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The ENI file describes the EtherCAT network. This file describes the topology in which all slaves in the network are connected. It also describes which values are exchanged periodically.
In addition to the topology, the type of slaves must also be known. The different types of EtherCAT slaves are described in the ESI files.
See Understanding EtherCAT for more information.
To create an ENI file the following is required:
Items 2 and 3 can be covered with the software EC-Engineer. This software already includes a software EtherCAT master. The EtherCAT network can then be attached to the Ethernet port of the PC and scanned by the software. This software is not free of charge. Please make sure to run the program with administrator rights.
Alternatively, you can download the free software EASII (Elmo Application Studio 2) from Elmo. In this case you need a hardware EtherCAT master from Elmo, e.g. the Gold Maestro from Elmo.
The exact procedure depends on the software used. However, the following procedure can always be used:
If one of the following properties changes, then the ENI file must be rebuilt:
With EC-Engineer you can switch to Diagnosis Mode where you can plot selected values in realtime.
If you use EEROS together with EtherCATInterface (ecmasterlib and EtherCATInterface) you have to make sure that the PDOs specified in the ENI file matches the definitions in the Headerfile Interface/EtherCATInterfaceElmo_config.hpp
, see Adaptions