APP - 102
APPENDICES
(9) Precautions during control
(a) Absolute position system (ABS)/Incremental system (INC)
When using FR-A700 series, absolute position system (ABS) cannot be
used.
(b) Control mode
QDS
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) Control mode switching of speed-torque control
QDS
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
(d) Driver communication
QDS
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.
(e) Monitor devices (#8000 to #8639)
1) Servo amplifier type (#8000+20n)
This register stores the servo amplifier types below when using
FR-A700 series.
• 16640 .............. FR-A700 series (Inverter)
(f) Operation cycle
QDS
The operation cycle of 0.22[ms] cannot be used.
Furthermore, even if the operation cycle is set to 0.22[ms] in the setting for
axes 1 to 4 for 1 line, if the servo amplifier is mixed with the FR-A700 series,
the servo amplifier operates with an operation cycle of 0.44[ms].
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