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If you are getting the 'configured terminal type does not match the hardware type' error when activating the configuration, follow the steps below:
- Copy the latest device description files to this folder: C:\TwinCAT\3.1\Config\Io\EtherCAT
- In TwinCAT, Reload the device descriptions files.
3.Right click on the ethernet terminal and select the 'Change to Compatible Type...'
4.Select the correct terminal and click OK. Activate the configuration again.
The main rule here is that the revision on the EtherCAT device MUST be later than that used in the configuration. In TwinCAT this means the revision of the hardware must be later than the revision set in the terminal in the IO tree.
The EtherCAT standard means that device manufacturers must make devices backwards compatible, so a new terminal can be simply dropped in. The EtherCAT master will tell it what revision it expects and the terminal will behave that way.
But this only works in the situation where the terminal is newer.
In the current climate people are buying old modules from ebay and they may simply not work as they don't have the right PDOs for your application.