Ethercat with EL6751 CanOpen Master

Hey guys

I try to connect my Nanotec drive with Beckhoffs EL6751 CanOpen Master.
In Twincat3 it communicates pretty well. Now I export my configuration to LinuxCNC as XML File. (see attachment)
The problem is that when I start the config, LinuxCNC makes strange things. The PDOs don't communicate and the dmesg gives:

[Mi Mai 13 16:56:40 2020] EtherCAT 0: Slave states on main device: INIT, PREOP.
[Mi Mai 13 16:56:40 2020] EtherCAT 0: Domain 0: Working counter changed to 4/9.
[Mi Mai 13 16:56:40 2020] EtherCAT 0: Slave states on main device: INIT, SAFEOP, OP.
[Mi Mai 13 16:56:40 2020] EtherCAT 0: Slave states on main device: INIT, OP.
[Mi Mai 13 16:56:40 2020] EtherCAT 0: Slave states on main device: PREOP, OP.
[Mi Mai 13 16:56:40 2020] EtherCAT WARNING 0-main-5: Slave does not support assigning PDOs!
[Mi Mai 13 16:56:40 2020] EtherCAT WARNING 0-main-5: Currently assigned PDOs: (none). PDOs to assign: 0x1600
[Mi Mai 13 16:56:40 2020] EtherCAT WARNING 0-main-5: Slave does not support assigning PDOs!
[Mi Mai 13 16:56:40 2020] EtherCAT WARNING 0-main-5: Currently assigned PDOs: (none). PDOs to assign: 0x1A00 0x1A80
[Mi Mai 13 16:56:40 2020] EtherCAT 0: Slave states on main device: SAFEOP, OP.
[Mi Mai 13 16:56:40 2020] EtherCAT 0: Slave states on main device: OP.

The hardware states runs exactly like in Twincat. LinuxCNC-Hal shows all l_cec things are in Op.
I'm not sure, if i made a mistake in the XML File.

If someone has more Information give me feedback

Thx Patis

Hi @Patis,
What do you mean by weird things? Could it be that you have lost synchronism? always remain in OP? It is very difficult to know the problem without having the physical devices, could it be that you have any problem with the configuration?

Greeting
Chimeno