cnc@CNC-01:~$ sudo dmesg | grep EtherCAT [ 4.698540] EtherCAT: Master driver 1.6.0 1.6.0.gcafd367-1+1.1 [ 4.698775] EtherCAT: 1 master waiting for devices. [ 4.716393] ec_generic: EtherCAT master generic Ethernet device module 1.6.0 1.6.0.gcafd367-1+1.1 [ 4.716403] EtherCAT: Accepting B4:96:91:95:02:70 as main device for master 0. [ 4.740924] EtherCAT 0: Starting EtherCAT-IDLE thread. [ 7.244913] EtherCAT 0: Link state of ecm0 changed to UP. [ 7.252819] EtherCAT 0: 8 slave(s) responding on main device. [ 7.252821] EtherCAT 0: Slave states on main device: INIT. [ 7.253362] EtherCAT 0: Scanning bus. [ 8.487296] EtherCAT ERROR 0-6: SDO upload 0x1C13:01 aborted. [ 8.487298] EtherCAT ERROR 0-6: SDO abort message 0x06090011: "Subindex does not exist". [ 8.487300] EtherCAT ERROR 0-6: Failed to read index of assigned PDO 1 from SM3. [ 8.950797] EtherCAT 0: Bus scanning completed in 1696 ms. [ 8.950799] EtherCAT 0: Using slave 0 as DC reference clock. [ 8.956577] EtherCAT 0: Slave states on main device: INIT, PREOP. [ 9.048907] EtherCAT 0: Slave states on main device: PREOP. [ 12.398639] EtherCAT ERROR 0-6: Reception of CoE SDO description request failed: No response. [ 12.606298] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1802:07! [ 12.606302] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 12.609970] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1802:09! [ 12.609972] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 12.624396] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1803:07! [ 12.624397] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 12.627826] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1803:09! [ 12.627827] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 12.642059] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1804:07! [ 12.642060] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 12.644999] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1804:09! [ 12.645000] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 12.660164] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1805:07! [ 12.660165] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 12.663129] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1805:09! [ 12.663130] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 380.317439] EtherCAT: Requesting master 0... [ 380.317442] EtherCAT: Successfully requested master 0. [ 380.510837] EtherCAT ERROR 0 0:7: PDO entry 0x1801:07 is not mapped. [ 380.510874] EtherCAT 0: Releasing master... [ 380.510899] EtherCAT 0: Released. [ 433.492592] EtherCAT: Requesting master 0... [ 433.492594] EtherCAT: Successfully requested master 0. [ 433.681675] EtherCAT ERROR 0 0:7: PDO entry 0x1801:07 is not mapped. [ 433.681707] EtherCAT 0: Releasing master... [ 433.681729] EtherCAT 0: Released. [ 537.517461] EtherCAT 0: Scanning bus. [ 538.718853] EtherCAT ERROR 0-6: Received unknown response while uploading SDO 0x1C12:00. [ 538.718856] EtherCAT DEBUG: 00 80 02 00 00 00 01 00 00 10 08 10 09 10 0A 10 [ 538.718863] EtherCAT DEBUG: 11 10 18 10 F0 10 00 16 01 16 02 16 03 16 00 1C [ 538.718869] EtherCAT DEBUG: 12 1C 32 1C 00 70 10 70 20 70 30 70 00 80 0E 80 [ 538.718875] EtherCAT DEBUG: 0F 80 10 80 1E 80 1F 80 20 80 2E 80 2F 80 30 80 [ 538.718881] EtherCAT DEBUG: 3E 80 3F 80 00 F0 08 F0 [ 538.718884] EtherCAT ERROR 0-6: Failed to read number of assigned PDOs for SM2. [ 538.720815] EtherCAT ERROR 0-6: Received upload response for wrong SDO (0x1C12:00, requested: 0x1C13:00). [ 538.720816] EtherCAT DEBUG: 00 30 4F 12 1C 00 04 00 00 00 [ 538.724244] EtherCAT ERROR 0-6: SDO upload 0x1C13:01 aborted. [ 538.724245] EtherCAT ERROR 0-6: SDO abort message 0x06090011: "Subindex does not exist". [ 538.724247] EtherCAT ERROR 0-6: Failed to read index of assigned PDO 1 from SM3. [ 539.148859] EtherCAT ERROR 0-7: SDO upload 0x0116:00 aborted. [ 539.148862] EtherCAT ERROR 0-7: SDO abort message 0x06020000: "This object does not exist in the object directory". [ 539.148864] EtherCAT ERROR 0-7: Failed to read number of mapped PDO entries. [ 539.148865] EtherCAT ERROR 0-7: Failed to read mapped PDO entries for PDO 0x0116. [ 539.152779] EtherCAT ERROR 0-7: SDO upload 0x011A:00 aborted. [ 539.152780] EtherCAT ERROR 0-7: SDO abort message 0x06020000: "This object does not exist in the object directory". [ 539.152781] EtherCAT ERROR 0-7: Failed to read number of mapped PDO entries. [ 539.152781] EtherCAT ERROR 0-7: Failed to read mapped PDO entries for PDO 0x011A. [ 539.152782] EtherCAT 0: Bus scanning completed in 1636 ms. [ 539.152784] EtherCAT 0: Using slave 0 as DC reference clock. [ 543.373290] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1802:07! [ 543.373293] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 543.376961] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1802:09! [ 543.376963] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 543.391146] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1803:07! [ 543.391148] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 543.394111] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1803:09! [ 543.394112] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 543.408321] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1804:07! [ 543.408322] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 543.411750] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1804:09! [ 543.411751] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 543.425717] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1805:07! [ 543.425719] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 543.428879] EtherCAT WARNING 0-7: SDO information error response while fetching SDO entry 0x1805:09! [ 543.428880] EtherCAT ERROR 0-7: SDO abort message 0x06090011: "Subindex does not exist". [ 1369.779093] EtherCAT: Requesting master 0... [ 1369.779096] EtherCAT: Successfully requested master 0. [ 1369.967880] EtherCAT ERROR 0 0:6: PDO entry 0x7000:01 is not mapped. [ 1369.967909] EtherCAT 0: Releasing master... [ 1369.967935] EtherCAT 0: Released. cnc@CNC-01:~$ ethercat slaves 0 0:0 PREOP + EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch) 1 0:1 PREOP + EL5002 2K. SSI Encoder 2 0:2 PREOP + EL1819 16K. Dig. Eingang 24V, 10�s 3 0:3 PREOP + EL1819 16K. Dig. Eingang 24V, 10�s 4 0:4 PREOP + EL2809 16K. Dig. Ausgang 24V, 0.5A 5 0:5 PREOP + EL2809 16K. Dig. Ausgang 24V, 0.5A 6 0:6 PREOP + EL4034 4K. Ana. Ausgang +/-10V, 12bit 7 0:7 PREOP + EP5101-0011 1K. Inc. Encoder 5V, D-SUB15