Map I/O from the Project Explorer

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• See the PDO Selection/Mapping tab about mapping I/O with third-party devices.

1. In the Project Explorer, expand the Controller node and the EtherCAT nodes to access the devices.

Figure 1: AKT (K-Bus) devices

Figure 2: AKT2G (E-Bus) devices

2. Accessing the device properties is slightly different depending upon the device.
   See Access to Device Properties.
3. Map the variables:
• Drag and drop a variable from the Dictionary onto a table entry.
• Use the PLC Variable Creation Wizard for Kollmorgen devices.
• Directly map/unmap the Inputs/Outputs to PLC variables using the PLC Variable Selector dialog box.
4. Select the channels to map.
   Selection may be done by click-dragging or shift-clicking a range of entries.
   The entire table may be selected by clicking on its border.
5. After the selection is made, right-click and select Map or press <Enter>. (Figure 3)
   This opens the PLC Variable Selector dialog box.



Figure 3: Map or Unmap options

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• The Unmap command in the contextual menu is used to remove the link between the variable and the associated channels.
  Deleting a variable from the dictionary which is mapped to the channels also removes the links.
6. Choose the variable to link to the channels or PDO object. (Figure 4)



Figure 4: PLC Variable Selector dialog

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• The list of variables is filtered to display only those with relevant types.

  • PLC Variable Selector displays Read Only variables when mapping the Input channels from the I/O tab.
  • Variables assigned to the Safe Digital Input and Safe Digital Output channels must be Read Only.

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• The limitations of PLC variable mapping are:

  • Each PLC variable can be mapped to an EtherCAT I/O and exclusively to either:
    • A Controller Onboard I/O.
    • An external driver.
  • Because a variable can only be mapped to one channel or PDO object, when you link a variable to a new channel or PDO object, the previous mapping is removed (even if linked to another slice or device).
  • Individual bits within a variable can be mapped to multiple I/O channels on different devices (e.g., AKD, AKD PDMM, PCMM, PCMM2G, or Slice).

  Example: The same PLC variable cannot be mapped to both PROFINET and a Controller Onboard I/O but it is possible with a regular EtherCAT I/O.

Access to Device Properties

Kollmorgen AKD Series Servo Drives This includes Kollmorgen Essentials Drive, AKD, and AKD2G. In the project tree, double-click the drive and select the I/O tab. (Figure 6)	Figure 6: Example: AKD, AKD2G, or Kollmorgen Essentials Drive
KAS Controllers In the project tree, double-click Controller Onboard I/O in the project tree. (Figure 7)	Figure 7: Example: Controller Onboard I/O
I/O Slice In the project tree, double-click the I/O Slice under EtherCAT (e.g., AKT2G) or the Coupler entry (e.g., AKT) and click the I/O tab. (Figure 8)   For Slice Analog I/O and thermocouples, the offset and gain parameters must be defined. (Figure 9)	Figure 8: E-Bus Properties Figure 9: K-Bus
Safety I/O Slice In the project tree, double-click the Safety I/O Slice under EtherCAT (E-Bus) and click the I/O tab. (Figure 10) Safe Digital Inputs and Output channels are clearly identifiable by a yellow table in the I/O tab. By default, the digital output logic on the safety slices / devices is disabled from the standard PLC. See the Description of Safety Parameters and the AKT2G-SDO-004-000Safety Terminal with Four Digital Fail-safe Outputs table.	Figure 10: E-Bus Safety

See Also

• Analog I/O Parameters
• Configure Onboard I/O
• Controller Onboard I/O
• PLC Variable Selector dialog box