diff --git a/master/fsm_pdo_config.c b/master/fsm_pdo_config.c index d1173c6cb1c01d3af2bde27901567fb0abf5ca7b..97edd138b159a6186ae56611cfa008eca0856bf2 100644 --- a/master/fsm_pdo_config.c +++ b/master/fsm_pdo_config.c @@ -191,7 +191,7 @@ void ec_fsm_pdo_config_next_pdo( } // Pdo configuration has to be changed. Does the slave support this? - if (fsm->slave->sii.mailbox_protocols & EC_MBOX_COE + if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE) || (fsm->slave->sii.has_general && !fsm->slave->sii.coe_details.enable_pdo_configuration)) { EC_ERR("Slave %u does not support changing the Pdo configuration!\n",