When using the onboard outputs for the Compax3 (I31T11 EtherCAT slave) with the PAC controller, these have already been mapped and assigned to a variable by the drive interface. The variable name for this is axisname.wDigitalOutputs.BitNumber
In this example, the softmotion axis for the Compax3 has been named X. Within the output box typing X with a "." starts the type forward and users can then scroll down to the wDigitalOutputs.
There are 4 digital outputs on the Compax3 on the x12 connector, pins 2, 3, 4, 5 are respectively outputs 0 - 3.
Note: Because these have already been mapped to this word, do not use the EtherCAT mapping like you would on the PACIO. Doing so causes a Configuration Error (red triangle).
This is because the Compax3's default descriptor file has already been mapped to this word.
Within the EtherCAT I/O Mapping, name the Digital Output bits under the Variable column. Example, OutY0, Out Y1, OutY2 and OutY3 have been assigned to the P series 4 outputs.
Then users can use these names within a program. Example, here if a particular input is turned on, it will turn on the first output.
Note the P series with EtherCAT outputs need to be changed in the Drive Support Tool software to Not Assigned.