Mitsubishi Electric MELSEC Q Series Programming Manual page 593

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
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
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
Position control mode → Speed control mode
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
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
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].
QDS
Switching time at the servo
amplifier use
6 to 11ms
QDS
QDS
APP - 102
QDS
Switching time at FR-A700
series use
19 to 24ms