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Sorry to break in again, but AI is wrong on the linuxcnc synchronization with the DC loop.
They are not synchronized.
Spend some time and measure it.
I think the easiest way to detect it is using the ddt component on the feedback position from the drive.
It should be constant at constant speed, so very easy to spot any missing or out of sync cycles.

My understanding is that you can't change the pdoentries in a fixed PDO, they are hmm fixed.
The variable PDOs can be populated with pdoentries according to your need.