As I said, it is a strage behaviour of the slave. I don't suspect that it has to do with PDO setup. Errors in the setup should be rejected by the slave immediately, not after having thought about it for 5 seconds as in your case.
I would suggest to have the slave in a controlled experimental environment with up to date software first before deploying it to the customer. 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. > > > > > > > > > -- 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 ----------------------------------------------------------------------- -- Etherlab-users mailing list [email protected] https://lists.etherlab.org/mailman/listinfo/etherlab-users
