[ 1072.055345] EtherCAT 0: Releasing master... [ 1072.055350] EtherCAT 0: Released. [ 1072.172545] EtherCAT 0: Slave states on main device: PREOP. [ 1083.426364] EtherCAT: Requesting master 0... [ 1083.426368] EtherCAT: Successfully requested master 0. [ 1083.426421] EtherCAT 0: Domain0: Logical address 0x00000000, 0 byte, expected working counter 0. [ 1083.426810] EtherCAT 0: Master thread exited. [ 1083.426813] EtherCAT 0: Starting EtherCAT-OP thread. [ 1083.711515] EtherCAT WARNING 0-1: Slave does not support assigning PDOs! [ 1083.711516] EtherCAT WARNING 0-1: [ 1083.711517] Currently assigned PDOs: [ 1083.711518] 0x1A80 [ 1083.711519] . PDOs to assign: [ 1083.711519] (none) [ 1083.727570] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR). [ 1083.731582] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration". [ 1083.739598] EtherCAT 0-1: Acknowledged state PREOP. [ 1083.743607] EtherCAT 0: Slave states on main device: PREOP, OP. usr@we80-cnc:~$ ethercat slaves 0 0:0 OP + EK1100 EtherCAT-Koppler (2A E-Bus) 1 0:1 PREOP E EL6751 CANopen Master usr@we80-cnc:~$ ethercat -p1 pdos SM0: PhysAddr 0x1800, DefaultSize 558, ControlRegister 0x26, Enable 1 SM1: PhysAddr 0x1a2e, DefaultSize 558, ControlRegister 0x22, Enable 1 SM2: PhysAddr 0x1000, DefaultSize 0, ControlRegister 0x26, Enable 1 SM3: PhysAddr 0x1400, DefaultSize 0, ControlRegister 0x22, Enable 1 TxPDO 0x1a80 "Status PDO Mapping" PDO entry 0xf100:01, 8 bit, "Number of Nodes with Node State unequal 0 " PDO entry 0xf100:03, 16 bit, "CAN Status " PDO entry 0xf100:04, 8 bit, "Rx Error Counter from CAN-Controller " PDO entry 0xf100:05, 8 bit, "Tx Error Counter from CAN-Controller "