How do I change PDO mappings for 3rd Party EtherCAT XML file?

Updated Jan 3, 2018

Issue Details

I am using EtherCAT communication and I need to edit the PDO mappings. How do I edit the PDO mappings?

Solution

  1. First, you need to figure out exactly what revision of device you are using. This can be found in the LabVIEW project explorer by right-clicking on the EtherCAT slave and going to Properties. From there you should be able to see the revision.
 
  1. Obtain the XML configuration files from the 3rd party manufacturer. 
  2. Open the XML file in an XML editor, such as XML Notepad.
  3. Locate the appropriate device within the XML. There can be multiple device revisions in the same file. You need to assure that you are going to modify the correct device. This information must match the information found in step 1.
 
  1. Determine which PDO mapping you would like to activate and which is active. To do so look at the PDO mappings under the appropriate device XML and look for the SM tag, which indicates which mapping is active, and the PDO tag you want to activate.
 
  1. Drag the SM tag to the mapping you want to activate. Only one PDO transmit section should have the SM tag.
 
  1. Save the changes and delete the old XML file from C:\Program Files (x86)\National Instruments\Shared\IndComECAT\DD 
  2. Re-import the new XML into the LV project. You should see the new PDO mapping now.
Note: Do not modify anything else but the SM tag.
 

Additional Information

There are a total of four Sync Managers in the XML file. Two Sync Managers are responsible for coordinated SDO communication and do not need to be modified to change the PDO mapping. The active Transmit (TX) and Receiving (RX) PDOs are controlled by two Sync Managers. 

The two sync managers controlling PDO communication must be changed in the XML file to point to the correct PDO mapping. This is accomplished by moving the SM tag in the XML file to the appropriate PDO mapping. 

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