Siemens SINAMICS S120 Commissioning Manual page 21

Figure 1-2
Motor Module 1 is the first drive object for CANopen. In the description in the drive profile,
drive object 2 begins with an offset of 800 hex.
If, for example, you want to read a value from parameter r8795 (control word for Motor
Module 1, that is, drive object 1), the value from object 6040 hex is displayed.
For Motor Module 2 (drive object 2), this value is 6840 hex.
Note
Each module has a separate receive and transmit buffer for transferring message frames.
Note
For SINAMICS S110:
• The CAN bus interface is integrated into the Control Unit.
• Not all the components displayed are supported.
• For the S110 there is only one Power Module instead of a separate infeed and Motor
CANopen interface
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
Breakdown of drive objects from the point of view of CANopen
Module (as for S120).
Add infeed
1.5 CANopen slave software
21