Hello Paula, I use the "TI AM243X.R5F CiA402.xml" esi file under "C:\ti\motor_control_sdk_am243x_09_00_00_05\ind_comms_sdk\source\industrial_comms\ethercat_slave\stack\esi". with the example mentioned by you (CiA402, freertos on core 0-0 on a AM243x-lp). BTW: I get the same error as in the second picture from you at time 12:16:53: AL error 16#1E. So what did you do afterwards that resolved this item? I will investigate further from 27Dec on. Merry Christmas and have a nice time rgds
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