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 ESI files.
- The first variant describes the control- and status-word
  in the cyclic data as single 32-bit wide (double-)words.
  These are the official, ODVA-certified ESI-Files.
  The one Zip Archive with all these word-level descriptions is named
  SCHUNK_SFP-X.Y-Z_EtherCAT_ESI.zip.

- The second variant describes the individual control- and status-word
  bits in the cyclic data detailed on bit level.
  The one Zip Archive with these bit-level descriptions is named
  SCHUNK_SFP-X.Y-Z_EtherCAT_ESI_bits.zip.

Some EtherCAT masters, e.g. PLCs, might prefer the official ODVA-certified
variant with the (double-)word level descriptions.
Other masters, like e.g. robot controllers, might prefer the variant with
the bit level description since these might be more comfortable to use there.
(Unfortunately the ESI files themselves have to adhere to the EtherCAT ESI
 naming scheme (see below). Therefore the ESI file for a specific gripper
 ist named the same regardless of the bit-level or word-level variant.)



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)
