sudo apt purge ethercat-master ethercat-dkms linuxcnc-ethercat
mkdir /home/s123/etherlab
cd /home/s123/etherlab
git clone https://gitlab.com/etherlab.org/ethercat
cd ethercat
./bootstrap
./configure --sysconfdir=/etc --disable-eoe
make all modules
sudo make modules_install install
sudo depmod

#check interface name(enp1s0) or mac addr
ip a

# insert name or mac and "generic" driver
sudo geany /etc/ethercat.conf

echo KERNEL==\"EtherCAT[0-9]*\", MODE=\"0664\" | sudo tee /etc/udev/rules.d/99-EtherCAT.rules

sudo systemctl daemon-reload
sudo systemctl start ethercat

ethercat version
ethercat slaves

cd /home/s123/etherlab/
git clone https://github.com/linuxcnc-ethercat/linuxcnc-ethercat
cd linuxcnc-ethercat/
make
sudo make install