The typical AM335x based EtherCAT development environment comprises of one of the hardware development boards, the ICE or the IDK. With ICE, just a USB port is required on the computer and with the IDK, an external JTAG debugger is essential. The PC software needed are Code Composer Studio, Starterware and SYS/BIOS which are available for download from TI.com. In addition, the TwinCAT software from Beckhoff is useful for use as an EtherCAT master and communicate to the ICE or IDK based EtherCAT slaves.