We have been performing a set of performance tests with Codesys EtherCAT master and SoftPLC running on an imx8 based computer. We have tried this both on a Compulab iMX8, and the Advantech EPC-R3720 iMX8Plus. Both computers run our own distribution of Linux. We are running the Codesys SoftPLC as a high priority process on the operating system. We have tried both FIFO and Round Robin scheduling strategies. So far, we have been able to run the EtherCAT bus at around 200 microseconds. When we try to...