--- a/include/ecrt.h	Tue Feb 05 15:24:45 2013 +0100
+++ b/include/ecrt.h	Tue Feb 05 16:45:34 2013 +0100
@@ -66,6 +66,9 @@
  *   clock to the reference clock.
  * - Changed the datatypes of the shift times in ecrt_slave_config_dc() to
  *   int32_t to correctly display negative shift times.
+ * - Added ecrt_slave_config_reg_pdo_entry_pos() and the feature flag
+ *   EC_HAVE_REG_BY_POS for registering PDO entries with non-unique indices
+ *   via their positions in the mapping.
  *
  * Changes in version 1.5:
  *
@@ -180,6 +183,10 @@
  */
 #define EC_HAVE_REF_CLOCK_TIME
 
+/* Defined if the method ecrt_slave_config_reg_pdo_entry_pos() is available.
+ */
+#define EC_HAVE_REG_BY_POS
+
 /*****************************************************************************/
 
 /** End of list marker.
@@ -1260,6 +1267,26 @@
                                  is desired */
         );
 
+/** Registers a PDO entry using its position.
+ *
+ * Similar to ecrt_slave_config_reg_pdo_entry(), but not using PDO indices but
+ * offsets in the PDO mapping, because PDO entry indices may not be unique
+ * inside a slave's PDO mapping. An error is raised, if
+ * one of the given positions is out of range.
+ *
+ * \retval >=0 Success: Offset of the PDO entry's process data.
+ * \retval  <0 Error code.
+ */
+int ecrt_slave_config_reg_pdo_entry_pos(
+        ec_slave_config_t *sc, /**< Slave configuration. */
+        uint8_t sync_index, /**< Sync manager index. */
+        unsigned int pdo_pos, /**< Position of the PDO inside the SM. */
+        unsigned int entry_pos, /**< Position of the entry inside the PDO. */
+        ec_domain_t *domain, /**< Domain. */
+        unsigned int *bit_position /**< Optional address if bit addressing
+                                 is desired */
+        );
+
 /** Configure distributed clocks.
  *
  * Sets the AssignActivate word and the cycle and shift times for the sync