I have tried changing the definition to I think the problem is with your domain1_regs. It should be like: const static ec_pdo_entry_reg_t domain1_regs[] = { {0, 0, AKD_ID, 0x1600, 0, &akd_out }, //0x1600 {0, 0, AKD_ID, 0x1A00, 0, &akd_in }, //0x1A00 {} }; with no success. Without calling ecrt_domain_reg_pdo_entry_list I can use the ethercat config -v command and see the free mapped PDO's. The ethercat pdos -v command tool reports nothing. I have seen a few threads indicating that the SII interface is incomplete for certain servo drives? I am currently trying to use a Kollmorgen AKD. The TwinCAT software appears be able to free map the PDO's. I have been provided with the latest XML file and have tried using TwinCAT to write new SII contents to the EEPROM.
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