$ /opt/codesys/bin/codesyscontrol.bin /etc/CODESYSControl.cfg
$ systemctl start codesyscontrol.service
$ /etc/init.d/codesyscontrol start

Create a new standard project with the following steps

1. Click on "File > New Project"
2. Select "Standard project"
3. Select a name for the project and where to store the project
4. Select "CODESYS Control for Linux ARM64 SL (CODESYS GmbH)" for "Device" entry
5. Select "Structured Text(ST)" for "PLC_PRG in" entry
6. Click "OK"
   Figure 7-3 CODESYS Standard Project

1. For AM243x/AM64x as EtherCAT device
2. Verify that AM243x MCU+ SDK or AM64x MCU+ SDK have been installed
3. Click on "Tools > Device Repository > Install"
4. Navigate to and select (Similar step for AM64x EtherCAT devices)

   <path-to-AM243-MCU+-SDK>/source/industrial_comms/ethercat_slave/stack/esi/'TI AM243X.R5F Simple.xml'

1. In the "Devices" window, double click "Device (CODESYS Control for Linux ARM64 SL)"
2. Go to the "Communication Settings" and click on "Scan Network" tab
3. The name of the EtherCAT controller device running the CODESYS control service shows up under Gateway-1
   1. If the EtherCAT controller does not appear, uncheck "Hide non-matching devices, filter by Target ID" then click "Scan Network"
4. Select the device and click "Ok"
5. If prompted about "user management":
   1. Click "Yes"
   2. Create a username and password
      1. The username and password can be changed by right clicking "Device (CODESYS Control for Linux ARM64 SL)" and clicking "Reset Origin Device [Device]"
   3. Click "OK"
   4. Log in

1. In the "Devices" window, right click "Device (CODESYS Control for Linux ARM64 SL)"
2. Click "Add Device"
3. Expand "Fieldbuses > EtherCAT > Master > EtherCAT Master"
4. Click "Add Device"

Setup your EtherCAT controller as the EtherCAT_Master by matching the MAC address of the Ethernet port that is connecting with the rest of the EtherCAT devices.

1. In the "Devices" window, double click "(CODESYS Control for Linux ARM64 SL)"
2. Click the "General > EtherCAT NIC Settings > Source address (MAC) > Select" button
3. Select the MAC address and ethernet port that connects to the rest of the system

1. Click "Toolbar > Login (gear icon)" or "Alt + F8"
   1. Click "Yes", if a window appears that states: "No online change possible due to severe changes: Do you want to perform a download?"
2. Within the "Devices" window, right click on "EtherCAT_Master (EtherCAT Master)"
3. Click "Scan for Devices..."
4. Click "Copy All Devices to Project"
5. If the EtherCAT devices do not appear under the list of scanned devices
   1. Try to power cycle the EtherCAT devices
   2. Try to reflash the boards

1. Click "Toolbar > Start" or "F5"
2. In the "Devices" window, double click one of the EtherCAT devices
3. Select "General > Address > Additional > Expert settings"
4. Click "Expert Process Data > Load PDO from the Device"
5. Repeat these steps to select "Expert Process Data" for each EtherCAT device
6. Press "Ctrl + S"
7. Click "Toolbar > Stop" or "Shift + F8"
8. Click "Toolbar > Logout" or "Ctrl + F8"

1. In the "Devices" window, double click “PLC_PRG”
2. Contact CODESYS for more details on how to write a PLC_PRG program