Siemens SINAMICS G110M Function Manual page 174

Communication over CANopen
6.3 PDO services
Note
Requirement for changing the OD indexes of the SINAMICS mapping parameters
To allow you to change the values of the mapping parameters, you must set the COB ID
of the corresponding parameter to invalid. To do this, add a value of 80000000 hex to the
COB-ID. You must reset the COB-ID to a valid value once you changed the mapping
parameters.
OV index:
You have configured and mapped the process data.
Free RPDO mapping - Overview
174
Free objects (Page 191)
Objects of the drive profile CiA 402 (Page 192)
Function Manual, 01/2016, FW V4.7 SP6, A5E34229197B AC
Fieldbuses