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<p>Hi Richard and Graeme,</p>
<p>Richard, do you know if the feature Graeme mentioned is included
in official branch?</p>
<p>And thank you Graeme for your message. What should I check if the
version I used has this patch? It was some time ago when my
colleague created an image of the system, and I'm not sure where
is the source code of the EtherCAT master that was used.</p>
<p>Best regards,</p>
<p>Oguz.</p>
<div class="moz-cite-prefix">On 15-Mar-26 11:28 PM, Graeme Foot
wrote:<br>
</div>
<blockquote type="cite"
cite="mid:716322ce3143400bbeef75c373ab964e@touchcut.com">
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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
<a class="moz-txt-link-rfc2396E" href="mailto:etherlab-users-bounces@etherlab.org"><etherlab-users-bounces@etherlab.org></a>
<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 <a class="moz-txt-link-rfc2396E" href="mailto:ha@igh.de"><ha@igh.de></a>;
<a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><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>
<table class="MsoNormalTable" border="1" cellpadding="0"
width="100%" style="width:100.0%">
<tbody>
<tr>
<td valign="top" style="padding:1.5pt 1.5pt 1.5pt 1.5pt">
<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" moz-do-not-send="true"
class="moz-txt-link-freetext">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"
moz-do-not-send="true" class="moz-txt-link-freetext">odilmac@bilko-automation.com</a><o:p></o:p></pre>
<pre>web site : <a href="http://www.bilko-automation.com"
moz-do-not-send="true" class="moz-txt-link-freetext">http://www.bilko-automation.com</a><o:p></o:p></pre>
<pre><a href="https://www.youtube.com/@LyncaCNC"
moz-do-not-send="true" class="moz-txt-link-freetext">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"
moz-do-not-send="true" class="moz-txt-link-freetext">odilmac@bilko-automation.com</a><o:p></o:p></pre>
<pre>web site : <a href="http://www.bilko-automation.com"
moz-do-not-send="true" class="moz-txt-link-freetext">http://www.bilko-automation.com</a><o:p></o:p></pre>
<pre><a href="https://www.youtube.com/@LyncaCNC"
moz-do-not-send="true" class="moz-txt-link-freetext">https://www.youtube.com/@LyncaCNC</a><o:p></o:p></pre>
</div>
</blockquote>
<pre class="moz-signature" cols="72">--
Oguz Dilmac
Bilko AS, R&D Manager
====================================
Perpa Ticaret Merkezi B Blok Kat 13 Nr. 2536
TR-34384 Okmeydani Istanbul Turkey
Tel : +90 212 563 00 00
e-mail : <a class="moz-txt-link-abbreviated" href="mailto:odilmac@bilko-automation.com">odilmac@bilko-automation.com</a>
web site : <a class="moz-txt-link-freetext" href="http://www.bilko-automation.com">http://www.bilko-automation.com</a>
<a class="moz-txt-link-freetext" href="https://www.youtube.com/@LyncaCNC">https://www.youtube.com/@LyncaCNC</a></pre>
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