First purchase and install the PI Extension from Busware.
Here there documentation: Busware documentation
But first of all install stuff from TU Vienna.
wget http://www.auto.tuwien.ac.at/~mkoegler/debian/pool/main/p/pthsem/pthsem_2.0.8.tar.gz tar -xzvf pthsem_2.0.8.tar.gz cd pthsem-2.0.8 ./configure make install ldconfig -v</code> cd .. wget http://www.auto.tuwien.ac.at/~mkoegler/debian/pool/main/b/bcusdk/bcusdk_0.0.5.tar.gz tar -xzvf bcusdk_0.0.5.tar.gz cd bcusdk-0.0.5 ./configure --enable-onlyeibd --enable-tpuarts --enable-eibnetip --enable-eibnetipserver make install
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