Hi Fabian-

The image does not have a PRU driver activated.  You have to make a very 
small change to the Device Tree in order to activate a driver.

There are two choices:

RemoteProc
UIO

So the link you included discusses the UIO, and the TI examples will need 
RemoteProc.
There are trade-offs with either approach.  I am not familiar with UIO, but 
I have done some experiments with RemoteProc.

Check out this project at Hackster.io:

https://www.hackster.io/Greg-R/pru-pid-motor-speed-controller-with-beaglebone-green-ccb805?ref=search&ref_id=remoteproc&offset=1

Follow the link to the Github project, and then get the PDF file 
pru-pid.pdf which is included in the doc directory.
See Chapter 9 for a step-by-step process to enable the RemoteProc driver.
The process for enabling UIO should be similar.
Be sure to be in root mode (sudo su) when you are editing the files.
After you successfully get your driver system running, you should be able 
to get either UIO or Remoteproc examples working.

Regards,
Greg

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