ESI (EtherCAT Slave Information) files
======================================

This archive contains the EtherCAT device description file for
SCHUNK EtherCAT devices using the SFP (SCHUNK Flexible Protocol).

The different gripper variants use different product codes (ProductCode). This enables the PLC
to easily distinguish between the various gripper variants. The different variants
thus use separate device description files.


You can unzip this archive and then import the extracted directory
with ESI files into your PLC and/or development environment.

There exist two variants of all the EDS files.
- One variante describes all control- and status-word in the cyclic data
  on bit level.
  The Zip Archive with the bit-level descriptions is named
  SCHUNK_SFP-X.Y-Z_EtherCAT_ESI_bits.zip.
- In the other variant the control- and status-word are just described
  as (double-)words.
  The Zip Archive with the word-level descriptions is named
  SCHUNK_SFP-X.Y-Z_EtherCAT_ESI.zip.
For some EtherCAT masters, e.g. robot controllers, the first variant
with the bit level description might be more comfortable to use.
Other masters, e.g. PLCs, might prefer the variant with the (double-)words.


Files:
------

- readme.txt
  This readme file.

- SFP_x.y_ggg ss-EC-a-b.xml: device description files (ESI-files)
  - File name convention for the ESI files:
    SFP-x.y_ggg ss-EC-a-b.xml
    |   | | |   |  |  | |
    |   | | |   |  |  | +------ optional: Variant of device: Either:
    |   | | |   |  |  |           - B  - base variant
    |   | | |   |  |  |           - SD - dust protected variant
    |   | | |   |  |  +-------- optional: grip/position maintenance available / not available
    |   | | |   |  |              - M  - grip/position maintenance is available
    |   | | |   |  |              - N  - grip/position maintenance is not available
    |   | | |   |  +----------- EC - EtherCAT variant
    |   | | |   +-------------- Gripper size:
    |   | | |                     - 50, 60, 70 or 80 for EGU
    |   | | |                     - 25, 40 or 50     for EGK
    |   | | +------------------ Gripper type:
    |   | |                       - EGU - electric gripper universal
    |   | |                       - EGK - electric gripper for small workpieces
    |   | +-------------------- Gripper minor revision
    |   +---------------------- Gripper major revision
    +-------------------------- SFP - SCHUNK Flexible Protocol

  - Example:
    - SFP-5.1_EGK 25-EC-N-B.xml   - ESI file for "EGK 025-EC-N-B" gripper (EGK size 25, EtherCAT, without grip and position maintenance, basic variant)
    - SFP-5.1_EGU 50-EC-M-SD.xml  - ESI file for "EGU 50-EC-M-B" gripper  (EGU size 50, EtherCAT, with grip and position maintenance, dust protected variant)
