Summary Of Object Dictionary (Od); Section Definition Of Object Dictionary; Saving Object Dictionary Data To Eep-Rom - Mitsubishi Electric MELSERVO-J4 Instruction Manual

1. EtherCAT COMMUNICATION

1.5 Summary of object dictionary (OD)

Each data set that CAN application protocol over EtherCAT (CoE) devices have such as control parameters,
command values, and feedback values is handled as an object composed of an Index value, object name,
object type, R/W attribute, and other elements. The object data can be exchanged between the master and
slave devices. The aggregate of these objects is called object dictionary (OD).

1.5.1 Section definition of object dictionary

In the CAN application protocol over EtherCAT (CoE) standard, objects of the object dictionary are
categorized by Index depending on the area type as shown in the following table. Refer to the Reference
column for the chapters and the section where the details of each object are described.
Index
0000h to 0FFFh
1000h to 1FFFh
2000h to 25FFh
2A00h to 2FFFh
6000h to 6FFFh

1.5.2 Saving object dictionary data to EEP-ROM

There are two types of object dictionary data: One is saved to EEP-ROM and another is not saved. Refer to
chapter 7 for the availability and details of save for each object.
(1) Not saved to EEP-ROM
The value of the data written from the controller returns to the initial value when the power is shut off.
Target: Target position (607Ah) or other objects
(2) Saved to EEP-ROM
The data can be saved to EEP-ROM with Store Parameters (1010h). It is saved in the parameter
corresponding to the object.
Target: Profile acceleration (6083h) or other objects
Profile acceleration (6083h) corresponds to [Pr. PC01]. If the data is written to the object dictionary, it is
not automatically saved to EEP-ROM. The data is saved with Store Parameters (1010h). Refer to
section 7.1 for Store Parameters (1010h).
POINT
Refer to chapter 7 for details of the object dictionary.
Data type area
CoE communication area
Servo parameter area (Vendor-specific)
Servo control command/monitor area (Vendor-specific)
CiA 402 Drive profile area
Description
1 - 10
Reference
Chapter 1, Chapter 3,
Chapter 4, Chapter 7
Section 6.5, Chapter 7
Chapter 6, Chapter 7
Chapter 5, Chapter 7