[ 2053.828195] EtherCAT ERROR 0-0: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 2053.828230] EtherCAT ERROR 0-0: AL status message 0x001E: "Invalid input configuration".
[ 2053.829026] EtherCAT 0-0: Acknowledged state PREOP.
[ 2058.466265] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 2058.466295] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[ 2058.466373] EtherCAT 0-1: Acknowledged state PREOP.
[ 2064.102133] EtherCAT ERROR 0-2: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[ 2064.102164] EtherCAT ERROR 0-2: AL status message 0x001E: "Invalid input configuration".
[ 2064.102244] EtherCAT 0-2: Acknowledged state PREOP.