The magnetic structure of the nonmetallic metal FeCrAs, a compound with the characters of both metals and insulators, was examined as a function of temperature using single-crystal neutron diffraction. The magnetic propagation vector was found to be $mathit{k}$ = (1/3, 1/3, 0), and the magnetic reflections disppeared above $mathit{T_{N}}$ = 116(1) K. In the ground state, the Cr sublattice shows an in-plane spiral antiferromagnetic order. The moment sizes of the Cr ions were found to be small, due to strong magnetic frustration in the distorted Kagome lattice or the itinerant nature of the Cr magnetism, and vary between 0.8 and 1.4 $mu_{B}$ on different sites as expected for a spin-density-wave (SDW) type order. The upper limit of the moment on the Fe sublattice is estimated to be less than 0.1 $mu_{B}$. With increasing temperature up to 95 K, the Cr moments cant out of the $mathit{ab}$ plane gradually, with the in-plane components being suppressed and the out-of-plane components increasing in contrast. This spin-reorientation of Cr moments can explain the dip in the $mathit{c}$-direction magnetic susceptibility and the kink in the magnetic order parameter at $mathit{T_{O}}$ ~ 100 K, a second magnetic transition which was unexplained before. We have also discussed the similarity between FeCrAs and the model itinerant magnet Cr, which exhibits spin-flip transitions and SDW-type antiferromagnetism.
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