[Etherlab-users] Timeout while setting state INIT.
Graeme Foot
Graeme.Foot at touchcut.com
Tue Mar 17 23:04:15 CET 2026
Hi Oguz,
You can check if you have the patch by looking in configure.ac. If it has the "--enable-sii-override" option you have it and you can select to use it with your preferred firmware directory.
Re below:
I didn't notice any major differences between the generated and downloaded SII files.
Regards,
Graeme.
-----Original Message-----
From: Etherlab-users <etherlab-users-bounces at etherlab.org> On Behalf Of Bilko AS, Oguz Dilmac
Sent: Wednesday, 18 March 2026 02:59
To: Richard Hacker <ha at igh.de>; etherlab-users at etherlab.org
Subject: Re: [Etherlab-users] Timeout while setting state INIT.
Hi Richard,
Here is the output of "ethercat slave -v" command:
~$ ethercat slave -v
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: +
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 - 316752436 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
Also you can check the "ethercat sii_read" command output and the twincat sii file as binary files. I think the twincat version doesn't have the PDO mapping.
https://we.tl/t-0aPRUmH6FG
By the way, I tried to write the same registers I mentioned on my previous mails. Just before activating the master. It didn't affect anything.
One more thing I noticed is, usually if I try to configure the device second time without a power cycle, the vendor ID at the response of the "ethercat slaves" command becomes 0.
So far the vendor just claims the different devices (The one works perfectly with IgH and the one which doesn't reply to INIT command) are same in sense of ethercat communication.
I would really appreciate if you can notice something.
Best regards,
Oguz.
On 17-Mar-26 3:12 PM, Richard Hacker wrote:
> Hi Oguz
>
> Our ethercat master does not support "SII firmware injection". We
> rather work according to the maxime: fix the slave.
>
> Although we focus on Beckhoff slaves, we have worked with many
> different slave vendors in the past and have yet to encounter a slave
> with a behaviour like yours.
>
> We have encountered slaves with a broken SII in the past. Usually we
> would confront the vendor. If that didn't work, we fixed it and
> flashed the slave ourselves. But that requires intimate knowledge of
> ethercat slave implementation beyond that of a regular slave user.
>
> I am not convinced that you have an SII problem. What does
> ethercat slave -v
> report when you have just plugged in the bus and before starting your
> application (i.e. idle mode)?
>
> If there is sensible output from that command, your SII is OK.
>
> Richard
>
> On Tue, 2026-03-17 at 10:56 +0300, Bilko AS, Oguz Dilmac wrote:
>>
>> Hi Richard and Graeme,
>>
>> Richard, do you know if the feature Graeme mentioned is included in
>> official branch?
>>
>> 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.
>>
>> Best regards,
>>
>> Oguz.
>>
>> On 15-Mar-26 11:28 PM, Graeme Foot wrote:
>>
>>
>>>
>>> Hi Oguz,
>>>
>>> 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).
>>>
>>> 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”
>>>
>>> To create an SII file:
>>> * Start a new TwinCAT project (TwinCAT XAE Project (XML Format))
>>> * Under I/O, Devices add an EtherCAT Master device
>>> * If you don’t have the correct esi (.xml) file loaded: copy the
>>> slaves esi (.xml) file into:
>>> C:\TwinCAT\3.1\Config\Io\EtherCATSelect the TwinCAT, EtherCAT
>>> Devices, Reload Device Descriptions menu option
>>> * Add you EtherCAT slave to the EtherCAT master device
>>> * Open your slave
>>> * Select the EtherCAT tab
>>> * Select Advanced Settings...
>>> * Select the ESC Access, E2PROM, Hex Editor item
>>> * Confirm the SII contains the expected values (for Vendor ID ,
>>> Product Code etc)
>>> * Select the Write to File... button
>>> * Save with a filename in the format
>>> “ec_{vendor_id_hex}_{product_code_hex}[_{revision_hex}].bin” The
>>> revision part is optional.e.g.: ec_00000539_02200001_00010000.bin
>>>
>>> Regards,
>>> Graeme.
>>>
>>> From: Etherlab-users <etherlab-users-bounces at etherlab.org> On
>>> Behalf Of Bilko AS, Oguz Dilmac
>>> Sent: Saturday, 7 March 2026 02:30
>>> To: Richard Hacker <ha at igh.de>; etherlab-users at etherlab.org
>>> Subject: Re: [Etherlab-users] Timeout while setting state INIT.
>>>
>>>
>>>
>>> Hi,
>>> 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.
>>> 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?
>>> FPRD: 0x80d Return value: 0x30 (SM error / sm enable acknowledged)
>>>
>>> FPWR: 0x800 16 byte data: 0 (Clear SM0 and 1?)
>>> FPWR: 0x800 8 byte data: 0010000426000100 (Re write SM according to
>>> XML file?)
>>> FPWR: 0x808 8 byte data: 0014000422000100
>>> FPWR: 0x810 16 byte data: 0 (Clear SM2 and 3?)
>>>
>>> FPWR: 0x620 16 byte data: 00000009010000000d08000101000000 (define
>>> FMMU?)
>>> FPWR: 0x500 1 byte data: 01
>>>
>>> FPWR: 0x120 2 byte data: 0012 (PreOP + Error ACK)
>>> FPRD: 0x130 Return value: 0x0002 (PREOP)
>>>
>>> FPRD: 0x80D Return value: 0x00 (The error is gone!)
>>>
>>> FPRD: 0x1400 Return value: 0x00 (but WC is zero. I guess the slave
>>> didn't processed it)
>>>
>>> FPRD: 0x130 Return value: 0x0001 (INIT) (Slave went to INIT. But I
>>> didn't see a write to 0x120 to go to INIT)
>>>
>>> FPWR: 0x800 16 byte data: 0
>>> FPRD: 0x1400 Return value: 0x5208
>>> FPWR: 0x620 16 byte data: 0
>>> FPRD: 0x1400 Return value: 1024 byte data...0x80
>>>
>>> ...
>>>
>>>
>>> Could this be the reason why the slave don't go to INIT when IgH
>>> master ask?
>>> 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.
>>> You can find the log file at the attachments. I hope someone can
>>> give me a suggestion.
>>> Best regards,
>>> Oguz.
>>>
>>> On 25-Feb-26 3:42 PM, Bilko AS, Oguz Dilmac wrote:
>>>
>>>
>>>>
>>>> Hi Again,
>>>>
>>>> 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.
>>>>
>>>> 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:
>>>>
>>>> https://we.tl/t-Yl7iRMSadB
>>>>
>>>> I also copy my previous message here:
>>>>
>>>> Hello,
>>>>
>>>> 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.
>>>>
>>>> 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.
>>>>
>>>> At the attachments you can find some dmesg outputs. I also
>>>> attached the simple test program I used.
>>>>
>>>> Some explanations for dmesg outputs:
>>>>
>>>> * dmesg.OK.txt: Output for the working device. I just put it here
>>>> as a reference
>>>>
>>>> * dmesg.Problem.txt: Output of the problematic device.
>>>>
>>>> * 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().
>>>>
>>>> * dmesg.Problem.ManualStateChange: I tried to change state via
>>>> command line tool.
>>>>
>>>> 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.
>>>>
>>>> We are stuck 🙁 If you have any idea It would be great.
>>>>
>>>> Best regards,
>>>>
>>>> Oguz.
>>>>
>>>>
>>>>
>>>> On 20-Feb-26 1:30 PM, Richard Hacker wrote:
>>>>
>>>>
>>>>>
>>>>> On Fri, 2026-02-20 at 12:49 +0300, Bilko AS, Oguz Dilmac wrote:
>>>>>
>>>>>>
>>>>>> 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.
>>>>>>
>>>>>
>>>>> Well, this shows that your configuration is probably not the issue
>>>>> and
>>>>>
>>>>> is at the problem is at the slave's 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.
>>>>>>
>>>>>
>>>>> TwinCAT is not the standard, neither is our EtherCAT master.
>>>>> However,
>>>>>
>>>>> both should implement the standard, but they do it differently
>>>>>
>>>>> (naturally), especially regarding timing. The standard however
>>>>> ensures
>>>>>
>>>>> that EtherCAT masters and slaves are immune to timing issues, but
>>>>> there
>>>>>
>>>>> are always exceptions!
>>>>>
>>>>>
>>>>>
>>>>>>
>>>>>> 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?
>>>>>>
>>>>>
>>>>> You can try, but I do not see that you'll get much insight using
>>>>>
>>>>> wireshark. The master commands the slave to go to INIT and there
>>>>> is
>>>>>
>>>>> simply no reply from the slave acknowledging the state change.
>>>>> That is
>>>>>
>>>>> why the master times out and gives up trying to bring the slave
>>>>> online.
>>>>>
>>>>>
>>>>>
>>>>> Going to INIT is such a primitive state change for a slave that
>>>>> there
>>>>>
>>>>> should be absolutely _no_ reason it takes any amount of time.
>>>>> So I am
>>>>>
>>>>> not even convinced that ecrt_slave_config_state_timeout() would
>>>>> work.
>>>>>
>>>>>
>>>>>
>>>>> I only know that some (complex) slaves may take time between
>>>>> PREOP-
>>>>>
>>>>>>
>>>>>> SAFEOP and SAFEOP->OP transition when certain hardware needs to
>>>>>> be
>>>>>>
>>>>>
>>>>> configured based on its configuration. But your slave is not there
>>>>> yet.
>>>>>
>>>>>
>>>>>
>>>>> Before you use wireshark you can try switching debug to 1
>>>>>
>>>>> `ethercat debug 1`
>>>>>
>>>>>
>>>>>
>>>>>
>>>>>
>>>>
>>>> --
>>>>
>>>> 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
>>>>
>>> --
>>> 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
>>>
>>>
>>
--
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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