TMS320F28388D: Generating ESI files with customised EtherCAT codes using Beckhoff SSC tool

Tool/software:

Hi TI team, 

This is regarding EtherCAT communication in TMS320F28388D processor. Upon referring EtherCAT Slave Controller Software document fromTI (page 16), there is a section where you create EtherCAT slave files by selecting existing sample codes from TI from the drop down menu like  /examples/f2838x_cpu1_echoback_solution directory. I understand this creates the necessary ESI file - F2838x CPU1 EtherCAT Slave.xml which is to be copied to the TwinCAT directory. This enables to listing of the input and output mappings in the TwinCAT Solution Explorer.

But what is to be done if I want to customise the above sample code to meet my application requirements, how do I generate such an ESI file as we need to select the solution directory from the drop down. The customised code may have it's own local variables which may need to be accessed from TwinCAT. Kindly guide.

Also can float data typed values be communicated from ESC to TwinCAT in the same way as mentioned in the document with CCS example showing UINT values?

TIA,

Sapna