Hi Anitha,
Just to add to Praveen, in this wiki you have similar information, with the classical configuration not with the ICO object: File-RFC-File(Without BPM) - Process Integration - SCN Wiki
1. Need to know if anything required to change in SOAP/FILE receiver adapter.
Pay attention to the screenshoots because you have to set in the sender file the receiver Service to do the SOAP connection (in the example with RFC).
You will need a File sender, file receiver and SOAP receiver channels in your configuration.
2. How to proceed as I dont have message mapping only Java mapping used
To call the SOAP you will need mappings to deal with the request and response.
Regards.