Now I am able to run this driver with EtherCAT, but only through the PDO mapping of CoE. The SDO (CoE Write/Read blocs) are not working at all.
I can put the blocs in the model and compile/run without error, but the output is always 0 whatever index and sub-index I put.
I think it is related to the following action (described in the main page of the documentation): "If your model contains the EtherCAT COE Read and EtherCAT COE Write blocks, include in the configuration file at least one cyclic input/output task linked to one of the slave device input/output channels." I know how to link a normal PDO mapped variable to a task in Beckhoff (the normal procedure to get a least one of the necessary Cyclic task). But I don't know how to link a task to the CoE channels...
If somebody has experience with this feature I would apreciate some help.