or CAT6 ethernet cables for the EtherCAT network. More required if an ethernet switch and additional EtherCAT devices are addedN/A
12V (up to 8A) power supplies with 5.5mmx2.5mmx9.6mm barrel jack0-112V power supply for TMDS64EVM or TDA4VMN/A
5V-15V (up to 3A) power supplies0-15V power supply for SK-AM64B, SK-AM62B-P1, SK-AM69N/A