//PDO re-mapping****************************************************************************************************
             for (k=0; k<NUMOFMAXPOS_DRIVE; ++k)
             {
                 if (( ec_slavecount >= 1 ) && (strcmp(ec_slave[k+1].name,"MAXPOS") == 0)) //change name for other drives
                 {
                     printf("Re mapping for MAXPOS...\n");
                    os=sizeof(ob2); ob2 = 0x1600;   //RxPDO, check MAXPOS ESI
                    //0x1c12 is Index of Sync Manager 2 PDO Assignment (output RxPDO), CA (Complete Access) must be TRUE
                    wkc_count=ec_SDOwrite(k+1, 0x1c12,01,TRUE,os, &ob2,EC_TIMEOUTRXM);  //change slave position (k+1) if needed

                     if (wkc_count==0)
                     {
                         printf("RxPDO assignment error\n");
                         return FALSE;
                     }

                     os=sizeof(ob2); ob2 = 0x1a00;  //TxPDO, check MAXPOS ESI
                     //0x1c13 is Index of Sync Manager 3 PDO Assignment (input TxPDO), CA (Complete Access) must be TRUE
                     wkc_count=ec_SDOwrite(k+1, 0x1c13,01,TRUE,os, &ob2,EC_TIMEOUTRXM); //change slave position (k+1) if needed
                     if (wkc_count==0)
                     {
                         printf("TxPDO assignment error\n");
                         return FALSE;
                     }
                 }
             }