Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 268

Item
PI-PID switching command
Control loop changing command
Servo parameter read/write
Amplifier-less operation function
Driver communication
Monitoring of servo parameter error No.
Servo error (Motion error history)
Programming tool
*1 For details of FR-A700 series, refer to FR-A700 series instruction manual.
*2 During amplifier-less operation function, the following are spuriously connected.
Servo amplifier: MR-J3-10B
Servo motor: HF-KP053
*3 Parameters set in FR-A700 series are not controlled by Motion CPU. Therefore, the operation is the same as when the servo parameter
"Rotation direction selection/travel direction selection (PA14)" is set as below during amplifier-less operation mode.
Setting item
Rotation direction selection/travel direction selection
(PA14)
*4 Refer to the "Servo Amplifier Instruction Manual" for the servo amplifiers that can be used.
Precautions during control
■Absolute position system (ABS)/Incremental system (INC)
When using FR-A700 series, absolute position system (ABS) cannot be used.
■Control mode
Control modes that can be used are shown below.
• Position control mode (position control, and speed control including position loop)
• Speed control mode (speed control not including position loop)
• Torque control mode (torque control)
However, it is not available to switch to continuous operation to torque control mode of "Speed-torque control". If the mode is
switched to continuous operation to torque control mode, a warning (error code: 09EAH) occurs and the operation stops. "1:
Feedback torque" cannot be set in "Torque initial value selection at control mode switching". If it is set, a warning (error code:
0A55H) occurs and the command value immediately after switching is the same as the case of selecting "0: Command
torque".
■Control mode switching of speed-torque control
The axis connected with FR-A700 series takes more time to switch the control mode than the axis connected with the servo
amplifier.
Switching operation
Position control mode  Speed control mode
Speed control mode  Position control mode
Position control mode  Torque control mode
Torque control mode  Position control mode
Speed control mode  Torque control mode
Torque control mode  Speed control mode
■Driver communication
The driver communication is not supported. If the driver communication is set in a servo parameter, a minor error (error code:
1C93H) will occur when the power supply of the Multiple CPU system is turned ON.
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
266
5.8 Compatible Devices with SSCNETIII(/H)
*1
FR-A700 series
Valid
Invalid
Unusable
*2 *3
Usable
Unusable
Unusable
Error codes detected by FR-A700 series are stored.
MR Configurator2 is not available.
Use FR-DU07/FR-PU07, or FR Configurator.
Setting value
0
Switching time at the servo amplifier use
6 to 11ms
MR-J3(W)-□B
Valid
Valid when using servo amplifier for fully closed loop
control (MR-J3-B-RJ006)
Usable
Usable
*4
Usable
Usable
Error codes detected by servo amplifier are stored.
MR Configurator2 is available.
Details
Positioning address increase: CCW or positive direction
Positioning address decrease: CW of negative direction
Switching time at FR-A700 series use
19 to 24ms