Re: [Etherlab-users] Timeout while setting state INIT.

Fri, 20 Feb 2026 01:50:19 -0800 

Hi,

We will try to install the newest ethercat library version.
By the way, we tried one version older of this device. It goes to OP with no problem.
Then our customer talked to the vendor of this device. The vendor claimed that the only difference is about application and nothing changed on the communication side.
Also our customer has a bechoff controller as well, and they say that with twincat both devices are going to OP without a problem.
We will try to go to the customer and check with the newest ethercat master version. We are also considering to connect the both devices to the twincat and see if the twincat behaves different. Do you think checking the transmitted data via wireshark worth trying? 

Best regards,

Oguz.


On 20-Feb-26 11:49 AM, Richard Hacker wrote:

I compared your slave's behaviour to that of a working configuration.
Try that for yourself.

When the master wants to get a slave into operation, it first requests
it to change to the INIT state, before continuing through PREOP, SAFEOP
and finally OP states.

Your slave refuses to change to INIT state. This state change must be
respected by every slave, regardless of its current state. Not doing so
is non-standard behaviour. Talk to the vendor!

But before doing that, upgrade to a standard distribution that we can
support.

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. 

--
Oguz Dilmac

Bilko AS, R&D Manager
====================================
Perpa Ticaret Merkezi B Blok Kat 13 Nr. 2536
TR-34384 Okmeydani Istanbul Turkey
Tel : +90 212 563 00 00
e-mail : [email protected]
web site : http://www.bilko-automation.com
https://www.youtube.com/@LyncaCNC


--
Etherlab-users mailing list
[email protected]
https://lists.etherlab.org/mailman/listinfo/etherlab-users

Reply via email to