diff -r a89e2bedf004 -r c14b6bb14fdf lib/slave_config.c
--- a/lib/slave_config.c	Thu Apr 29 14:05:15 2010 +0200
+++ b/lib/slave_config.c	Thu Apr 29 16:33:32 2010 +0200
@@ -87,6 +87,23 @@
 
 /*****************************************************************************/
 
+void ecrt_slave_config_overlapping_pdos(ec_slave_config_t *sc,
+        uint8_t allow_overlapping_pdos)
+{
+    ec_ioctl_config_t data;
+
+    memset(&data, 0x00, sizeof(ec_ioctl_config_t));
+    data.config_index = sc->index;
+    data.allow_overlapping_pdos = allow_overlapping_pdos;
+
+    if (ioctl(sc->master->fd, EC_IOCTL_SC_OVERLAPPING_IO, &data) == -1) {
+        fprintf(stderr, "Failed to config overlapping PDOs: %s\n",
+                strerror(errno));
+    }
+}
+
+/*****************************************************************************/
+
 int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
         uint8_t sync_index, uint16_t pdo_index)
 {