Mitsubishi Electric MELSEC Q Series Programming Manual page 600

APPENDICES
Item
Monitoring of servo
parameter error No.
Servo error
(Motion error history)
Programming tool
(Note-1): For details of FR-A800 series, refer to FR-A800 series instruction manual.
(Note-2): During amplifier-less operation function, the following are spuriously connected.
• Servo amplifier : MR-J4-10B
• Servo motor : HF-KR053
(Note-3): Parameters set in FR-A800 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)
(Note-4): Refer to the "Servo Amplifier Instruction Manual" for the servo amplifiers that can be used.
FR-A800 series
Unusable
Error codes detected by FR-A800 series are stored.
MR Configurator2 is not available.
Use FR-DU08/FR-LU08/FR-PU07, or FR
Configurator2.
Setting value
0
(8) Precautions during control
(a) Absolute position system (ABS)/Incremental system (INC)
When using FR-A800 series, absolute position system (ABS) cannot be
used.
(b) 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 minor error (error code: 318)
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 minor error (error code: 154) occurs
and the command value immediately after switching is the same as the case
of selecting "0: Command torque".
(c) Driver communication
The driver communication is not supported. If the driver communication is
set in a servo parameter, a major error (error code: 1363) will occur when
the power supply of the Multiple CPU system is turned ON.
(d) Monitor devices (#8000 to #8639)
1) Servo amplifier type (#8000+20n)
This register stores the servo amplifier types below when using
FR-A800 series.
• 8192 ................ FR-A800-1 (Inverter)
• 8193 ................ FR-A800-2 (Inverter)
(Note-1)
Error codes detected by servo amplifier are stored.
Details
Positioning address increase: CCW or positive direction
Positioning address decrease: CW of negative direction
APP - 109
MR-J4(W)- B
Usable
MR Configurator2 is available.