ENI Files

The EtherCAT master requires an ENI file to run. In general any conforming ENI file will be sufficient and can be generated by an EtherCAT engineering tool like Beckhoff TwinCAT.

However, here are a few points to consider while configuring the EtherCAT network:

ESI files

In general, EtherCAT engineering tools use EtherCAT Slave Information (ESI) files as input. Check that you loaded the ESI files for the EtherCAT devices that you want to use. This is typically already the case if you only use Beckhoff terminals and TwinCAT as engineering tool.

PDO Naming

The easiest option to identify a PDO in the OPC UA interface and the PDO automations is by name. TwinCAT prepends the actual PDO name by the terminal number and the slave name, e.g. Term 5 (EL1859).Channel 11.Output. If you plan to modify the network (e.g. add another slave before Term 5), it might be reasonable to change the default names to something meaningful. Otherwise, you also have to change your client’s code if you e.g. add a terminal, because TwinCAT will then rename the PDO to e.g. Term 6 (EL1859).Channel 11.Output.

Data Types

PDOs are easier to use if they have the correct data type assigned. E.g. a float value can only be used as a float value, if the data type is not unknown. If your EtherCAT engineering tool does not assign the data types correctly, check that you loaded the corresponding ESI file or contact the manufacturer of the EtherCAT device.