Mitsubishi Electric MELSERVO-J5 MR-J5-G-N1, User Manual

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3 SUMMARY OF OBJECT DICTIONARY (OD)
3.1 Section definition of object dictionary
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SUMMARY OF OBJECT DICTIONARY (OD)
For details of the object dictionary, refer to the following manual.
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MR-J5-G-N1 User's Manual (Object Dictionary)
The data that a CAN application protocol over EtherCAT (CoE) device holds, 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 data is exchanged between the master and slave devices. The aggregate of these objects is called an object
dictionary (OD).
3.1
Section definition of object dictionary
With the CoE protocol (CAN application protocol over EtherCAT), objects of an object dictionary are categorized by Index
depending on the descriptions as shown in the following table. Refer to the Reference column for the details of each object.
A multi-axis servo amplifier uses one ESI file for objects of all axes. Therefore, from the second axis onward, the object
addresses (Index) differ from those of the first axis. Indexes 1000h to 1FFFh are used for common objects for all axes, and
Indexes 2000h onward are used for objects for individual axes. An individual axis can be specified by adding offsets to objects
addresses (Index).
Index Description Reference
1000h to 1FFFh Communication profile
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MR-J5-G-N1 User's Manual (Object Dictionary)
2000h to 5FFFh Objects defined by the manufacturer
6000h to 9FFFh CiA 402 drive profile
Index Description Reference
0000h to 0FFFh Data type area 
1000h to 1FFFh CoE communication area
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Page 13 PDO (Process Data Object) COMMUNICATION
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Page 19 SDO (Service Data Object) COMMUNICATION
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MR-J5-G-N1 User's Manual (Object Dictionary)
2000h to 25FFh Servo parameter area (manufacturer specific) (A-axis)
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MR-J5-G-N1 User's Manual (Object Dictionary)
2A00h to 2FFFh Servo control command/monitor area (manufacturer
specific) (A-axis)
3000h to 35FFh Servo parameter area (manufacturer specific) (B-axis)
3A00h to 3FFFh Servo control command/monitor area (manufacturer
specific) (B-axis)
4000h to 45FFh Servo parameter area (manufacturer specific) (C-axis)
4A00h to 4FFFh Servo control command/monitor area (manufacturer
specific) (C-axis)
6000h to 67FFh CiA 402 drive profile area (A-axis)
6800h to 6FFFh CiA 402 drive profile area (B-axis)
7000h to 77FFh CiA 402 drive profile area (C-axis)