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<body><div>Hello,</div><div><br></div><div>You build up a productive machine, you use a git repository with old and unknown state and it is patched with unoffical patches.</div><div>That is not a good idea.</div><div>And we cannot support it.</div><div><br></div><div>Please see <a href="https://gitlab.com/etherlab.org/ethercat">https://gitlab.com/etherlab.org/ethercat</a> for the official sources.</div><div><br></div><div>The function <b>ecrt_slave_config_state_timeout</b>() was applied in the in the last few month.</div><div><br></div><div>Maybe your sources are compatible, you have to look for.</div><div><br></div><div>Best regards</div><div><br></div><div>Andreas</div><div><br></div><div><br></div><div>Am Freitag, dem 20.02.2026 um 10:05 +0300 schrieb Bilko AS, Oguz Dilmac:</div><blockquote type="cite" style="margin:0 0 0 .8ex; border-left:2px #729fcf solid;padding-left:1ex"><div> </div><p>Hi,</p><div> </div><p>We installed ethercat library from this link a few years ago: <a class="moz-txt-link-rfc2396E" href="https://github.com/ribalda/ethercat/blob/master/INSTALL">"https://github.com/ribalda/ethercat/blob/master/INSTALL"</a></p><div> </div><p>I checked the ecrt.h in our installation but we dont have <b>ecrt_slave_config_state_timeout</b>(). Since the controller is located on a customer's site it's not easy to upgrade the ethercat library.</p><div> </div><p>Is there any other way to change the timeout?</p><div> </div><p>Also do you think it could be because I try to modify PDO mapping, and since it doesn't support, it gives an error?</p><div> </div><p>I don't have a deep knowledge about the ethercat library. I think the <b>ecrt_slave_config_pdos</b>() call tries to modify the PDO mapping on the drive. If I'm right, how can I just use the default mapping without modifying?</p><div> </div><p>Best regards,</p><div> </div><p>Oguz.</p><div> </div><p><br> </p><div> </div><div class="moz-cite-prefix">On 19-Feb-26 6:08 PM, Richard Hacker wrote:<br> </div><div> <br></div><blockquote type="cite" cite="mid:f51545fbd8ddc0ec76a91e165835eefafea5ce2a.camel@igh.de" style="margin:0 0 0 .8ex; border-left:2px #729fcf solid;padding-left:1ex"><div> </div><pre>That is a strange behaviour of the slave.</pre><pre><br></pre><pre>Have you tried to set the timeout longer:</pre><pre>ecrt_slave_config_state_timeout()</pre><pre><br></pre><pre>On Thu, 2026-02-19 at 17:27 +0300, Bilko AS, Oguz Dilmac wrote:</pre><div> <br></div><blockquote type="cite" style="margin:0 0 0 .8ex; border-left:2px #729fcf solid;padding-left:1ex"><div> </div><pre> </pre><pre>Hi,</pre><pre> </pre><pre>I have a special slave with a strange behaviour. It's located at the</pre><pre>end of the bus after a few servo motor drives.</pre><pre> </pre><pre>At the startup, it doesn't go to OP mode with the rest of the slaves.</pre><pre>But if I remove the power of this slave, before startup, and replug</pre><pre>after everything else is in OP mode, this slave goes to OP mode too.</pre><pre> </pre><pre>When I checked the dmesg output I noticed that it gives a timeout</pre><pre>error for going to state INIT.</pre><pre> </pre><pre>Here is the ethercat slaves -v output:</pre><pre> ethercat slaves -v</pre><pre> === Master 0, Slave 0 ===</pre><pre> Device: Main</pre><pre> State: PREOP</pre><pre> Flag: E</pre><pre> Identity:</pre><pre> Vendor Id: 0x6167656d</pre><pre> Product code: 0x00000000</pre><pre> Revision number: 0x00000000</pre><pre> Serial number: 0x00000000</pre><pre> DL information:</pre><pre> FMMU bit operation: no</pre><pre> Distributed clocks: yes, 64 bit</pre><pre> DC system time transmission delay: 0 ns</pre><pre> Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] </pre><pre> NextDc [ns]</pre><pre> 0 MII up open yes - 1795181876 </pre><pre> 0 0</pre><pre> 1 MII down closed no - - -</pre><pre> -</pre><pre> 2 N/A down closed no - - -</pre><pre> -</pre><pre> 3 N/A down closed no - - -</pre><pre> -</pre><pre> Mailboxes:</pre><pre> Bootstrap RX: 0x1000/1024, TX: 0x1400/1024</pre><pre> Standard RX: 0x1000/1024, TX: 0x1400/1024</pre><pre> Supported protocols: CoE, FoE</pre><pre> General:</pre><pre> Group: SSC_Device</pre><pre> Image name: </pre><pre> Order number: Megatec_ESC_NLCH</pre><pre> Device name: Megatec_ESC_NLCH</pre><pre> CoE details:</pre><pre> Enable SDO: yes</pre><pre> Enable SDO Info: yes</pre><pre> Enable PDO Assign: no</pre><pre> Enable PDO Configuration: no</pre><pre> Enable Upload at startup: no</pre><pre> Enable SDO complete access: yes</pre><pre> Flags:</pre><pre> Enable SafeOp: no</pre><pre> Enable notLRW: no</pre><pre> Current consumption: 0 mA </pre><pre>And this is the dmesg output with Ethercat debug 1 configuration</pre><pre> </pre><pre>[ 186.189225] EtherCAT: Requesting master 0...</pre><pre> [ 186.189232] EtherCAT DEBUG 0: IDLE -> OPERATION.</pre><pre> [ 186.189234] EtherCAT: Successfully requested master 0.</pre><pre> [ 186.189236] EtherCAT DEBUG 0: ecrt_master_create_domain(master =</pre><pre>0x0000000086b530b0)</pre><pre> [ 186.189240] EtherCAT DEBUG 0: Created domain 0.</pre><pre> [ 186.189243] EtherCAT DEBUG 0: ecrt_master_slave_config(master =</pre><pre>0x0000000086b530b0, alias = 0, position = 0, vendor_id = 0x6167656d,</pre><pre>product_code = 0x00000000)</pre><pre> [ 186.189246] EtherCAT DEBUG 0: Creating slave configuration for</pre><pre>0:0, 0x6167656D/0x00000000.</pre><pre> [ 186.189250] EtherCAT DEBUG 0 0:0: Attached slave 0.</pre><pre> [ 186.189300] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2, sync_index =</pre><pre>0, dir = 1, watchdog_mode = 2)</pre><pre> [ 186.189305] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,</pre><pre>sync_index = 0)</pre><pre> [ 186.189308] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2, sync_index =</pre><pre>1, dir = 2, watchdog_mode = 2)</pre><pre> [ 186.189311] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,</pre><pre>sync_index = 1)</pre><pre> [ 186.189314] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2, sync_index =</pre><pre>2, dir = 1, watchdog_mode = 1)</pre><pre> [ 186.189316] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,</pre><pre>sync_index = 2)</pre><pre> [ 186.189322] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_assign_add(sc = 0x0000000071c188e2, sync_index</pre><pre>= 2, pdo_index = 0x1600)</pre><pre> [ 186.189325] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO</pre><pre>0x1600.</pre><pre> </pre><pre> [ 186.189331] EtherCAT DEBUG 0 0:0: Entry 0x7000:01.</pre><pre> [ 186.189333] EtherCAT DEBUG 0 0:0: Entry 0x7000:02.</pre><pre> [ 186.189334] EtherCAT DEBUG 0 0:0: Entry 0x7000:03.</pre><pre> [ 186.189336] EtherCAT DEBUG 0 0:0: Entry 0x7000:04.</pre><pre> [ 186.189337] EtherCAT DEBUG 0 0:0: Entry 0x7000:05.</pre><pre> [ 186.189338] EtherCAT DEBUG 0 0:0: Entry 0x7000:06.</pre><pre> [ 186.189339] EtherCAT DEBUG 0 0:0: Entry 0x7000:07.</pre><pre> [ 186.189340] EtherCAT DEBUG 0 0:0: Entry 0x7000:08.</pre><pre> [ 186.189341] EtherCAT DEBUG 0 0:0: Entry 0x7000:09.</pre><pre> [ 186.189343] EtherCAT DEBUG 0 0:0: Entry 0x7000:0A.</pre><pre> [ 186.189344] EtherCAT DEBUG 0 0:0: Entry 0x7000:0B.</pre><pre> [ 186.189345] EtherCAT DEBUG 0 0:0: Entry 0x7000:0C.</pre><pre> [ 186.189346] EtherCAT DEBUG 0 0:0: Entry 0x7000:0D.</pre><pre> [ 186.189347] EtherCAT DEBUG 0 0:0: Entry 0x7000:0E.</pre><pre> [ 186.189349] EtherCAT DEBUG 0 0:0: Entry 0x7000:0F.</pre><pre> [ 186.189350] EtherCAT DEBUG 0 0:0: Entry 0x7000:10.</pre><pre> [ 186.189351] EtherCAT DEBUG 0 0:0: Entry 0x7000:11.</pre><pre> [ 186.189352] EtherCAT DEBUG 0 0:0: Entry 0x7000:12.</pre><pre> [ 186.189354] EtherCAT DEBUG 0 0:0: Entry 0x7000:13.</pre><pre> [ 186.189355] EtherCAT DEBUG 0 0:0: Entry 0x7000:14.</pre><pre> [ 186.189356] EtherCAT DEBUG 0 0:0: Entry 0x7000:15.</pre><pre> [ 186.189357] EtherCAT DEBUG 0 0:0: Entry 0x7000:16.</pre><pre> [ 186.189358] EtherCAT DEBUG 0 0:0: Entry 0x7000:17.</pre><pre> [ 186.189360] EtherCAT DEBUG 0 0:0: Entry 0x7000:18.</pre><pre> [ 186.189361] EtherCAT DEBUG 0 0:0: Entry 0x7000:19.</pre><pre> [ 186.189362] EtherCAT DEBUG 0 0:0: Entry 0x7000:1A.</pre><pre> [ 186.189363] EtherCAT DEBUG 0 0:0: Entry 0x7000:1B.</pre><pre> [ 186.189364] EtherCAT DEBUG 0 0:0: Entry 0x7000:1C.</pre><pre> [ 186.189365] EtherCAT DEBUG 0 0:0: Entry 0x7000:1D.</pre><pre> [ 186.189367] EtherCAT DEBUG 0 0:0: Entry 0x7000:1E.</pre><pre> [ 186.189368] EtherCAT DEBUG 0 0:0: Entry 0x7000:1F.</pre><pre> [ 186.189369] EtherCAT DEBUG 0 0:0: Entry 0x7000:20.</pre><pre> [ 186.189370] EtherCAT DEBUG 0 0:0: Entry 0x7000:21.</pre><pre> [ 186.189371] EtherCAT DEBUG 0 0:0: Entry 0x7000:22.</pre><pre> [ 186.189372] EtherCAT DEBUG 0 0:0: Entry 0x7000:23.</pre><pre> [ 186.189373] EtherCAT DEBUG 0 0:0: Entry 0x7000:24.</pre><pre> [ 186.189374] EtherCAT DEBUG 0 0:0: Entry 0x7000:25.</pre><pre> [ 186.189376] EtherCAT DEBUG 0 0:0: Entry 0x7000:26.</pre><pre> [ 186.189377] EtherCAT DEBUG 0 0:0: Entry 0x7000:27.</pre><pre> [ 186.189379] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000071c188e2,</pre><pre>pdo_index = 0x1600)</pre><pre> [ 186.189386] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x01,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189390] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x02,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189393] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x03,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189396] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x04,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189399] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x05,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189402] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x06,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189404] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x07,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189407] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x08,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189410] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x09,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189412] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x0A,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189415] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x0B,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189418] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x0C,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189420] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x0D,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189423] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x0E,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189426] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x0F,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189428] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x10,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189431] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x11,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189434] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x12,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189437] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x13,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189440] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x14,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189442] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x15,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189445] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x16,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189448] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x17,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189450] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x18,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189453] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x19,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189456] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x1A,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189458] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x1B,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189461] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x1C,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189464] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x1D,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189466] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x1E,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189469] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x1F,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189472] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x20,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189474] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x21,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189477] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x22,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189480] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x23,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189482] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x24,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189485] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x25,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189488] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x26,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189490] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1600, entry_index = 0x7000, entry_subindex = 0x27,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189494] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_sync_manager(sc = 0x0000000071c188e2, sync_index =</pre><pre>3, dir = 2, watchdog_mode = 2)</pre><pre> [ 186.189496] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_assign_clear(sc = 0x0000000071c188e2,</pre><pre>sync_index = 3)</pre><pre> [ 186.189502] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_assign_add(sc = 0x0000000071c188e2, sync_index</pre><pre>= 3, pdo_index = 0x1A00)</pre><pre> [ 186.189504] EtherCAT DEBUG 0 0:0: Loading default mapping for PDO</pre><pre>0x1A00.</pre><pre> </pre><pre> [ 186.189512] EtherCAT DEBUG 0 0:0: Entry 0x6000:01.</pre><pre> [ 186.189513] EtherCAT DEBUG 0 0:0: Entry 0x6000:02.</pre><pre> [ 186.189514] EtherCAT DEBUG 0 0:0: Entry 0x6000:03.</pre><pre> [ 186.189515] EtherCAT DEBUG 0 0:0: Entry 0x6000:04.</pre><pre> [ 186.189517] EtherCAT DEBUG 0 0:0: Entry 0x6000:05.</pre><pre> [ 186.189518] EtherCAT DEBUG 0 0:0: Entry 0x6000:06.</pre><pre> [ 186.189519] EtherCAT DEBUG 0 0:0: Entry 0x6000:07.</pre><pre> [ 186.189520] EtherCAT DEBUG 0 0:0: Entry 0x6000:08.</pre><pre> [ 186.189521] EtherCAT DEBUG 0 0:0: Entry 0x6000:09.</pre><pre> [ 186.189522] EtherCAT DEBUG 0 0:0: Entry 0x6000:0A.</pre><pre> [ 186.189523] EtherCAT DEBUG 0 0:0: Entry 0x6000:0B.</pre><pre> [ 186.189524] EtherCAT DEBUG 0 0:0: Entry 0x6000:0C.</pre><pre> [ 186.189525] EtherCAT DEBUG 0 0:0: Entry 0x6000:0D.</pre><pre> [ 186.189526] EtherCAT DEBUG 0 0:0: Entry 0x6000:0E.</pre><pre> [ 186.189528] EtherCAT DEBUG 0 0:0: Entry 0x6000:0F.</pre><pre> [ 186.189529] EtherCAT DEBUG 0 0:0: Entry 0x6000:10.</pre><pre> [ 186.189530] EtherCAT DEBUG 0 0:0: Entry 0x6000:11.</pre><pre> [ 186.189531] EtherCAT DEBUG 0 0:0: Entry 0x6000:12.</pre><pre> [ 186.189532] EtherCAT DEBUG 0 0:0: Entry 0x6000:13.</pre><pre> [ 186.189533] EtherCAT DEBUG 0 0:0: Entry 0x6000:14.</pre><pre> [ 186.189534] EtherCAT DEBUG 0 0:0: Entry 0x6000:15.</pre><pre> [ 186.189535] EtherCAT DEBUG 0 0:0: Entry 0x6000:16.</pre><pre> [ 186.189537] EtherCAT DEBUG 0 0:0: Entry 0x6000:17.</pre><pre> [ 186.189538] EtherCAT DEBUG 0 0:0: Entry 0x6000:18.</pre><pre> [ 186.189539] EtherCAT DEBUG 0 0:0: Entry 0x6000:19.</pre><pre> [ 186.189540] EtherCAT DEBUG 0 0:0: Entry 0x6000:1A.</pre><pre> [ 186.189541] EtherCAT DEBUG 0 0:0: Entry 0x6000:1B.</pre><pre> [ 186.189542] EtherCAT DEBUG 0 0:0: Entry 0x6000:1C.</pre><pre> [ 186.189543] EtherCAT DEBUG 0 0:0: Entry 0x6000:1D.</pre><pre> [ 186.189544] EtherCAT DEBUG 0 0:0: Entry 0x6000:1E.</pre><pre> [ 186.189546] EtherCAT DEBUG 0 0:0: Entry 0x6000:1F.</pre><pre> [ 186.189547] EtherCAT DEBUG 0 0:0: Entry 0x6000:20.</pre><pre> [ 186.189548] EtherCAT DEBUG 0 0:0: Entry 0x6000:21.</pre><pre> [ 186.189549] EtherCAT DEBUG 0 0:0: Entry 0x6000:22.</pre><pre> [ 186.189550] EtherCAT DEBUG 0 0:0: Entry 0x6000:23.</pre><pre> [ 186.189551] EtherCAT DEBUG 0 0:0: Entry 0x6000:24.</pre><pre> [ 186.189553] EtherCAT DEBUG 0 0:0: Entry 0x6000:25.</pre><pre> [ 186.189554] EtherCAT DEBUG 0 0:0: Entry 0x6000:26.</pre><pre> [ 186.189555] EtherCAT DEBUG 0 0:0: Entry 0x6000:27.</pre><pre> [ 186.189557] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_clear(sc = 0x0000000071c188e2,</pre><pre>pdo_index = 0x1A00)</pre><pre> [ 186.189562] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x01,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189565] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x02,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189568] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x03,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189571] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x04,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189574] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x05,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189577] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x06,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189579] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x07,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189582] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x08,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189585] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x09,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189588] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x0A,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189591] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x0B,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189593] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x0C,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189596] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x0D,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189599] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x0E,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189601] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x0F,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189604] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x10,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189607] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x11,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189610] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x12,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189612] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x13,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189615] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x14,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189618] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x15,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189621] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x16,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189624] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x17,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189626] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x18,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189629] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x19,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189632] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x1A,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189635] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x1B,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189637] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x1C,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189640] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x1D,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189643] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x1E,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189646] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x1F,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189649] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x20,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189651] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x21,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189654] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x22,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189656] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x23,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189659] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x24,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189662] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x25,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189664] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x26,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189667] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_pdo_mapping_add(sc = 0x0000000071c188e2, pdo_index</pre><pre>= 0x1A00, entry_index = 0x6000, entry_subindex = 0x27,</pre><pre>entry_bit_length = 16)</pre><pre> [ 186.189671] EtherCAT DEBUG 0: ecrt_master_slave_config(master =</pre><pre>0x0000000086b530b0, alias = 0, position = 0, vendor_id = 0x6167656d,</pre><pre>product_code = 0x00000000)</pre><pre> [ 186.189676] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_reg_pdo_entry(sc = 0x0000000071c188e2, index =</pre><pre>0x7000, subindex = 0x01, domain = 0x00000000b451bb74, bit_position =</pre><pre>0x000000002facf3e1)</pre><pre> [ 186.189680] EtherCAT DEBUG 0: Domain 0: Added 78 bytes, total 78.</pre><pre> [ 186.189683] EtherCAT DEBUG 0: ecrt_master_slave_config(master =</pre><pre>0x0000000086b530b0, alias = 0, position = 0, vendor_id = 0x6167656d,</pre><pre>product_code = 0x00000000)</pre><pre> [ 186.189686] EtherCAT DEBUG 0 0:0:</pre><pre>ecrt_slave_config_reg_pdo_entry(sc = 0x0000000071c188e2, index =</pre><pre>0x7000, subindex = 0x05, domain = 0x00000000b451bb74, bit_position =</pre><pre>0x000000006507b978)</pre><pre> [ 186.189707] EtherCAT DEBUG 0: ecrt_domain_external_memory(domain</pre><pre>= 0x00000000b451bb74, mem = 0x000000006263e939)</pre><pre> [ 186.189710] EtherCAT DEBUG 0: ecrt_master_callbacks(master =</pre><pre>0x0000000086b530b0, send_cb = 0x00000000a7d24716, receive_cb =</pre><pre>0x0000000062142df5, cb_data = 0x0000000086b530b0)</pre><pre> [ 186.189713] EtherCAT DEBUG 0: ecrt_master_activate(master =</pre><pre>0x0000000086b530b0)</pre><pre> [ 186.189716] EtherCAT DEBUG 0: Adding datagram pair with expected</pre><pre>WC 1.</pre><pre> [ 186.189717] EtherCAT 0: Domain0: Logical address 0x00000000, 78</pre><pre>byte, expected working counter 1.</pre><pre> [ 186.189720] EtherCAT 0: Datagram domain0-0-main: Logical offset</pre><pre>0x00000000, 78 byte, type LWR.</pre><pre> [ 186.189723] EtherCAT DEBUG 0: Stopping master thread.</pre><pre> [ 186.189734] EtherCAT DEBUG 0: Master IDLE thread exiting...</pre><pre> [ 186.189749] EtherCAT 0: Master thread exited.</pre><pre> [ 186.189752] EtherCAT DEBUG 0: FSM datagram is 00000000cfd93c4c.</pre><pre> [ 186.189753] EtherCAT 0: Starting EtherCAT-OP thread.</pre><pre> [ 186.189947] EtherCAT DEBUG 0: Operation thread running with fsm</pre><pre>interval = 4000 us, max data size=45000</pre><pre> [ 186.190049] EtherCAT DEBUG 0: mmap()</pre><pre> [ 186.190063] EtherCAT DEBUG 0: Vma fault, offset = 0, page =</pre><pre>00000000edcde822</pre><pre> [ 186.195501] EtherCAT DEBUG 0: Configuration changed (aborting</pre><pre>state check).</pre><pre> [ 186.195506] EtherCAT WARNING 0: No application time received up</pre><pre>to now, but master already active.</pre><pre> [ 186.195508] EtherCAT DEBUG 0: Requesting OP...</pre><pre> [ 186.203556] EtherCAT DEBUG 0-0: Changing state from PREOP to OP.</pre><pre> [ 186.203564] EtherCAT DEBUG 0-0: Configuring...</pre><pre> [ 191.215776] EtherCAT ERROR 0-0: Timeout while setting state INIT.</pre><pre> </pre><pre> </pre><pre>And this a simple code part for my tests. This doesn't configures</pre><pre>servo drives. Just one slave to see if it goes to OP mode</pre><pre> </pre><pre> if (!(sc_dig_out = ecrt_master_slave_config(</pre><pre> master, BusCouplerPos, megatec))) {</pre><pre> fprintf(stderr, "Failed to get slave configuration.\n");</pre><pre> return -1;</pre><pre> }</pre><pre> </pre><pre> printf("Configuring PDOs...\n");</pre><pre> if (ecrt_slave_config_pdos(sc_dig_out, EC_END, slave_0_syncs)) {</pre><pre> fprintf(stderr, "Failed to configure PDOs.\n");</pre><pre> return -1;</pre><pre> }</pre><pre> </pre><pre> if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {</pre><pre> fprintf(stderr, "PDO entry registration failed!\n");</pre><pre> return -1;</pre><pre> }</pre><pre> </pre><pre> printf("Activating master...\n");</pre><pre> if (ecrt_master_activate(master))</pre><pre> return -1;</pre><pre> </pre><pre> </pre><pre>Any ideas? Do you suggest something to try?</pre><pre> </pre><pre>Best regards,</pre><pre> </pre><pre>Oguz.</pre><pre> </pre><div> </div></blockquote><div> </div></blockquote><div> </div><pre></pre></blockquote><div><br></div><div><span></span></div></body></html>