The AKD drive supports flexible EtherCAT PDO mapping. The 4 available flexible RxPDO’s (PDO data for receive direction, commands from master to drive) are mapped using objects 1600h, 1601h, 1602h, and 1603h. Each one of these RxPDOs is limited to a maximum size of 8 bytes, but historically the sum total size for all four RxPDOs was limited to 20 bytes. This sum total size for all four RxPDOs was changed in firmware version 1-16-00-002 to 32 bytes, dependent on setting ECAT.LEGACYREV=0.
TxPDO’s have always supported 32 byte of data