Siemens SINAMICS S120 Commissioning Manual page 29

Note
The "free objects" for additional drive objects are formed by adding the offset 80 hex to the
object number of the freely interconnectable object.
e.g.: If drive object 2 starts from 5880 hex.
You can interconnect any process data objects using receive/transmit words/double words of
the receive and transmit buffer.
Transfer PDO/SDO
Free objects can be accessed using the following communication services/utilities:
● PDO
● SDO
Both transfer types require that the free object to be transferred is "mapped".
See also
CANopen object directory (Page 22)
PDO mapping (Page 32)
SDO services (Page 36)
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Add infeed
1.7 Manufacturer-specific objects
29