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Issue with Ethercat on am3358- Beagleone black

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Hello Sir,

I want to implement Ethercat stack on beaglbone black (am3358) to drive a Kollmorgen AKD servo drive. I am using TI SDK kit 7 with linux kernel 3.12. I checked the data sheet of am3358 and its written that there is Ethercat hardware support using PRU units. 

Are there any libraries that I can use for Ethercat. Also Is there any tool (like molex for Ethernet/IP) to test the functionality.

Regards

Aditya


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