cnc@cnc:~$ ethercat pdos
SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x1100, DefaultSize  128, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1200, DefaultSize    0, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 "RPDO Mapping 0"
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x6060:00,  8 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
  RxPDO 0x1610 "RPDO Mapping 0"
    PDO entry 0x6840:00, 16 bit, ""
    PDO entry 0x6860:00,  8 bit, ""
    PDO entry 0x687a:00, 32 bit, ""
    PDO entry 0x68ff:00, 32 bit, ""
  RxPDO 0x1620 "RPDO Mapping 0"
    PDO entry 0x7040:00, 16 bit, ""
    PDO entry 0x7060:00,  8 bit, ""
    PDO entry 0x707a:00, 32 bit, ""
    PDO entry 0x70ff:00, 32 bit, ""
  RxPDO 0x1630 "RPDO Mapping 0"
    PDO entry 0x7840:00, 16 bit, ""
    PDO entry 0x7860:00,  8 bit, ""
    PDO entry 0x787a:00, 32 bit, ""
    PDO entry 0x78ff:00, 32 bit, ""
SM3: PhysAddr 0x1400, DefaultSize    0, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 "TPDO Mapping 0"
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6061:00,  8 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
  TxPDO 0x1a10 "TPDO Mapping 0"
    PDO entry 0x6841:00, 16 bit, ""
    PDO entry 0x6861:00,  8 bit, ""
    PDO entry 0x6864:00, 32 bit, ""
    PDO entry 0x686c:00, 32 bit, ""
  TxPDO 0x1a20 "TPDO Mapping 0"
    PDO entry 0x7041:00, 16 bit, ""
    PDO entry 0x7061:00,  8 bit, ""
    PDO entry 0x7064:00, 32 bit, ""
    PDO entry 0x706c:00, 32 bit, ""
  TxPDO 0x1a30 "TPDO Mapping 0"
    PDO entry 0x7841:00, 16 bit, ""
    PDO entry 0x7861:00,  8 bit, ""
    PDO entry 0x7864:00, 32 bit, ""
    PDO entry 0x786c:00, 32 bit, ""