CCS/TMS320F28377S: TMS320F28377S

During the test, I found the following:

Adding an entry to the pdo area, The pdo size seems to be calculated incorrectly.

Below is part of the xml file.

Adding the 0x6084 item causes anomalies.

I'm talking about the pdo size in the ecat_def.h file
It only changes MAX_PD_OUTPUT_SIZE.

Based on the XML file below, calculating RxPdo size, I think 28 (1 axis byte count) * 4 (axis) = 112 (0x70).

So I put 0x070 in the MAX_PD_OUTPUT_SIZE mentioned above.

But in such an environment, twincat_manager
If you try, you won't be able to connect and the memory environment will change a lot.

    <Modules>
      <Module>
        <Type ModuleIdent="#x119800">csv,csp - axis</Type>
        <Name>dynamic switch bewteen csp/csv</Name>
        <RxPdo Fixed="true" Sm="2">
          <Index DependOnSlot="true">#x1600</Index>
          <Name>Outputs</Name>
          <Entry>
            <Index DependOnSlot="true">#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Control Word</Name>
            <Comment>object 0x6040:0</Comment>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
          </Entry>
          <Entry>
            <Index DependOnSlot="true">#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>TargetPosition</Name>
            <Comment>object 0x607A:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index DependOnSlot="true">#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>ProfileVelocity</Name>
            <Comment>object 0x6081:0</Comment>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index DependOnSlot="true">#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile Acceleration</Name>
            <Comment>object 0x6083:0</Comment>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index DependOnSlot="true">#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile Deceleration</Name>
            <Comment>object 0x6084:0</Comment>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index DependOnSlot="true">#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>TargetVelocity</Name>
            <Comment>object 0x60FF:0</Comment>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index DependOnSlot="true">#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>ModeOfOperation</Name>
            <Comment>object 0x6060:0</Comment>
            <DataType>USINT</DataType>
          </Entry>
          <Entry>
            <Index>0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
          </Entry>
          <Entry>
            <Index>0</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
          </Entry>
        </RxPdo>