<html xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="Generator" content="Microsoft Word 15 (filtered medium)">
<style><!--
/* Font Definitions */
@font-face
{font-family:Wingdings;
panose-1:5 0 0 0 0 0 0 0 0 0;}
@font-face
{font-family:"Cambria Math";
panose-1:2 4 5 3 5 4 6 3 2 4;}
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
@font-face
{font-family:Aptos;}
@font-face
{font-family:Consolas;
panose-1:2 11 6 9 2 2 4 3 2 4;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
font-size:12.0pt;
font-family:"Aptos",sans-serif;}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:blue;
text-decoration:underline;}
pre
{mso-style-priority:99;
mso-style-link:"HTML Preformatted Char";
margin:0cm;
font-size:10.0pt;
font-family:"Courier New";}
p.MsoListParagraph, li.MsoListParagraph, div.MsoListParagraph
{mso-style-priority:34;
margin-top:0cm;
margin-right:0cm;
margin-bottom:0cm;
margin-left:36.0pt;
font-size:12.0pt;
font-family:"Aptos",sans-serif;}
span.HTMLPreformattedChar
{mso-style-name:"HTML Preformatted Char";
mso-style-priority:99;
mso-style-link:"HTML Preformatted";
font-family:Consolas;}
span.EmailStyle22
{mso-style-type:personal-reply;
font-family:"Aptos",sans-serif;
color:windowtext;}
.MsoChpDefault
{mso-style-type:export-only;
font-size:10.0pt;
mso-ligatures:none;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:72.0pt 72.0pt 72.0pt 72.0pt;}
div.WordSection1
{page:WordSection1;}
/* List Definitions */
@list l0
{mso-list-id:853112156;
mso-list-type:hybrid;
mso-list-template-ids:-1144646656 -798440522 336134147 336134149 336134145 336134147 336134149 336134145 336134147 336134149;}
@list l0:level1
{mso-level-start-at:7;
mso-level-number-format:bullet;
mso-level-text:;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:Symbol;
mso-fareast-font-family:Aptos;
mso-bidi-font-family:"Times New Roman";}
@list l0:level2
{mso-level-number-format:bullet;
mso-level-text:o;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:"Courier New";}
@list l0:level3
{mso-level-number-format:bullet;
mso-level-text:;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:Wingdings;}
@list l0:level4
{mso-level-number-format:bullet;
mso-level-text:;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:Symbol;}
@list l0:level5
{mso-level-number-format:bullet;
mso-level-text:o;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:"Courier New";}
@list l0:level6
{mso-level-number-format:bullet;
mso-level-text:;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:Wingdings;}
@list l0:level7
{mso-level-number-format:bullet;
mso-level-text:;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:Symbol;}
@list l0:level8
{mso-level-number-format:bullet;
mso-level-text:o;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:"Courier New";}
@list l0:level9
{mso-level-number-format:bullet;
mso-level-text:;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;
font-family:Wingdings;}
@list l1
{mso-list-id:944266044;
mso-list-type:hybrid;
mso-list-template-ids:-1044109110 336134161 336134169 336134171 336134159 336134169 336134171 336134159 336134169 336134171;}
@list l1:level1
{mso-level-text:"%1\)";
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;}
@list l1:level2
{mso-level-number-format:alpha-lower;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;}
@list l1:level3
{mso-level-number-format:roman-lower;
mso-level-tab-stop:none;
mso-level-number-position:right;
text-indent:-9.0pt;}
@list l1:level4
{mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;}
@list l1:level5
{mso-level-number-format:alpha-lower;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;}
@list l1:level6
{mso-level-number-format:roman-lower;
mso-level-tab-stop:none;
mso-level-number-position:right;
text-indent:-9.0pt;}
@list l1:level7
{mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;}
@list l1:level8
{mso-level-number-format:alpha-lower;
mso-level-tab-stop:none;
mso-level-number-position:left;
text-indent:-18.0pt;}
@list l1:level9
{mso-level-number-format:roman-lower;
mso-level-tab-stop:none;
mso-level-number-position:right;
text-indent:-9.0pt;}
ol
{margin-bottom:0cm;}
ul
{margin-bottom:0cm;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
</head>
<body lang="EN-NZ" link="blue" vlink="purple" style="word-wrap:break-word">
<div class="WordSection1">
<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">If this is a potential fix for your slave, you would require more separation, plus I’m not sure you got your reads vs writes assigned quite right. i.e. from your log 0x6000:01 is
being assigned to domain 0 when it looks like it should be assigned to domain 1.<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"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">The issue with the Texas Instruments ESC’s in particular is that if you use one domain the writes (control) and reads (status) are too close together for the ESC’s syncs to handle
gracefully. E.g.:<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;font-family:"Courier New";mso-fareast-language:EN-US">+ domain 0 -------------------+<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">|[slave 0 write][slave 0 read]|<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">If you split them into two domains you get:<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;font-family:"Courier New";mso-fareast-language:EN-US">+ domain 0 -----+ domain 1 ----+<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">|[slave 0 write]|[slave 0 read]|<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">Which timing wise is no real difference and still a problem.<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">But if you add a few more slaves (they don’t even need to be online) you get:<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;font-family:"Courier New";mso-fareast-language:EN-US">+ domain 0 -------------------------+ domain 1 ------------------------+<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;font-family:"Courier New";mso-fareast-language:EN-US">|[slave 0 write][slave 1 write][...]| [slave 0 read][slave 1 read][...]|<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">You can see you now have more separation between the slave 0 write and read.<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">In your example (apart from the potential incorrect allocation which could itself cause issues) I don’t think the EL2008 would be enough to give a big enough separation (only 1 byte?).
Try adding two or three more of your problem slaves (they’re around 78 bytes each).<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"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Here’s some background info on the Texas Instruments issue:
<a href="https://www.ti.com/lit/an/spracj7/spracj7.pdf?ts=1669243747147">https://www.ti.com/lit/an/spracj7/spracj7.pdf?ts=1669243747147</a><o:p></o:p></span></p>
<ul style="margin-top:0cm" type="disc">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="font-size:11.0pt;mso-fareast-language:EN-US">section 3.1.3 describes the TI ESC not working with non-overlapping PDOs<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l0 level1 lfo1"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Section 3.6 describes a malformed packet issue and its workarounds, due to overlapping PDOs<o:p></o:p></span></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">In our cases where we’ve had problems with slaves our symptoms were:<o:p></o:p></span></p>
<ol style="margin-top:0cm" start="1" type="1">
<li class="MsoListParagraph" style="margin-left:0cm;mso-list:l1 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">On assigning the FMMU configuration the slave would stop forwarding on frames<o:p></o:p></span></li><li class="MsoListParagraph" style="margin-left:0cm;mso-list:l1 level1 lfo2"><span style="font-size:11.0pt;mso-fareast-language:EN-US">I think we had one that got stuck in INIT, but can’t remember for sure<o:p></o:p></span></li></ol>
<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>
<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"> Bilko AS, Oguz Dilmac <odilmac@bilko-automation.com>
<br>
<b>Sent:</b> Thursday, 19 March 2026 23:49<br>
<b>To:</b> Graeme Foot <Graeme.Foot@touchcut.com>; 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 Graeme,<o:p></o:p></p>
<p>I connected a EK1100 bus coupler and a EL2008 digital output card. The first slave is the EK1100, and my device stay at the end.<o:p></o:p></p>
<p>I created two domains<o:p></o:p></p>
<p>Unfortunately the device still don't go to INIT.<o:p></o:p></p>
<p>Here, I put my test code and the dmesg output:<o:p></o:p></p>
<p><a href="https://we.tl/t-Dj1MtId6LA">https://we.tl/t-Dj1MtId6LA</a><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 19-Mar-26 1:16 AM, Graeme Foot wrote:<o:p></o:p></p>
</div>
<blockquote style="margin-top:5.0pt;margin-bottom:5.0pt">
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Hi Oguz,</span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">It’s not looking likely to be an SII problem then.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">From the log it looks like you’re using a single Read/Write domain. I don’t recall if you mentioned, have tried putting it in separate read and write domains? If you try this,
also ensure that there are at least two other separate read and write domain slaves also configured in your system.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">I’ve had a few slaves in the past (generally with Texas Instruments ESC’s) that work well with overlapped PDO’s in a single Read/Write domain (TwinCat’s default method), but fail
when the PDO’s are not overlapped (EtherLab’s default). If this is the case you can put them in separate read and write domains to separate them within the EtherCat frame. But, you need to ensure there’s a couple of other read and write domain devices also
configured to ensure there’s enough separation in the frame.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US">Graeme.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="font-size:11.0pt;mso-fareast-language:EN-US"> </span><o:p></o:p></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"> Bilko AS, Oguz Dilmac
<a href="mailto:odilmac@bilko-automation.com"><odilmac@bilko-automation.com></a> <br>
<b>Sent:</b> Thursday, 19 March 2026 02:33<br>
<b>To:</b> Graeme Foot <a href="mailto:Graeme.Foot@touchcut.com"><Graeme.Foot@touchcut.com></a>; Richard Hacker
<a href="mailto:ha@igh.de"><ha@igh.de></a>; <a href="mailto:etherlab-users@etherlab.org">
etherlab-users@etherlab.org</a>; <a href="mailto:james.benway@gleeble.com">james.benway@gleeble.com</a><br>
<b>Subject:</b> Re: [Etherlab-users] Timeout while setting state INIT.</span><o:p></o:p></p>
</div>
</div>
<p class="MsoNormal"> <o:p></o:p></p>
<p>Hi,<o:p></o:p></p>
<p>I noticed, the correct path with option is: "--enable-sii-override=/lib/firmware"<o:p></o:p></p>
<p>This way, the master can find my ec_xxx.bin file. But still at the end, slave doesn't respond to go INIT command.<o:p></o:p></p>
<p>Here is the dmesg output:<o:p></o:p></p>
<p><a href="https://we.tl/t-BGDmNzZv2b">https://we.tl/t-BGDmNzZv2b</a><o:p></o:p></p>
<p>Best regards,<o:p></o:p></p>
<p>Oguz.<o:p></o:p></p>
</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>
</div>
</body>
</html>