5 Connecting the PLC to the gateway using CODESYS5.2 Configuring the system with XSOFT-CODESYS-2Gateway XN-312-GW-CAN 06/16 MN050003-EN www.eaton.eu 59Figure 35: Prompt indicating that there are disabled PDOsFor the default mapping, the gateway provides 8 PDOs for digital data trans-fers and 8 PDOs for analog data transfers. In other words, 8 x 8 bytes or 8 x4 words can be mapped automatically. This applies both to the receive andtransmit directions!• A maximum of 64 bytes for digital input channels• A maximum of 64 bytes for digital output channels• A maximum of 32 words for analog input channels• A maximum of 32 words for analog output channels• Specialty modules not based on the CiA401 profile are not included inthis default mapping ￫ "Specialty modules" section, page 16.5.2.3.3 Enabling the default PDOs / manually enabling process dataCertain XN300 slice modules provide additional payload data that can bemanually mapped to unused PDOs. The appropriate subsections in￫ Section “7 Product-specific CAN objects XN300 slice modules”, page105 contain tables listing these PDOs for each XN300 slice module. Forexample, the PDOs for the XN322-20DI-PD can be found in Table ,page 112.For a description on how to manually map the aforementioned payload datato PDOs, please consult the manual for your configuration tool.5.2.4 Adding CANopen communication librariesBy default, all the libraries required for CANopen communication will be auto-matically added after the CAN master is added and the project is compiledfor the first time.￫ If the XN300 station has more input or output channels than thedefault mapping can handle, or if it includes specialty modules,the process data objects must be enabled manually.￫ For more detailed information, please consult the documenta-tion for the PLC you are using.
