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5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.8 Compatible Devices with SSCNETIII(/H)
*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.
*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.
■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.
PI-PID switching command Valid Valid
Control loop changing command Invalid Valid when using servo amplifier for fully closed loop
control (MR-J3-B-RJ006)
Servo parameter read/write Unusable Usable
Amplifier-less operation function
*2
Usable
*3
Usable
Driver communication Unusable Usable
*4
Monitoring of servo parameter error No. Unusable Usable
Servo error (Motion error history) Error codes detected by FR-A700 series are stored. Error codes detected by servo amplifier are stored.
Programming tool MR Configurator2 is not available.
Use FR-DU07/FR-PU07, or FR Configurator.
MR Configurator2 is available.
Setting item Setting value Details
Rotation direction selection/travel direction selection
(PA14)
0 Positioning address increase: CCW or positive direction
Positioning address decrease: CW of negative direction
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
Item FR-A700 series
*1
MR-J3(W)-□B
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