---
title: "Enhancing Raspberry Pi Zero with Xenomai for Real-time EtherCAT Master Control"
url: "https://maker.wiznet.io/josephsr/projects/enhancing-raspberry-pi-zero-with-xenomai-for-real-time-ethercat-master-control/"
markdown_url: "https://maker.wiznet.io/josephsr/projects/enhancing-raspberry-pi-zero-with-xenomai-for-real-time-ethercat-master-control/md"
type: "UCC: User Created Content"
author: "Tam Ho"
author_url: "https://www.youtube.com/watch?v=v2C_3aqQuhM"
editor: "WIZnet"
editor_url: "https://maker.wiznet.io/"
original_author: "Tam Ho"
original_url: "https://www.youtube.com/watch?v=v2C_3aqQuhM"
published: "2024-05-07"
language: "en"
tags: ["Xenomai"]
hardware: ["Raspberry Pi Zero", "WIZnet W5500"]
likes: 0
views: 580
comments: 0
source: "WIZnet Makers (https://maker.wiznet.io/)"
---

# Enhancing Raspberry Pi Zero with Xenomai for Real-time EtherCAT Master Control

> This video shows an enhancement of Raspberry Pi Zero using Xenomai to operate as a real-time EtherCAT master

Original author: Tam Ho (source: https://www.youtube.com/watch?v=v2C_3aqQuhM)

## Components

- **Raspberry Pi Zero** x 1
- **WIZnet W5500** x 1 ([docs](https://docs.wiznet.io/Product/Chip/Ethernet/W5500))
- Software: **Philippe Gerum Xenomai**
- Software: **Open EtherCAT Society Simple Open EtherCAT Master** ([docs](https://github.com/OpenEtherCATsociety/SOEM))

WIZnet parts: W5500 ([Datasheet](https://docs.wiznet.io/Product/Chip/Ethernet/W5500/datasheet?utm_source=maker&utm_medium=project&utm_campaign=w5500), [product hub](https://maker.wiznet.io/products/w5500/))

## Documents and links

- [SOEM](https://github.com/OpenEtherCATsociety/SOEM) (code)
- [SOEM for w5500](https://github.com/thanhtamh/soem-w5500-rpi) (code)

## Article

- **Overview**: The video presents an enhancement of Raspberry Pi Zero using Xenomai to operate as a real-time EtherCAT master.

- **Objective**: To achieve real-time performance in network communication for robotic control.

- **Xenomai**: A real-time development framework that extends the capabilities of Raspberry Pi Zero.

- **EtherCAT Master Role**: Discusses the setup process and the benefits of using EtherCAT for efficient robotic communication.

- **Applications**: Demonstrates controlling a simple robotic system via EtherCAT, showcasing the real-time responsiveness.

- **Advantages**: Highlights the low cost and high efficiency of the setup, making advanced robotics more accessible.

---

Source: https://maker.wiznet.io/josephsr/projects/enhancing-raspberry-pi-zero-with-xenomai-for-real-time-ethercat-master-control/