EtherCAT configuration example

Hi,

I have little problem with ethercat configuration.

I have Panasonic AB5 drives. I followed "Little Tutorial for the use of Bosch Rexroth IndraDrives with LinuxCNC over EtherCAT" tutorial, but i couldn't figure out how to config ethercat slaves. I can list drives with "generic" mode, but this is not enough.

I did find xml file for the drive. How to configure linux cnc to work with 3 axes?

Thank you.