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Howdy all,
     I am working out the high level architecture (and ordering) for a Ethercat retrofit of my CNC Mill ( its VFD is dying and its as good an excuse as any to re work may decisions I made on it when I converted it to LinuxCNC the first time).. 

Anyways, I am looking at the MPG and realizing that I have open IO pins on my pi (like all of them).

So here is my current "plan" for I/O which I would love feedback on 

1x EK1100 - Ethercat to FieldBus coupler
2x EL1819  - 16 inputs (I need 28 so 2 it is) - (the response time is killer vs the EL1809)
1x EL2819 - 16 output (need 11 so that works)
1x EL5151 - Encoder for the MPG  <-- this is where I would love feedback because this guy is $250 used

The really open question is what risks on integration and general PITA am I facing if I use my Pi's IO pins to handle MPG encoder rather than the spendy EL5151. 

I plan to use either Leadshine or Innovance mult-turn servos for all of my motors and spindle so my only current known need for an encoder is the MPG...  This is less a question of "can I mix Ethercat with Pi IO pins" and more a question of "should I"... Am I setting myself up for sparks and pain getting the realtime thread where the Pi IO will come in syncing with the rest of the system that is all running on the Server Thread? 

To that end, should I be using other parts of the Pi's IO for emergency stuff like e-stop? 

Thanks in advance. 

You were right: The servo had a slave id o as well as the ek1100. I fixed that. The error msg seems to stay the same.

wopass: load_the_modules cmd=<orig_loadrt lcec>
waitpid failed /usr/bin/rtapi_app lcec
/usr/bin/rtapi_app exited without becoming ready
insmod for lcec failed, returned -1

Shutting down and cleaning up LinuxCNC...
Removing HAL_LIB, RTAPI, and Real Time OS modules
Removing NML shared memory segments

Debug file information:
Note: Using POSIX realtime
LinuxCNC Ethercat crashed with signal 11
-- STACK TRACE START
0 /usr/lib/linuxcnc/modules/lcec.so(+0xfc8c) [0x7f3c65f33c8c]
1 /lib/x86_64-linux-gnu/libc.so.6(+0x3c050) [0x7f3c66e4d050]
2 /lib/x86_64-linux-gnu/libethercat.so.1(ecrt_slave_config_pdos+0x2f) [0x7f3c65ef752f]
3 /usr/lib/linuxcnc/modules/lcec.so(rtapi_app_main+0x40a) [0x7f3c65f34f38]
4 /usr/bin/rtapi_app(+0x10cd7) [0x5595ad189cd7]
5 /usr/bin/rtapi_app(+0x1162e) [0x5595ad18a62e]
6 /usr/bin/rtapi_app(+0x11c2c) [0x5595ad18ac2c]
7 /usr/bin/rtapi_app(+0xc974) [0x5595ad185974]
8 /usr/bin/rtapi_app(main+0x70f) [0x5595ad18544f]
9 /lib/x86_64-linux-gnu/libc.so.6(+0x2724a) [0x7f3c66e3824a]
10 /lib/x86_64-linux-gnu/libc.so.6(__libc_start_main+0x85) [0x7f3c66e38305]
11 /usr/bin/rtapi_app(_start+0x21) [0x5595ad185861]
-- STACK TRACE END
Waiting for component 'cia402' to become ready.Waited 3 seconds for master. giving up.
Note: Using POSIX realtime

5660
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime
lcec: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
motmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
trivkins: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
homemod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
Note: Using POSIX realtime
tpmod: not loaded
<commandline>:0: exit value: 255
<commandline>:0: rmmod failed, returned -1
<commandline>:0: unloadrt failed
Note: Using POSIX realtime

This is what dmesg shows:

[ 4.277444] ec_master: loading out-of-tree module taints kernel.
[ 4.277719] ec_master: module verification failed: signature and/or required key missing - tainting kernel
[ 4.314529] EtherCAT: Master driver 1.6.4 1.6.4.g703b611-1+17.2
[ 4.314659] EtherCAT: 1 master waiting for devices.
[ 4.337595] ec_generic: EtherCAT master generic Ethernet device module 1.6.4 1.6.4.g703b611-1+17.2
[ 4.337610] EtherCAT: Accepting A0:36:9F:47:90:13 as main device for master 0.
[ 4.337624] ec_generic: Binding socket to interface 2 (enp2s0).
[ 4.360462] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 4.510128] NET: Registered PF_QIPCRTR protocol family
[ 6.785160] igb 0000:02:00.0 enp2s0: igb: enp2s0 NIC Link is Up 100 Mbps Full Duplex, Flow Control: RX
[ 6.785464] IPv6: ADDRCONF(NETDEV_CHANGE): enp2s0: link becomes ready
[ 6.792420] EtherCAT 0: Link state of ecm0 changed to UP.
[ 6.804450] EtherCAT 0: 8 slave(s) responding on main device. Re-scanning on next possibility.
[ 6.804453] EtherCAT 0: Slave states on main device: PREOP.
[ 6.804454] EtherCAT 0: Re-scanning now.
[ 6.804968] EtherCAT 0: Scanning bus.
[ 7.713258] e1000e 0000:00:1f.6 enp0s31f6: NIC Link is Up 1000 Mbps Full Duplex, Flow Control: Rx/Tx
[ 7.713306] IPv6: ADDRCONF(NETDEV_CHANGE): enp0s31f6: link becomes ready
[ 8.683950] EtherCAT 0: Bus scanning completed in 1876 ms.
[ 8.683953] EtherCAT 0: Using slave 0 as DC reference clock.
[ 192.576441] EtherCAT: Requesting master 0...
[ 192.576444] EtherCAT: Successfully requested master 0.
[ 192.576962] EtherCAT 0: Domain0: Logical address 0x00000000, 4 byte, expected working counter 6.
[ 192.576964] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 4 byte, type LRW.
[ 192.576972] EtherCAT 0: Master thread exited.
[ 192.576973] EtherCAT 0: Starting EtherCAT-OP thread.
[ 192.972388] EtherCAT 0: Slave states on main device: PREOP, OP.
[ 219.612558] EtherCAT 0: Master thread exited.
[ 219.612573] EtherCAT 0: Starting EtherCAT-IDLE thread.
[ 219.612597] EtherCAT ERROR 0-5: Failed to receive AL state datagram: Datagram initialized.
[ 219.612606] EtherCAT 0: Releasing master...
[ 219.612607] EtherCAT 0: Released.
[ 219.700744] EtherCAT 0: Slave states on main device: PREOP.
[ 219.788706] EtherCAT WARNING: Datagram 00000000c1702745 (master-fsm) was SKIPPED 1 time.
[ 1676.699770] EtherCAT: Requesting master 0...
[ 1676.699773] EtherCAT: Successfully requested master 0.
[ 1676.705131] EtherCAT 0: Releasing master...
[ 1676.705134] EtherCAT 0: Released.
[ 2530.014495] EtherCAT: Requesting master 0...
[ 2530.014498] EtherCAT: Successfully requested master 0.

I can`t really understand what`s going wrong