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*   Description
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This zip contains EtherCAT Slave Information (ESI) XML files for Vacon frequency controllers using OPTEC 
EtherCAT option board. Depending on the used frequency controller / application, different ESI files can 
be used.

/********************************************************************************************************
*
*   ESI File Selection
*
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VACON provides following ESI files for OPTEC EtherCAT.

ESI files for OPTEC firmware V003 and older are located "OPTEC_V003_and_older" -folder.

ESI files for OPTEC firmware V004 are located under "OPTEC_V004" -folder

As a general rule, V003  and V004 ESI files are not 100% compatible with each other, i.e. they should be
used together with OPTEC firmware it is intended for. ESI files for V003 work with OPTEC V004 if 
the mailbox size is at least 45 bytes. 
 
Generic ESI files (OPTEC_VACON_OPTEC_V03_20171120.xml for V003 firmware and
OPTEC_V004_VACON_OPTEC_20200302.xml for V004) does not contain any drive/application specific objects and 
can be use with any drive.

Other ESI files contains drive/application specific objects and should be used only with this specific
drive/application.

 File name                                             		| Product / app name           			| Product code | Rev.
------------------------------------------------------------|---------------------------------------|--------------|--------
 OPTEC_VACON_OPTEC_V03_20171120.xml                    		| Generic ESI file for V003    			| 0x00004543   | 0x01
 OPTEC_VACON_100_INDUSTRIAL_AMFI1002_V066_20171110.xml 		| VACON 100 INDUSTRIAL         			| 0x4D0003EA   | 0x42
 OPTEC_VACON_100_FLOW_AMFI1005_V057_20171108.xml       		| VACON 100 FLOW               			| 0x4D0003ED   | 0x39
 OPTEC_VACON_20_ACCN1004_V112_20171114.xml             		| VACON 20                     			| 0x430003EC   | 0x70
 OPTEC_VACON_20X_ACIT1075_V114_20171115.xml            		| VACON 20 X                   			| 0x43000433   | 0x73
 OPTEC_VACON_NX_APFIFF08_V221_20171113.xml             		| NXP Advanced (APFIFF08)      			| 0x50114008   | 0x15
 OPTEC_VACON_NX_ALLINONE_20171113.xml                  		| NXP Basic (ASFIFF01)         			| 0x53114001   | 0x08
 OPTEC_VACON_NX_ALLINONE_20171113.xml                  		| NXP Standard (ASFIFF02)      			| 0x53114002   | 0x08
 OPTEC_VACON_NX_ALLINONE_20171113.xml                  		| NXP Local/Remote (ASFIFF03)  			| 0x53114003   | 0x08
 OPTEC_VACON_NX_ALLINONE_20171113.xml                  		| NXP Multi-Step (ASFIFF04)    			| 0x53114004   | 0x08
 OPTEC_VACON_NX_ALLINONE_20171113.xml                  		| NXP PID-Control (ASFIFF05)   			| 0x53114005   | 0x0A
 OPTEC_VACON_NX_ALLINONE_20171113.xml                  		| NXP Multi-Purpose (APFIFF06) 			| 0x50114006   | 0x2B
 OPTEC_VACON_NX_ALLINONE_20171113.xml                  		| NXP PFC (ASFIFF07)           			| 0x53114007   | 0x09
 OPTEC_V004_VACON_OPTEC_20200302.xml				   		| Generic ESI file for V004	   			| 0x00004543   | 0x01
 OPTEC_V004_VACON_NX_ALLINONE_20200302.xml					| NXP Basic (ASFIFF01) for V004			| 0x53114001   | 0x08
 OPTEC_V004_VACON_NX_ALLINONE_20200302.xml					| NXP Standard (ASFIFF02) for V004     	| 0x53114002   | 0x08
 OPTEC_V004_VACON_NX_ALLINONE_20200302.xml					| NXP Local/Remote (ASFIFF03) for V004 	| 0x53114003   | 0x08
 OPTEC_V004_VACON_NX_ALLINONE_20200302.xml					| NXP Multi-Step (ASFIFF04) for V004   	| 0x53114004   | 0x08
 OPTEC_V004_VACON_NX_ALLINONE_20200302.xml					| NXP PID-Control (ASFIFF05) for V004  	| 0x53114005   | 0x0B
 OPTEC_V004_VACON_NX_ALLINONE_20200302.xml					| NXP Multi-Purpose (APFIFF06) for V004	| 0x50114006   | 0x39
 OPTEC_V004_VACON_NX_ALLINONE_20200302.xml					| NXP PFC (ASFIFF07) for V004          	| 0x53114007   | 0x09
 OPTEC_V004_VACON_NX_APFIFF08_V221_20200302.xml				| NXP Advanced (APFIFF08) for V004     	| 0x50114008   | 0x15
 OPTEC_V004_VACON_100_INDUSTRIAL_AMFI1002_V066_20200302.xml	| VACON 100 INDUSTRIAL for V004        	| 0x4D0003EA   | 0x42
 OPTEC_V004_VACON_100_FLOW_AMFI1005_V057_20200302.xml		| VACON 100 FLOW for V004              	| 0x4D0003ED   | 0x39
 
Typically EtherCAT configuration tool selects ESI file automatically for the EtherCAT slave device by using 
Product Code and Revision Number information.

By default OPTEC EtherCAT uses Product Code 17731 (0x4543) and Revision Number 1 (0x01). This same information
can be found from generic ESI file OPTEC_VACON_OPTEC_V03_20171120.xml:

<Type ProductCode="#x00004543" RevisionNo="#x01">OPTEC</Type>

OPTEC EtherCAT's Product Code and Revision Number can be modified if OPTEC board's firmware version is
FW0128V002 or newer. Modification can be done by writing into CoE object 0x5FF4 ESI File Selection Mode.
-0x5FF4:1 Selection Mode defines currenty used mode:
    -OFF(0)        Default Product Code 0x4543 and Revision Number 0x01 are used
    -Automatic(1)  OPTEC generates the product code and revision number according to used drive / application
    -Static(2)     User can define Product Code and Revision Number by writing them into 0x5FF4:2 and 0x5FF4:3
                   NOTE! Write first 0x5FF4:2 and 0x5FF4:3. After that select Static(2) mode by writing into 0x5FF4:1.
-0x5FF4:2 Static Product Code that will be used when Selection Mode is Static(2)
-0x5FF4:3 Static Revision Number that will be used when Selection Mode is Static(2)

For more information, see "ESI file selection" chapter from OPTEC EtherCAT manual.

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*
*   Accessing of drive / application specific objects
*
********************************************************************************************************/
Easiest way to access drive / application specific objects is to use drive / application specific ESI files 
in EtherCAT master's configuration tool. These ESI files defines own CoE objects for the drive / application
specific objects.

If drive / application specific ESI file is not available then drive / application specific objects can be
accessed with a following method.

In OPTEC, manufacturer area 0x2000-0x5EFF is directly mapped to frequency controller ID space. ID’s are mapped 
with their ID number at the base address starting from 0x2000. 

For example, ID 103 (0x67) Acceleration Time is found at CoE index: 0x2000 + 0x67 = 0x2067. 
For example, ID 600 (0x258) Control Mode is found at CoE index: 0x2000 + 0x258 = 0x2258.

For more information, see "Accessing drive parameters via CoE MailBox" chapter from OPTEC EtherCAT manual.
