root@SWES-Linux:/home/daniel/EtherCAT/ethercat-devel-r1680/tool# ./ethercat slaves
0  0:0  OP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
1  0:1  OP  +  EL4732 2K. Ana. Ausgang +/-10V, Oversample
root@SWES-Linux:/home/daniel/EtherCAT/ethercat-devel-r1680/tool# ./ethercat data | hexdump
0000000 7fff 0000
0000004
root@SWES-Linux:/home/daniel/EtherCAT/ethercat-devel-r1680/tool# ./ethercat xml
<?xml version="1.0" ?>
  <EtherCATInfo>
    <!-- Slave 0 -->
    <Vendor>
      <Id>2</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x044c2c52" RevisionNo="#x00110000">EK1100</Type>
          <Name><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
        </Device>
     </Devices>
  </Descriptions>
</EtherCATInfo>
<?xml version="1.0" ?>
  <EtherCATInfo>
    <!-- Slave 1 -->
    <Vendor>
      <Id>2</Id>
    </Vendor>
    <Descriptions>
      <Devices>
        <Device>
          <Type ProductCode="#x127c3052" RevisionNo="#x00030000">EL4732</Type>
          <Name><![CDATA[EL4732 2K. Ana. Ausgang +/-10V, Oversample]]></Name>
          <Sm Enable="9" StartAddress="4096" ControlByte="100" DefaultSize="0" />
          <Sm Enable="9" StartAddress="5120" ControlByte="100" DefaultSize="0" />
          <Sm Enable="4" StartAddress="2456" ControlByte="0" DefaultSize="0" />
          <RxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1680</Index>
            <Name>Ch1 CycleCount</Name>
            <Entry>
              <Index>#x7800</Index>
              <SubIndex>1</SubIndex>
              <BitLen>16</BitLen>
              <Name>Ch1 CycleCount</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="0" Fixed="1" Mandatory="1">
            <Index>#x1600</Index>
            <Name>Ch1 Sample</Name>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>1</SubIndex>
              <BitLen>16</BitLen>
              <Name>Ch1 Value</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="1" Fixed="1" Mandatory="1">
            <Index>#x1780</Index>
            <Name>Ch2 CycleCount</Name>
            <Entry>
              <Index>#x7800</Index>
              <SubIndex>2</SubIndex>
              <BitLen>16</BitLen>
              <Name>Ch2 CycleCount</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </RxPdo>
          <RxPdo Sm="1" Fixed="1" Mandatory="1">
            <Index>#x1700</Index>
            <Name>Ch2 Sample</Name>
            <Entry>
              <Index>#x7000</Index>
              <SubIndex>2</SubIndex>
              <BitLen>16</BitLen>
              <Name>Ch2 Value</Name>
              <DataType>UINT16</DataType>
            </Entry>
          </RxPdo>
          <TxPdo Sm="2" Fixed="1" Mandatory="1">
            <Index>#x1a82</Index>
            <Name>StartTimeNextOutput</Name>
            <Entry>
              <Index>#x1d09</Index>
              <SubIndex>152</SubIndex>
              <BitLen>32</BitLen>
              <Name>StartTimeNextOutput</Name>
              <DataType>UINT32</DataType>
            </Entry>
          </TxPdo>
        </Device>
     </Devices>
  </Descriptions>
</EtherCATInfo>