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After OD_CalculatePdoOffsets() the application calls Ecat_SetIoSizeReq()

go to file AppECS_DemoApplication.h

#define ECS_NUMBER_OF_RX_SUBINDX_INCL_SUB0  4

The slave application allways needs to decide if  the requested PDO data from EtherCAT master is possbil.

For example, if the slave has plugable input and output hardware. If the slave has only connected input hardware and in the EtherCAT master project is choosen output hardware, than the EtherCAT slave can handle only input data and no output data.

4. ESI Change

add the new PDO in the ESI file

        <Index>#x1602</Index>
          <Name>3. RxPDO</Name>
          <Entry>
            <Index>#x2002</Index>
            <SubIndex>1</SubIndex>
            <BitLen>8</BitLen>
            <Name>1 Byte Out (0)</Name>
            <DataType>BYTE</DataType>
          </Entry>

Hilscher NETX90 RE ECS V5.2.0.xml

5. TwinCAT