Creating variables

In TwinCAT the PDOs are filled with variables, which can later be linked with the PLC program. This section describes how to create variables.

Prerequisites for this step:

Newly created PDOs, which are to be filled with variables.

Create the variables as follows:

1. In the tree view click on a TxPDO or RxPDO to show more information.

2. Right-click on Outputs or Inputs, depending on whether a TxPDO or RxPDO is selected.
Creating variables 1:

3. Click on Add New Item in the context menu.
The Insert Variable window appears.

4. Click on the required variable, then click OK.
Creating variables 2:

You have successfully created a variable. The new variable is shown in the tree view on the left. In this way you can add further variables for the CANopen slave.
In the next step you can specify the transmission type, thereby specifying how the process data objects are transferred.