Reviving an old thread, but I'm having this exact same issue with configuring custom PDO mapping and haven't been able to figure it out. It works fine if I leave it all at the default EDS setup. Add or change any PDOs though, and it refuses to initialize the EDS. Not sure what I'm missing.
This system will have options to control drives in profile position or velocity modes, so ideally we'll want to have more/different PDO options than the default. If all else fails, we can probably make do with just using SDOs. I'd still like to figure this out though.