| Feature | Description | Implementation |
| Distributed Clocks | By using distributed clocks the EtherCAT real-time Ethernet protocol is able to synchronize the time in all local bus devices within a very narrow tolerance range. | Yes |
| Object Dictionary | Freely definable, only limited by available resources. | Yes |
| CiA 402 | This profile standardizes the functional behavior of controllers for servo drives, frequency inverters, and stepper motors. | Yes |
| Mailbox Queue | Mailbox services will be stored in a queue. Mailbox services can be processed in parallel. | Yes |
| AoE | ADS over EtherCAT service support. | Yes |
| CoE | CANopen over EtherCAT service support. | Yes |
| Complete Access support | Accessing all entries of an object with one SDO service is supported. | Yes |
| Segmented SDO support | Segmented SDO service is supported. | Yes |
| SDO Response Interface | If a SDO response cannot be generated immediately, return ABORTIDX_WORKING. | Yes |
| Diagnosis support | Diagnosis messages are supported. | Yes |
| Emergency support | Emergency messages are supported. | Yes |
| VoE | Vendor Specific Protocol over EtherCAT service support. | No |
| SoE | Sercos over EtherCAT service support. | No |
| EoE | Ethernet over EtherCAT service support. | Yes |
| FoE | File access over EtherCAT service support. | Yes |
| OP State requires process data | Transition from SafeOP to OP State requires process data. | Yes |
| Explicit device ID | Explicit device ID requests are handled. | Yes |
| Error Counters | RX Invalid Frame Counter Port 0/1 | Yes |
| RX ERR Counter Port 0/1 | Yes |
| Forwarded Error Counter Port 0/1 | Yes |
| EtherCAT Processing Unit Error Counter Port 0/1 | Yes |
Sync Jitter measurements done using TwinCAT 3.1 along with C6015-0020 (Beckhoff PLC) with cycle time at 50µs. Note that PRU Core Clock is running at 200MHz, unless mentioned otherwise.
| Feature | Detail | Value |
| Fieldbus Memory Management Units (FMMU) | Convert logical addresses into physical addresses by means of internal address mapping | 4 |
| SYNC Manager | Insure consistent and secure data exchange between EtherCAT MainDevice and local application of SubDevice | 4 |
| Processdata | Maximum Input | 1024 Bytes |
| Maximum Output | 1024 Bytes |
| Cycle Time | Free run | 31.25 µs |
| DC mode | 50 µs |
| Distributed Clocks | Accuracy | 64-bit |
| SYNC0 | Generation single shot and cyclic mode support |
| SYNC1 | SYNC1 cycle time multiple of SYNC0 cycle time |
| SYNC Jitter (Cycle Time 50 µs) | 15ns (Capture Duration = 65 hours) |
| SYNC0 ISR Execution Time | Simple Demo (50µs DC, 2 RxPDOs/2 TxPDOs, 8bytes Input Process Data/8bytes Output Process Data) | Average = 6.222µs, Max = 6.80µs |
| CiA402 Demo (50µs DC, 3 RxPDOs/3 TxPDOs, 39bytes Input Process Data/39bytes Output Process Data) | Average = 9.766µs, Max = 10.00µs |
| PDI ISR Execution Time | Simple Demo (50µs DC, 2 RxPDOs/2 TxPDOs, 8bytes Input Process Data/8bytes Output Process Data) | Average = 12.07µs, Max = 13.50µs |
| CiA402 Demo (50µs DC, 3 RxPDOs/3 TxPDOs, 39bytes Input Process Data/39bytes Output Process Data) | Average = 14.57µs, Max = 16.80µs |
| Latency | Process Path (PRU Clock Frequency @ 200MHz) | Average = 410ns, Max = 400ns |
| Auto Forward Path (Reverse Path) (PRU Clock Frequency @ 200MHz) | Average = 340ns, Max = 360ns |
| Process Path (PRU Clock Frequency @ 333MHz) | Average = 280ns, Max = 300ns |
| Auto Forward Path (Reverse Path) (PRU Clock Frequency @ 333MHz) | Average = 220ns, Max = 240ns |
| Cable redundancy support | | Only for AM243x EVM and not AM243x LP |
| CPU Load | Due to the architecture of the ETG stack, the CPU load cannot be reliably measured | n.a. |
1.9.8