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.

IgH EtherCat Master on BBB/RPi

The IgH EtherCat Master can be build and installed on a single-board computer (SBC) like the BeagleBone Black or the Raspberry Pi. The 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