Hi,
We are still working on the problematic slave which doesn't go to
INIT. We received this device and are working with it on my desk. We are
using ethercat master 1.6.7. There is no other slave in the setup.
I'm trying to understand the difference between twincat and IgH by
examining wireshark logs. I filtered the register access messages in the
twincat logs. And noticed these following messages are sent at the
beginning. And the device changed to INIT itself. Do you think something
is wrong with the SM configuration?
*...*
*FPRD: 0x80d Return value: 0x30 (SM error / sm enable acknowledged)*
*FPWR: 0x800 16 byte, data: 0 (Clear SM0 and 1?)*
FPWR: 0x800 8 byte, data: 0010000426000100 (Re write SM according to
XML file?)
FPWR: 0x808 8 byte, data: 0014000422000100
*FPWR: 0x810 16 byte, data: 0 (Clear SM2 and 3?)*
FPWR: 0x620 16 byte, data: 00000009010000000d08000101000000 (define FMMU?)
FPWR: 0x500 1 byte, data: 01
FPWR: 0x120 2 byte, data: 0x0012 (PreOP + Error ACK?)
FPRD: 0x130 Return value: 0x0002 (PREOP)
*FPRD: 0x80D Return value: 0x00 (The error is gone!)*
FPRD: 0x1400 Return value: 0x00 (but WC is zero. I guess the slave
didn't processed it)
FPRD: 0x130 Return value: 0x0001 (INIT) (Slave went to INIT. But I
didn't see a write to 0x120 to go to INIT)
FPWR: 0x800 16 byte, data: 0
FPRD: 0x1400 Return value: 0x5208
FPWR: 0x620 16 byte, data: 0
FPRD: 0x1400 Return value: 1024 byte data...
...
Could this be the reason why the slave don't go to INIT when IgH master
ask?
By the way I tried to write the right values to 0x800 via
ecrt_reg_request_write. I tried to call this function right after
ecrt_master_activate. But it didn't work. I also couldn't send both
erase and write messages. I'm not if I should wait
between ecrt_reg_request_write calls. Also I'm not sure if I'm calling
them at the right position.
You can find the twincat log file at the following link. I hope someone
can give me a suggestion.
https://we.tl/t-kgd1qpUrfG
Best regards,
Oguz.
On 25-Feb-26 3:42 PM, Bilko AS, Oguz Dilmac wrote:
Hi Again,
I just sent some dmesg outputs and a test program using a new ethercat
library. Unfortunately it hit a max 200KB attachment limit. Sorry I
didn't notice this limit before. And could not cancel my message either.
Anyway, I uploaded the files to wetransfer. I also uploaded a
wireshark log of twincat while the problem device goes to OP. Here is
the link:
https://we.tl/t-Yl7iRMSadB
I also copy my previous message here:
/Hello,
/ /
We went to customer side and used a test PC with ethercat library
1.6.7. We also used slave timeout function with 10 seconds.
/ /
We build a simple setup with only one device and one test PC. Still
the old device is going OP, and the new device don't.
/ /
At the attachments you can find some dmesg outputs. I also attached
the simple test program I used.
/ /
Some explanations for dmesg outputs:
/ /
* dmesg.OK.txt: Output for the working device. I just put it here as a
reference
/ /
* dmesg.Problem.txt: Output of the problematic device.
/ /
* dmesg.Problem.freerun.txt: I tried to activate freerun with
ecrt_slave_config_dc(sc, 0, 0, 0, 0, 0); I put it right before
ecrt_master_activate().
/ /
* dmesg.Problem.ManualStateChange: I tried to change state via command
line tool.
/ /
We also checked and see that both devices are going to OP with
twincat. If you suggest a way to get some log from twincat, we can try.
/ /
We are stuck 🙁 If you have any idea It would be great.
/ /
Best regards,
/ /
Oguz. /
On 20-Feb-26 1:30 PM, Richard Hacker wrote:
On Fri, 2026-02-20 at 12:49 +0300, Bilko AS, Oguz Dilmac wrote:
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.
Well, this shows that your configuration is probably not the issue and
is at the problem is at the slave's 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.
TwinCAT is not the standard, neither is our EtherCAT master. However,
both should implement the standard, but they do it differently
(naturally), especially regarding timing. The standard however ensures
that EtherCAT masters and slaves are immune to timing issues, but there
are always exceptions!
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?
You can try, but I do not see that you'll get much insight using
wireshark. The master commands the slave to go to INIT and there is
simply no reply from the slave acknowledging the state change. That is
why the master times out and gives up trying to bring the slave online.
Going to INIT is such a primitive state change for a slave that there
should be absolutely _no_ reason it takes any amount of time. So I am
not even convinced that ecrt_slave_config_state_timeout() would work.
I only know that some (complex) slaves may take time between PREOP-
SAFEOP and SAFEOP->OP transition when certain hardware needs to be
configured based on its configuration. But your slave is not there yet.
Before you use wireshark you can try switching debug to 1
`ethercat debug 1`
--
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
--
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
--
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