Good morning,
I used a HMSABC4016 - HMS
I had no problem with the xml file provided by hms. It is well supported by KRC4.
On the other hand, the problem that I encounter and that I have not solved (I did not try very hard to solve it), is that if I turn off the cabinet, I have to unplug and reconnect the ethercat to recreate communication. If you find the solution, you will tell me.
Benoit