Set mac adres :

https://www.beckhoff.com/english.asp?ethercat/el7041.htm
page 220

Read encoder internal or external (1=slave position):
ethercat -p 1 upload --type uint8 0x8012 0x08
Set :
sudo ethercat -p 1 download --type uint8 0x8012 0x08 1

Read motor supply voltage [mV] :
ethercat -p 1 upload --type uint16 0x8010 0x03
Set motor supply voltage [mV] :
sudo ethercat -p 1 download --type uint16 0x8010 0x03 24000 (24 V)

Read stepper motor current 0-5000[mA] :
ethercat -p 1 upload --type uint16 0x8010 0x01
Set stepper motor current [mA] :
sudo ethercat -p 1 download --type uint16 0x8010 0x01 1000

Reset Terminal to its Factory Settings
sudo ethercat -p 1 download --type uint32 0x1011 0x01 0x64616F6C

Read microstepping setting from driver
sudo ethercat upload -p 1 -t uint8 0x8012 0x45 

0 = Fullstep
1 = Halfstep
2 = 1/4 Microstepping
3 = 1/8 Microstepping
4 = 1/16 Microstepping
5 = 1/32 Microstepping
6 = 1/64 Microstepping

set microstepping :
sudo ethercat -p 1 download --type uint8 0x8012 0x45 6

Read function for input 1 :
sudo ethercat upload -p 1 -t uint8 0x8012 0x32

Read invert digital input 1 :
sudo ethercat upload -p 1 -t uint8 0x8012 0x30
Set invert digital input 1 :
sudo ethercat -p 1 download --type uint8 0x8012 0x30 1