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:
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.