paul@GX620:~$ sudo dmesg -T |grep EtherCAT
[sudo] password for paul: 
[Fri Nov 12 15:38:23 2021] EtherCAT: Master driver 1.5.2 unknown
[Fri Nov 12 15:38:23 2021] EtherCAT: 1 master waiting for devices.
[Fri Nov 12 15:38:23 2021] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 unknown
[Fri Nov 12 15:38:23 2021] EtherCAT: Accepting 90:E2:BA:0E:92:07 as main device for master 0.
[Fri Nov 12 15:38:23 2021] EtherCAT 0: Starting EtherCAT-IDLE thread.
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Link state of ecm0 changed to UP.
[Fri Nov 12 15:38:32 2021] EtherCAT 0: 3 slave(s) responding on main device.
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Slave states on main device: PREOP, SAFEOP + ERROR.
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Scanning bus.
[Fri Nov 12 15:38:32 2021] EtherCAT WARNING 0-main-1: Slave has state error bit set (SAFEOP + ERROR)!
[Fri Nov 12 15:38:32 2021] EtherCAT WARNING 0-main-2: Slave has state error bit set (SAFEOP + ERROR)!
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Bus scanning completed in 252 ms.
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Using slave main-0 as DC reference clock.
[Fri Nov 12 15:38:32 2021] EtherCAT ERROR 0-main-1: AL status message 0x001B: "Sync manager watchdog".
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Slave states on main device: INIT, SAFEOP + ERROR.
[Fri Nov 12 15:38:32 2021] EtherCAT ERROR 0-main-2: AL status message 0x001B: "Sync manager watchdog".
[Fri Nov 12 15:38:32 2021] EtherCAT 0-main-1: Acknowledged state SAFEOP.
[Fri Nov 12 15:38:32 2021] EtherCAT 0-main-2: Acknowledged state SAFEOP.
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Slave states on main device: INIT.
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Slave states on main device: INIT, PREOP.
[Fri Nov 12 15:38:32 2021] EtherCAT 0: Slave states on main device: PREOP.
paul@GX620:~$ sudo ethercat slaves
0   9668:0  PREOP  +  AKD EtherCAT Drive (CoE)
1   9668:0  PREOP  +  AKD EtherCAT Drive (CoE)
2  63957:0  PREOP  +  AKD EtherCAT Drive (CoE)