@Scoobsalamander Hi Kris, thanks for your question!
We are still missing the converter from EtherCAT XML files to our driver which is crucial for EtherCAT setup. Do you have any EtherCAT IO modules in your mind? We can prepare a basic example for you so you can modify it according to your needs. What do you think?
Please, note that the Raspberry Pi is not the best piece of HW for challenging tasks and short communication periods
Cheers,
Tomas