Things to check:
Bus scan in CONFIG mode shows no difference (also try to fix the blue ones with different revisions).
Correct IndraDrive/ctrlX drive XML file imported in TwinCAT (see documentation of peripheral). 1xVRS = firmware versions 10-19 (or 20ff if drive has only the small safety package like L3) 2xVRS = firmware versions 20ff with big safety package like S3
Bus diagnostics must show no CRC and link lost error:
All tasks (including IO Idle Task and NC/CNC tasks) have an Exeed Counter 0. If not, increase cycle time or change priorities or assign tasks to different CPU cores. IO Idle Task must have a cycle time that is a common divider of all other tasks, that means IO Idle Task 2ms and PlcTask 3ms is not recommended, but 2ms and 4ms or 2ms and 2ms would be ok.
Set Sync Units for different bus areas and device types and do not use Forced Sync Unit Tasks:
IndraDrives/ctrlX drives should not be the Distributed Clocks master. EK1100 is preferred as DC master if it is placed next to the PLC itself:
Distributed Clocks diagnosis should be <200 microseconds:
Do not use DHCP for the EoE mailbox settings of the drives. Either disable Virtual Ethernet Port or set fixed IP settings:
Ensure that there is enough current for the EK terminals:
Set drive off before changing the PLC software or stopping the PLC.
Change EtherCAT cables to/from the drive. Only use original Beckhoff cables. Don't use manually assembled cables/plugs.
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