BECKHOFF ET2000 - Manual (Page 18)

Product overview
Fig. 10: Wireshark log
The outgoing frame no. 4855 carries 5 commands/datagrams (C). The ET2000 suffixes the ESL/
EtherCatSwitchLink information (16 bytes) with the time stamp (D). As a result, the frame grows to a length
of 110 bytes (B).
Of interest is now the LWR at 0x10800, which is the second datagram according to fig. "EL2008 mapping
settings" (B). The EtherCAT parser integrated in Wireshark allows the information to be represented as in fig.
"Datagram interpretation" – the 2nd datagram is marked, as a result of which the bytes associated with it are
highlighted in the 100 byte raw data field. The datagram begins with the datagram type (LWR = x0B); the
sequential index follows, in this case x02. Further information on the EtherCAT protocol can be found in the
documentation at www.ethercat.org.
Of particular interest here is also the WorkingCounter = 0 – all datagrams output from the Master carry
Wc=0.
ET2000 18 Version 2.0