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<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Hi Oguz,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">I haven’t looked at all closely to the issue (and a couple of emails got blocked by our spam/virus filter), but if you suspect that the slaves SII information is incorrect then you
can try supplying the SII information yourself, rather than the master downloading if from the slave. If that then works, you can check for the differences between the SII on the slave and the data provided by the esi file. If confirmed you can request the
vendor provides an update for the slave with the correct SII information (or continue using the manual SII file).<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">We use quite an old EtherLab master with patches to allow loading your own SII file instead of the master downloading it from the slave (from gavinl’s patchset “0001-load-sii-from-file.patch”).
I don’t know what’s available in your master configuration, but in ours we copy the SII file to “/lib/firmware/ethercat”<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">To create an SII file:<o:p></o:p></span></p>
<ul style="margin-top:0cm" type="disc">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Start a new TwinCAT project (TwinCAT XAE Project (XML Format))<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Under I/O, Devices add an EtherCAT Master device<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">If you don’t have the correct esi (.xml) file loaded:<o:p></o:p></span>
<ul style="margin-top:0cm" type="circle">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level2 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">copy the slaves esi (.xml) file into: C:\TwinCAT\3.1\Config\Io\EtherCAT<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level2 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Select the TwinCAT, EtherCAT Devices, Reload Device Descriptions menu option<o:p></o:p></span></li></ul>
</li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Add you EtherCAT slave to the EtherCAT master device<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Open your slave<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Select the EtherCAT tab<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Select Advanced Settings...<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Select the ESC Access, E2PROM, Hex Editor item<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Confirm the SII contains the expected values (for Vendor ID , Product Code etc)<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Select the Write to File... button<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Save with a filename in the format “ec_{vendor_id_hex}_{product_code_hex}[_{revision_hex}].bin”<o:p></o:p></span>
<ul style="margin-top:0cm" type="circle">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level2 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">The revision part is optional.<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level2 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">e.g.: ec_00000539_02200001_00010000.bin<o:p></o:p></span></li></ul>
</li></ul>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Graeme.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<div>
<div style="border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif">From:</span></b><span lang="EN-US" style="font-size:11.0pt;font-family:"Calibri",sans-serif"> Etherlab-users <etherlab-users-bounces@etherlab.org>
<b>On Behalf Of </b>Bilko AS, Oguz Dilmac<br>
<b>Sent:</b> Saturday, 7 March 2026 02:30<br>
<b>To:</b> Richard Hacker <ha@igh.de>; etherlab-users@etherlab.org<br>
<b>Subject:</b> Re: [Etherlab-users] Timeout while setting state INIT.<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p>Hi,<o:p></o:p></p>
<p>We are still working on the problematic slave which doesn't go to INIT. I'm trying to understand the difference by examining wireshark logs.<o:p></o:p></p>
<p>I noticed these following messages are sent at the beginning. And the device changed to INIT itself. It seems as if there is something wrong with SM configuration?<o:p></o:p></p>
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<p><span style="font-size:10.0pt;font-family:"Times New Roman",serif">FPRD: 0x80d Return value: 0x30 (SM error / sm enable acknowledged)<br>
<br>
FPWR: 0x800 16 byte data: 0 (Clear SM0 and 1?)<br>
FPWR: 0x800 8 byte data: 0010000426000100 (Re write SM according to XML file?)<br>
FPWR: 0x808 8 byte data: 0014000422000100<br>
FPWR: 0x810 16 byte data: 0 (Clear SM2 and 3?)<br>
<br>
FPWR: 0x620 16 byte data: 00000009010000000d08000101000000 (define FMMU?)<br>
FPWR: 0x500 1 byte data: 01<o:p></o:p></span></p>
<p><span style="font-size:10.0pt;font-family:"Times New Roman",serif">FPWR: 0x120 2 byte data: 0012 (PreOP + Error ACK)<br>
FPRD: 0x130 Return value: 0x0002 (PREOP)<o:p></o:p></span></p>
<p><span style="font-size:10.0pt;font-family:"Times New Roman",serif">FPRD: 0x80D Return value: 0x00 (The error is gone!)<br>
<br>
FPRD: 0x1400 Return value: 0x00 (but WC is zero. I guess the slave didn't processed it)<o:p></o:p></span></p>
<p><span style="font-size:10.0pt;font-family:"Times New Roman",serif">FPRD: 0x130 Return value: 0x0001 (INIT) (Slave went to INIT. But I didn't see a write to 0x120 to go to INIT)<br>
<br>
FPWR: 0x800 16 byte data: 0<br>
FPRD: 0x1400 Return value: 0x5208<br>
FPWR: 0x620 16 byte data: 0<br>
FPRD: 0x1400 Return value: 1024 byte data...0x80<o:p></o:p></span></p>
<p class="MsoNormal">...<o:p></o:p></p>
</td>
</tr>
</tbody>
</table>
<p class="MsoNormal"><o:p> </o:p></p>
<p>Could this be the reason why the slave don't go to INIT when IgH master ask? <o:p></o:p></p>
<p>By the way I tried to write the right values to 0x800 via ecrt_reg_request_write. I tried to call this function right after ecrt_master_activate. But it didn't work. <o:p></o:p></p>
<p>You can find the log file at the attachments. I hope someone can give me a suggestion.<o:p></o:p></p>
<p>Best regards,<o:p></o:p></p>
<p>Oguz.<o:p></o:p></p>
<p><o:p> </o:p></p>
<div>
<p class="MsoNormal">On 25-Feb-26 3:42 PM, Bilko AS, Oguz Dilmac wrote:<o:p></o:p></p>
</div>
<blockquote style="margin-top:5.0pt;margin-bottom:5.0pt">
<p>Hi Again,<o:p></o:p></p>
<p>I just sent some dmesg outputs and a test program using a new ethercat library. Unfortunately it hit a max 200KB attachment limit. Sorry I didn't notice this limit before. And could not cancel my message either.<o:p></o:p></p>
<p>Anyway, I uploaded the files to wetransfer. I also uploaded a wireshark log of twincat while the problem device goes to OP. Here is the link:<o:p></o:p></p>
<p><a href="https://we.tl/t-Yl7iRMSadB">https://we.tl/t-Yl7iRMSadB</a><o:p></o:p></p>
<p>I also copy my previous message here:<o:p></o:p></p>
<p><i>Hello, <br>
<br>
We went to customer side and used a test PC with ethercat library 1.6.7. We also used slave timeout function with 10 seconds.
<br>
<br>
We build a simple setup with only one device and one test PC. Still the old device is going OP, and the new device don't.
<br>
<br>
At the attachments you can find some dmesg outputs. I also attached the simple test program I used.
<br>
<br>
Some explanations for dmesg outputs: <br>
<br>
* dmesg.OK.txt: Output for the working device. I just put it here as a reference <br>
<br>
* dmesg.Problem.txt: Output of the problematic device. <br>
<br>
* dmesg.Problem.freerun.txt: I tried to activate freerun with ecrt_slave_config_dc(sc, 0, 0, 0, 0, 0); I put it right before ecrt_master_activate().
<br>
<br>
* dmesg.Problem.ManualStateChange: I tried to change state via command line tool.
<br>
<br>
We also checked and see that both devices are going to OP with twincat. If you suggest a way to get some log from twincat, we can try.
<br>
<br>
We are stuck </i><i><span style="font-family:"Segoe UI Emoji",sans-serif">🙁</span> If you have any idea It would be great.
<br>
<br>
Best regards, <br>
<br>
Oguz. </i><o:p></o:p></p>
<p><o:p> </o:p></p>
<div>
<p class="MsoNormal">On 20-Feb-26 1:30 PM, Richard Hacker wrote:<o:p></o:p></p>
</div>
<blockquote style="margin-top:5.0pt;margin-bottom:5.0pt">
<pre>On Fri, 2026-02-20 at 12:49 +0300, Bilko AS, Oguz Dilmac wrote:<o:p></o:p></pre>
<blockquote style="margin-top:5.0pt;margin-bottom:5.0pt">
<pre>Hi,<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>We will try to install the newest ethercat library version.<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>By the way, we tried one version older of this device. It goes to OP <o:p></o:p></pre>
<pre>with no problem.<o:p></o:p></pre>
</blockquote>
<pre>Well, this shows that your configuration is probably not the issue and<o:p></o:p></pre>
<pre>is at the problem is at the slave's side<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre><o:p> </o:p></pre>
<blockquote style="margin-top:5.0pt;margin-bottom:5.0pt">
<pre>Also our customer has a bechoff controller as well, and they say that<o:p></o:p></pre>
<pre>with twincat both devices are going to OP without a problem.<o:p></o:p></pre>
</blockquote>
<pre>TwinCAT is not the standard, neither is our EtherCAT master. However,<o:p></o:p></pre>
<pre>both should implement the standard, but they do it differently<o:p></o:p></pre>
<pre>(naturally), especially regarding timing. The standard however ensures<o:p></o:p></pre>
<pre>that EtherCAT masters and slaves are immune to timing issues, but there<o:p></o:p></pre>
<pre>are always exceptions!<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<blockquote style="margin-top:5.0pt;margin-bottom:5.0pt">
<pre>We will try to go to the customer and check with the newest ethercat <o:p></o:p></pre>
<pre>master version. We are also considering to connect the both devices<o:p></o:p></pre>
<pre>to <o:p></o:p></pre>
<pre>the twincat and see if the twincat behaves different. Do you think <o:p></o:p></pre>
<pre>checking the transmitted data via wireshark worth trying?<o:p></o:p></pre>
</blockquote>
<pre>You can try, but I do not see that you'll get much insight using<o:p></o:p></pre>
<pre>wireshark. The master commands the slave to go to INIT and there is<o:p></o:p></pre>
<pre>simply no reply from the slave acknowledging the state change. That is<o:p></o:p></pre>
<pre>why the master times out and gives up trying to bring the slave online.<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>Going to INIT is such a primitive state change for a slave that there<o:p></o:p></pre>
<pre>should be absolutely _no_ reason it takes any amount of time. So I am<o:p></o:p></pre>
<pre>not even convinced that ecrt_slave_config_state_timeout() would work.<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>I only know that some (complex) slaves may take time between PREOP-<o:p></o:p></pre>
<blockquote style="margin-top:5.0pt;margin-bottom:5.0pt">
<pre>SAFEOP and SAFEOP->OP transition when certain hardware needs to be<o:p></o:p></pre>
</blockquote>
<pre>configured based on its configuration. But your slave is not there yet.<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>Before you use wireshark you can try switching debug to 1<o:p></o:p></pre>
<pre>`ethercat debug 1`<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre><o:p> </o:p></pre>
</blockquote>
<pre>-- <o:p></o:p></pre>
<pre>Oguz Dilmac<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>Bilko AS, R&D Manager<o:p></o:p></pre>
<pre>====================================<o:p></o:p></pre>
<pre>Perpa Ticaret Merkezi B Blok Kat 13 Nr. 2536<o:p></o:p></pre>
<pre>TR-34384 Okmeydani Istanbul Turkey<o:p></o:p></pre>
<pre>Tel : +90 212 563 00 00<o:p></o:p></pre>
<pre>e-mail : <a href="mailto:odilmac@bilko-automation.com">odilmac@bilko-automation.com</a><o:p></o:p></pre>
<pre>web site : <a href="http://www.bilko-automation.com">http://www.bilko-automation.com</a><o:p></o:p></pre>
<pre><a href="https://www.youtube.com/@LyncaCNC">https://www.youtube.com/@LyncaCNC</a><o:p></o:p></pre>
</blockquote>
<pre>-- <o:p></o:p></pre>
<pre>Oguz Dilmac<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>Bilko AS, R&D Manager<o:p></o:p></pre>
<pre>====================================<o:p></o:p></pre>
<pre>Perpa Ticaret Merkezi B Blok Kat 13 Nr. 2536<o:p></o:p></pre>
<pre>TR-34384 Okmeydani Istanbul Turkey<o:p></o:p></pre>
<pre>Tel : +90 212 563 00 00<o:p></o:p></pre>
<pre>e-mail : <a href="mailto:odilmac@bilko-automation.com">odilmac@bilko-automation.com</a><o:p></o:p></pre>
<pre>web site : <a href="http://www.bilko-automation.com">http://www.bilko-automation.com</a><o:p></o:p></pre>
<pre><a href="https://www.youtube.com/@LyncaCNC">https://www.youtube.com/@LyncaCNC</a><o:p></o:p></pre>
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