Integrating MotionLinx with TwinCAT / Customizing MotionLinx-Ai PDOs /

How to Customize PDOs in TwinCAT

Creating a New PDO

In this example we are going to configure the unused and available RxPDO3. Select it from the PDO List and in the PDO Content window right click the first line and select insert
The Edit PDO Entry window pops up and you select the particular Dictionary item you want to include in your PDO. In this example we selected the ConveyStopControl entry at index 0×2013
For our example, we only want the ConveyStopControl object in our PDO. This object is only 1 byte in length (USINT). The length of a PDO has to be in multiples of 4 bytes, so we have to add 3 more bytes of data. This is where we use the Reserved1Byte and Reserved2Byte objects to add to our PDO to make it 4 bytes in length.

!DO NOT duplicate any object entries between any of the available RxPDOs or TxPDOs because you will get unexpected results. Please note the TwinCAT software will not provide any warning and will allow you to do this. If you want to include an object from one of the pre-defined PDO in one of your custom created PDOs, you must first remove it from the pre-defined PDO.

Enabling and Disabling PDOs

You can see in the highlighted area that there are 3 checkboxes checked for the 3 default pre-defined RxPDOs at indexes 0×1600 thru 0×1602. In our example, to enable the operation of the new PDO we created for RxPDO3, we need to click the checkbox for 0×1603. To disable a PDO, uncheck its corresponding checkbox