Relation between HAL pins and EtherCAT Slave Information(ESI) .xml file?

I am trying to write EtherCAT HAL driver for Beckhoff servo drive AX5000:
* I studied the template of Sittner's driver for DELTA Electronics ASDA series:
--- github.com/sittner/linuxcnc-ethercat/blo...er/src/lcec_deasda.h
* And I studied the EtherCAT Slave Informaion(ESI) file for DELTA Electronics ASDA series:
--- see attached .xml file.

I am wondering how Sittner figured out those HAL pins, which are not found in the ESI(.xml) file?
Thanks!

Hello, I just pulled out an AX5203 driver and I would like to connect to linuxcnc, have you been able to make them work?

Thank you

Hi, I figured out the HAL logic for linuxcnc.

However, the main problem for AX5000 is not from linuxcnc, but from IgH-EtherCAT-master:
* I am stuck at using IgH-EtherCAT-master to control AX5000.
* You can forget about linuxcnc before solving this problem.

By the way, which hardware are you using as EtherCAT master?

Hi, thanks for the answer, to your question you are referring to what hardware I am using?

Yes, what real-time OS is running in what hardware?

As you study more, you will find that distributed-clock is a big issue for controlling AX5000 with IgH EtherCAT master.

Hi I am currently using linuxcnc 2.7.8 with mesanet 5I20.
I have two servosystems in AX5203 and AX5206, if we can connect them to linuxcnc

Thank you

<CoE SdoInfo="true" PdoAssign="true" PdoConfig="true">

This usually means that you can change the preconfigured set of PDO (entries) with
ethercat sdo commands .