Siemens Sinamics S120 Commissioning Manual page 111

Figure 4-13 Access to standardized CANopen-PZD setpoint objects
Figure 4-14 Access to standardized CANopen-PZD actual value objects
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Configuration
4.5 SDO access, process data
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