ENI File

An ENI (EtherCAT Network Information) file contains information abstracted from an ESI (EtherCAT Slave Information) file, which is used for slave initialization and configuration when starting communication.

The ENI file format is proprietary to WMX3. The ENI file is a text file that can read and written with notepad.exe when it is not used by a slave in communication. If an ENI file is used by a slave in communication, it can be read but cannot be edited.

By default, WMX3 searches the C:\eni folder for the ENI file of a slave. File names are searched based on the vendor ID, product code, revision number, serial number, and alias of the slave.

The search order is:

• 1) VendorID_ProductCode_RevisionNum_SerialNum.txt

• 2) VendorID_ProductCode_RevisionNum.txt

• 3) VendorID_ProductCode_Alias_XX.txt

• 4) VendorID_ProductCode.txt

Only if a file name with a higher priority is not found, the file name with a lower priority will be searched.

The ENI file is divided into sections such as [init2preop], [preop2safeop] and [safeop2op]. The operation in each section will be executed during the AL state transition of the section name.

The area before the first section is used for general statements, which are read before any section operation is executed.

A [ExtraInfo] section may also be added. The contents under this section will not be parsed by the engine.

All statements, command names, and values are case insensitive.

The following pages contain explanations for general statements and operation commands.

• General Statements

• Operation Commands

The following is an example of an ENI file for a servo slave.

IdentificationReg134: 1
DcAssignActive: 0x0300
ControlWord: 0, 0, 2
ModesOfOperation: 0, 2, 1
TargetTorque: 0, 3, 2
MaxTorque: 0, 5, 2
TargetPosition: 0, 7, 4
TouchProbeFunction: 0, 11, 2
TargetVelocity: 0, 13, 4
ErrorCode: 0, 0, 2
StatusWord: 0, 2, 2
ModesOfOperationDisplay: 0, 4, 1
PositionActualValue: 0, 5, 4
VelocityActualValue: 0, 9, 4
TorqueActualValue: 0, 13, 2
TouchProbeStatus: 0, 15, 2
TouchProbePositionPos1: 0, 17, 4
DigitalInput: 0, 21, 4

[init2preop]
SMConfig: 0x0,0x1000,256,0x26,1
SMConfig: 0x1,0x1200,256,0x22,1
SMConfig: 0x2,0x1400,17,0x64,1
SMConfig: 0x3,0x1600,25,0x20,1
FMMUConfig: 0x0,0x1400,17,2
FMMUConfig: 0x1,0x1600,25,1
RegWrite: 0x400,2,0x09c2
RegWrite: 0x420,2,0x03e8

[preop2safeop]
SDODownload: 0x1c12,0x0,1,0x00,1
SDODownload: 0x1c13,0x0,1,0x00,1
SDODownload: 0x1603,0x0,1,0x00,1
SDODownload: 0x1603,0x1,4,0x60400010,1
SDODownload: 0x1603,0x2,4,0x60600008,1
SDODownload: 0x1603,0x3,4,0x60710010,1
SDODownload: 0x1603,0x4,4,0x60720010,1
SDODownload: 0x1603,0x5,4,0x607a0020,1
SDODownload: 0x1603,0x6,4,0x60b80010,1
SDODownload: 0x1603,0x7,4,0x60ff0020,1
SDODownload: 0x1603,0x0,1,0x07,1
SDODownload: 0x1a01,0x0,1,0x00,1
SDODownload: 0x1a01,0x1,4,0x603f0010,1
SDODownload: 0x1a01,0x2,4,0x60410010,1
SDODownload: 0x1a01,0x3,4,0x60610008,1
SDODownload: 0x1a01,0x4,4,0x60640020,1
SDODownload: 0x1a01,0x5,4,0x606c0020,1
SDODownload: 0x1a01,0x6,4,0x60770010,1
SDODownload: 0x1a01,0x7,4,0x60b90010,1
SDODownload: 0x1a01,0x8,4,0x60ba0020,1
SDODownload: 0x1a01,0x9,4,0x60fd0020,1
SDODownload: 0x1a01,0x0,1,0x09,1
SDODownload: 0x1c12,0x1,2,0x1603,1
SDODownload: 0x1c12,0x0,1,0x01,1
SDODownload: 0x1c13,0x1,2,0x1a01,1
SDODownload: 0x1c13,0x0,1,0x01,1

[safeop2op]