We had use SOEM with Beckhoff IOs and servo drives sucessfully, but with IOM ECT we have problems.
We have 4 sub modules: 32DI, 32DO, 4AI, 4AO

the xml file of this module is below:
IOM ECT-V1.2_xml.txt
We can config and use it with codesys


But when we change back to soem, it can't be auto config. the slave_info below
slaveinfo_map.txt
slaveinfo_sdo.txt
We had try to reconfig the pdo, but found that ec_SDOwrite() always return 0, the test code like below:

u8val = 0;
res = ec_SDOwrite(1, 0x1c13, 0x00, FALSE, sizeof(u8val), &u8val, EC_TIMEOUTRXM);
printf("write 1c13.00 : %d\n", res);

We had try to trace the code in ethercatcod.c, and found that in <ecx_SDOwrite> function:

the judgement returns false, so abort.
the value of etohs(aSDOp->CANOpen)>> 12 is 0(should be 3)
the value of aSDOp->Index is 1c00(should be 1c13)

Is there any suggestion? Thx a lot