diff --git a/soem_beckhoff_drivers/CMakeLists.txt b/soem_beckhoff_drivers/CMakeLists.txt
index e21703f..84c0d7f 100644
--- a/soem_beckhoff_drivers/CMakeLists.txt
+++ b/soem_beckhoff_drivers/CMakeLists.txt
@@ -42,18 +42,26 @@ endif()
 ros_generate_rtt_typekit(soem_beckhoff_drivers)
 
 find_package(soem REQUIRED)
-include_directories(${soem_INCLUDE_DIRS})
+include_directories(${SOEM_INCLUDE_DIRS})
   
 orocos_use_package(soem_master)
 
 orocos_plugin(soem_el1xxx src/soem_beckhoff_drivers.cpp src/soem_el1xxx.cpp)
+target_link_libraries(soem_el1xxx ${SOEM_LIBRARIES})
 orocos_plugin(soem_el2xxx src/soem_beckhoff_drivers.cpp src/soem_el2xxx.cpp)
+target_link_libraries(soem_el2xxx ${SOEM_LIBRARIES})
 orocos_plugin(soem_el4xxx src/soem_beckhoff_drivers.cpp src/soem_el4xxx.cpp)
+target_link_libraries(soem_el4xxx ${SOEM_LIBRARIES})
 orocos_plugin(soem_el3102 src/soem_beckhoff_drivers.cpp src/soem_el3102.cpp)
+target_link_libraries(soem_el3102 ${SOEM_LIBRARIES})
 orocos_plugin(soem_el5101 src/soem_beckhoff_drivers.cpp src/soem_el5101.cpp)
+target_link_libraries(soem_el5101 ${SOEM_LIBRARIES})
 orocos_plugin(soem_el6022 src/soem_beckhoff_drivers.cpp src/soem_el6022.cpp)
+target_link_libraries(soem_el6022 ${SOEM_LIBRARIES})
 orocos_plugin(soem_el30xx src/soem_beckhoff_drivers.cpp src/soem_el30xx.cpp)
+target_link_libraries(soem_el30xx ${SOEM_LIBRARIES})
 orocos_plugin(soem_el3104 src/soem_beckhoff_drivers.cpp src/soem_el3104.cpp)
+target_link_libraries(soem_el3104 ${SOEM_LIBRARIES})
 
 if(NOT ORO_USE_ROSBUILD)
   add_dependencies(soem_el1xxx ${PROJECT_NAME}_generate_messages_cpp)
@@ -65,4 +73,4 @@ if(NOT ORO_USE_ROSBUILD)
   add_dependencies(soem_el30xx ${PROJECT_NAME}_generate_messages_cpp)
   add_dependencies(soem_el3104 ${PROJECT_NAME}_generate_messages_cpp)
 endif()
-orocos_generate_package()
\ No newline at end of file
+orocos_generate_package()
diff --git a/soem_master/CMakeLists.txt b/soem_master/CMakeLists.txt
index a2c7158..5b7ae18 100644
--- a/soem_master/CMakeLists.txt
+++ b/soem_master/CMakeLists.txt
@@ -11,12 +11,12 @@ find_package(OROCOS-RTT REQUIRED ${RTT_HINTS} )
 include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)
 
 find_package(soem REQUIRED)
-include_directories(${soem_INCLUDE_DIRS})
+include_directories(${SOEM_INCLUDE_DIRS})
 
 #common commands for building c++ executables and libraries
 orocos_library(soem_driver_factory soem_driver_factory.cpp)
 orocos_component(soem_master soem_master_component.cpp)
-target_link_libraries(soem_master soem_driver_factory ${soem_LIBRARIES})
+target_link_libraries(soem_master soem_driver_factory ${SOEM_LIBRARIES})
 
 orocos_plugin(soem_plugin soem_plugin.cpp)