BECKHOFF ET9300 - Manual (Page 70)

68 Application Note ET9300
Figure 29: TwinCAT 3 CiA402 axis setup
Add a new EtherCAT device and append the CiA402 description (Figure 30).
Figure 30: Add CiA402 device
Now the device variables (objects) need to be linked to the axis variables as shown in Table 10.
Table 10: Linking of device and NC variables
object index Type variable name
device NC axis
0x6040 output Controlword “Drive_Out” -> “nCtrl1” + “nCtrl2”
0x60FF output Target velocity “Drive_Out” -> “nOutData2”
0x6041 input Statusword “Drive_In” -> ”nStatus1” + “nStatus2”