--- a/examples/DS401_Master/TestMasterMicroMod.c	Thu Oct 13 17:51:27 2011 +0200
+++ b/examples/DS401_Master/TestMasterMicroMod.c	Wed Nov 02 22:37:24 2011 +0100
@@ -136,8 +136,9 @@
 					4, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&TPDO_COBId,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
-		}			
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
+        }			
 		break;
 
 		case 2: 
@@ -153,7 +154,8 @@
 					1, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&Transmission_Type,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}			
 		break;
 
@@ -170,7 +172,8 @@
 					4, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&TPDO_COBId,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}			
 		break;
 					
@@ -187,7 +190,8 @@
 					4, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&TPDO_COBId,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}			
 		break;
 
@@ -205,7 +209,8 @@
 					1, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&Transmission_Type,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}	
 		break;
 
@@ -222,7 +227,8 @@
 					4, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&TPDO_COBId,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}			
 		break;
 		
@@ -238,7 +244,8 @@
 					2, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&Heartbeat_Producer_Time,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}			
 		break;
 
@@ -255,7 +262,8 @@
 					4, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&TPDO_COBId,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}			
 		break;
 
@@ -272,7 +280,8 @@
 					4, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&TPDO_COBId,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}
 		break;			
 
@@ -289,7 +298,8 @@
 					4, /*UNS8 count*/
 					0, /*UNS8 dataType*/
 					&TPDO_COBId,/*void *data*/
-					CheckSDOAndContinue); /*SDOCallback_t Callback*/
+					CheckSDOAndContinue, /*SDOCallback_t Callback*/
+                    0); /* use block mode */
 		}			
 		break;			
 		

--- a/include/data.h	Thu Oct 13 17:51:27 2011 +0200
+++ b/include/data.h	Wed Nov 02 22:37:24 2011 +0100
@@ -58,6 +58,8 @@
 	UNS8 *bDeviceNodeId;
 	const indextable *objdict;
 	s_PDO_status *PDO_status;
+	TIMER_HANDLE *RxPDO_EventTimers;
+	void (*RxPDO_EventTimers_Handler)(CO_Data*, UNS32);
 	const quick_index *firstIndex;
 	const quick_index *lastIndex;
 	const UNS16 *ObjdictSize;
@@ -239,6 +241,8 @@
 	& NODE_PREFIX ## _bDeviceNodeId,     /* bDeviceNodeId */\
 	NODE_PREFIX ## _objdict,             /* objdict  */\
 	NODE_PREFIX ## _PDO_status,          /* PDO_status */\
+	NULL,                                /* RxPDO_EventTimers */\
+	_RxPDO_EventTimers_Handler,          /* RxPDO_EventTimers_Handler */\
 	& NODE_PREFIX ## _firstIndex,        /* firstIndex */\
 	& NODE_PREFIX ## _lastIndex,         /* lastIndex */\
 	& NODE_PREFIX ## _ObjdictSize,       /* ObjdictSize */\

--- a/include/pdo.h	Thu Oct 13 17:51:27 2011 +0200
+++ b/include/pdo.h	Wed Nov 02 22:37:24 2011 +0100
@@ -38,6 +38,9 @@
 
 #include "data.h"
 
+/* Handler for RxPDO event timers : empty function that user can overload */
+void _RxPDO_EventTimers_Handler(CO_Data *d, UNS32 pdoNum);
+
 /* Status of the TPDO : */
 #define PDO_INHIBITED 0x01
 #define PDO_RTR_SYNC_READY 0x01

--- a/src/pdo.c	Thu Oct 13 17:51:27 2011 +0200
+++ b/src/pdo.c	Wed Nov 02 22:37:24 2011 +0100
@@ -186,6 +186,7 @@
   UNS32 objDict;
   UNS16 offsetObjdict;
   UNS16 lastIndex;
+  TIMEVAL EventTimerDuration = 0;
 
   status = state2;
 
@@ -220,6 +221,7 @@
                   {
                     /* The cobId is recognized */
                     status = state4;
+                    EventTimerDuration = *(UNS16 *)d->objdict[offsetObjdict].pSubindex[5].pObject;
                     MSG_WAR (0x3936, "cobId found at index ",
                              0x1400 + numPdo);
                     break;
@@ -303,7 +305,12 @@
                       }
                     numMap++;
                   }             /* end loop while on mapped variables */
-
+                if (EventTimerDuration && d->RxPDO_EventTimers)
+                {
+                    DelAlarm (d->RxPDO_EventTimers[numPdo]);
+                    d->RxPDO_EventTimers[numPdo] = SetAlarm (d, numPdo, d->RxPDO_EventTimers_Handler,
+                    MS_TO_TIMEVAL (EventTimerDuration), 0);
+                }
                 return 0;
 
               }                 /* end switch status */
@@ -604,6 +611,11 @@
   sendOnePDOevent (d, (UNS8) pdoNum);
 }
 
+void
+_RxPDO_EventTimers_Handler(CO_Data *d, UNS32 pdoNum)
+{
+}
+
 /*!
 **
 **