paul@ChinaCNC2:~/Desktop$ sudo dmesg -T | grep EtherCAT
[sudo] password for paul: 
[Tue Nov 14 12:37:08 2023] EtherCAT: Master driver 1.5.2 1.5.2.348.gb18f365-1+146.1
[Tue Nov 14 12:37:08 2023] EtherCAT: 1 master waiting for devices.
[Tue Nov 14 12:37:08 2023] ec_generic: EtherCAT master generic Ethernet device module 1.5.2 1.5.2.348.gb18f365-1+146.1
[Tue Nov 14 12:37:08 2023] EtherCAT: Accepting 00:E0:4C:F1:B9:AF as main device for master 0.
[Tue Nov 14 12:37:08 2023] EtherCAT 0: Starting EtherCAT-IDLE thread.
[Tue Nov 14 12:37:08 2023] EtherCAT 0: Link state of ecm0 changed to UP.
[Tue Nov 14 12:37:08 2023] EtherCAT 0: Link state of ecm0 changed to DOWN.
[Tue Nov 14 12:37:10 2023] EtherCAT 0: Link state of ecm0 changed to UP.
[Tue Nov 14 12:37:10 2023] EtherCAT 0: 3 slave(s) responding on main device.
[Tue Nov 14 12:37:10 2023] EtherCAT 0: Slave states on main device: PREOP.
[Tue Nov 14 12:37:10 2023] EtherCAT 0: Scanning bus.
[Tue Nov 14 12:37:11 2023] EtherCAT ERROR 0-1: Unable to register net_device: error -17
[Tue Nov 14 12:37:11 2023] EtherCAT ERROR 0-1: Failed to init EoE handler!
[Tue Nov 14 12:37:11 2023] EtherCAT 0: Bus scanning completed in 192 ms.
[Tue Nov 14 12:37:11 2023] EtherCAT 0: Using slave 0 as DC reference clock.
[Tue Nov 14 12:37:11 2023] EtherCAT 0: Starting EoE thread.
[Tue Nov 14 12:37:11 2023] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[Tue Nov 14 12:37:11 2023] EtherCAT ERROR 0-0: AL status message 0x001D: "Invalid output configuration".
[Tue Nov 14 12:37:11 2023] EtherCAT 0-0: Acknowledged state PREOP.
[Tue Nov 14 12:37:11 2023] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[Tue Nov 14 12:37:11 2023] EtherCAT ERROR 0-2: AL status message 0x001D: "Invalid output configuration".
[Tue Nov 14 12:37:11 2023] EtherCAT 0-2: Acknowledged state PREOP.
paul@ChinaCNC2:~/Desktop$ sudo ethercat slaves
0   9668:0  PREOP  E  AKD EtherCAT Drive (CoE)
1   9668:0  PREOP  +  AKD EtherCAT Drive (CoE)
2  63957:0  PREOP  E  AKD EtherCAT Drive (CoE)