Siemens Sinamics S120 Commissioning Manual page 60

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2.6 SDO (Service Data Object)
Multi-DO SINAMICS drive unit with several EDS files and SDO servers
For this mapping model, the multi-DO SINAMICS drive unit is mapped from n+2 EDS files
and n+2 SDO servers.
Components
n+2 EDS files
n+2 SDO channels
Each additional SDO server is responsible for a drive object. In particular, it is responsible for
the manufacturer-specific objects of this drive object. The default SDO server has access to
the standard EDS file.
This means that for each CANopen drive object (including the drive object of the Control
Unit), there is an additional dedicated manufacturer-specific EDS file.
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Explanation
1 standard EDS file for CU drive object
1 manufacturer-specific EDS file for the drive object of the Control Unit
n manufacturer-specific EDS files for n axes, which support CANopen (with n
= 1 ... 8 axes)
1 default SDO server for CU-DO
1 manufacturer-specific SDO server for the drive object of the Control Unit
n manufacturer-specific SDO servers for n axes (for each drive object, which
CANopen supports, with n = 1 ... 8 axes).
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
CANopen interface