Unable to transition to SAFEOP state

[JianMX]

Hi,
This is my first time using SOEM, and I hope I can get some help here.
My slave is unable to transition to the SAFEOP state. Debugging shows that Slave 1 State = 12 and StatusCode = 70: Unknown.
There is a strange phenomenon: if I first run it with TwinCAT, it works fine with SOEM afterward. However, after power failure and restart, it cannot work again."
I have attached the Wireshark file and XML file.

https://drive.google.com/file/d/14HknlOFZlrpKW_pcMZ3e_Qr82K-sA3Re/view?usp=drive_link

https://drive.google.com/file/d/1pj5xYn4Gdsg1_9req-btaycTt-ubqpNw/view?usp=drive_link

SOEM (Simple Open EtherCAT Master)
Slaveinfo
Starting slaveinfo
ec_init on \Device\NPF_{F02B4208-BC62-453C-BF06-521939C7A538} succeeded.
1 slaves found and configured.
Calculated workcounter 3
Not all slaves reached safe operational state.
Slave 1 State=12 StatusCode= 70 : Unknown

Slave:1
Name:EX-1100
Output size: 64bits
Input size: 144bits
State: 18
Delay: 0[ns]
Has DC: 1
DCParentport:0
Activeports:1.0.0.0
Configured address: 1001
Man: 00444543 ID: 00000001 Rev: 00010001
SM0 A:1000 L: 512 F:00010026 Type:1
SM1 A:1200 L: 512 F:00010022 Type:2
SM2 A:1400 L: 8 F:00010064 Type:3
SM3 A:1a00 L: 18 F:00010020 Type:4
FMMU0 Ls:00000000 Ll: 8 Lsb:0 Leb:7 Ps:1400 Psb:0 Ty:02 Act:01
FMMU1 Ls:00000008 Ll: 18 Lsb:0 Leb:7 Ps:1a00 Psb:0 Ty:01 Act:01
FMMUfunc 0:1 1:2 2:3 3:0
MBX length wr: 512 rd: 512 MBX protocols : 04
CoE details: 23 FoE details: 00 EoE details: 00 SoE details: 00
Ebus current: 0[mA]
only LRD/LWR:0
PDO mapping according to CoE :
SM2 outputs
addr b index: sub bitl data_type name
[0x0000.0] 0x7000:0x01 0x01 BOOLEAN Channel 1
[0x0000.1] 0x7000:0x02 0x01 BOOLEAN Channel 2
[0x0000.2] 0x7000:0x03 0x01 BOOLEAN Channel 3
[0x0000.3] 0x7000:0x04 0x01 BOOLEAN Channel 4
[0x0000.4] 0x7000:0x05 0x01 BOOLEAN Channel 5
[0x0000.5] 0x7000:0x06 0x01 BOOLEAN Channel 6
[0x0000.6] 0x7000:0x07 0x01 BOOLEAN Channel 7
[0x0000.7] 0x7000:0x08 0x01 BOOLEAN Channel 8
[0x0001.0] 0x7000:0x09 0x01 BOOLEAN Channel 9
[0x0001.1] 0x7000:0x0A 0x01 BOOLEAN Channel 10
[0x0001.2] 0x7000:0x0B 0x01 BOOLEAN Channel 11
[0x0001.3] 0x7000:0x0C 0x01 BOOLEAN Channel 12
[0x0001.4] 0x7000:0x0D 0x01 BOOLEAN Channel 13
[0x0001.5] 0x7000:0x0E 0x01 BOOLEAN Channel 14
[0x0001.6] 0x7000:0x0F 0x01 BOOLEAN Channel 15
[0x0001.7] 0x7000:0x10 0x01 BOOLEAN Channel 16
[0x0002.0] 0x7020:0x01 0x01 BOOLEAN Clear Count Value Of Channel 1
[0x0002.1] 0x7020:0x02 0x01 BOOLEAN Disable Z Phase Of Channel 1
[0x0002.2] 0x7020:0x03 0x01 BOOLEAN Count Direction Of Channel 1
[0x0002.3] 0x7020:0x04 0x01 BOOLEAN Enable Channel 1
[0x0002.4] 0x7020:0x05 0x01 BOOLEAN Enable Latch Of Channel 1
[0x0002.5] 0x7021:0x01 0x20 UNSIGNED32 Initial Count Value
[0x0006.5] 0x0000:0x00 0x0B
SM3 inputs
addr b index: sub bitl data_type name
[0x0008.0] 0x6002:0x01 0x01 BOOLEAN Temperature Alarm
[0x0008.1] 0x6002:0x02 0x01 BOOLEAN Voltage Alarm
[0x0008.2] 0x6002:0x03 0x0E dt:0x0000 (14) SubIndex 003
[0x000A.0] 0x6010:0x01 0x01 BOOLEAN Channel 1
[0x000A.1] 0x6010:0x02 0x01 BOOLEAN Channel 2
[0x000A.2] 0x6010:0x03 0x01 BOOLEAN Channel 3
[0x000A.3] 0x6010:0x04 0x01 BOOLEAN Channel 4
[0x000A.4] 0x6010:0x05 0x01 BOOLEAN Channel 5
[0x000A.5] 0x6010:0x06 0x01 BOOLEAN Channel 6
[0x000A.6] 0x6010:0x07 0x01 BOOLEAN Channel 7
[0x000A.7] 0x6010:0x08 0x01 BOOLEAN Channel 8
[0x000B.0] 0x6010:0x09 0x01 BOOLEAN Channel 9
[0x000B.1] 0x6010:0x0A 0x01 BOOLEAN Channel 10
[0x000B.2] 0x6010:0x0B 0x01 BOOLEAN Channel 11
[0x000B.3] 0x6010:0x0C 0x01 BOOLEAN Channel 12
[0x000B.4] 0x6010:0x0D 0x01 BOOLEAN Channel 13
[0x000B.5] 0x6010:0x0E 0x01 BOOLEAN Channel 14
[0x000B.6] 0x6010:0x0F 0x01 BOOLEAN Channel 15
[0x000B.7] 0x6010:0x10 0x01 BOOLEAN Channel 16
[0x000C.0] 0x6012:0x11 0x01
[0x000C.1] 0x6012:0x12 0x01
[0x000C.2] 0x6012:0x03 0x0E dt:0x0000 (14) SubIndex 003
[0x000E.0] 0x6020:0x01 0x01 BOOLEAN Latch Signal Of Channel 1
[0x000E.1] 0x6020:0x02 0x0F dt:0x0000 (15) SubIndex 002
[0x0010.0] 0x6021:0x03 0x20
[0x0014.0] 0x6021:0x04 0x20
[0x0018.0] 0x6022:0x05 0x01
[0x0018.1] 0x6022:0x06 0x01
[0x0018.2] 0x6022:0x03 0x0E dt:0x0000 (14) SubIndex 003
End slaveinfo, close socket
End program

[ArthurKetels]

Sorry, I can not access the google drive. From the slave info text output I can not find anything wrong.

[JianMX]

抱歉，我无法访问 google drive。从 slave info 文本输出中，我找不到任何错误。

The slave’s supplier gave me the following information, but I don’t know how to handle it in SOEM.

Detected Module Ident List (0xF030) and Configured Module Ident List (0xF050) do not match

This involves the Slot parameters. On the master side, check if the 0xF030 index is not configured.

I'm not sure how the master is handling this. After powering on the slave, these two indices should be filled with the corresponding module IDs. As for how the master handles these two indices, we need to look at the master’s code or capture packets with TwinCAT to compare. This will help you check if your upper-level machine is missing steps related to these two indices.