Hello everyone,
I am currently working with the Robox EtherCAT card with a Siemens CU320/S120 dual motor setup and looking for guidance when configuring the ESI in twinCAT and then importing the ESI file into a labVIEW cRIO project. The issue I am having is after I setup the EtherCAT slave configuration in TwinCAT following the procedure outlined in section 2.3 of the Siemens EtherCAT users manual (https://support.industry.siemens.com/cs/attachments/109757300/109757300_EtherCAT_Interface_SINAMICS_V2_1.pdf) and I export the configuration file from twinCAT to upload into my LabVIEW project, LabVIEW is unable to read in the ESI xml file.
The Sinamics xml is a modular device profile, according to this NI article in the note under step4 since it is an MDP I must upload both the Sinamics xml and an ESI to describe the two modules into my project. When attempting to load in the generated xml file I get the error from NI "the slave profile does not reference the module profile" which prevents me from communicating to the drives through the cRIO-9047. Any advice on what I may be doing wrong during setup that causes this error?
Through the labVIEW project I am successfully able to change the state of the CU320 between PreOp, Op, init, etc. when using the "online device state" in the project but I am unable to read in PDOs/SDOs.
Thanks for any help!