5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.8 Compatible Devices with SSCNETIII(/H)
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*1 For details of FR-A800 series, refer to FR-A800 series instruction manual.
*2 During amplifier-less operation function, the following are spuriously connected.
Servo amplifier: MR-J4-10B
Servo motor: HF-KR053
*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.
*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-A800 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".
■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.
■Monitor devices (R: D32020+48n to D32039+48n/Q: #8000 to #8639)
This register stores the servo amplifier types and servo amplifier vendor ID below when using FR-A800 series.
• [Md.1014] Servo amplifier type (R: D32030+48n/Q: #8000+20n)
• [Md.1027] Servo amplifier Vendor ID (R: D32031+48n/Q: #8016+20n)
■Command speed
If FR-A800 series is operated at a command speed more than the maximum speed, the stop position may be overshoot.
FR-A800 series detection error
When an error occurs on FR-A800 series, the "[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)" turns ON,
and the minor error (error code: 1C80H) is stored in "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)". Error codes
read from the FR-A800 series are stored in "[Md.1019] Servo amplifier display servo error code (R: D32028+48n/Q:
#8008+20n)". Eliminate the error cause, reset the servo amplifier error by turning ON "[Rq.1148] Servo error reset command
(R: M34488+32n/Q: M3208+20n)" and perform re-start. However, "0" is always stored in "[Md.107] Parameter error No. (R:
D32029+48n/Q: #8009+20n)", and "Absolute position lost (b14)" of "[Md.108] Servo status 1 (R: D32032+48n/Q:
#8010+20n)". Refer to the instruction manual of FR-A800 series for details of the errors.
Programming tool MR Configurator2 is not available.
Use FR-DU08/FR-LU08/FR-PU07, or FR Configurator2.
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
Type code Details
8192(2000H) FR-A800-1 (Inverter)
8193(2001H) FR-A800-2 (Inverter)
Vendor ID code Details
0 Mitsubishi Electric Corporation
Item FR-A800 series
*1
MR-J4(W)-□B
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