diff --git a/cmvr-es/config/devices/arm/ethercat_dual_arm.pb.txt b/cmvr-es/config/devices/arm/ethercat_dual_arm.pb.txt
index ef6171c4..287fce1e 100644
--- a/cmvr-es/config/devices/arm/ethercat_dual_arm.pb.txt
+++ b/cmvr-es/config/devices/arm/ethercat_dual_arm.pb.txt
@@ -3,16 +3,16 @@ arm {
     id: "right_ethercat_arm"
 
     motor {
-      motor_system_id: "right_arm_ethercat_motors"
-      motor_group_ids: "right_arm_ethercat_motors"
+      motor_system_id: "dual_arm_ethercat_motors"
+      motor_group_ids: "dual_arm_ethercat_motors"
       dof: 7
-      joint_names: "R_SHOULDER_P"
-      joint_names: "R_SHOULDER_R"
-      joint_names: "R_SHOULDER_Y"
-      joint_names: "R_ELBOW_R"
-      joint_names: "R_WRIST_P"
-      joint_names: "R_WRIST_Y"
-      joint_names: "R_WRIST_R"
+      joint_names: "right_arm_J1"
+      joint_names: "right_arm_J2"
+      joint_names: "right_arm_J3"
+      joint_names: "right_arm_J4"
+      joint_names: "right_arm_J5"
+      joint_names: "right_arm_J6"
+      joint_names: "right_arm_J7"
       upd_freq: 1000
       buffer_size: 50
       default_vel: 1.0
@@ -21,10 +21,9 @@ arm {
 
     kinematics {
       pinocchio_dls_ik_solver {
-        urdf_path: "model/xiaoyan_description/dual_arm.urdf"
-        base_frame_name: "PELVIS_S"
-        flange_frame_name: "R_WRIST_R_S"
-        tcp_frame_name: "R_FINGER_TIP_FIXED"
+        urdf_path: "model/gen2/robot.urdf"
+        base_frame_name: "body_link"
+        flange_frame_name: "arm_link_7_2"
         max_iters: 100
         pos_eps: 1e-6
         rot_eps: 1e-6
@@ -33,13 +32,13 @@ arm {
           limits {
             enable: true
             source: JOINT_LIMIT_SOURCE_CUSTOM
-            joints { joint_name: "R_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
-            joints { joint_name: "R_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
-            joints { joint_name: "R_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
-            joints { joint_name: "R_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 }
-            joints { joint_name: "R_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
-            joints { joint_name: "R_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 }
-            joints { joint_name: "R_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
+            joints { joint_name: "right_arm_J1" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+            joints { joint_name: "right_arm_J2" q_lb: -0.64 q_ub: 1.64 qd: 5.0 qdd: 10.0 }
+            joints { joint_name: "right_arm_J3" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+            joints { joint_name: "right_arm_J4" q_lb: -1.60 q_ub: 1.60 qd: 5.0 qdd: 10.0 }
+            joints { joint_name: "right_arm_J5" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+            joints { joint_name: "right_arm_J6" q_lb: -0.37 q_ub: 0.79 qd: 5.0 qdd: 10.0 }
+            joints { joint_name: "right_arm_J7" q_lb: -0.61 q_ub: 0.58 qd: 5.0 qdd: 10.0 }
           }
           soft_limit {
             enable: true
@@ -166,13 +165,13 @@ arm {
           motor_system_id: "dual_arm_ethercat_motors"
           motor_group_ids: "dual_arm_ethercat_motors"
           dof: 7
-          joint_names: "L_SHOULDER_P"
-          joint_names: "L_SHOULDER_R"
-          joint_names: "L_SHOULDER_Y"
-          joint_names: "L_ELBOW_R"
-          joint_names: "L_WRIST_P"
-          joint_names: "L_WRIST_Y"
-          joint_names: "L_WRIST_R"
+          joint_names: "left_arm_J1"
+          joint_names: "left_arm_J2"
+          joint_names: "left_arm_J3"
+          joint_names: "left_arm_J4"
+          joint_names: "left_arm_J5"
+          joint_names: "left_arm_J6"
+          joint_names: "left_arm_J7"
           upd_freq: 1000
           buffer_size: 50
           default_vel: 1.0
@@ -181,10 +180,9 @@ arm {
 
         kinematics {
           pinocchio_dls_ik_solver {
-            urdf_path: "model/xiaoyan_description/dual_arm.urdf"
-            base_frame_name: "PELVIS_S"
-            flange_frame_name: "L_WRIST_R_S"
-            tcp_frame_name: "L_FINGER_TIP_FIXED"
+            urdf_path: "model/gen2/robot.urdf"
+            base_frame_name: "body_link"
+            flange_frame_name: "arm_link_7"
             max_iters: 100
             pos_eps: 1e-6
             rot_eps: 1e-6
@@ -193,13 +191,13 @@ arm {
               limits {
                 enable: true
                 source: JOINT_LIMIT_SOURCE_CUSTOM
-                joints { joint_name: "L_SHOULDER_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
-                joints { joint_name: "L_SHOULDER_R" q_lb: -0.78 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
-                joints { joint_name: "L_SHOULDER_Y" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
-                joints { joint_name: "L_ELBOW_R" q_lb: 0 q_ub: 2.05 qd: 5.0 qdd: 10.0 }
-                joints { joint_name: "L_WRIST_P" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
-                joints { joint_name: "L_WRIST_Y" q_lb: -0.78 q_ub: 0.78 qd: 5.0 qdd: 10.0 }
-                joints { joint_name: "L_WRIST_R" q_lb: -0.57 q_ub: 1.57 qd: 5.0 qdd: 10.0 }
+                joints { joint_name: "left_arm_J1" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+                joints { joint_name: "left_arm_J2" q_lb: -0.64 q_ub: 1.64 qd: 5.0 qdd: 10.0 }
+                joints { joint_name: "left_arm_J3" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+                joints { joint_name: "left_arm_J4" q_lb: -1.60 q_ub: 1.60 qd: 5.0 qdd: 10.0 }
+                joints { joint_name: "left_arm_J5" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+                joints { joint_name: "left_arm_J6" q_lb: -0.37 q_ub: 0.79 qd: 5.0 qdd: 10.0 }
+                joints { joint_name: "left_arm_J7" q_lb: -0.61 q_ub: 0.58 qd: 5.0 qdd: 10.0 }
               }
               soft_limit {
                 enable: true
diff --git a/cmvr-es/config/devices/motor/dual_arm_ethercat_motors.pb.txt b/cmvr-es/config/devices/motor/dual_arm_ethercat_motors.pb.txt
new file mode 100644
index 00000000..d064369e
--- /dev/null
+++ b/cmvr-es/config/devices/motor/dual_arm_ethercat_motors.pb.txt
@@ -0,0 +1,93 @@
+motor {
+  id: "dual_arm_ethercat_motors"
+
+  motor_groups {
+    id: "dual_arm_ethercat_motors"
+    bus_type: MOTOR_BUS_ETHERCAT
+    vendor: MOTOR_VENDOR_EYOU
+    protocol: MOTOR_PROTOCOL_ETHERCAT_CIA402
+
+    ethercat {
+      master_index: 0
+      cycle_us: 1000
+      slave_op_timeout_ms: 12000
+      slave_state_poll_period_ms: 10
+
+      cia402 {
+        state_transition_timeout_ms: 1200
+        velocity_stop_timeout_ms: 2000
+        status_poll_period_ms: 10
+        stopped_velocity_tolerance_rad_s: 0.001
+      }
+
+      zero_calibration {
+        timeout_ms: 2000
+        poll_period_ms: 10
+        stable_sample_count: 5
+        position_tolerance_counts: 10000
+        stable_delta_counts: 1000
+      }
+
+      dc {
+        enable: true
+        reference_motor_id: 1
+        sync0_cycle_us: 1000
+        sync0_shift_us: 0
+        sync_reference_clock_period: 1
+        assign_activate: 768
+        sync_monitor_period_ms: 1000
+      }
+
+      slaves { motor_id: 1 alias: 0 position: 1 }
+      slaves { motor_id: 2 alias: 0 position: 2 }
+      slaves { motor_id: 3 alias: 0 position: 3 }
+      slaves { motor_id: 4 alias: 0 position: 4 }
+      slaves { motor_id: 5 alias: 0 position: 5 }
+      slaves { motor_id: 6 alias: 0 position: 6 }
+      slaves { motor_id: 7 alias: 0 position: 7 }
+      slaves { motor_id: 8 alias: 0 position: 8 }
+      slaves { motor_id: 9 alias: 0 position: 9 }
+      slaves { motor_id: 10 alias: 0 position: 10 }
+      slaves { motor_id: 11 alias: 0 position: 11 }
+      slaves { motor_id: 12 alias: 0 position: 12 }
+      slaves { motor_id: 13 alias: 0 position: 13 }
+      slaves { motor_id: 14 alias: 0 position: 14 }
+    }
+
+    joint_limits {
+      enable: true
+      source: JOINT_LIMIT_SOURCE_CUSTOM
+      joints { joint_name: "right_arm_J1" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "right_arm_J2" q_lb: -0.64 q_ub: 1.64 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "right_arm_J3" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "right_arm_J4" q_lb: -1.60 q_ub: 1.60 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "right_arm_J5" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "right_arm_J6" q_lb: -0.37 q_ub: 0.79 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "right_arm_J7" q_lb: -0.61 q_ub: 0.58 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "left_arm_J1" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "left_arm_J2" q_lb: -0.64 q_ub: 1.64 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "left_arm_J3" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "left_arm_J4" q_lb: -1.60 q_ub: 1.60 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "left_arm_J5" q_lb: -3.14 q_ub: 3.14 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "left_arm_J6" q_lb: -0.37 q_ub: 0.79 qd: 5.0 qdd: 10.0 }
+      joints { joint_name: "left_arm_J7" q_lb: -0.61 q_ub: 0.58 qd: 5.0 qdd: 10.0 }
+    }
+
+    motors {
+      motors { id: 1 joint_name: "right_arm_J1" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 2 joint_name: "right_arm_J2" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 3 joint_name: "right_arm_J3" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 4 joint_name: "right_arm_J4" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 5 joint_name: "right_arm_J5" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 6 joint_name: "right_arm_J6" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 7 joint_name: "right_arm_J7" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 8 joint_name: "left_arm_J1" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 9 joint_name: "left_arm_J2" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 10 joint_name: "left_arm_J3" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 11 joint_name: "left_arm_J4" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 12 joint_name: "left_arm_J5" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 13 joint_name: "left_arm_J6" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+      motors { id: 14 joint_name: "left_arm_J7" encoder_counts_per_rev: 65536 gear_ratio: 101.0 }
+    }
+  }
+}
diff --git a/cmvr-es/config/manager/device_manager.pb.txt b/cmvr-es/config/manager/device_manager.pb.txt
index 49439ea8..31147f1f 100644
--- a/cmvr-es/config/manager/device_manager.pb.txt
+++ b/cmvr-es/config/manager/device_manager.pb.txt
@@ -196,21 +196,21 @@ device_manager {
     id: "dual_arm_ethercat_motors"
     type: DEVICE_TYPE_MOTOR_SYSTEM
     config_file: "devices/motor/dual_arm_ethercat_motors.pb.txt"
-    enable: false
+    enable: true
   }
 
   devices {
     id: "right_ethercat_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/ethercat_dual_arm.pb.txt"
-    enable: false
+    enable: true
   }
 
   devices {
     id: "left_ethercat_arm"
     type: DEVICE_TYPE_ROBOT_ARM
     config_file: "devices/arm/ethercat_dual_arm.pb.txt"
-    enable: false
+    enable: true
   }
 
 }
diff --git a/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp b/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
index a22918c1..e9effae3 100644
--- a/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
+++ b/cmvr-es/devices/camera/realsense_camera/src/realsense_camera.cpp
@@ -820,10 +820,18 @@ void RealsenseCamera::streaming_worker_() {
                 }
                 CameraStreamEncodeOptions encode_options;
                 encode_options.draw_timestamp = enable_stream_timestamp_;
+                encode_options.overlay = streamOverlay();
+                const Rs2Intrinsics encode_intrinsics = scaleIntrinsics(
+                    frame_data.intrinsics,
+                    frame_data.rgbImage.cols,
+                    frame_data.rgbImage.rows,
+                    rgb_to_encode.cols,
+                    rgb_to_encode.rows);
                 success = CameraStreamEncoder::encode(rgbEncoder_,
                                                       rgb_to_encode,
                                                       frame_data.rgbFrame,
                                                       frame_data.bKey,
+                                                      encode_intrinsics,
                                                       encode_options);
             }
             if (needs_depth && frame_data.depthFrame.empty())
diff --git a/cmvr-es/service/grpc/src/grpc_system_service.cpp b/cmvr-es/service/grpc/src/grpc_system_service.cpp
index b79c036f..d202e920 100644
--- a/cmvr-es/service/grpc/src/grpc_system_service.cpp
+++ b/cmvr-es/service/grpc/src/grpc_system_service.cpp
@@ -7,6 +7,7 @@
 #include "common/base/logging/logger.h"
 #include "service/grpc/action/include/action_queue.h"
 #include "service/grpc/action/include/control_command_arbiter.h"
+#include "manager/task_manager/include/task_manager.h"
 
 using namespace cmvr::device;
 using namespace cmvr::service;
@@ -126,6 +127,9 @@ grpc::Status gRPCSystemServiceImpl::StopAll(grpc::ServerContext* context,
         }
         auto stop_lease = ControlCommandArbiter::instance().beginStop();
         action_queue_->cancelAndClear();
+        if (auto touch_screen_task = cmvr::task::TaskManager::getInstance().getTouchScreenTask()) {
+            touch_screen_task->stop();
+        }
         dmgr_.stop();
         response->mutable_header()->set_success(true);
         setCurrentTimestamp(response->mutable_header()->mutable_timestamp());
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/bin/ethercat b/dependency/x86/third_party/ethercat/v1.7.0/bin/ethercat
index 340807b9..08d357d7 100755
Binary files a/dependency/x86/third_party/ethercat/v1.7.0/bin/ethercat and b/dependency/x86/third_party/ethercat/v1.7.0/bin/ethercat differ
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/etc/ethercat.conf b/dependency/x86/third_party/ethercat/v1.7.0/etc/ethercat.conf
index 21dc7c70..ed5f4656 100644
--- a/dependency/x86/third_party/ethercat/v1.7.0/etc/ethercat.conf
+++ b/dependency/x86/third_party/ethercat/v1.7.0/etc/ethercat.conf
@@ -1,3 +1,3 @@
-MASTER0_DEVICE="42:e6:6d:44:c1:0f"
+MASTER0_DEVICE="4a:33:3f:30:c1:1b"
 DEVICE_MODULES="generic"
-UPDOWN_INTERFACES="eno1"
+UPDOWN_INTERFACES="enp2s0"
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/etc/init.d/ethercat b/dependency/x86/third_party/ethercat/v1.7.0/etc/init.d/ethercat
index 63498a9f..7a9a2dec 100755
--- a/dependency/x86/third_party/ethercat/v1.7.0/etc/init.d/ethercat
+++ b/dependency/x86/third_party/ethercat/v1.7.0/etc/init.d/ethercat
@@ -40,7 +40,7 @@
 
 #------------------------------------------------------------------------------
 
-ETHERCATCTL="/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl -c /home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/etc/sysconfig/ethercat"
+ETHERCATCTL="/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl -c /home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/etc/sysconfig/ethercat"
 
 #------------------------------------------------------------------------------
 
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/include/ecrt.h b/dependency/x86/third_party/ethercat/v1.7.0/include/ecrt.h
index 64a43ec3..899e5c6a 100644
--- a/dependency/x86/third_party/ethercat/v1.7.0/include/ecrt.h
+++ b/dependency/x86/third_party/ethercat/v1.7.0/include/ecrt.h
@@ -36,6 +36,9 @@
  * - Added ecrt_master_sii_caching() to set the SII caching method and added
  *   the feature flag EC_HAVE_SII_CACHING and the enum type
  *   ec_sii_caching_fields_t.
+ * - Added ecrt_slave_config_pdo_mode() to select whether a slave's PDO
+ *   assignment and PDO configuration are read from resp. written to it via
+ *   CoE, the enum type ec_pdo_mode_t and the feature flag EC_HAVE_PDO_MODE.
  *
  * Changes in version 1.6.0:
  *
@@ -252,6 +255,11 @@
  */
 #define EC_HAVE_SII_CACHING
 
+/** Defined, if the method ecrt_slave_config_pdo_mode() and the enum type
+ * ec_pdo_mode_t are available.
+ */
+#define EC_HAVE_PDO_MODE
+
 /****************************************************************************/
 
 /** Symbol visibility control macro.
@@ -394,7 +402,7 @@ typedef struct  {
                                  - 8: \a OP
 
                                  Note that each state is coded in a different
-                                 bit! */
+                                 bit. */
 } ec_slave_config_state_t;
 
 /****************************************************************************/
@@ -532,6 +540,42 @@ typedef enum {
 
 /****************************************************************************/
 
+/** PDO handling mode.
+ *
+ * Used for the \a assign_mode and \a config_mode parameters of
+ * ecrt_slave_config_pdo_mode() to select whether a slave's PDO assignment
+ * (which PDOs are mapped into a sync manager, CoE objects 0x1C10-0x1C13)
+ * resp. its PDO configuration (the entries mapped into an assigned PDO) are
+ * read from resp. written to the slave via CoE.
+ */
+typedef enum {
+    EC_PDO_MODE_FIXED, /**< Neither read nor write via CoE. Trust that the
+                          slave already matches the layout given via
+                          ecrt_slave_config_pdos() and friends. */
+    EC_PDO_MODE_WRITE, /**< Write the configured state via CoE every time
+                          the slave is configured, without reading the
+                          current state first ("blind write"). */
+    EC_PDO_MODE_READ_WRITE, /**< Read the current state via CoE while
+                               scanning the slave, and unconditionally
+                               (re-)write it every time the slave is
+                               configured. This is the default. */
+    EC_PDO_MODE_WRITE_IF_DIFFERENT, /**< Read the current state via CoE
+                                       while scanning the slave, and write
+                                       it back only if it differs from the
+                                       configured state. */
+} ec_pdo_mode_t;
+
+/** Default PDO handling mode: read via CoE while scanning, and
+ *  unconditionally (re-)write via CoE every time the slave is configured.
+ *  This is the behavior in effect if ecrt_slave_config_pdo_mode() is never
+ *  called.
+ *
+ *  \see ec_pdo_mode_t
+ */
+#define EC_PDO_MODE_DEFAULT EC_PDO_MODE_READ_WRITE
+
+/****************************************************************************/
+
 /** PDO entry configuration information.
  *
  * This is the data type of the \a entries field in ec_pdo_info_t.
@@ -1444,6 +1488,58 @@ EC_PUBLIC_API int ecrt_slave_config_watchdog(
                                       so the default is used. */
         );
 
+/** Selects how a slave's PDO assignment and PDO configuration are read
+ * from resp. written to it via CoE.
+ *
+ * By default (i. e. if this method is not called), a slave's PDO
+ * assignment and PDO configuration are both read via CoE while the bus is
+ * scanned, and are both unconditionally (re-)written via CoE every time
+ * the slave is configured (e. g. after a state change or reconnect). For
+ * slaves with a fixed or otherwise well-known PDO structure, this can be
+ * relaxed independently for the assignment and the configuration, to save
+ * mailbox round trips during bus scanning and/or slave configuration.
+ *
+ * If \a assign_mode resp. \a config_mode is EC_PDO_MODE_FIXED or
+ * EC_PDO_MODE_WRITE, the corresponding aspect is not read from the slave
+ * while scanning; the master then relies solely on the PDO configuration
+ * made available through ecrt_slave_config_pdos(),
+ * ecrt_slave_config_sync_manager(), ecrt_slave_config_pdo_assign_add()
+ * and ecrt_slave_config_pdo_mapping_add(). The application is responsible
+ * for making sure this matches the slave's actual capabilities in that
+ * case.
+ *
+ * \note Reading the PDO configuration requires first discovering the PDO
+ * assignment (which PDOs exist), since the master must know a PDO's index
+ * before it can query its entries. Therefore, whenever \a config_mode is
+ * EC_PDO_MODE_READ_WRITE or EC_PDO_MODE_WRITE_IF_DIFFERENT, the PDO
+ * assignment is read while scanning the bus as well, regardless of \a
+ * assign_mode. This is harmless, but means that the mailbox traffic saved
+ * by choosing EC_PDO_MODE_FIXED or EC_PDO_MODE_WRITE for \a assign_mode is
+ * not realized in that particular combination.
+ *
+ * \attention Because bus scanning happens before slave configurations are
+ * attached to their slaves, a non-default \a assign_mode or \a
+ * config_mode is only guaranteed to take effect for the scanning of a
+ * slave if this method is called (i. e. the slave configuration is
+ * created via ecrt_master_slave_config()) before that slave is scanned
+ * for the first time. Otherwise, the scan falls back to the default
+ * (reading) behavior for that particular scan; a subsequent bus rescan
+ * (e. g. via the "ethercat rescan" command) will pick up the configured
+ * mode.
+ *
+ * This method has to be called in non-realtime context before
+ * ecrt_master_activate().
+ *
+ * \apiusage{master_idle,blocking}
+ *
+ * \return 0 on success, otherwise negative error code.
+ */
+EC_PUBLIC_API int ecrt_slave_config_pdo_mode(
+        ec_slave_config_t *sc, /**< Slave configuration. */
+        ec_pdo_mode_t assign_mode, /**< Mode for the PDO assignment. */
+        ec_pdo_mode_t config_mode /**< Mode for the PDO configuration. */
+        );
+
 /** Add a PDO to a sync manager's PDO assignment.
  *
  * This method has to be called in non-realtime context before
@@ -1660,8 +1756,63 @@ EC_PUBLIC_API int ecrt_slave_config_reg_pdo_entry_pos(
  * signals.
  *
  * The AssignActivate word is vendor-specific and can be taken from the XML
- * device description file (Device -> Dc -> AssignActivate). Set this to zero,
- * if the slave shall be operated without distributed clocks (default).
+ * device description file (ESI, Device -> Dc -> AssignActivate). Set this to
+ * zero, if the slave shall be operated without distributed clocks (default).
+ *
+ * The \a sync0_cycle and \a sync1_cycle parameters correspond to the
+ * \c CycleTimeSync0 and \c CycleTimeSync1 elements of the slave's XML device
+ * description (ESI) file, respectively, but have to be given here as
+ * absolute values in nanoseconds instead of relying on the \c Factor
+ * elements offered by the ESI. If the ESI only specifies a
+ * \c CycleTimeSync0Factor (and no \c CycleTimeSync0), the actual cycle time
+ * has to be derived from the application's own cycle time \a T (i. e. the
+ * period at which the application calls ecrt_master_application_time() /
+ * ecrt_master_send(), in nanoseconds) as follows:
+ *
+ * \code
+ * if CycleTimeSync0 != 0:
+ *     sync0_cycle = CycleTimeSync0
+ * else if CycleTimeSync0Factor > 0:
+ *     sync0_cycle = T * CycleTimeSync0Factor
+ * else if CycleTimeSync0Factor < 0:
+ *     sync0_cycle = T / -CycleTimeSync0Factor
+ * else:
+ *     sync0_cycle = 0
+ * \endcode
+ *
+ * A negative \c CycleTimeSync0Factor therefore selects a SYNC0 cycle time
+ * shorter than the application's cycle time (typically used for
+ * oversampling), while a positive factor selects a multiple of it (a factor
+ * greater than 1 is unusual). \a sync1_cycle is derived similarly, but
+ * additionally depends on the already calculated \a sync0_cycle:
+ *
+ * \code
+ * if CycleTimeSync1 != 0:
+ *     T1 = CycleTimeSync1
+ * else if CycleTimeSync1Factor > 0:
+ *     T1 = sync0_cycle * CycleTimeSync1Factor
+ * else if CycleTimeSync1Factor < 0:
+ *     T1 = T * -CycleTimeSync1Factor
+ * else:
+ *     T1 = max(T, sync0_cycle)
+ *
+ * sync1_cycle = T1 - sync0_cycle + ShiftTimeSync1
+ * \endcode
+ *
+ * Note how the sign of \c CycleTimeSync1Factor chooses between the
+ * application's cycle time and \a sync0_cycle as the base value. Usually,
+ * \c CycleTimeSync1Factor is set to -1 (thus selecting the application's
+ * cycle time) whenever \c CycleTimeSync0Factor is negative (oversampling),
+ * and to 1 whenever \c CycleTimeSync0Factor is 1. If
+ * \c CycleTimeSync1Factor is left at zero, a value is chosen automatically
+ * as shown above. In any case, make sure that
+ * \a sync0_cycle + \a sync1_cycle is greater than zero.
+ *
+ * \a sync0_shift can be taken directly from the ESI's \c ShiftTimeSync0
+ * element. If you get PLL errors, start with zero shift time, then try one
+ * third and two thirds of the application cycle time. Make sure that the
+ * application time is passed like in the dc_user example (only cyclic, fixed
+ * phase).
  *
  * This method has to be called in non-realtime context before
  * ecrt_master_activate().
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/cmake/ethercat/ethercat-config.cmake b/dependency/x86/third_party/ethercat/v1.7.0/lib/cmake/ethercat/ethercat-config.cmake
index 49f8e81c..a8825eba 100644
--- a/dependency/x86/third_party/ethercat/v1.7.0/lib/cmake/ethercat/ethercat-config.cmake
+++ b/dependency/x86/third_party/ethercat/v1.7.0/lib/cmake/ethercat/ethercat-config.cmake
@@ -24,12 +24,12 @@
 
 find_library(EtherCAT_LIBRARY
     NAMES ethercat
-    PATHS /home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/lib
+    PATHS /home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/lib
 )
 
 find_path(EtherCAT_INCLUDE_DIR
     NAMES ecrt.h
-    PATHS /home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/include
+    PATHS /home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/include
 )
 
 mark_as_advanced(EtherCAT_LIBRARY EtherCAT_INCLUDE_DIR)
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.a b/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.a
index 6ee310dc..3bcd7489 100644
Binary files a/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.a and b/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.a differ
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.la b/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.la
index 056b3b88..1ac9919c 100755
--- a/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.la
+++ b/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.la
@@ -38,4 +38,4 @@ dlopen=''
 dlpreopen=''
 
 # Directory that this library needs to be installed in:
-libdir='/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/lib'
+libdir='/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/lib'
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.so.1.2.0 b/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.so.1.2.0
index 58bf28d2..bc6096a4 100755
Binary files a/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.so.1.2.0 and b/dependency/x86/third_party/ethercat/v1.7.0/lib/libethercat.so.1.2.0 differ
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/devices/ec_generic.ko b/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/devices/ec_generic.ko
new file mode 100644
index 00000000..0bc2130b
Binary files /dev/null and b/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/devices/ec_generic.ko differ
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/devices/igc/ec_igc.ko b/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/devices/igc/ec_igc.ko
new file mode 100644
index 00000000..5297aeb7
Binary files /dev/null and b/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/devices/igc/ec_igc.ko differ
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/examples/mini/ec_mini.ko b/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/examples/mini/ec_mini.ko
new file mode 100644
index 00000000..8db03da6
Binary files /dev/null and b/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/examples/mini/ec_mini.ko differ
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/master/ec_master.ko b/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/master/ec_master.ko
new file mode 100644
index 00000000..4912c7bf
Binary files /dev/null and b/dependency/x86/third_party/ethercat/v1.7.0/lib/modules/6.8.0-40-generic/ethercat/master/ec_master.ko differ
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/pkgconfig/libethercat.pc b/dependency/x86/third_party/ethercat/v1.7.0/lib/pkgconfig/libethercat.pc
index de20cf9f..e13d9dbd 100644
--- a/dependency/x86/third_party/ethercat/v1.7.0/lib/pkgconfig/libethercat.pc
+++ b/dependency/x86/third_party/ethercat/v1.7.0/lib/pkgconfig/libethercat.pc
@@ -21,10 +21,10 @@
 #  vim: tw=78 noexpandtab
 #
 
-prefix=/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0
+prefix=/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0
 exec_prefix=${prefix}
-libdir=/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/lib
-includedir=/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/include
+libdir=/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/lib
+includedir=/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/include
 
 Name: libethercat
 Description: Client support library for the EtherCAT Master
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/lib/systemd/system/ethercat.service b/dependency/x86/third_party/ethercat/v1.7.0/lib/systemd/system/ethercat.service
index 116b36cf..955e1ab0 100644
--- a/dependency/x86/third_party/ethercat/v1.7.0/lib/systemd/system/ethercat.service
+++ b/dependency/x86/third_party/ethercat/v1.7.0/lib/systemd/system/ethercat.service
@@ -31,8 +31,8 @@ Description=EtherCAT Master Kernel Modules
 [Service]
 Type=oneshot
 RemainAfterExit=yes
-ExecStart=/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl start
-ExecStop=/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl stop
+ExecStart=/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl start
+ExecStop=/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl stop
 
 [Install]
 WantedBy=multi-user.target
diff --git a/dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl b/dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl
index b455d52b..585cfc05 100755
--- a/dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl
+++ b/dependency/x86/third_party/ethercat/v1.7.0/sbin/ethercatctl
@@ -31,7 +31,7 @@ RMMOD="/sbin/rmmod"
 MODINFO="/sbin/modinfo"
 IP="/sbin/ip"
 
-ETHERCAT="/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/bin/ethercat"
+ETHERCAT="/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/bin/ethercat"
 
 #------------------------------------------------------------------------------
 
@@ -39,7 +39,7 @@ if [ "$1" = "-c" ]; then
     ETHERCAT_CONFIG="$2"
     COMMAND="$3"
 else
-    ETHERCAT_CONFIG="/home/lgv/cmvr/0-workspace/cmvr-es/dependency/x86/third_party/ethercat/v1.7.0/etc/ethercat.conf"
+    ETHERCAT_CONFIG="/home/cmvr/projects/cmvr-es//dependency/x86/third_party/ethercat/v1.7.0/etc/ethercat.conf"
     COMMAND="$1"
 fi
 
@@ -55,6 +55,15 @@ fi
 
 #------------------------------------------------------------------------------
 
+std_module_name() {
+    case "${1}" in
+        ccat) echo "ec_bhf" ;; # standard driver has a different name
+        *) echo "${1}" ;;
+    esac
+}
+
+#------------------------------------------------------------------------------
+
 is_mac_address() {
     local x='[0-9a-fA-F]'
     echo "$1" | grep -qE "^($x$x:){5}$x$x\$" -
@@ -144,10 +153,11 @@ start)
             continue # ec_* module not found
         fi
 
-        if [ "${MODULE}" != "generic" ] && [ "${MODULE}" != "ccat" ]; then
+        if [ "${MODULE}" != "generic" ]; then
+            STDMODULE=$(std_module_name "${MODULE}")
             # unload standard module and check if unloading was successful
-            ${RMMOD} "${MODULE}" 2> /dev/null || true
-            if ${LSMOD} | grep "^${MODULE//-/_} " > /dev/null; then
+            ${RMMOD} "${STDMODULE}" 2> /dev/null || true
+            if ${LSMOD} | grep "^${STDMODULE//-/_} " > /dev/null; then
                 # could not unload module
                 ${RMMOD} ${LOADED_MODULES}
                 exit 1
@@ -155,8 +165,8 @@ start)
         fi
 
         if ! ${MODPROBE} ${MODPROBE_FLAGS} "${ECMODULE}"; then
-            if [ "${MODULE}" != "generic" ] && [ "${MODULE}" != "ccat" ]; then
-                ${MODPROBE} ${MODPROBE_FLAGS} "${MODULE}" # try to restore
+            if [ "${MODULE}" != "generic" ]; then
+                ${MODPROBE} ${MODPROBE_FLAGS} "${STDMODULE}" # try to restore
             fi
             ${RMMOD} ${LOADED_MODULES}
             exit 1
@@ -186,10 +196,10 @@ stop)
 
     # load standard modules again
     for MODULE in ${DEVICE_MODULES}; do
-        if [ "${MODULE}" == "generic" ] || [ "${MODULE}" == "ccat" ]; then
+        if [ "${MODULE}" == "generic" ]; then
             continue
         fi
-        ${MODPROBE} ${MODPROBE_FLAGS} "${MODULE}"
+        ${MODPROBE} ${MODPROBE_FLAGS} "$(std_module_name "${MODULE}")"
     done
 
     # bring down all updown interfaces