Appendix - 64
Appendices
[3] Precautions during control
(1) Absolute position system (ABS)/Incremental system (INC)
When using FR-A700 series, absolute position system (ABS) cannot be
used. Even though "1: Enable (absolute position detection system)" is set in
the servo parameter "Absolute position detection system (PA03)", the servo
amplifier operates as incremental system.
• When the Simple Motion module is powered ON, OPR request is turned
ON and the current feed value is set to 0. (The current feed value is set to
0 even if only the power of inverter is turned OFF to ON.)
• Errors at absolute position system (1201 to 1205) are not detected.
(2) Control mode
Control modes that can be used are shown below.
• Position control mode (speed control including position control and 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 expansion control "Speed-torque control". If the mode is
switched to continuous operation to torque control mode, the error
"Continuous operation to torque control not supported" (error code: 550)
occurs and the operation stops.
"1: Feedback torque" cannot be set in "Torque initial value selection (b4 to
b7)" of "
Pr.90
Operation setting for speed-torque control mode
". If it is set, the
warning "Torque initial value selection invalid" (warning code: 521) occurs
and the command value immediately after switching is the same as the case
of selecting "0: Command torque".
(3) Driver communication
The driver communication is not supported. If the driver communication is
set in a servo parameter, the error "Driver communication setting error"
(error code: 975) will occur when the power is turned ON.
(4) 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
Switching time at
the servo amplifier use
Switching time at
FR-A700 series use
Position control mode
Speed control mode
6 to 11ms
19 to 24ms
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
Summary of Contents for MELSEC-L Series
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Page 30: ...MEMO ...
Page 70: ...2 10 Chapter 2 System Configuration MEMO ...
Page 83: ...3 13 Chapter 3 Specifications and Functions MEMO ...
Page 103: ...3 33 Chapter 3 Specifications and Functions MEMO ...
Page 107: ...3 37 Chapter 3 Specifications and Functions MEMO ...
Page 111: ...3 41 Chapter 3 Specifications and Functions MEMO ...
Page 115: ...3 45 Chapter 3 Specifications and Functions MEMO ...
Page 140: ...4 22 Chapter 4 Installation Wiring and Maintenance of the Product MEMO ...
Page 253: ...5 113 Chapter 5 Data Used for Positioning Control MEMO ...
Page 342: ...5 202 Chapter 5 Data Used for Positioning Control MEMO ...
Page 438: ...7 20 Chapter 7 Memory Configuration and Data Process MEMO ...
Page 440: ...MEMO ...
Page 485: ...9 25 Chapter 9 Major Positioning Control MEMO ...
Page 594: ...9 134 Chapter 9 Major Positioning Control MEMO ...
Page 624: ...10 30 Chapter 10 High Level Positioning Control MEMO ...
Page 656: ...11 32 Chapter 11 Manual Control MEMO ...
Page 690: ...12 34 Chapter 12 Expansion Control MEMO ...
Page 798: ...13 108 Chapter 13 Control Sub Functions MEMO ...
Page 866: ...14 68 Chapter 14 Common Functions MEMO ...
Page 884: ...15 18 Chapter 15 Dedicated Instructions MEMO ...
Page 899: ...16 15 Chapter 16 Troubleshooting MEMO ...
Page 1036: ...Appendix 88 Appendices MEMO ...
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