Ethercat HAL driver

I mean that the function ecrt_master_create_domain(master->master) wii create only one domain for one slave.

The Yaskawa motor I used need to allocate two domains memory for PDO RX&TX(cannot put it together.)

Ex: register PDO entries
ecrt_domain_reg_pdo_entry_list(master->domain, master->pdo_entry_regs)
need to edit likes:
ecrt_domain_reg_pdo_entry_list(master->domain1, master->pdo_entry_regs1)
ecrt_domain_reg_pdo_entry_list(master->domain2, master->pdo_entry_regs2)

so I need to create two domains and two pdo_entry_regs....

You are right. I have been reading about yaskawa drives and they need two domains.

Sorry for my earlier answer.

I suppose Sascha or Roschi could help you reprogramming the parser

I have been reading about yaskawa drives and they need two domains

Where do you find that?
What is the motor type that you will use?

You can install TwinCat3 for evaluation (Windows), than scan the bus and you see the registers. Than use this information to write the .xml (Linux)

Currently we are using just one domain per master and certainly we could change that. The question is how could this meaningful implement in the configuration file. I could think about additional attributes "txDomain" and "rxDomain" per slave, which defaults to "default" and could be set to any name. If a domain with that name does not already exists, it will be created dynamically. But I'm not sure if that is the correct way. Could you point me to some docs about this yaskawa issue? Why are separate domains for RX/TX nedded?

Thank you everbody...

3 videos of my machine running

Servodrives OMRON R88D-KN02H-ECT
Beckhoff EL1014, EL3102