CANopen TPDO mapping

I am using two old SDC2150N controllers updated to 1.4b firmware (should be more or less equivalent to SDC2160N).
When using CANOpen communication user variables VAR1 to VAR4 are mapped to TPDO 1 and 2 as described in user manual
but user variables VAR5 to VAR8 are not mapped to TPDO 3 and 4.

Is there a newer version of CANOpen dictionary or PDO mapping is hardware specific and is not affected by firmware update?