Bus setup — scan, ESI & recognition

Why a slave doesn’t come up after a scan on a SuperCAT master — the -1014 ENI build error explained, with the exact fixes for a Yaskawa SGD7S servo and an ICPDAS ECAT-2055 IO module.

Once the slaves are recognized here, continue to EtherCAT IO & homing — reading the IO and catching the ORG / OT signals.

1 · What a scan does

When you scan, the master asks every slave for its identity (VendorId / ProductCode / RevisionNo), then looks that identity up against the ESI files to build the connection config (ENI). A slave only comes online when a matching ESI is found.

hardware truth (slave) VendorId 0x539 Product 0x2200301 Revision 0x80023 ESI file (newest on hand) VendorId 0x539 ok Product 0x2200301 ok Revision 0x80003 X scan compares minor revision differs -> no match -1014 ESI not found for Slave 1001

2 · Why it isn’t recognized: ENI build fails -1014

The error is ERR_MissConfig_2_Xml (-1014); the log (EniBuilderForCpp.log) says ESI not found for Slave 1001.

  • Yaskawa SGD7S — the firmware reports RevisionNo 0x80023, but the ESI rev 8.03 only goes up to 0x80003. VendorId and ProductCode match; a minor-revision difference alone leaves the whole slave unrecognized.
  • ICPDAS ECAT-2055 — the matching series ESI (the ECAT-2000 combined XML) is simply missing.

3 · Two fixes

① Patch the revision (quick). Copy the rev 8.03 ESI, change RevisionNo 0x00080003 → 0x00080023, save it back into the ESI folder, and re-scan.

② Use the official ESI (recommended, clean). Download the official ESI that already carries the correct revision (Yaskawa rev 8.23 / ICPDAS ECAT-2000) — no manual XML editing.

4 · The Config1 vs Config2 trap

Editing Config1.xml does nothing — the scan overwrites it with the hardware truth. You must either fix the ESI revision or swap in the official ESI, then re-scan so the system produces Config2.xml.

5 · Official ESI download & where the files go

  • Yaskawa Sigma-7 CoE ESI (contains rev 8.23, no login): Yaskawa’s official download page → Yaskawa_SGD7S-xxxxA0x.xml
  • ICPDAS ECAT-2000 combined XML: ICP DAS official FTP (one file covers the whole ECAT-2000 series, including the ECAT-2055).

Where the files go on a PCIe-833x SuperCAT install:

new ESI / XML  ->  E:\Program Files (x86)\ADLINK\PCIe-833x\EtherCAT\EtherCAT
after a successful scan, the topology XML (ENI) appears in:
                   E:\Program Files (x86)\ADLINK\PCIe-833x\EtherCAT\ENI

Writing into Program Files (x86) needs Windows administrator (UAC) rights; after dropping the file in, re-scan / rebuild the cache. The scan also produces the 0001.csv IO mapping used in EtherCAT IO & homing.