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

7.2 Software Requirements

Table 7-2 describes software used by to setup the same EtherCAT network as described in this application note. Similar software is required for some of the other hardware platforms described in this application note. Note that the specific software version described in the table is what has been tested and verified to work. Newer versions could also work but have not been specifically tested.

Table 7-2 Software Requirements for TI Processors as EtherCAT Controller
ItemVersionDescriptionLink
AM64x/AM62x TI Processor SDK RT-Linux Image09.01.00.008Default RT-Linux wic image to etch onto the SD card

https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-RT-AM64X/09.01.00.08

https://www.ti.com/tool/download/PROCESSOR-SDK-LINUX-RT-AM62X/09.01.00.08

AM69x/TDA4VM TI Processor SDK RT-Linux Image09.01.00.07Real-time build of SDK 09.01.00.07 image etched onto SD card

See footnotes

(1)

(2)

(3)

CODESYS Development System V33.5.19.10 64-bitProgramming tool for industrial control and automation technology GUIhttps://us.store.codesys.com/codesys.html
CODESYS Control for Linux ARM SL4.9.0.0 64-bitSoftPLC for Linux/ARM based industrial controllershttps://us.store.codesys.com/codesys-control-for-linux-arm-sl-1.html
(1) There is no link for AM69 or TDA4VM RT Linux image releases on ti.com. Generating an RT Linux image requires the user to follow the steps outlined in the "Building the SDK with Yocto" section of the Processor SDK Linux documentation (specifically keeping the "RT Support" subsection in mind).
(2) See also TDA4VM SDK 09.01 documentation
(3) See also AM69 SDK 09.01 documentation