Amplifier fault

Being inspired by Hakan video: (Thank you Hakan)

I have installed Linuxcnc 2.9.2 on Raspi 5 using Raspberry Pi 5 OS based on Debian Bookworm, located here: linuxcnc.org/downloads/
I have also installed successfully the CiA402 supporting sw as mentioned in the forum

My hardware is: Beckhoff EL1100, Beckhof 1809, Beckhof 2809, Two RTelligent drives ECT60
and two motors StepperOnline 17HS19-2004S1 (Nema 23 closed loop)

I try to execute the standard code that comes with Axis Lathe.
Unfortunatelly and although the whole system becomes Ready, immediately after program execution run
I get the error "joint 1: amplifier fault"
Can anybody indicate what is wrong with my system and maybe point to me any direction that can help to overcome this problem?
What "joint 1: amplifier error" even means?

command Ethercat master returns:
cnc@raspberrypi:~/linuxcnc/configs/sim.axis$ ethercat master
Master0
  Phase: Operation
  Active: yes
  Slaves: 5
  Ethernet devices:
    Main: d8:3a:dd:c2:2c:4b (attached)
      Link: UP
      Tx frames:   7241313
      Tx bytes:    758342228
      Rx frames:   7241312
      Rx bytes:    758342128
      Tx errors:   0
      Tx frame rate [1/s]:   1000   1000   1000
      Tx rate [KByte/s]:    102.5  102.5  102.4
      Rx frame rate [1/s]:   1000   1000   1000
      Rx rate [KByte/s]:    102.5  102.5  102.4
    Common:
      Tx frames:   7241313
      Tx bytes:    758342228
      Rx frames:   7241312
      Rx bytes:    758342128
      Lost frames: 0
      Tx frame rate [1/s]:   1000   1000   1000
      Tx rate [KByte/s]:    102.5  102.5  102.4
      Rx frame rate [1/s]:   1000   1000   1000
      Rx rate [KByte/s]:    102.5  102.5  102.4
      Loss rate [1/s]:          0     -0      0
      Frame loss [%]:         0.0   -0.0    0.0
  Distributed clocks:
    Reference clock:   Slave 0
    DC reference time: 768116871044400000
    Application time:  768124063237637764
                       2024-05-04 07:47:43.237637764

and the ethercat slaves returns:
cnc@raspberrypi:~/linuxcnc/configs/sim.axis$ ethercat slaves
0  0:0  OP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  OP  +  EL1809 16K. Dig. Eingang 24V, 3ms
2  0:2  OP  +  EL2809 16K. Dig. Ausgang 24V, 0.5A
3  0:3  OP  +  ECT60V202(COE)
4  0:4  OP  +  ECT60V202(COE)

I attach my lathe.ini, second.hal and second.xml files I currently use 
 
 
 
 

Simple troubleshooting: have you tried swapping the X and Z drives (ECT60s)? Just change order of the ethercat cables.
Does the fault follow the current Z drive (fault should become amplifier joint 0 fault)?

In this context the "Amplifier" is the actual servo drive. (historically they converted a low current +/- 10V control voltage into hundreds of volts and tens of amps, so really were an amplifier. The term is rather less accurate now.

Are your encoders really 10000 pulses per rev?
The rtelligent drive defaults are 800 

Dear all,

First of all, thanks for your support.
Finally I discovered what the problem was and since is kind strange this info might be useful to others as well.
Actually, the encoder pin layout for STEPPERONLINE motor model 23HS22-4004D-E1000 is WRONG! In motors manual and in relevant site the pins are referred to as 2:Vcc, 3:EGND, 1:EA+, 13:EA+, 11:EB+, 12:EB- 
I followed the cable from the D-Connector up to motor PBC and I found out that the actual pins are:
2:Vcc, 3:EGND, 1:EB+, 13:EB-, 11:EA+, 12:EA-

Following the relevant changes, now my ETHERCAT system works perfectly (up to this point!)

Thanks again for your interest