Read here some articles of howto do this and that in installing, setting up, administering and programming stuff in embedded and Linux computing. It is intended only to facilitate tasks which are more frequent.

Build IgH EtherCat Master on BBB/RPi

The IgH EtherCat Master can be build from sources on the target like a BeagleBone Black, which is a single-board computer (SBC) similar to the Raspberry Pi. This should work on a regular PC too. The EtherCat master is using the Ethernet interface to connect to the EtherCat slaves, so an additional ethernet connection like WLAN is needed to login, install, build and setup all needed components. A realtime kernel must be used to operate EtherCat on time critical tasks like servo motor control.

EtherCat