Siemens SINUMERIK 840D sl Commissioning Manual page 219

Figure 7-3
Note
Communication with the drive
To ensure the communication with the drive, the I/O addresses and telegram types set here
must match the settings in the STEP 7 hardware configuration.
CNC Commissioning: NC, PLC, Drive
Commissioning Manual, 12/2019, A5E48312804B AA
Change assignment
Communication between the NC and the drive
7.3 Configuring the I/O address and telegram
219