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.
>
--
Mit freundlichem Gruß / Best regards,
Richard Hacker
--
-----------------------------------------------------------------------
Richard Hacker, M.Sc.
Entwicklungsingenieur / Development Engineer
[email protected]
Tel.: +49 201 / 36014-16
Ingenieurgemeinschaft IgH Gesellschaft für Ingenieurleistungen mbH
Nordsternstraße 66
D-45329 Essen
https://igh.de | https://etherlab.org
Amtsgericht Essen HRB 11500 | USt-Id.-Nr.: DE 174 626 722
Geschäftsführung:
Frederik Becker, Dr.-Ing. Siegfried Rotthäuser, Jost Braukmann
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