The IgH EtherCAT Master can be built from source on single-board computers such as the BeagleBone Black (BBB) or Raspberry Pi (RPi), as well as on a standard PC. The EtherCAT master uses the Ethernet interface wired via 100-BaseT to the EtherCAT slaves. Because EtherCAT is a real-time communication bus, the Ethernet interface should not be interefered with other traffic. An additional shell connection to the target - such as WLAN or UART - is required to log in, install, build, and configure all necessary components. A realtime kernel is not necessary but will operate EtherCat on time critical tasks like servo motor control.