I've been doing a soem based on ethercat master, from communication, using the step servo drive letter, use of the software is the IAR, program ethercat_conf. C and ethercat_var. H file is generated through object dictionary, I by modifying the object dictionary XML file to complete the control motor and reversing, speed mode position switch, now I want to by modifying the ethercat - the conf. XML files are generated can access and modify the drive parameter variable, parameter object is added in the pdo_entry separately into two synchronization manager can (only added to the synchronization manager can modify the parameters of independence idx=2 when using the variable made changes in the interrupt response, but I don't know to not return data did success), but at the same time to add, then. C and. H file can be generated, but on the IAR executable program initialization error unable to drive the drive,
I want to do at the same time obtaining and modifying the drive parameters how to modify the XML file?