stm32做主站控通过EtherCAT方式驱动elmo驱动器，发送控制字返回状态字不对

Question

问题遇到的现象和发生背景

采用stm32f4作为主站，移植soem代码，现已经可以和elmo驱动器正常通讯。

问题相关代码，请勿粘贴截图

以上未粘贴
if (ec_init("test"))
{
printf("ec_init succeeded.\r\n");

        if ( ec_config_init(FALSE) > 0 )   //初始化soem
        {
            printf("%d slaves found and configured.\r\n",ec_slavecount);
                    int state;
                    state=ec_statecheck(0, EC_STATE_PRE_OP,  EC_TIMEOUTSTATE); //切换状态到 pre_OP
                    // set PDO mapping


                        READ(1, 0x60FF, 0, buf32, "*target_V*");
                        WRITE(1, 0x60FF, 0, buf32, 0, "*V*"); 
                        READ(1, 0x60FF, 0, buf32, "*target_V*");    //着三条我是用来确定目标速度为0.
                        
                        WRITE(1, 0x6060, 0, buf8, 9, "cyclic velocity");
                          READ(1, 0x6061, 0, buf8, "OpMode display");
                        //设置为速度模式
                        READ(1, 0x1c12, 0, buf16, "SM2:outputs");
                        READ(1, 0x1c13, 0, buf16, "SM3:inputs");
                        //修改1c12 和1c13映射
                        WRITE(1,0x1c12,0,buf16,0,"1c12д0");
                        WRITE(1,0x1c13,0,buf16,0,"1c13д0");
                        
                        WRITE(1,0x1c12,1,buf16,0x1601,"1c12 Ó³Éäµ½ 1601");
                        WRITE(1,0x1c13,1,buf16,0x1A01,"1c12 Ó³Éäµ½ 1601");

                        WRITE(1,0x1c12,0,buf16,1,"1c12д1");
                        WRITE(1,0x1c13,0,buf16,1,"1c13д1");

                        READ(1, 0x1c12, 0, buf16, "SM2:outputs");
                        READ(1, 0x1c13, 0, buf16, "SM3:inputs");

                        READ(1, 0x1c12, 1, buf16, "SM2:outputs ¶ÔÓ¦");
                        READ(1, 0x1c13, 1, buf16, "SM3:inputs ¶ÔÓ¦");

                        WRITE(1, 0x6060, 0, buf8, 9, "cyclic velocity");
                        READ(1, 0x6061, 0, buf8, "OpMode display");
                        WRITE(1,0x60c2,1,    buf16, 2,"cycle time");        
                    

                            READ(1, 0x6041, 0, buf16, "*status word*");
                        
                
                            if(buf16 == 0x218)  //如果是错误则先写128清除错误
                            {
                                    WRITE(1, 0x6040, 0, buf16, 128, "*control word*"); delay_ms(100); 
                                    READ(1, 0x6041, 0, buf16, "*status word*");    
                            }
                        
                            WRITE(1, 0x6040, 0, buf16, 0, "*control word*"); 
                            delay_ms(100);
                            READ(1, 0x6041, 0, buf16, "*status word*");
                            WRITE(1, 0x6040, 0, buf16, 6, "*control word*"); 
                            delay_ms(100);
                            READ(1, 0x6041, 0, buf16, "*status word*"); 
                            WRITE(1, 0x6040, 0, buf16, 7, "*control word*");
                            delay_ms(100);
                            READ(1, 0x6041, 0, buf16, "*status word*");
                            delay_ms(5000);
                            READ(1, 0x6041, 0, buf16, "*status word*");  //以上都对
                            WRITE(1, 0x6040, 0, buf16, 15, "*control word*"); 
                            delay_ms(100);
                            READ(1, 0x6041, 0, buf16, "*status word*"); //这里收到的数值就不对了。
                                                
                            while(1);//为了方便观察后续没有写，在这里死循环

运行结果及报错内容

我的解答思路和尝试过的方法

我想要达到的结果

能够实现正确的状态字回复