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

8.4.1 Known Issues With Verifying CODESYS License Applied

If the verifying the CODESYS License fails, the following are some tips for fixing or troubleshooting the problem

  • For some EtherCAT controller devices running on Linux, verify that the HID and HIDRAW are enabled in the kernel configuration. This can involve modifying the existing kernel configuration and rebuilding the kernel.
  • Check that EtherCAT controller device registers that the USB dongle has been connected by entering "lsusb" in the command line. A message similar to the following appears
    root@am62xx-evm:~# lsusb
Bus 001 Device 002: ID 064f:2af9 WIBU-Systems AG CmStick (HID, article no. 1001-xx-xxx)
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
  • Run the following command in the EtherCAT controller device Linux terminal to capture a CodeMeter log. This log shows details on if codemeter is able to read the USB dongle/CmContainers
    cmu --cmdust --file CmDust.log
  • Run the following command to check if there is a container matching the serial number of your USB dongle (3-XXXXXXX)
    cmu --list --list-content

Some other potentially helpful information can be found in this CODESYS thread. Note that being signed into a CODESYS online account is required to view the thread.