Configuration Schnider electric ILA2 Servo

I’m trying to connect an ICLA ILA2E servo drive over EtherCAT using LinuxCNC 2.9.7 with the lcec driver and the IgH EtherCAT master 1.6.8 (on Debian 12 RT). The EtherCAT bus is: PC → Beckhoff EK1100 → ICLA ILA PLCOpen (the ILA2E servo). The EK1100 coupler always reaches OP state without problems, but the servo stays stuck in PREOP + ERROR when controlled through lcec.When I control the servo manually with thecommand-line tools, it behaves correctly. If I send controlwords 0x0006, 0x0007, and then 0x000F to object 0x6040, the drive enables, holds torque, and moves as expected. The feedback position from 0x6064 changes correctly, and the motor clearly enters operational state internally, even thoughstill lists it as PREOP + ERROR. So communication works and the drive can be controlled directly, but it never transitions to OP when LinuxCNC and lcec are running.The PDO mapping was taken directly from the drive:RxPDO 0x1600 contains 6040 (controlword, 16 bits), 6060 (opmode, 8 bits), 607A (target position, 32 bits), and 60FF (target velocity, 32 bits).
TxPDO 0x1A00 contains 6041 (statusword, 16 bits), 6061 (opmode display, 8 bits), 6064 (actual position, 32 bits), 606C (actual velocity, 32 bits), and 6077 (actual torque, 16 bits).The XML configuration for the slave defines these PDOs and basic HAL pins for cia-controlword, opmode, target-position, actual-position, and so on. I have not included any DC configuration yet because the drive does not reach OP even in basic mode.When I start LinuxCNC, lcec loads normally, but the servo never leaves PREOP. The HAL pins show that the slave is online but not operational. The logs show mailbox or CoE errors such as “Invalid input configuration (0x001E)” or timeouts while reading SDOs like 0x1C33:3. Despite that, if I exit LinuxCNC and usecommands directly, the servo behaves correctly every time.So the problem is that the drive can reach operational state when commanded manually through, but it stays in PREOP when controlled via lcec. I suspect the issue might be in the XML configuration or a missing initialization SDO sequence.Has anyone successfully used an ICLA ILA PLCOpen (Vendor ID 0x0800005A, Product ID 0x000022DB, model ILA2E) servo with LinuxCNC and lcec? Any hints about what might be missing in the configuration would be greatly appreciated.

Check syslog with "sudo dmesg | tail -20", the master usually tells you in its own cryptic way what's wrong.

Edit, sorry I see you have already done that. Nevertheless, show us messages in the syslog.
And the ethercat-conf.xml file.