Siemens Sinamics S120 Commissioning Manual page 71

Predefined telegrams for SINAMICS
The following process data objects are predefined and mapped in the "predefined connection
set" in the receive and transmit telegrams for the corresponding drive objects. Each
additional drive object begins with an offset of "800 hex".
Table 2- 10
Type
Receive telegram RPDO1
Transmit tele-
gram
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Process data objects in the predefined connection set
Process data
RPDO2
RPDO3
RPDO4
TPDO1
TPDO2
TPDO3
TPDO4
Telegram
6040 hex
6040 hex + 60FF hex
6040 hex + 6071 hex
6040 hex + 60FF hex + 6071 hex
6041 hex
6041 hex + 606C hex
6041 hex + 6077 hex
6041 hex + 6063 hex
Add infeed
2.7 PDO (Process Data Object)
71