CODESYS on Raspberry Pi and EtherCAT

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Setup of CODESYS soft-PLC for an industrial automation setup with an EtherCAT master running on Raspberry Pi.

Hardware setup

  • 1x Raspberry Pi
  • 1x Beckhoff EK1100 EtherCAT Coupler
  • 1x Beckhoff EL1008 – 8x Digital Input
  • 1x Beckhoff EL2008 – 8x Digital Output

Software Configuration

The EtherCAT master must be aware of the components connected to its network. This is achieved adding the devices to the CODESYS project device tree.

Device description file

The list of the device known by CODESYS can be accessed from

Tools > Device Manager

Screen Shot 2016-04-11 at 01.02.52

Get the XML description files of the EtherCAT modules from Beckhoff EK1100 webpage (select XML device description from the tree on the left and then right click and Save link as… on the archive file – around 15MB ). The archive contains the descriptors for all the Beckhoff hardware including EKxxxx, EL1xxx and EK2xxx.

Screen Shot 2016-04-10 at 13.05.36

See also the following video for reference



EtherCAT advanced topics

Distributed Clocks (DCs)


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