Dear all, My project needs to control an EtherCAT Servo drive (BSD series by Beijer Electronics) from a NI cRIO and LabVIEW. Our goal is to use servo drives in torque mode and send the torque setpoint calculated by LabVIEW Programming in the CompactRIO controller directly via EtherCAT. I know I must modify the provided XML file of the servo drive in order to get access to right parameters like Target Torque, Actual Torque, … In this way, according to the link below, I tried to modify the XML file to get access to 1st PDOs: https://knowledge.ni.com/KnowledgeArticleDetails?id=kA00Z0000019LesSAE&l=pl-PL and I replaced the XML fie located at: C:\Program Files (x86)\National Instruments\Shared\IndComECAT\DD I carefully followed the recommendations in the link: https://forums.ni.com/t5/Motion-Control-and-Motor-Drives/Customize-Motion-Control-using-cRIO-SoftMotion-and-AKD-EtherCAT/m-p/1436934 https://forums.ni.com/t5/LabVIEW/KollMorgen-AKD-controlled-by-cRIO-get-position/m-p/3958836/highlight/false#M1126895 The problem is that: When I import the new XML file as device profile to the EtherCAT Master, the modifications are not recognized to the EXISTING slave (which I add via New: Target or Device: Existing target or device). I remove slave then master then even cRIO from the project, or I restart the cRIO, or even I create new project from scratch and I repeated the steps again and again. Nothing happens. Just a list of 2nd PDOs are seen below the Slave device, as before. I tried to add the slave to the project as the NEW one (via New: Target or Device: New target or device). [The name and the address of the added slave is the same as the one in the existing one]. and Then good news: I see the list of 1st PDOs which I managed through the XML file to have access to, below the added slave. BUT when I want the scan engine to go to active mode and to use these parameters inside the LabVIEW programming environment, the error happens: the slave device deployed to the real-time target does not match the device in the EtherCAT network. And in Online Device State, every LED state are off and there is an alarm in red: DIVICE DISCONNECTED Any help is appreciated. Many thanks in advance.

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Motion Control and Motor Drives

Modified XML EtherCAT file is not updated when imported to the Ether CAT Master in LabVIEW Project

Dear all,

My project needs to control an EtherCAT Servo drive (BSD series by Beijer Electronics) from a NI cRIO and LabVIEW.

Our goal is to use servo drives in torque mode and send the torque setpoint calculated by LabVIEW Programming in the CompactRIO controller directly via EtherCAT. I know I must modify the provided XML file of the servo drive in order to get access to right parameters like Target Torque, Actual Torque, …

In this way, according to the link below, I tried to modify the XML file to get access to 1^st PDOs:

https://knowledge.ni.com/KnowledgeArticleDetails?id=kA00Z0000019LesSAE&l=pl-PL

and I replaced the XML fie located at:

C:\Program Files (x86)\National Instruments\Shared\IndComECAT\DD

I carefully followed the recommendations in the link:

https://forums.ni.com/t5/Motion-Control-and-Motor-Drives/Customize-Motion-Control-using-cRIO-SoftMot...

https://forums.ni.com/t5/LabVIEW/KollMorgen-AKD-controlled-by-cRIO-get-position/m-p/3958836/highligh...

The problem is that:

When I import the new XML file as device profile to the EtherCAT Master, the modifications are not recognized to the EXISTING slave (which I add via New: Target or Device: Existing target or device). I remove slave then master then even cRIO from the project, or I restart the cRIO, or even I create new project from scratch and I repeated the steps again and again. Nothing happens. Just a list of 2^nd PDOs are seen below the Slave device, as before.

I tried to add the slave to the project as the NEW one (via New: Target or Device: New target or device). [The name and the address of the added slave is the same as the one in the existing one]. and Then good news: I see the list of 1^st PDOs which I managed through the XML file to have access to, below the added slave. BUT when I want the scan engine to go to active mode and to use these parameters inside the LabVIEW programming environment, the error happens: the slave device deployed to the real-time target does not match the device in the EtherCAT network.

And in Online Device State, every LED state are off and there is an alarm in red: DIVICE DISCONNECTED

Any help is appreciated. Many thanks in advance.