Object Dictionary - Renesas RX72M Application Note

RX72M Group

3.4 Object Dictionary

The portion of the object dictionary supported by the sample program is listed below.
Table 3-3
Index Object Name
0x603F Error code
0x6040 Controlword
0x6041 Statusword
0x605A Quick stop option code
0x605B Shutdown option code
0x605C Disable operation option code
0x605E Fault reaction option code
0x6060 Modes of operation
0x6061 Modes of operation display
0x6064 Position actual value
0x6065 Following error window
0x6066 Following error time out
0x606C Velocity actual value
0x6077 Torque actual value
0x607A Target position
0x607B Position rage limit
0x607C Home offset
0x607D Software position limit
0x607F Max profile velocity
0x6080 Max motor speed
0x6081 Profile velocity
0x6083 Profile acceleration
0x6084 Profile deceleration
0x6085 Quick stop deceleration
0x6098 Homing method
0x6099 Homing speeds
0x609A Homing acceleration
0x60B0 Position offset
0x60B1 Velocity offset
0x60B2 Torque offset
0x60C2 Interpolation time period
0x60F4 Following error actual value
R01AN5434EJ0110 Rev.1.10
Aug.31.2020
Single-Chip Motor Control via EtherCAT Communications
Object Dictionary Supported by the Sample Program
Category
Optional
Mandatory (all)
Mandatory (all)
Optional
Optional
Optional
Optional
Optional
Optional
Mandatory(pp,csp,csv) ro
Optional
Optional
Mandatory (csv)
Optional
Mandatory (pp, csp)
Optional
Optional
Optional
Optional
Optional
Mandatory (pp)
Mandatory (pp)
Optional
Optional
Mandatory (hm)
Mandatory (hm)
Optional
Optional
Optional
Optional
Mandatory (csp, csv)
Optional
Data PDO
Access
Type Mapping
ro UINT16 TxPDO
rw UINT16 RxPDO
ro UINT16 TxPDO
rw INT16 No
rw INT16 No
rw INT16 No
rw INT16 No
rw INT8 No
ro INT8 TxPDO
INT32 TxPDO
rw UINT32 No
rw UIN16 No
ro INT32 TxPDO
ro INT32 No
rw INT32 RxPDO
rw INT32 No
rw INT32 RxPDO
c,rw INT32 No
rw UINT32 No
rw UINT32 No
rw UINT32 RxPDO
rw UINT32 RxPDO
rw UINT32 RxPDO
rw UINT32 No
rw INT8 RxPDO
rw UINT32 RxPDO
rw UINT32 RxPDO
rw INT32 No
rw INT32 No
rw INT16 No
rw Record No
ro INT32 No
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