LinuxCnc Ethercat With Rexroth Hcs Drives not coming to AF

I am using Raspberry Pi 4 4gb with linuxcnc and Rexroth HCS, 
I can Abel to get it to AB and also to OP mode but when i enable power on Drives immediately giving E4002 warning and when "dmesg" command i am getting the following error that Pdo that slaves doesn't  support Pdo changing 

Can Anyone please provide the files (ini, hal,xml, files for the rexroth SOE )

please give an description of the drive error E4002,

if the slave gets op state, then pdo config has worked...
Do the drives stay in op mode after enabling power, or does ethercat "crash"....

this is not related to the error, but check the function running order in your hal file,
put the addf from inputs convert after lcec.read-all and the addf for output converts in front of lcec.writeall

When i given command linuxcnc lathe.ini then Gui coming on and then drive coming OP in ethercat Sate and Rexroth drive display showing AB from P0. After that i released emergency and then enable button nothing happening
Drive Motor still not get power from drive