Lichuan 4 axis stepper need help-

Can't you just forget about cia for the moment and only work with lcec, like I did.
And transition manually 6,7 15.

Hi, 
I am reading all the topics on EtherCAT and CIA402 carefully. Unfortunately, I am not a programmer and cannot contribute much.
But I found this page, maybe it will help?
EtherCAT Slave: CiA 402 example  

Note: would it be possible to incorporate certain safety routines? For example, a watchdog if the servo receives the command for homing but does not start moving.