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Code Block
languagec
static const uint16_t s_aus1C12_Entries[] = { 0x1600, 0x1601, 0x1602};
    {
        .eCommand = OD_CREATE_SUBOBJECT,
        .pszName = NULL,
        .uCreate.tSubObject = {
            .usIndex = 0x1C12,
            .bSubindex = 3,
            .bValueInfo = ODV3_VALUE_INFO_INITIAL_VALUE,
            .bIndicationFlags = 0,
            .usDataType = ECAT_OD_DTYPE_UNSIGNED16,
            .usAccessRights = ECAT_OD_READ_ALL | ECAT_OD_WRITE_PREOP,
            .ulMaxFieldUnits = 1,
        },
        .tInitial = {&s_aus1C12_Entries[2], sizeof(s_aus1C12_Entries[2])},
    },

EtherCat Master (TwinCAT)

You can check the result with ECM e.g. TwinCAT :

DynPDO_checkbox.pngImage Added

DynPDO_CoE.pngImage Added

DynPDO_startup.pngImage Added

Conclusion

By following these steps and leveraging the capabilities of Dynamic PDOs, you can create flexible and efficient EtherCAT slave devices that can adapt to changing communication requirements.