Multi-axes SDO Read/Write

[thomazach]

I have a use case that at full scale will have 144 axes being controlled and configured using CoE. I've been starting to build the infrastructure for this, but have run into an issue/limitation with the ecx_SDOread and ecx_SDOwrite functions. My understanding of the tutorial.txt and source code is that these functions take the index, sub index, and data, and then send it to the slave which ultimately returns the result. My current understanding of CoE is that a large number of slaves can be accessed in a single EtherCAT frame in separate datagrams, each of which has its own CANopen data with the proper index and sub index as described by the slave's documentation.

My goal is to assemble the CANopen information for each slave and then send it in a single Ethernet frame. Is this functionality achievable with SOEM? Have I missed something fundamental about SDO in the CoE docs?