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I'm not a big Twincat user. But if this is a useful tool, it would be a shame if it were forgotten after one post..

Can you share how to create the eeprom content from an XML file?

It says it is an CIA402 drive, so should be compatible.
Maybe someone has a working config to share.
Here is otherwise a starting point github.com/dbraun1981/hal-cia402/tree/main/example
hal and ethercat-conf.xml should be enough to get one axis going. Expand from there.

I agree with you. The topic is not easy.

I had to put the project on hold for a while because the sensor had problems with some heads (precitec) that contain electronic components inside nozzle holder. This effectively prevented my sensor from working.

Now I have dealt with it and it seems to work correctly, so I want to put the device into production.

If you have time and want, I will prepare a test device for you.

I want the device to work at the highest level, so any feedback is valuable to me.

The tests were very promising.

wow, I've had the EtherCat click board lying around for over a year

My problem the whole time was that I didn't have Windows and didn't want to use one.

Now I have found a way to do everything under Linux, i.e. create EEProm from the XML and also flash it via EtherCat, all without TwinCat.

In the meantime I can put my desired config on the LAN9252 and read and write all values via lowlevel spi driver.

only one step is missing to adapt the RIO interface over EtherCat