5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.8 Compatible Devices with SSCNETIII(/H)
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5
Control of FR-A800 series parameters
Parameters set in FR-A800 series are not controlled by Motion CPU. Set the parameters by connecting FR-A800 series
directly with the operation panel on the front of inverter (FR-DU08/FR-LU08/FR-PU07) or FR Configurator2 that is inverter
setup software. For details on setting items for FR-A800 series, refer to the instruction manual of the FR-A800 series.
In the state of connecting between FR-A800 series and Motion CPU, only a part of parameters can be set if
the parameter of the inverter " Pr.77 Parameter write selection" is in the initial state. Set "2: Write parameters
during operation" to rewrite the parameters of FR-A800 series.
In-position range
Set the in-position range in the parameter of the inverter "In-position width (Pr. 426)". When the position of the cam axis is
restored in advanced synchronous control, a check is performed by the servo parameter "In-position range"(PA10). However,
because the servo parameter settings are not performed in FR-A800 series, the "In-position range" is checked as 100[pulse]
(fixed value).
Optional data monitor setting
The following table shows data types that can be set.
Set the data so that the total number of communication data points per axis is no more than 6 points.
■Registered monitor
*1 Data with "Lower, Upper" in the address ID use lower word and upper word of 2 word data therefore two settings should be made. Be
sure to monitor the data in 2 words.
*2 Set an even number for the address ID of registered monitors.
*3 The "Cumulative current value", "Servo command value", and "Torque command" are all command values for the servo amplifier. All
other data types are servo amplifier monitor values (feedback).
*4 Position commands are in the command unit set in the servo data settings.
*5 The torque command is a command value for the servo amplifier. Torque command values are only valid in speed-torque control torque
control mode and continuous operation torque control mode. The previous value will remain for the torque command value when
restoring to position control from torque control, etc., however, it is not actually used.
Data type Unit Number of words Number of
communication data
points
Address ID
*1*2
Motor load ratio [%] 1 1 009CH
Position F/B [pulse] 2 0
Encoder position within 1 revolution [pulse] 2 0 0018H(lower),
001AH(upper)
Encoder multi-revolution counter [rev] 1 0 0028H
Load inertia moment ratio [ 0.1 times] 1 1 00A0H
Model loop gain [rad/s] 1 1 00A2H
Converter output voltage [V] 1 1 0098H
Cumulative current value
*3
[Positioning command]
*4
20
Torque command
*3*5
[0.1 %] 1 0
Optional address of registered
monitor
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