Ver 2.9.4 iso clean install Trouble when disabling EOE

Hakan
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19 Feb 2026 07:36 #343186 by Hakan

Replied by Hakan on topic Ver 2.9.4 iso clean install Trouble when disabling EOE

Those latency values should work, perfectly normal for linuxcnc.

What I see is in your syslog

[   42.074431] EtherCAT 0: Starting EtherCAT-OP thread.
[   47.297383] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms.
[   47.304384] EtherCAT 0: Domain 0: Working counter changed to 2/9.

The slaves were not able to synchronize their time in 5 sec.
I have had that problem myself and didn't solve it, it just went away one day.
The ethercat master sends a synchronize request every 1 msec, so 5000 requests are sent.
What I understand is that this initial synchronization is a slow process and sometimes 5000 requests is not enough.
What I read is that TwinCAT can send tens of thousands of synchronization requests when needed.

As an experiment you can increase this value to 50000, 10 times more, why hold back when experimenting?
It is this value in ethercat/master/fsm_slave_config.c

/** Maximum time (in ms) to wait for clock discipline.
 */
#define EC_DC_SYNC_WAIT_MS 5000

Change to

#define EC_DC_SYNC_WAIT_MS 50000

Compile the ethercat master, install it and make sure the new version runs.
And try again.
Interesting to hear if that works.

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