Ethercat“BWR配置从站地址”报文分析(0x0010:0x0011)

BWR：Broadcast Write。

基于IgH主站接了3个从站，分析报文。

涉及的从站寄存器：Configured Station Address 0x0010:0x0011。

使用场景举例：

IgH启动后，通过“配置从站地址”报文将所有从站地址清零，然后通过APWR指令+“配置从站地址”报文，设置各个从站的地址。

一、发送报文 

1，IgH dmesg看到的报文

[ 2501.084403] EtherCAT DEBUG 0: frame size: 46 [ 2501.084404] EtherCAT DEBUG 0: Sending frame: [ 2501.084404] EtherCAT DEBUG: FF FF FF FF FF FF 6C 24 08 29 52 19 88 A4 0E 10  [ 2501.084409] EtherCAT DEBUG: 08 01 00 00 10 00 02 00 00 00 00 00 00 00 00 00  [ 2501.084413] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00  [ 2501.084418] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00

2，报文解析

3，wireshark报文

二、响应报文

1，IgH dmesg看到的报文

[ 2501.192240] EtherCAT DEBUG 0: Received frame: [ 2501.192241] EtherCAT DEBUG: FF FF FF FF FF FF 6E 24 08 29 52 19 88 A4 0E 10  [ 2501.192246] EtherCAT DEBUG: 08 01 03 00 10 00 02 00 00 00 00 00 03 00 00 00  [ 2501.192252] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00  [ 2501.192256] EtherCAT DEBUG: 00 00 00 00 00 00 00 00 00 00 00 0

2，报文解析

IgH主站广播了设置从站地址的命令，3个从站收到报文后，将本机地址改成了0x0000，以后FPRD/FPWR/FPRW/FRMW需要通过0x0000地址才能访问到该从站。

3，wireshark报文