kollmorgen AKD2G driver

Hello everyone, 
Has anybody worked with kollmorgen drivers with linuxcnc?

I have this error: Ethercat synchronisation error when i run linuxcnc. 

I attached my xml, hal, and ini file. slave 0 is a moons driver which works correctly with this config. 
slave 1 is the kollmorgen driver akd2g singel axis, which is not working.

 
 
 
 

Moved to "EtherCAT" section.

Hi -- did you have any luck sorting this out? I am not working with linuxcnc, but I am having a similar error with the akd2g + ethercat in ros2 and was wondering if there was a common thread.

hello,

Some time ago, Sebastian did the config ..

regards