Problems with Lichuan Ethercat servo drive

[  +0.028027] EtherCAT 0: 1 slave(s) responding on main device. [  +0.000006] EtherCAT 0: Slave states on main device: INIT. [  +0.000528] EtherCAT 0: Scanning bus. [  +0.401850] EtherCAT ERROR 0-0: Invalid data size 2 at uploading SDO 0x1703:01. [  +0.000004] EtherCAT ERROR 0-0: Failed to read mapped PDO entries for PDO 0x1703. [  +0.024048] EtherCAT ERROR 0-0: Invalid data size 1 at uploading SDO 0x1B03:09. [  +0.000002] EtherCAT ERROR 0-0: Failed to read mapped PDO entries for PDO 0x1B03. [  +0.000002] EtherCAT 0: Bus scanning completed in 424 ms. [  +0.000001] EtherCAT 0: Using slave 0 as DC reference clock. [  +0.005533] EtherCAT 0: Slave states on main device: PREOP. [Apr16 18:00] EtherCAT: Requesting master 0... [  +0.000005] EtherCAT: Successfully requested master 0. [  +0.000143] EtherCAT 0: Domain0: Logical address 0x00000000, 196 byte, expected working counter 1. [  +0.000002] EtherCAT 0:   Datagram domain0-0-main: Logical offset 0x00000000, 196 byte, type LWR. [  +0.000012] EtherCAT 0: Master thread exited. [  +0.000002] EtherCAT 0: Starting EtherCAT-OP thread. [  +0.000036] EtherCAT WARNING 0: 2 datagrams TIMED OUT! [  +0.087224] EtherCAT ERROR 0-0: SDO upload 0x1601:00 aborted. [  +0.000006] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory". [  +0.000002] EtherCAT ERROR 0-0: Failed to read number of mapped PDO entries. [  +0.000001] EtherCAT WARNING 0-0: Failed to read PDO entries for PDO 0x1601. [  +0.004992] EtherCAT ERROR 0-0: SDO download 0x1601:00 (1 bytes) aborted. [  +0.000003] EtherCAT ERROR 0-0: SDO abort message 0x06020000: "This object does not exist in the object directory". [  +0.000001] EtherCAT WARNING 0-0: Failed to clear PDO mapping. [  +0.000001] EtherCAT WARNING 0-0: Currently mapped PDO entries: (none). Entries to map: 0x6040:00/16 0x6060:00/8 0x607A:00/32 [  +0.000005] EtherCAT WARNING 0-0: Failed to configure mapping of PDO 0x1601. [  +5.056991] EtherCAT WARNING 0-0: Slave did not sync after 5000 ms. [  +0.004002] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [  +0.000996] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration". [  +0.002000] EtherCAT 0-0: Acknowledged state PREOP. [ +13.761889] EtherCAT 0: Master thread exited. [  +0.000023] EtherCAT 0: Starting EtherCAT-IDLE thread. [  +0.000032] EtherCAT ERROR 0-0: Failed to receive AL state datagram: Datagram initialized. [  +0.000011] EtherCAT 0: Releasing master... [  +0.000001] EtherCAT 0: Released. [  +0.358490] EtherCAT WARNING: Datagram 0000000040ce6834 (master-fsm) was SKIPPED 1 time.