Chapter 1 Summary Of Object Dictionary; Structure; Object Units - Mitsubishi Electric MELSERVO-J5 MR-J5 Series User Manual

1
SUMMARY OF OBJECT DICTIONARY
Each data such as control parameters, command values, and feedback values is handled as an object composed of an Index
value, object name, data type, access rule, and other elements. The object data can be exchanged between the master
station (external device) and the slave stations (servo amplifiers). The aggregate of these objects is called an object
dictionary.
This manual describes the object dictionary which is necessary for servo amplifiers to be used via EtherCAT communication.
1.1

Structure

The following shows the detailed structure of the object dictionary.
Item
Data Type
Access
Mapping
Default
Range
Units
Save
Parameter
Description

Object units

This section explains the pos units, vel units, and acc units used in this manual.
pos units
The unit is pulse.
vel units
The unit can be changed using [Pr. PT01.1 Speed/acceleration/deceleration unit selection] as shown in the following table.
Setting value
0
1
*1 "0.01 mm/s" is used in the linear servo motor control mode.
acc units
The unit can be changed using [Pr. PT01.1] as shown in the following table.
Setting value
0
1
1 SUMMARY OF OBJECT DICTIONARY
16
1.1 Structure
Explanation
Indicates the object size.
Indicates whether the object can be read or written.
RO: Only reading is available
RW: Reading and writing are available
Indicates whether the object can be mapped in cyclic communication.
Impossible: The object cannot be mapped to TXPDO or RXPDO.
TXPDO: The object can be mapped to TXPDO.
RXPDO: The object can be mapped to RXPDO.
TXPDO, RXPDO: The object can be mapped to TXPDO and RXPDO.
Indicates the initial value of the object.
Indicates the object range. If a value outside the range is written, a parameter external error (error code CCD4h) occurs.
Indicates the object unit.
Indicates whether data can be stored in the non-volatile memory.
Impossible: Data cannot be stored in the non-volatile memory. The value of the data written from the controller returns to
the value of "Default" when the power is shut off.
Possible: Data can be stored in the non-volatile memory with [Store Parameters (Obj. 1010h)]. Data is saved in the servo
parameter corresponding to the object. For the corresponding servo parameters, refer to "Parameter".
Indicates where data is stored in the non-volatile memory.
Describes the object.
Unit
*1
0.01 r/min, 0.01 mm/s
pulse/s
Unit
ms
2
pulse/s