The EtherCAT slave SDK comprises of several components. At the lowest level, it is the firmware that is provided in object form in the SDK. Then, there are the SYSBIOS, Starterware and PRU driver that are available in source code. The EtherCAT slave stack is sourced from Beckhoff and TI has obtained permissions to distribute the stack in object form in the industrial SDK. Lastly, the customer application is developed by end-users but TI provides an example in source code. Except for the firmware, all other components are part of the software that is run on the ARM. The ARM processor also loads firmware in the PRUs during initialization phase. In the SDK, several examples are included to help facilitate understanding and development of solutions based on the SDK. EtherCAT development efforts at customers are actively supported on the E2E forums as well as through documentation and application notes on the Wiki sites on TI.com.