[Etherlab-users] Timeout while setting state INIT.

[Graeme Foot]

Hi Oguz,

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.


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.:

+ domain 0 -------------------+
|[slave 0 write][slave 0 read]|

If you split them into two domains you get:

+ domain 0 -----+ domain 1 ----+
|[slave 0 write]|[slave 0 read]|

Which timing wise is no real difference and still a problem.

But if you add a few more slaves (they don’t even need to be online) you get:

+ domain 0 -------------------------+ domain 1 ------------------------+
|[slave 0 write][slave 1 write][...]| [slave 0 read][slave 1 read][...]|

You can see you now have more separation between the slave 0 write and read.

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).


Here’s some background info on the Texas Instruments issue: https://www.ti.com/lit/an/spracj7/spracj7.pdf?ts=1669243747147

  *   section 3.1.3 describes the TI ESC not working with non-overlapping PDOs
  *   Section 3.6 describes a malformed packet issue and its workarounds, due to overlapping PDOs

In our cases where we’ve had problems with slaves our symptoms were:

  1.  On assigning the FMMU configuration the slave would stop forwarding on frames
  2.  I think we had one that got stuck in INIT, but can’t remember for sure

Regards,
Graeme.


From: Bilko AS, Oguz Dilmac <odilmac at bilko-automation.com>
Sent: Thursday, 19 March 2026 23:49
To: Graeme Foot <Graeme.Foot at touchcut.com>; etherlab-users at etherlab.org
Subject: Re: [Etherlab-users] Timeout while setting state INIT.


Hi Graeme,

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.

I created two domains

Unfortunately the device still don't go to INIT.

Here, I put my test code and the dmesg output:

https://we.tl/t-Dj1MtId6LA

Best regards,

Oguz.


On 19-Mar-26 1:16 AM, Graeme Foot wrote:
Hi Oguz,

It’s not looking likely to be an SII problem then.

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.

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.


Graeme.

From: Bilko AS, Oguz Dilmac <odilmac at bilko-automation.com><mailto:odilmac at bilko-automation.com>
Sent: Thursday, 19 March 2026 02:33
To: Graeme Foot <Graeme.Foot at touchcut.com><mailto:Graeme.Foot at touchcut.com>; Richard Hacker <ha at igh.de><mailto:ha at igh.de>; etherlab-users at etherlab.org<mailto:etherlab-users at etherlab.org>; james.benway at gleeble.com<mailto:james.benway at gleeble.com>
Subject: Re: [Etherlab-users] Timeout while setting state INIT.


Hi,

I noticed, the correct path with option is: "--enable-sii-override=/lib/firmware"

This way, the master can find my ec_xxx.bin file. But still at the end, slave doesn't respond to go INIT command.

Here is the dmesg output:

https://we.tl/t-BGDmNzZv2b

Best regards,

Oguz.

--

Oguz Dilmac



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