resolved-- Regarding the data reading offset issue of the ether cat IO module

Thank you for your kind help. I have already conducted a joint investigation with OFF in the group. At present, there is no good solution for the time being.

Have you tried in TwinCAT? Does it work there? If not, the device is faulty.

Currently, I have switched to the Codesys platform, and everything is functioning normally. It is similar to TwinCAT.

Can you please confirm that you do not see the 16-bit shift in Codesys.

Can you also please confirm that you see/don't see the 16-bit shift in linuxcnc using <complexentry>

Please show the output when you in linuxcnc enter test-values for the bit-outs pins. Do all  32 pins individually.

Change the line <pdoEntry idx="7010" subIdx="01" bitLen="32" halPin="bit-out" halType="bit"/> to <pdoEntry idx="7010" subIdx="01" bitLen="32" halPin="bit-out" halType="u32"/> and redo the bit output test. Do one bit at the time. All 1,2,4,8,16, 32, 64,128, and so on up to the 31th bit.

Show the input and output for all these tests in a way that one clearly can see and correlate the linuxcnc input and the drive output.

Can you please show the output of "ethercat -p 1 -m 1 pdos" Modify the p and m field values as needed to get the output from the tested unit.

Can you please provide a screenshot from Codesys of the definition of the output variable. To include at least pdo index, pdo entry index, subindex, datatype and datatype length.

Soccer Kid wrote:

When I was testing this signal input, I found that when I turned on LED0, the corresponding IO PIN was lit up at pin number 16. Similarly, the output position was also the same. In summary, the data I currently receive has been shifted by 16 bits. Additionally, I have attached my XML and the test results from Beckhoff (they are all OK). Could someone kind-hearted please tell me why?
 

Can you share whole config to better understanding please? I am interested in the two masters from your configuration ... how and if it is working? thank you

but defenetely you can not let 32bit lenght for halType="bit" I think ... 

<pdoEntry idx="6000" subIdx="01" bitLen="32" halPin="bit-in" halType="bit"/>

Check actual config over, then you will can read active configuration from online slaves... then just copy paste

Currently, my configuration is rather messy. I will choose to upload it after I have some time to tidy it up later. The current problem has been largely identified. By analyzing the PDO data from different platforms, I identified some subtle differences. I then reported the bugs to the manufacturer and waited for them to provide a new firmware. Once the new firmware is ready, I will post the detailed differences here.