EtherCAT Slave  1.04.01
Introduction

The Development Toolkit (DTK) for EtherCAT allows you to quickly integrate EtherCAT Slave functionality into your device. The DTK is supported for Sitara processors by Texas Instruments Incorporated and currently available for AM335x, AM437x, and AM574x series of Cortex®-A8/A9/A15 based devices.

This document collection contains a Getting Started Guide, the user User Manual, and the API Reference Manual for the EtherCAT Slave DTK. The API consists of the following modules: An API to access the basic EtherCAT Slave functionality, the API for the CiA 402 (Drives and Motion Control), the cyclic buffer handling API, and a board support package API.

Features added on top of Beckhoff stack for EtherCAT:

 CiA402 and Modular Device profile
 ESI file parser 
 dynamic reconfiguration of object dictionary
 scalable architecture to support integration of further protocols (e.g. PROFINET Master, PROFIBUS, CC-Link etc.) 
 and other TI silicon