Custom EtherCAT device

Hello everyone
For hobby purposes I made two EtherCAT salve devices that are built around the LAN9252 and STM32.
The slaves work great in TwinCAT. They make some dummy data and I can toggle some LEDs on the board.
I have a custom XML that describe the slaves but now I would like to know how to create the XML file that LinuxCNC EtherCAT driver needs
How can I make it? Can I use TwinCAT and export the project? 
I'm  a total beginner in EtherCAT so any help is appreciated 
Thank you!

Thats pretty cool.
Here is an example config for a I/O module without docs
github.com/rodw-au/linuxcnc-cia402/blob/...ercat-conf-diewu.xml
if you type Ethercat slaves and then Ethercat pdos
You should have all the info you need to make a custom xml file for linuxcnc
That's how we created this one

When can I order a version that has an encoder input ?

Are these XML files created by hand or are they exported from a program ( like TwinCAT)?
I based my project from this... I made two of these boards and they work, but the firmware is not from this repo.
github.com/DieBieEngineering/DieBieSlave
Hehe... you need slaves that support encoder input only?
That should not be a problem. The challenge is making one of these boards. This really pushed my limits. Those 0.4x0.2mm caps and resistors really take A LOT of concentration and percision to solder. You really need a heat bed for reflow soldering, flox, solder paste. It took me 10 hours to make one
Maybe we need a different design that uses 0805 size resistors and caps

Well it could have some simple I/O too. the Cheap chinese I/O boards work well but there are few with  encoder inputs and Beckhoff is expensive!And maybe a 0-10 volt analog input that could handle plasma cutting!

I looked at that project too and had somebody who could do the board design and the manufacture something all in one unit..

You will have to write your own XML by hand using that one as a template. It should not be hard.

Encoder input shuldn't be a problem... When I port this code to STM32cube, I can whip up something to test.
The 0-10v input also shuldn't be a problem. The only thing is that for an actual plasma arc measuring, some filtering and galvanic isolation is needed.

Its not really a big issue to have 0-10v. You can add a THCAD-2 to an encoder input to protect the electronics.
Did you get something done for your xml file? If not, just started with one pin and do it progressively.