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Understanding EtherCAT
List of Abbreviations
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:
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)
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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