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Understanding EtherCAT
ENI and ESI files
ESI
- EtherCAT Slave Information
- Describes the slave. Every slave type has its own ESI file.
- Can be downloaded from the manufacturer website
- Maxon MAXPOS 50/5 Downloads –> Handbücher –> English –> MAXPOS 50/5 ESI File (englisch, ZIP 48 KB)
- Elmo:
- Are installed with the 'EAS II' software from Elmo in
Elmo Motion Control/Elmo Application Studio II/EtherCATSlaveLib - Can be dwonloaded here
ENI
- EtherCAT Network Information
- Describes the whole network.
- Which slave is connected, to which port from which other slave or master.
- Slave types
- Cycle time
- Which PDOs are transmitted in which order
- Created with software EC-Engineer (one license is availabel → Einar Nielsen)
- EC-Master quickstart guide slide 8-16
- After every change in the network (new slave or different connection sequence, different PDOs, different cycle time) the file has to generated again.
- An application which uses EtherCAT requres an eni-file for the current network