ctrlX Drive EtherCAT CoE with OMRON PLC how to add PDO mapping

Hello Community,

I am new to using OMRON PLC with ctrlX Drive COE.

How to add EtherCAT COE PDO mapping to OMRON PLC?

ctrlX IO PDO Mapping:

Controller: XCS2-W0007HRN-01NETT0NNNN-S0610N3NNNN0NN

Firmware: FWA-XD1-AXS-V-0610N-NN-00