[Etherlab-users] Timeout while setting state INIT.
Bilko AS, Oguz Dilmac
odilmac at bilko-automation.com
Fri Feb 20 10:49:34 CET 2026
Hi,
We will try to install the newest ethercat library version.
By the way, we tried one version older of this device. It goes to OP
with no problem.
Then our customer talked to the vendor of this device. The vendor
claimed that the only difference is about application and nothing
changed on the communication side.
Also our customer has a bechoff controller as well, and they say that
with twincat both devices are going to OP without a problem.
We will try to go to the customer and check with the newest ethercat
master version. We are also considering to connect the both devices to
the twincat and see if the twincat behaves different. Do you think
checking the transmitted data via wireshark worth trying?
Best regards,
Oguz.
On 20-Feb-26 11:49 AM, Richard Hacker wrote:
> I compared your slave's behaviour to that of a working configuration.
> Try that for yourself.
>
> When the master wants to get a slave into operation, it first requests
> it to change to the INIT state, before continuing through PREOP, SAFEOP
> and finally OP states.
>
> Your slave refuses to change to INIT state. This state change must be
> respected by every slave, regardless of its current state. Not doing so
> is non-standard behaviour. Talk to the vendor!
>
> But before doing that, upgrade to a standard distribution that we can
> support.
>
> On Fri, 2026-02-20 at 10:05 +0300, Bilko AS, Oguz Dilmac wrote:
>>
>> Hi,
>>
>> We installed ethercat library from this link a few years ago:
>> "https://github.com/ribalda/ethercat/blob/master/INSTALL"
>>
>> I checked the ecrt.h in our installation but we dont have
>> ecrt_slave_config_state_timeout(). Since the controller is located on
>> a customer's site it's not easy to upgrade the ethercat library.
>>
>> Is there any other way to change the timeout?
>>
>> Also do you think it could be because I try to modify PDO mapping,
>> and since it doesn't support, it gives an error?
>>
>> I don't have a deep knowledge about the ethercat library. I think the
>> ecrt_slave_config_pdos() call tries to modify the PDO mapping on the
>> drive. If I'm right, how can I just use the default mapping without
>> modifying?
>>
>> Best regards,
>>
>> Oguz.
>>
>>
>>
>>
>> On 19-Feb-26 6:08 PM, Richard Hacker wrote:
>>
>>
>>>
>>> That is a strange behaviour of the slave.
>>>
>>> Have you tried to set the timeout longer:
>>> ecrt_slave_config_state_timeout()
>>>
>>> On Thu, 2026-02-19 at 17:27 +0300, Bilko AS, Oguz Dilmac wrote:
>>>
>>>>
>>>>
>>>> Hi,
>>>>
>>>> I have a special slave with a strange behaviour. It's located at
>>>> the
>>>> end of the bus after a few servo motor drives.
>>>>
>>>> At the startup, it doesn't go to OP mode with the rest of the
>>>> slaves.
>>>> But if I remove the power of this slave, before startup, and
>>>> replug
>>>> after everything else is in OP mode, this slave goes to OP mode
>>>> too.
>>>>
>>>> When I checked the dmesg output I noticed that it gives a timeout
>>>> error for going to state INIT.
>>>>
>>>> Here is the ethercat slaves -v output:
>>>> ethercat slaves -v
>>>> === Master 0, Slave 0 ===
>>>> Device: Main
>>>> State: PREOP
>>>> Flag: E
>>>> Identity:
>>>> Vendor Id: 0x6167656d
>>>> Product code: 0x00000000
>>>> Revision number: 0x00000000
>>>> Serial number: 0x00000000
>>>> DL information:
>>>> FMMU bit operation: no
>>>> Distributed clocks: yes, 64 bit
>>>> DC system time transmission delay: 0 ns
>>>> Port Type Link Loop Signal NextSlave RxTime [ns] Diff
>>>> [ns]
>>>> NextDc [ns]
>>>> 0 MII up open yes - 1795181876
>>>>
>>>> 0 0
>>>> 1 MII down closed no - -
>>>> -
>>>> -
>>>> 2 N/A down closed no - -
>>>> -
>>>> -
>>>> 3 N/A down closed no - -
>>>> -
>>>> -
>>>> Mailboxes:
>>>> Bootstrap RX: 0x1000/1024, TX: 0x1400/1024
>>>> Standard RX: 0x1000/1024, TX: 0x1400/1024
>>>> Supported protocols: CoE, FoE
>>>> General:
>>>> Group: SSC_Device
>>>> Image name:
>>>> Order number: Megatec_ESC_NLCH
>>>> Device name: Megatec_ESC_NLCH
>>>> CoE details:
>>>> Enable SDO: yes
>>>> Enable SDO Info: yes
>>>> Enable PDO Assign: no
>>>> Enable PDO Configuration: no
>>>> Enable Upload at startup: no
>>>> Enable SDO complete access: yes
>>>> Flags:
>>>> Enable SafeOp: no
>>>> Enable notLRW: no
>>>> Current consumption: 0 mA
>>>> And this is the dmesg output with Ethercat debug 1 configuration
>>>>
>>>> [ 186.189225] EtherCAT: Requesting master 0...
>>>> [ 186.189232] EtherCAT DEBUG 0: IDLE -> OPERATION.
>>>> [ 186.189234] EtherCAT: Successfully requested master 0.
>>>> [ 186.189236] EtherCAT DEBUG 0:
>>>> ecrt_master_create_domain(master =
>>>> 0x0000000086b530b0)
>>>> [ 186.189240] EtherCAT DEBUG 0: Created domain 0.
>>>> [ 186.189243] EtherCAT DEBUG 0: ecrt_master_slave_config(master
>>>> =
>>>> 0x0000000086b530b0, alias = 0, position = 0, vendor_id =
>>>> 0x6167656d,
>>>> product_code = 0x00000000)
>>>> [ 186.189246] EtherCAT DEBUG 0: Creating slave configuration
>>>> for
>>>> 0:0, 0x6167656D/0x00000000.
>>>> [ 186.189250] EtherCAT DEBUG 0 0:0: Attached slave 0.
>>>> [ 186.189300] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2,
>>>> sync_index =
>>>> 0, dir = 1, watchdog_mode = 2)
>>>> [ 186.189305] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,
>>>> sync_index = 0)
>>>> [ 186.189308] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2,
>>>> sync_index =
>>>> 1, dir = 2, watchdog_mode = 2)
>>>> [ 186.189311] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,
>>>> sync_index = 1)
>>>> [ 186.189314] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2,
>>>> sync_index =
>>>> 2, dir = 1, watchdog_mode = 1)
>>>> [ 186.189316] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,
>>>> sync_index = 2)
>>>> [ 186.189322] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_assign_add(sc = 0x0000000071c188e2,
>>>> sync_index
>>>> = 2, pdo_index = 0x1600)
>>>> [ 186.189325] EtherCAT DEBUG 0 0:0: Loading default mapping for
>>>> PDO
>>>> 0x1600.
>>>>
>>>> [ 186.189331] EtherCAT DEBUG 0 0:0: Entry 0x7000:01.
>>>> [ 186.189333] EtherCAT DEBUG 0 0:0: Entry 0x7000:02.
>>>> [ 186.189334] EtherCAT DEBUG 0 0:0: Entry 0x7000:03.
>>>> [ 186.189336] EtherCAT DEBUG 0 0:0: Entry 0x7000:04.
>>>> [ 186.189337] EtherCAT DEBUG 0 0:0: Entry 0x7000:05.
>>>> [ 186.189338] EtherCAT DEBUG 0 0:0: Entry 0x7000:06.
>>>> [ 186.189339] EtherCAT DEBUG 0 0:0: Entry 0x7000:07.
>>>> [ 186.189340] EtherCAT DEBUG 0 0:0: Entry 0x7000:08.
>>>> [ 186.189341] EtherCAT DEBUG 0 0:0: Entry 0x7000:09.
>>>> [ 186.189343] EtherCAT DEBUG 0 0:0: Entry 0x7000:0A.
>>>> [ 186.189344] EtherCAT DEBUG 0 0:0: Entry 0x7000:0B.
>>>> [ 186.189345] EtherCAT DEBUG 0 0:0: Entry 0x7000:0C.
>>>> [ 186.189346] EtherCAT DEBUG 0 0:0: Entry 0x7000:0D.
>>>> [ 186.189347] EtherCAT DEBUG 0 0:0: Entry 0x7000:0E.
>>>> [ 186.189349] EtherCAT DEBUG 0 0:0: Entry 0x7000:0F.
>>>> [ 186.189350] EtherCAT DEBUG 0 0:0: Entry 0x7000:10.
>>>> [ 186.189351] EtherCAT DEBUG 0 0:0: Entry 0x7000:11.
>>>> [ 186.189352] EtherCAT DEBUG 0 0:0: Entry 0x7000:12.
>>>> [ 186.189354] EtherCAT DEBUG 0 0:0: Entry 0x7000:13.
>>>> [ 186.189355] EtherCAT DEBUG 0 0:0: Entry 0x7000:14.
>>>> [ 186.189356] EtherCAT DEBUG 0 0:0: Entry 0x7000:15.
>>>> [ 186.189357] EtherCAT DEBUG 0 0:0: Entry 0x7000:16.
>>>> [ 186.189358] EtherCAT DEBUG 0 0:0: Entry 0x7000:17.
>>>> [ 186.189360] EtherCAT DEBUG 0 0:0: Entry 0x7000:18.
>>>> [ 186.189361] EtherCAT DEBUG 0 0:0: Entry 0x7000:19.
>>>> [ 186.189362] EtherCAT DEBUG 0 0:0: Entry 0x7000:1A.
>>>> [ 186.189363] EtherCAT DEBUG 0 0:0: Entry 0x7000:1B.
>>>> [ 186.189364] EtherCAT DEBUG 0 0:0: Entry 0x7000:1C.
>>>> [ 186.189365] EtherCAT DEBUG 0 0:0: Entry 0x7000:1D.
>>>> [ 186.189367] EtherCAT DEBUG 0 0:0: Entry 0x7000:1E.
>>>> [ 186.189368] EtherCAT DEBUG 0 0:0: Entry 0x7000:1F.
>>>> [ 186.189369] EtherCAT DEBUG 0 0:0: Entry 0x7000:20.
>>>> [ 186.189370] EtherCAT DEBUG 0 0:0: Entry 0x7000:21.
>>>> [ 186.189371] EtherCAT DEBUG 0 0:0: Entry 0x7000:22.
>>>> [ 186.189372] EtherCAT DEBUG 0 0:0: Entry 0x7000:23.
>>>> [ 186.189373] EtherCAT DEBUG 0 0:0: Entry 0x7000:24.
>>>> [ 186.189374] EtherCAT DEBUG 0 0:0: Entry 0x7000:25.
>>>> [ 186.189376] EtherCAT DEBUG 0 0:0: Entry 0x7000:26.
>>>> [ 186.189377] EtherCAT DEBUG 0 0:0: Entry 0x7000:27.
>>>> [ 186.189379] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000071c188e2,
>>>> pdo_index = 0x1600)
>>>> [ 186.189386] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x01,
>>>> entry_bit_length = 16)
>>>> [ 186.189390] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x02,
>>>> entry_bit_length = 16)
>>>> [ 186.189393] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x03,
>>>> entry_bit_length = 16)
>>>> [ 186.189396] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x04,
>>>> entry_bit_length = 16)
>>>> [ 186.189399] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x05,
>>>> entry_bit_length = 16)
>>>> [ 186.189402] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x06,
>>>> entry_bit_length = 16)
>>>> [ 186.189404] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x07,
>>>> entry_bit_length = 16)
>>>> [ 186.189407] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x08,
>>>> entry_bit_length = 16)
>>>> [ 186.189410] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x09,
>>>> entry_bit_length = 16)
>>>> [ 186.189412] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x0A,
>>>> entry_bit_length = 16)
>>>> [ 186.189415] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x0B,
>>>> entry_bit_length = 16)
>>>> [ 186.189418] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x0C,
>>>> entry_bit_length = 16)
>>>> [ 186.189420] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x0D,
>>>> entry_bit_length = 16)
>>>> [ 186.189423] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x0E,
>>>> entry_bit_length = 16)
>>>> [ 186.189426] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x0F,
>>>> entry_bit_length = 16)
>>>> [ 186.189428] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x10,
>>>> entry_bit_length = 16)
>>>> [ 186.189431] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x11,
>>>> entry_bit_length = 16)
>>>> [ 186.189434] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x12,
>>>> entry_bit_length = 16)
>>>> [ 186.189437] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x13,
>>>> entry_bit_length = 16)
>>>> [ 186.189440] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x14,
>>>> entry_bit_length = 16)
>>>> [ 186.189442] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x15,
>>>> entry_bit_length = 16)
>>>> [ 186.189445] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x16,
>>>> entry_bit_length = 16)
>>>> [ 186.189448] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x17,
>>>> entry_bit_length = 16)
>>>> [ 186.189450] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x18,
>>>> entry_bit_length = 16)
>>>> [ 186.189453] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x19,
>>>> entry_bit_length = 16)
>>>> [ 186.189456] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x1A,
>>>> entry_bit_length = 16)
>>>> [ 186.189458] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x1B,
>>>> entry_bit_length = 16)
>>>> [ 186.189461] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x1C,
>>>> entry_bit_length = 16)
>>>> [ 186.189464] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x1D,
>>>> entry_bit_length = 16)
>>>> [ 186.189466] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x1E,
>>>> entry_bit_length = 16)
>>>> [ 186.189469] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x1F,
>>>> entry_bit_length = 16)
>>>> [ 186.189472] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x20,
>>>> entry_bit_length = 16)
>>>> [ 186.189474] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x21,
>>>> entry_bit_length = 16)
>>>> [ 186.189477] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x22,
>>>> entry_bit_length = 16)
>>>> [ 186.189480] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x23,
>>>> entry_bit_length = 16)
>>>> [ 186.189482] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x24,
>>>> entry_bit_length = 16)
>>>> [ 186.189485] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x25,
>>>> entry_bit_length = 16)
>>>> [ 186.189488] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x26,
>>>> entry_bit_length = 16)
>>>> [ 186.189490] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1600, entry_index = 0x7000, entry_subindex = 0x27,
>>>> entry_bit_length = 16)
>>>> [ 186.189494] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2,
>>>> sync_index =
>>>> 3, dir = 2, watchdog_mode = 2)
>>>> [ 186.189496] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,
>>>> sync_index = 3)
>>>> [ 186.189502] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_assign_add(sc = 0x0000000071c188e2,
>>>> sync_index
>>>> = 3, pdo_index = 0x1A00)
>>>> [ 186.189504] EtherCAT DEBUG 0 0:0: Loading default mapping for
>>>> PDO
>>>> 0x1A00.
>>>>
>>>> [ 186.189512] EtherCAT DEBUG 0 0:0: Entry 0x6000:01.
>>>> [ 186.189513] EtherCAT DEBUG 0 0:0: Entry 0x6000:02.
>>>> [ 186.189514] EtherCAT DEBUG 0 0:0: Entry 0x6000:03.
>>>> [ 186.189515] EtherCAT DEBUG 0 0:0: Entry 0x6000:04.
>>>> [ 186.189517] EtherCAT DEBUG 0 0:0: Entry 0x6000:05.
>>>> [ 186.189518] EtherCAT DEBUG 0 0:0: Entry 0x6000:06.
>>>> [ 186.189519] EtherCAT DEBUG 0 0:0: Entry 0x6000:07.
>>>> [ 186.189520] EtherCAT DEBUG 0 0:0: Entry 0x6000:08.
>>>> [ 186.189521] EtherCAT DEBUG 0 0:0: Entry 0x6000:09.
>>>> [ 186.189522] EtherCAT DEBUG 0 0:0: Entry 0x6000:0A.
>>>> [ 186.189523] EtherCAT DEBUG 0 0:0: Entry 0x6000:0B.
>>>> [ 186.189524] EtherCAT DEBUG 0 0:0: Entry 0x6000:0C.
>>>> [ 186.189525] EtherCAT DEBUG 0 0:0: Entry 0x6000:0D.
>>>> [ 186.189526] EtherCAT DEBUG 0 0:0: Entry 0x6000:0E.
>>>> [ 186.189528] EtherCAT DEBUG 0 0:0: Entry 0x6000:0F.
>>>> [ 186.189529] EtherCAT DEBUG 0 0:0: Entry 0x6000:10.
>>>> [ 186.189530] EtherCAT DEBUG 0 0:0: Entry 0x6000:11.
>>>> [ 186.189531] EtherCAT DEBUG 0 0:0: Entry 0x6000:12.
>>>> [ 186.189532] EtherCAT DEBUG 0 0:0: Entry 0x6000:13.
>>>> [ 186.189533] EtherCAT DEBUG 0 0:0: Entry 0x6000:14.
>>>> [ 186.189534] EtherCAT DEBUG 0 0:0: Entry 0x6000:15.
>>>> [ 186.189535] EtherCAT DEBUG 0 0:0: Entry 0x6000:16.
>>>> [ 186.189537] EtherCAT DEBUG 0 0:0: Entry 0x6000:17.
>>>> [ 186.189538] EtherCAT DEBUG 0 0:0: Entry 0x6000:18.
>>>> [ 186.189539] EtherCAT DEBUG 0 0:0: Entry 0x6000:19.
>>>> [ 186.189540] EtherCAT DEBUG 0 0:0: Entry 0x6000:1A.
>>>> [ 186.189541] EtherCAT DEBUG 0 0:0: Entry 0x6000:1B.
>>>> [ 186.189542] EtherCAT DEBUG 0 0:0: Entry 0x6000:1C.
>>>> [ 186.189543] EtherCAT DEBUG 0 0:0: Entry 0x6000:1D.
>>>> [ 186.189544] EtherCAT DEBUG 0 0:0: Entry 0x6000:1E.
>>>> [ 186.189546] EtherCAT DEBUG 0 0:0: Entry 0x6000:1F.
>>>> [ 186.189547] EtherCAT DEBUG 0 0:0: Entry 0x6000:20.
>>>> [ 186.189548] EtherCAT DEBUG 0 0:0: Entry 0x6000:21.
>>>> [ 186.189549] EtherCAT DEBUG 0 0:0: Entry 0x6000:22.
>>>> [ 186.189550] EtherCAT DEBUG 0 0:0: Entry 0x6000:23.
>>>> [ 186.189551] EtherCAT DEBUG 0 0:0: Entry 0x6000:24.
>>>> [ 186.189553] EtherCAT DEBUG 0 0:0: Entry 0x6000:25.
>>>> [ 186.189554] EtherCAT DEBUG 0 0:0: Entry 0x6000:26.
>>>> [ 186.189555] EtherCAT DEBUG 0 0:0: Entry 0x6000:27.
>>>> [ 186.189557] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000071c188e2,
>>>> pdo_index = 0x1A00)
>>>> [ 186.189562] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x01,
>>>> entry_bit_length = 16)
>>>> [ 186.189565] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x02,
>>>> entry_bit_length = 16)
>>>> [ 186.189568] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x03,
>>>> entry_bit_length = 16)
>>>> [ 186.189571] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x04,
>>>> entry_bit_length = 16)
>>>> [ 186.189574] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x05,
>>>> entry_bit_length = 16)
>>>> [ 186.189577] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x06,
>>>> entry_bit_length = 16)
>>>> [ 186.189579] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x07,
>>>> entry_bit_length = 16)
>>>> [ 186.189582] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x08,
>>>> entry_bit_length = 16)
>>>> [ 186.189585] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x09,
>>>> entry_bit_length = 16)
>>>> [ 186.189588] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0A,
>>>> entry_bit_length = 16)
>>>> [ 186.189591] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0B,
>>>> entry_bit_length = 16)
>>>> [ 186.189593] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0C,
>>>> entry_bit_length = 16)
>>>> [ 186.189596] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0D,
>>>> entry_bit_length = 16)
>>>> [ 186.189599] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0E,
>>>> entry_bit_length = 16)
>>>> [ 186.189601] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x0F,
>>>> entry_bit_length = 16)
>>>> [ 186.189604] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x10,
>>>> entry_bit_length = 16)
>>>> [ 186.189607] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x11,
>>>> entry_bit_length = 16)
>>>> [ 186.189610] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x12,
>>>> entry_bit_length = 16)
>>>> [ 186.189612] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x13,
>>>> entry_bit_length = 16)
>>>> [ 186.189615] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x14,
>>>> entry_bit_length = 16)
>>>> [ 186.189618] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x15,
>>>> entry_bit_length = 16)
>>>> [ 186.189621] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x16,
>>>> entry_bit_length = 16)
>>>> [ 186.189624] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x17,
>>>> entry_bit_length = 16)
>>>> [ 186.189626] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x18,
>>>> entry_bit_length = 16)
>>>> [ 186.189629] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x19,
>>>> entry_bit_length = 16)
>>>> [ 186.189632] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x1A,
>>>> entry_bit_length = 16)
>>>> [ 186.189635] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x1B,
>>>> entry_bit_length = 16)
>>>> [ 186.189637] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x1C,
>>>> entry_bit_length = 16)
>>>> [ 186.189640] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x1D,
>>>> entry_bit_length = 16)
>>>> [ 186.189643] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x1E,
>>>> entry_bit_length = 16)
>>>> [ 186.189646] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x1F,
>>>> entry_bit_length = 16)
>>>> [ 186.189649] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x20,
>>>> entry_bit_length = 16)
>>>> [ 186.189651] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x21,
>>>> entry_bit_length = 16)
>>>> [ 186.189654] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x22,
>>>> entry_bit_length = 16)
>>>> [ 186.189656] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x23,
>>>> entry_bit_length = 16)
>>>> [ 186.189659] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x24,
>>>> entry_bit_length = 16)
>>>> [ 186.189662] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x25,
>>>> entry_bit_length = 16)
>>>> [ 186.189664] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x26,
>>>> entry_bit_length = 16)
>>>> [ 186.189667] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2,
>>>> pdo_index
>>>> = 0x1A00, entry_index = 0x6000, entry_subindex = 0x27,
>>>> entry_bit_length = 16)
>>>> [ 186.189671] EtherCAT DEBUG 0: ecrt_master_slave_config(master
>>>> =
>>>> 0x0000000086b530b0, alias = 0, position = 0, vendor_id =
>>>> 0x6167656d,
>>>> product_code = 0x00000000)
>>>> [ 186.189676] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0x0000000071c188e2, index =
>>>> 0x7000, subindex = 0x01, domain = 0x00000000b451bb74,
>>>> bit_position =
>>>> 0x000000002facf3e1)
>>>> [ 186.189680] EtherCAT DEBUG 0: Domain 0: Added 78 bytes, total
>>>> 78.
>>>> [ 186.189683] EtherCAT DEBUG 0: ecrt_master_slave_config(master
>>>> =
>>>> 0x0000000086b530b0, alias = 0, position = 0, vendor_id =
>>>> 0x6167656d,
>>>> product_code = 0x00000000)
>>>> [ 186.189686] EtherCAT DEBUG 0 0:0:
>>>> ecrt_slave_config_reg_pdo_entry(sc = 0x0000000071c188e2, index =
>>>> 0x7000, subindex = 0x05, domain = 0x00000000b451bb74,
>>>> bit_position =
>>>> 0x000000006507b978)
>>>> [ 186.189707] EtherCAT DEBUG 0:
>>>> ecrt_domain_external_memory(domain
>>>> = 0x00000000b451bb74, mem = 0x000000006263e939)
>>>> [ 186.189710] EtherCAT DEBUG 0: ecrt_master_callbacks(master =
>>>> 0x0000000086b530b0, send_cb = 0x00000000a7d24716, receive_cb =
>>>> 0x0000000062142df5, cb_data = 0x0000000086b530b0)
>>>> [ 186.189713] EtherCAT DEBUG 0: ecrt_master_activate(master =
>>>> 0x0000000086b530b0)
>>>> [ 186.189716] EtherCAT DEBUG 0: Adding datagram pair with
>>>> expected
>>>> WC 1.
>>>> [ 186.189717] EtherCAT 0: Domain0: Logical address 0x00000000,
>>>> 78
>>>> byte, expected working counter 1.
>>>> [ 186.189720] EtherCAT 0: Datagram domain0-0-main: Logical
>>>> offset
>>>> 0x00000000, 78 byte, type LWR.
>>>> [ 186.189723] EtherCAT DEBUG 0: Stopping master thread.
>>>> [ 186.189734] EtherCAT DEBUG 0: Master IDLE thread exiting...
>>>> [ 186.189749] EtherCAT 0: Master thread exited.
>>>> [ 186.189752] EtherCAT DEBUG 0: FSM datagram is
>>>> 00000000cfd93c4c.
>>>> [ 186.189753] EtherCAT 0: Starting EtherCAT-OP thread.
>>>> [ 186.189947] EtherCAT DEBUG 0: Operation thread running with
>>>> fsm
>>>> interval = 4000 us, max data size=45000
>>>> [ 186.190049] EtherCAT DEBUG 0: mmap()
>>>> [ 186.190063] EtherCAT DEBUG 0: Vma fault, offset = 0, page =
>>>> 00000000edcde822
>>>> [ 186.195501] EtherCAT DEBUG 0: Configuration changed (aborting
>>>> state check).
>>>> [ 186.195506] EtherCAT WARNING 0: No application time received
>>>> up
>>>> to now, but master already active.
>>>> [ 186.195508] EtherCAT DEBUG 0: Requesting OP...
>>>> [ 186.203556] EtherCAT DEBUG 0-0: Changing state from PREOP to
>>>> OP.
>>>> [ 186.203564] EtherCAT DEBUG 0-0: Configuring...
>>>> [ 191.215776] EtherCAT ERROR 0-0: Timeout while setting state
>>>> INIT.
>>>>
>>>>
>>>> And this a simple code part for my tests. This doesn't configures
>>>> servo drives. Just one slave to see if it goes to OP mode
>>>>
>>>> if (!(sc_dig_out = ecrt_master_slave_config(
>>>> master, BusCouplerPos, megatec))) {
>>>> fprintf(stderr, "Failed to get slave configuration.\n");
>>>> return -1;
>>>> }
>>>>
>>>> printf("Configuring PDOs...\n");
>>>> if (ecrt_slave_config_pdos(sc_dig_out, EC_END,
>>>> slave_0_syncs)) {
>>>> fprintf(stderr, "Failed to configure PDOs.\n");
>>>> return -1;
>>>> }
>>>>
>>>> if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
>>>> fprintf(stderr, "PDO entry registration failed!\n");
>>>> return -1;
>>>> }
>>>>
>>>> printf("Activating master...\n");
>>>> if (ecrt_master_activate(master))
>>>> return -1;
>>>>
>>>>
>>>> Any ideas? Do you suggest something to try?
>>>>
>>>> Best regards,
>>>>
>>>> Oguz.
>>>>
>>>>
>>>
>>
--
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 : odilmac at bilko-automation.com
web site : http://www.bilko-automation.com
https://www.youtube.com/@LyncaCNC
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