I added 17 additional RPDOs using the Rx PDO Mapping tab (right click -> insert PDO), then verified that the additional RPDO communications/mapping objects were listed in the Object Dictionary. Saved settings and returned to the Device Info Tab where the Number of RPDOs remained at 4 (initial value). Exporting the c/h files does produce the desired 21 RPDOs however.

I then went back to the RX PDO Mapping tab and mapped an object to the 5th RPDO (first 4 are already defined). After saving the change and going back to the Device Info screen the number of RPDOs is now correctly shown as 21.

I did this starting with the _project.xml released w/ CANopenNode.

jl