ABB FECA-01 EtherCAT, User Manual

Page: 64 / 148

64 Start-up
8. Perform the PDO configuration as follows:
•
In the PDO List box, select a PDO.
•
In the PDO Content box, edit the object mapping of the
selected PDO.
•
In the Sync Manager and PDO Assignment boxes,
assign the selected PDOs to the Sync managers.
•
Check that the PDO Assignment and PDO
Configuration check boxes are selected to make
TwinCAT transfer the configuration to the module when the
network is started. In the Config Mode, the network can be
restarted by reloading the I/O devices (by pressing F4).
9. Create a task in TwinCAT: Right-click Additional Tasks and
select Append task . Link the adapter module’s inputs and
outputs to the appended task's input and output variables.