Introduction

This is the integration manual of the EtherCAT SubDevice stack on Sitara AM263Px Platform. The EtherCAT stack is executed by a dedicated R5F Core running FreeRTOS.

Features added by Texas Instruments on top of Beckhoff SSC EtherCAT SubDevice stack:

• CiA402 and Modular Device profile
• Dynamic reconfiguration of object dictionary
• Explicit Device ID ℹ️
• Firmware upgrade over File access over EtherCAT (FoE)
• Backup parameters support over CoE ℹ️
• Webserver over Ethernet over EtherCAT (EoE)

‍ℹ️ This feature is part of premium SDK. In case you are using standard and need premium, please contact your regional TI sales representative for additional details.

Links to important sections in the detailed documentation are provided below:

1. Datasheet
2. EtherCAT Certificate
3. EtherCAT Conformance Test Report
4. Release Notes
5. EtherCAT FAQ

EtherCAT SubDevice Examples:

• Simple EtherCAT SubDevice
• CiA402 Example
• Webserver Example
• Simple EtherCAT SubDevice Esi Parser Example