My mistake, "sdos upload" should be just "upload".
And what? You now have an "Invalid input configuration"
By any chance, will there be another result if you repeat the same thing?
Can you then do the same thing with "ethercat -p 0 upload 0x1a00 0" to see if the input pdo got configured?
And the same for 0x1c12 and 0x1c13?
Or maybe one should start with what PDOs the drive has. "ethercat pdos".
I have a drive where I pick PDOs from several RxPDOs and TxPDOs,
maybe that's how you need to do it.
The drive doesn't seem to download the PDO mapping, like is needed for configurable PDO mapping.
