Siemens SINAMICS S120 Commissioning Manual page 107

3.5 Configure the COB IDs and process data objects for the receive and transmit message frames.
The receive and transmit buffer is updated ONLINE with objects from validated PDOs.
Objects from non-validated PDOs are not taken into account in the process data buffers.
Note
To interconnect the receive and transmit buffers in ONLINE mode, carry out the steps
described in the following section ("Interconnecting receive and transmit buffers").
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Commissioning
107