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With Codesys or Logi.cad you need a license and a second Ethernet interface. A Revolution PI Connect module is already equipped with two dedicated RJ45 Ethernet interfaces. Here the leading system is then the soft PLC, which you can then program.
Or you use a Modular Gateway Module and a RevolutionPi Connect or Core module. Then you transfer the data EtherCAT master and slave device outside your application. You have access to the I/O data just like in the Modbus TCP example Video tutorials. This data is then in the process image and is available to you with piTest.
The advantage here is that you have no license costs and no additional software like Codesys is part of the application. The following example can help you to implement an application to exchange data: RevolutionPi Gateway Tutorial