Fda7000 Series

OPERATION MANUAL
AC Servo Drive
FDA7000/FDA7000-H Series
Ver 1.5 (Soft. Ver. 2.40 ~)
FDA7000EX Series
Ver 1.5 (Soft. Ver. 3.29 ~)
FDA7000 Series
Servo Drive User Manual
Essential notes before use
A. Checking Motor ID certainly.
: Enter the motor ID indicated on the motor name plate to the parameter of “P01-01”.
For details on the motor ID, refer to Chapter 3 of this manual.
B. Checking Power of servo drive.
: FDA7001 ~ FDA7150 : AC 220V 50/60[Hz]
: FDA7020-H0 ~ FDA7750-H0 : AC 380V 50/60[Hz]
: FDA7020-H1 ~ FDA7150-H1 : AC 440V 50/60[Hz]
C. Checking Encoder ID certainly.
ABS INC ABS
Encoder Manual INC INC INC INC INC INC
11/ 17/ 17/
Type setting 2000 2500 3000 5000 6000 2048
13bit 33bit 33bit
P01-12
Enc-0 Enc-A Enc-b Enc-C Enc-d Enc-E Enc-F Enc-G Enc-P Enc-R
[Encoder ID]
♥ When you set the encoder ID to “Enc-0”, you can change the value of P01-13 (Encoder pulse
rate). But if you set the encoder ID to “Enc-A ~ Enc-R”, you cannot change the value of P01-13.
♥ Never connect the encoder cable to COM port.
D. Operate servo system after auto-tuning is off. (P02-17)
: Always cancel the autotuning during normal operation after gain setting using autotuning.
E. Motor handling
: Avoid impacting to the encoder in connecting coupling to the Motor shaft or operating.
F. Recommended specification of Encoder wiring.
Encoder type Page of wiring explanation
15 line incremental encoder 2-24
9 line incremental encoder 2-25
Absolute encoder 11bit 2-26
Absolute/Incremental encoder 17bit 2-27
G. Separate GND24 (CN1-24, 25) and GND (CN1-1, 8, 26, 33, 34, 36).
: If connected in common, it may cause malfunction and damage of servo drive.
H. Treatment of the servo motor attached holding brake .
: The brake built in the servo motor is a normal closed type brake. Which is used only to hold
and can't be used for braking. Use the holding brake only to hold a stopped servo motor.
I. Do not supply AC at N, P connector when connect the power line to
Small and Medium capacity servo drive.
: If main power is DC power, because N connector (-) voltage and P connector (+) voltage,
burnout of servo drive when N, P connector is supplied AC power.
Choose positively necessary AC and DC power, and use.
Contents
Cont en ts
Chapter 1. Model check and handling

1.1. Model check ................................................................................. 1-1
1.1.1. Servo drive model classification .............................................. 1-1
1.1.2. Servo motor model classification............................................. 1-1
1.2. Servo drive specification ............................................................ 1-2
1.2.1. Power specification of AC 220V Series ................................... 1-2
1.2.3. Common specifications. .......................................................... 1-3
1.3. Combination table of servo drive and motor ............................ 1-4
1.3.1. AC220V series servo drive and motor ..................................... 1-4
1.3.3. Explosion proof series servo drive and motor ......................... 1-6
1.4. Rated specification of servo motor............................................ 1-7
1.4.1. AC220V series servo motor .................................................... 1-7
1.4.2. AC380V series servo motor .................................................. 1-16
1.4.3. Explosion proof series servo motor ....................................... 1-21
1.5. Installation ................................................................................. 1-24
1.5.1. Installation of servo drive....................................................... 1-24
1.5.2. Servo motor installation ......................................................... 1-24
1.6. Handling ..................................................................................... 1-27
1.6.1. Handling precaution .............................................................. 1-27
1.7. Safety Symbols and Cautions .................................................. 1-29
Chapter 2. Wiring and connection

2.1. Main circuit and peripheral device connection ........................ 2-2
2.1.1. Connection of AC220V Series ................................................ 2-3
2.2. Connection terminal of AC220V Series servo drive ................ 2-5
2.2.1. Small type servo drive ............................................................ 2-5
Contents
2.2.2. Medium type servo drive ........................................................ 2-6

2.2.3. Large type servo drive............................................................ 2-8
2.3. Connection terminal of AC380V series servo drive ............... 2-10
2.3.1. Large type servo drive.......................................................... 2-10
2.3.2. Extra large type servo drive.................................................. 2-12
2.4. Power handling ......................................................................... 2-15
2.4.1. Wiring ................................................................................... 2-15
2.4.2. Timing chart of power ........................................................... 2-16
2.5. CN1 I/O signal explanation ...................................................... 2-18
2.5.1. CN1 terminal arrangement ................................................... 2-18
2.5.2. CN1 I/O wiring ...................................................................... 2-19
2.5.3. Input signal function table (manufactured default) ................ 2-20
2.5.4. Output signal function table (manufactured default) ............. 2-21
2.5.5. Fixed I/O signal function table .............................................. 2-22
2.5.6. Analog input/output signal .................................................... 2-23
2.6. Encoder wiring and signal explanation .................................. 2-24
2.6.1. 15line Incremental encoder .................................................. 2-25
2.6.2. 9line Incremental encoder .................................................... 2-26
2.6.3. 11bit absolute encoder ......................................................... 2-27
2.6.4. 17bit absolute/incremental encoder ..................................... 2-28
2.6.5. 17bit absolute encoder data transmission ............................ 2-29
2.6.6. Wiring of FDA7000EX (Explosion proof) .............................. 2-32
2.7. COM(CN3) wiring and signal explanation .............................. 2-34
2.7.1. COM(CN3) wiring ................................................................. 2-34
2.7.2. Wiring of RS232C Common Cable....................................... 2-34
2.7.3. Wiring of RS485 Common Cable ......................................... 2-35
Chapter 3. Parameter setting

3.1. Status display parameter[StE-].................................................. 3-2
3.2. Motor and operating device setting[P01-] ................................ 3-5
3.3. General control parameter setting[P02-] ................................ 3-11
3.4. Speed control parameter setting[P03-] ................................... 3-22
3.5. Input contact point digital speed and torque setting[P04-] .. 3-26
3.6. Position control parameter setting[P05-] ............................... 3-27
3.7. Torque control parameter setting[P06-].................................. 3-30
3.8. Input contact point function setting[P07-].............................. 3-32
3.9. Output contact point function setting[P08-]........................... 3-38
Contents
3.10. Analog monitor function setting[P09-] ................................... 3-45

3.11. Jog operation parameter setting[JOG-].................................. 3-46
3.12. Alarm display setting[ALS-] .................................................... 3-49
Chapter 4. Servo using method and Gain adjustment

4.1. Gain adjustment method for speed control mode ................... 4-1
4.1.1. CN1 wiring diagram for speed control servo .......................... 4-2
4.1.2. Speed servo gain adjustment ................................................. 4-3
4.2. Gain adjustment method for position control mode ............... 4-7
4.2.1. CN1 wiring diagram for position control servo ........................ 4-8
4.2.2. Position servo gain adjustment .............................................. 4-9
4.3. Gain adjustment method for torque control mode ................ 4-15
4.3.1. CN1 wiring diagram for torque control servo ........................ 4-16
4.3.2. Gain adjustment of torque servo .......................................... 4-17
4.4. Auto-tuning ............................................................................... 4-18
4.4.1. System response setting ...................................................... 4-18
4.4.2. Auto-tuning setting sequence ............................................... 4-19
4.4.3. Precaution during Auto-tuning .............................................. 4-20
4.5. Important Points of Gain Adjustment ..................................... 4-20
4.6. Precaution for absolute encoder ............................................ 4-23
4.6.1. Battery handling ................................................................... 4-23
4.6.2. Absolute value encoder initialization .................................... 4-25
Chapter 5. Servo operating

5.1. Basics of loader.......................................................................... 5-1
5.2. Operation of internal mount loader........................................... 5-2
5.2.1. Display flow ............................................................................ 5-2
5.2.2. Parameter change.................................................................. 5-3
5.2.3. Alarm related processing part ................................................ 5-4
5.2.4. Jog operation ......................................................................... 5-7
5.2.5. I/O contact point function parameter setting ........................... 5-9
Chapter 6. Troubleshooting and check

6.1. Troubleshooting ......................................................................... 6-1
6.1.1. Servo motor............................................................................ 6-1
6.1.2. Servo drive ............................................................................. 6-2
6.2. Precautions ................................................................................. 6-5
Contents
6.3. Check........................................................................................... 6-6

6.4. Part replacement ........................................................................ 6-7
6.5. Preservation ................................................................................ 6-8
6.5.1. Servo Motor............................................................................ 6-8
6.5.2. Servo Drive ............................................................................ 6-9
Chapter 7. Connection with host controller

7.1. Example of connection with host controller ............................. 7-1
Chapter 8. External View

8.1. External view of AC220V model servo drive ............................ 8-1
Appendix Ⅰ. Servo system application

I.1. Position control application ................................................... Ⅰ-2
I.2. Example of other application ................................................. Ⅰ-4
Appendix Ⅱ. Noise control

II.1. Wiring Precautions .................................................................. Ⅱ-1
II.2. Wiring for noise control .......................................................... Ⅱ-1
Appendix Ⅲ. All parameters table

III.1. Parameters table...................................................................... Ⅲ-1
III.1.1. StE- parameters .................................................................. Ⅲ-1
III.1.2. P01- parameters ................................................................. Ⅲ-1
III.1.11. JOG- parameters ................................................................ Ⅲ-5
III.1.12. ALS- parameters ................................................................. Ⅲ-5
Appendix Ⅳ. Revision history

Chapter 1
Model check and handling
Chapter 1 explains the details to check before using the servo drive and motor that you have
purchased. Before assembling the product, check whether name plate is as ordered. Mishandling
can disable normal operation or can significantly reduce the operating life depending on the
situation. Because it can damage the servo in the worst case, please read the details and
precautions of each article for handling.
Chapter 1. Model check and handling
1.1. Model check ................................................................................. 1-1

1.1.1. Servo drive model classification .............................................. 1-1
1.1.2. Servo motor model classification............................................. 1-1
1.2. Servo drive specification ............................................................ 1-2
1.2.3. Common specifications. .......................................................... 1-3
1.3. Combination table of servo drive and motor ............................ 1-4
1.3.3. Explosion proof series servo drive and motor ......................... 1-6
1.4. Rated specification of servo motor............................................ 1-7
1.4.1. AC220V series servo motor .................................................... 1-7
1.4.2. AC380V series servo motor .................................................. 1-16
1.4.3. Explosion proof series servo motor ....................................... 1-21
1.5. Installation ................................................................................. 1-24
1.5.1. Installation of servo drive....................................................... 1-24
1.5.2. Servo motor installation ......................................................... 1-24
1.6. Handling ..................................................................................... 1-27
1.6.1. Handling precaution .............................................................. 1-27
1.7. Safety Symbols and Cautions .................................................. 1-29
1. Model check and handling
1.1. Model check
1.1.1. Servo drive model classification
F D A 7 H
AC Servo Drive Symbol TYPE Symbol TYPE Symbol Input Voltage
7000 Series None Standard None Standard None AC 220V
B BOOK EX Explosion proof H0 AC 380V
H1 AC 440V
Symbol Power(W) Symbol Power(W) Symbol Power(W) Symbol Power(W) Symbol Power(W)
001 100 010 1000 045 4500 220 22000 550 55000
002 200 015/015B 1500 075 7500 300 30000 750 75000
004/004B 400 020/020B 2000 110 11000 370 37000
005 500 030/030B 3000 150 15000 450 45000
1.1.2. Servo motor model classification
M A - -
Oil Seal Type
Series Symbol Type
AC Servo Motor 0 None
Symbol Use
CN, CJ 1 Oil seal attached
High-speed, low torque type
EX,EC
KF, KN
Symbol Input voltage EK
Medium-speed, standard type Brake Type
F AC 220V TF, TN Symbol Type
Medium-speed, high torque type
ET
H AC 380V~440V LF, LN 0 None
Low-speed, large torque type
EL
Brake attached
• Explosion-proof model : EX,EC,EK,ET,EL 1 40,60,80 Fr. : DC24[V]
130,180,220 Fr. : DC90[V]
Brake attached
Rated Power(W) Encoder Type 2
130,180,220 Fr.: DC24[V]
Symbol pulse Type (Note2)

Symbol Power(W) Symbol PowerW) Symbol Power(W)
01 100 12 1200 50 5000 A 2000

Shaft Type
02 200 13 1300 55 5500 B 2500
Symbol Type
03 300 15 1500 75 7500 C 3000 Incremental
A Straight &No Key
D 5000 (15line)
04 400 16 1600 110 11000
B Straight & Key
05 500 20 2000 150 15000 E 6000
C Taper & Key
06 600 22 2200 220 22000 F 2048
30 3000 300 30000 K 2048 Incremental

07 700
H 8192 (9line)
08 800 35 3500 370 37000
Absolute,
09 900 40 4000 450 45000 P 131072 Incremental
17/33bit
10 1000 44 4400 550 55000
750 75000
(Note1) When using as a serial 17bit Absolute encoder, use the battery as an option and
change P01-12 (Encoder ID) to “Enc-r”.
(Note2) When using a brake-attached type servo motor, you must select the brake supply
voltage according to the brake type specified on the servo motor.
1-1
1.2. Servo drive specification

1.2.1. Power specification of AC 220V Series
004/ 015/ 020/ 030/

Servo Drive Model[FDA7___] 001 002 005 010 045 075 110 150
004B 015B 020B 030B
Input voltage frequency 3 phase AC200~230V, 50/60Hz ±5% 3 phase AC200~230V, 50/60Hz ±5%
(Note1) Single phase AC 230V, 50/60Hz ±5%
Main
3 phase AC 170~253V
circuit
Permitted voltage (Input range +10/-15%)
power 3 phase AC 170~253V(Input range +10/-15%)
variance rate Single phase AC 207~253V
(Input range +10/-10%)
Control Input voltage frequency Single phase AC 200~230V, 50/60Hz ±5%
circuit Permitted voltage No input
power Single phase AC 170~253V(Input range +10/-15%)
variance rate
250/ 1000/ 1600/ 2000/
Regenerative resistance(W/Ω) 50/50 70/50 500/12.5
25 6.25 4 3
Weight[kg] 1.0 1.0 1.5 1.9 1.9 4.3 4.4 4.5 4.6 15 23 24
Note1 Indicates the input voltage and frequency range that guarantee the rated motor output and
rated speed. There is no guarantee in case of voltage drop.
Note2 Regenerative resistor applied to FDA7075 ~ FDA7150 is an optional product, please
purchase separately.
1.2.2. Power specification of AC 380V Series
Servo Drive Model[FDA7___-H] 020 030 045 075 110 150 220 300 370 450 550 750
H0 : 3 phase AC 380V 50/60Hz +10%/-15%

Main Input voltage frequency
(Note1)
circuit H1 : 3 phase AC 440V 50/60Hz +10%/-10%
power
Permitted voltage variance
Input rage +10/-15%
rate
H0 : Single phase AC 380V, 50/60Hz ±5%
Control Input voltage frequency
circuit H1 : Single phase AC 440V, 50/60Hz ±5%
power
Permitted voltage variance
Input rage +10/-15%
rate
2000/1
Regenerative resistance(W/Ω) 250/40 500/20 1600/15 3600/9 5000/5 10000/5
5
Weight[kg] 6.0 6.2 6.4 15 23 24 35.4 51.7 52.3 52.3 55 60.0
Note1 Indicates the input voltage and frequency range that guarantee the rated motor output and
rated speed. There is no guarantee in case of voltage drop.
Note2 Regenerative resistance is an optional product, please purchase separately.
1-2
1.2.3. Common specifications.
17/33bit Serial encoder, 11/13bit Absolute encoder,

Type
Incremental 2000 ~ 6000 [ppr] (15line), 8192 [ppr] (9line)
Interface Serial communication, Differential Line Driver

Encoder
Resolution Maximum of 131072 [pulse] per 1 encoder revolution
Input voltage DC 5[V], 0.3 [A]
Drive system Sine wave PWM control ( using by IPM )
Speed control range Internal speed command 1:5000, analog speed command 1:2000
Frequency response 600 [Hz]

Speed Analog Speed Command : DC -10 ~ +10 [V]
control Speed command Digital Speed Command with combination SPD1 ~ SPD3
specification ± 0.01 % or below (rated load condition : 0 ~ 100 % )
Speed accuracy ± 0.01 % or below (rated voltage condition : ± 10 %)
± 0.1 % or below (temperature fluctuation condition: 25 ± 25 C )
Acceleration/
Straight, S-curve ( 0 ~ 100 [sec] )
Deceleration time
Input frequency Line drive type : 500 [kpps], open collector type : 250 [kpps]
Position
Direction + pulse, Forward pulse + reverse pulse
control Input type
2 phase pulse (A phase + B phase )
specification
Input method Open Collector, Line Driver
Analog torque Command : DC -10 ~ +10 [V]

Torque command
Digital torque Command with combination TRQ1 ~ TRQ3
Torque
control Torque linearity 4 [%] or below
specification
Analog Speed limit Command : DC -10 ~ +10 [V]
Speed limit Digital Speed limit Command with combination SPD1 ~ SPD3
Over current, over voltage, over temperature, over speed, motor miss
wiring,
Protection encoder problem, insufficient voltage, follow error, CCW /CW limit, IPM
fault,
memory problem, emergency stop etc.
Internal Monitor output Command/current position, speed, torque ( -5 ~ +5 [V] )

function
Dynamic brake Built-in
Key JOG, 8 pattern Auto JOG alarm history, rotation direction, encoder
signal division pulse out, auto-tuning, 2-notch filter, speed ripple
Additional function suppress
etc.
Motor power cable, encoder cable, CN1 cable
Option
RS232/485 COM cable, absolute encoder battery pack, P-dori ,
user manual
Operating temperature 0 ~ 50 [℃]
Environ- Operating humidity 90[] or below (no condensation)

mental
specification Storage temperature -20 ~ +80 [℃]
Insulation Resistance DC 500[V] 10 [M] or more
1-3
1.3. Combination table of servo drive and motor
1.3.1. AC220V series servo drive and motor
Servo Motor[FMA__]
Servo
CN/CJ
Drive KN Series TN Series LN Series KF Series TF Series LF Series
Series
[FDA7_ ]
2000/3000 1500/3000 1000/2000 2000/3000 1500/3000 1000/2000
3000/5000
[rpm] [rpm] [rpm] [rpm] [rpm] [rpm]
[rpm]
CJZ5
001 CN01 - - - - - -
CJ01
CN02
002 - - - - - -
CJ02
CN03
CN04
KN03
004/004B CJ04 - LN03 - - LF03
KN05
CN04A
CN05
CN06 KN06
005 TN05 LN06 - TF05 LF06
CN08 KN06A
CN09 KN07 KF08

010 TN09 LN09 TF09 LF09
CN10 KN11 KF10
LN12
015/015B CN15 KN16 TN13 KF15 TF13 LF12
LN12A
KN22 TN17
020/020B CN22
KN22A TN20
LN20 KF22 TF20 LF20
CN30
030/030B KN35 TN30 LN30 KF35 TF30 LF30
CN30A
CN50 LN40
045 CN50A
KN55 TN44
LN55
KF50 TF44 -
075 TN75
TN110
110 (1500/2000
[rpm])
TN150
150 (1500/2000
[rpm])
1-4
1.3.2. AC380V series servo drive and motor
Servo motor[HMA__]
Servo
CN/CJ
drive KN Series TN Series LN Series
Series
[FDA7_ ]
2000/3000 1500/3000 1000/2000
3000/5000
[rpm] [rpm] [rpm]
[rpm]
CN09
KN11 TN09 LN12
CN10
020-H KN16 TN13 LN20
CN15
KN22 TN20 LN22
CN22
030-H CN30 KN35 TN30 LN30
LN40
CN40 TN44
045-H CN50 TN55
LN44
LN55
TN70
075-H LN55
TN75
TN100
110-H TN110
150-H KN150 TN150
220-H KN200 TN220
300-H TN300 LN300
370-H TN370 LN370
450-H TN450 LN450
550-H TN550
750-H TN750
1-5
1.3.3. Explosion proof series servo drive and motor
Servo motor[FMA/HMA]
Servo
EX/EC
drive EK Series ET Series EL Series
Series
[FDA7- ]
2000/3000 1500/3000 1000/2000
3000/5000 [rpm] [rpm] [rpm]
[rpm]
002EX FMAEX02 - - -
004EX
- FMAEK05 - -
/004BEX
FMAEC06
005EX FMAEC08
FMAEK06 - -
010EX - - - FMAEL09
015EX
- FMAEK16 FMAET13 -
/015BEX
020EX
FMAEC22 - FMAET20 -
/020BEX
030EX
- FMAEK30 - -
/030BEX
045EX FMAEC40 - - -
HMAET13
020EX-H HMAEC22 HMAEK16 -
HMAET20
030EX-H HMAEK30
045EX-H HMAEC40
1-6
1.4. Rated specification of servo motor
1.4.1. AC220V series servo motor
Model Motor CJZ5 CJ01 CJ02 CJ04

Spec. Drive 7001 7001 7002 7004
Flange Size ( □ ) 40 60
Rated Power (W ) 50 100 200 400
Rated Current (Arms) 0.81 0.90 1.80 2.65
Instantaneous Max.
Current (Arms)
2.43 2.70 5.40 7.95
( N·m ) 0.16 0.32 0.64 1.27
Rated Torque
( kgf·cm ) 1.62 3.25 6.5 13.0
Instantaneous ( N·m ) 0.48 0.95 1.92 3.81

Max. Torque ( kgf·cm ) 4.87 9.74 19.5 39.0
Rated Speed ( r/min ) 3000
Maximum Speed ( r/min ) 5000
Rotator 2
( gf·cm·s ) 0.049 0.081 0.251 0.449
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 0.048 0.079 0.246 0.440
Allowable load inertia
ratio (versus rotor)
15 times or below
Rated Power Rate ( kW/s ) 5.3 12.8 16.5 36.8
Standard Incremental 2000~6000 P/rev
Encoder
Option Absolute/incremental 17/33bit, 131072 P/rev
Weight ( kg ) 0.42 0.55 1.0 1.73
Torque-Speed characteristics
CJZ5 CJ01 CJ02 CJ04

Torque(N·m ) Torque (N·m ) Torque(N·m ) Torque(N·m )
0.5 1.0 2.0 4.0
0.4 0.8 1.6 3.2
0.3
Intermittent 0.6
Intermittent Intermittent Intermittent
1.2 2.4
0.2 0.4 0.8 1.6
0.1 0.2
Continuous Continuous 0.4
Continuous 0.8
Continuous
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min )
1-7
Model Motor CN01 CN02 CN03 CN04 CN05 CN04A CN06 CN08 CN10
Spec. Drive 7001 7002 7004 7005 7010
Rated Power (W ) 100 200 300 400 500 400 600 800 1000
Rated Current (Arms) 1.25 2.1 2.8 2.85 3.2 2.8 3.5 4.65 5.8
Instantaneous Max.
Current (Arms)
3.75 6.3 8.4 8.55 9.6 8.4 10.5 12.54 17.4
( N·m ) 0.32 0.64 0.96 1.27 1.59 1.27 1.91 2.54 3.18
Rated Torque
( kgf·cm ) 3.25 6.5 9.75 13.0 16.2 13.0 19.5 26.0 32.5
Instantaneous ( N·m ) 0.96 1.92 2.88 3.81 4.77 3.81 5.3 6.85 9.53
Max. Torque ( kgf·cm ) 9.75 19.5 29.3 39.0 48.7 39.0 54.5 70.2 97.5
Rotator ( gf·cm·s )
2
0.061 0.095 0.129 0.163 0.208 1.1 1.5 1.77 2.11
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 0.06 0.093 0.126 0.160 0.204 1.08 1.47 1.74 2.07
30 times or below 20time or below
Rated Power Rate ( kW/s ) 17.0 43.6 72.2 101.6 124.3 15.0 24.8 37.4 49.0
Encoder
Weight ( kg ) 0.85 1.14 1.43 1.73 2.03 2.1 2.55 3.1 3.7
CN01 CN02 CN03 CN04 CN05

Torque(N·m ) Torque (N·m ) Torque (N·m ) Torque (N·m ) Torque (N·m )
1.0 2.0 3.0 4.0 5.0
0.8 1.6 2.4 3.2 4.0

Intermittent Intermittent 1.8
Intermittent 2.4 3.0
0.6 1.2 Intermittent Intermittent
0.4 0.8 1.2 1.6 2.0
0.2 0.4 0.6 0.8 1.0

Continuous Continuous Continuous Continuous Continuous
1000 2000 3000 4000 5000
Continuous 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min )
전영역
CN04A CN06 CN08 CN10

Torque (N·m ) Torque (N·m ) Torque (N·m ) Torque (N·m )
4.0 5.5 7.0 10
3.2 4.4 5.6 8

Intermittent Intermittent Intermittent 6
2.4 3.3 4.2 Intermittent
1.6 2.2 2.8 4
1.1 2
0.8
Continuous Continuous 1.4 Continuous Continuous
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
1-8
Model Motor CN09 CN15 CN22 CN30 CN30A CN50A KN03 KN05 KN06 KN07
Spec. Drive 7010 7015 7020 7030 7030 7045 7004 7004 7005 7010
Flange Size ( □ ) 130 180 80

Rated Power (W ) 900 1500 2200 3000 3000 5000 300 450 550 650
Rated Current (Arms) 4.6 8.8 12.1 17.2 19.2 23.3 2.5 3.1 3.7 4.6
Instantaneous Max.
13.8 26.4 36.3 51.6 57.6 69.9 7.5 9.3 10.7 13.8
Current (Arms)
( N·m ) 2.86 4.77 7.0 9.54 9.54 15.9 1.43 2.15 2.63 3.10
Rated Torque
( kgf·cm ) 29.2 48.7 71.4 97.4 97.4 162.3 14.6 21.9 26.8 31.7
Instantaneous ( N·m ) 8.6 14.3 21 28.6 28.6 47.7 4.29 6.45 7.88 9.31
Max. Torque ( kgf·cm ) 87.6 146 214 292 262 486.9 43.8 65.7 80.3 94.9
Rated Speed ( r/min ) 3000 2000
Maximum Speed ( r/min ) 5000 4500 3000

2
4.12 7.63 11.12 14.63 26.1 43.8 1.1 1.5 1.77 2.11
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 4.04 7.48 10.9 14.34 25.6 42.9 1.08 1.47 1.74 2.07
10 times or below 20 times or below
Rated Power Rate ( kW/s ) 20.4 30.6 45.1 63.9 35.7 58.9 18.9 31.3 38.0 44.6

Encoder
Weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 2.1 2.55 3.1 3.7
CN09 CN15 CN22 CN30 CN30A

Torque (N·m ) Torque (N·m ) Torque (N·m ) Torque (N·m ) Torque (N·m )
10 15 25 30 30
8 12 20 24 24
6
Intermittent 9 Intermittent 15 Intermittent 18 Intermittent 18 Intermittent
4 6 10 12 12
2 3 5 6 6
Continuous 6 Continuous 6 Continuous 6 Continuous 6 Continuous
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
CN50A KN03 KN05 KN06 KN07

Torque (N·m ) Torque (N·m ) Torque (N·m ) Torque (N·m ) Torque (N·m )
10 5 6.5 7.5 10
8 4 5.2 6.0 8
6 Intermittent 3 Intermittent 3.9
Intermittent 4.5 Intermittent 6 Intermittent
4 2 2.6 3.0 4
2
6 Continuous 1
Continuous 1.3
Continuous 1.5
Continuous 2
Continuous
1000 2000 3000 4000 5000 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
Speed (r/min ) 영역
1-9
Model Motor KN06A KN11 KN16 KN22 KN22A KN35 KN55 KN70
Spec. Drive 7005 7010 7015 7020 7020 7030 7045 7075

Rated Power (W ) 600 1100 1600 2200 2200 3500 5500 7000
Rated Current (Arms) 3.7 6.7 10.2 14.1 15.2 20.2 31.6 36.0
Instantaneous Max.
11.1 18.1 30.3 42.3 45.6 60.6 79 90.0
Current (Arms)
( N·m ) 2.86 5.25 7.64 10.5 10.49 16.67 26.18 340
Rated Torque
( kgf·cm ) 29.2 53.6 77.9 107 107 170 267 34.0
Instantaneous ( N·m ) 8.6 14.2 22.5 31.5 31.3 50.1 65.4 83.6
Max. Torque ( kgf·cm ) 87.6 145 230 321 321 510 667.5 852
Rotator 2
( gf·cm·s ) 4.12 7.63 11.12 14.63 26.1 43.8 67.8 100.1
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 4.04 7.48 10.9 14.34 25.6 42.9 66.4 98.1
10 times or below
Rated Power Rate ( kW/s ) 20.4 30.6 47.3 63.9 43.0 64.7 103.0 113.7
Encoder
Weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 26.8 36.1
KN06A KN11 KN16 KN22

10 15 25 30
30
8 12 20 24
6 9 15 Intermittent 18
4 6 10 12
2 3 5 6
Continuous Continuous Continuous Continuous
1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
KN22A KN35 KN55 KN70

30 50 75 100
24 40 60 80
18 Intermittent 30 Intermittent 45 Intermittent 60 Intermittent
12 20 30 40
6 10 15 20
1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
1-10
Model Motor TN05 TN09 TN13 TN17 TN20 TN30 TN44 TN55 TN75 TN110 TN150
Spec. Drive 7005 7010 7015 7020 7020 7030 7045 7045 7075 7110 7150
Flange Size ( □ ) 130 180 220

Rated Power (W ) 450 850 1300 1700 1800 2900 4400 5500 7500 11000 15000
Rated Current (Arms) 3.7 6.9 10.9 14.4 16.4 22.6 33.1 37.0 51.8 54.5 73.7
Instantaneous Max.
11.1 18.1 29.65 39.2 49.2 56.6 94.67 93.0 129.5 131 184.3
Current (Arms)
( N·m ) 2.87 5.41 8.27 10.8 11.5 18.6 27.9 35.0 47.7 70 95.4
Rated Torque
( kgf·cm ) 29.3 55.2 84.4 110 117 190 285 35.7 486.9 714 974
Instantaneous ( N·m ) 8.61 14.2 22.5 29.4 34.5 46.2 69.9 88 119.3 175 229
Max. Torque ( kgf·cm ) 89.5 145 230 300 351 471 712.5 893 1217 1785 2434
Maximum Speed ( r/min ) 3000 2000

2
4.12 7.63 11.12 14.63 26.1 43.8 67.8 100.1 126.4 211 308
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 4.04 7.48 10.9 14.34 25.1 42.9 66.4 98.1 123.9 207 302
10 times or below
Rated Power Rate ( kW/s ) 20.5 43.3 68.2 91.7 51.5 80.8 117.4 124.8 183.8 236 301
Encoder
Weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 26.8 36.1 45.7 59 84
TN05 TN09 TN13 TN17 TN20

Torque (N·m )
Torque(N·m ) Torque (N·m ) Torque (N·m ) 30 35Torque (N·m )
10 15 25
8 12 20 24 24
Intermittent Intermittent Intermittent Intermittent
6 9 15 Intermittent 18 18
4 6 10 12 12
2 3 5 6 6 Continuous
1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
TN30 TN44 TN55 TN75 TN110 TN150
50 Torque (N·m ) 75Torque (N·m ) Torque (N·m ) 125 Torque (N·m ) Torque (N·m ) Torque (N·m )
100 200 250
40 60 80 100 160 200

30 45 60 Intermittent 75 Intermittent 120 Intermittent 150
20 30 40 50 80 100
10 15 20 25 40 50 Continuous
Continuous Continuous Continuous Continuous Continuous
1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000 500 1000 1500 2000 500 1000 1500 2000
Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min ) Speed (r/min )
1-11
Model Motor LN03 LN06 LN09 LN12 LN12A LN20 LN30 LN40 LN55
Spec. Drive 7004 7005 7010 7010 7020 7030 7045 7075

Rated Power (W ) 300 600 900 1200 1200 2000 3000 4000 5500
Rated Current (Arms) 2.6 4.8 7.3 9.7 8.9 17.2 24.9 32.2 36.5
Instantaneous Max.
Current (Arms)
7.8 12.0 18.76 29.0 22.2 51.6 62.34 96.6 91.3
( N·m ) 2.86 5.72 8.6 11.5 11.5 19.1 28.6 38.2 52.5
Rated Torque
( kgf·cm ) 29.2 58.4 87.7 116.9 116.9 194.8 292.2 389.6 535.5
Instantaneous ( N·m ) 8.6 14.3 22.1 34.4 28.7 57.3 71.6 114.6 131.2
Max. Torque ( kgf·cm ) 87.6 146 226 351 292.3 584.4 730.5 1168.8 1338.8
2
4.12 7.63 11.12 14.63 26.1 43.8 67.8 100.1 126.4
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 4.04 7.48 10.9 14.34 25.6 42.9 66.4 98.1 123.9
10 times or below
Rated Power Rate ( kW/s ) 20.5 43.3 68.2 91.7 51.4 84.9 123.4 148.6 226.9
Encoder
Weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 26.8 36.1 45.7
LN03 LN06 LN09 LN12

10 25 40
8 16 20 32
Intermittent 12 Intermittent
6 15 24 Intermittent
Intermittent
4 8 10 16
2 4 5 Continuous 8 Continuous
Continuous Continuous
500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
LN20 LN30 LN40 LN55

LN12A
Torque (N·m )
30 50 75 120 150
24 40 60 90 120
Intermittent Intermittent Intermittent Intermittent Intermittent
18 30 45 64 90
12 20 30 40 60
6 Continuous 10 Continuous 15 Continuous 20 Continuous 30 Continuous
500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
1-12
Model Motor KF08 KF10 KF15 KF22 KF35 KF50

Spec. Drive 7010 7015 7020 7030 7045
Rated Power (W ) 750 1000 1500 2200 3500 5000
Rated Current (Arms) 5.3 6.2 9.2 14.1 20.5 33.8
Instantaneous Max.
Current (Arms)
15.9 18.6 27.6 42.3 61.5 101.4
( N·m ) 3.58 4.77 7.16 10.5 16.7 23.9
Rated Torque
( kgf·cm ) 36.53 48.7 73.1 107 170 244
Instantaneous ( N·m ) 10.74 14.31 21.56 31.4 50.0 71.7

Max. Torque ( kgf·cm ) 109.5 146.0 220.0 321 510 732
2
10.5 15.5 25.3 65.3 100.5 159.1
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 10.3 15.2 24.8 64.0 98.5 156
5 times or below
Rated Power Rate ( kW/s ) 12.3 15.0 20.7 17.2 28.2 36.4
Encoder
Weight ( kg ) 8.2 11.6 15.8 17.2 27.4 38.3
KF08 KF10 KF15

Torque (N·m ) Torque (N·m ) Torque (N·m )
15 15 25
12 12 20
Intermittent
9 9 15 Intermittent
Intermittent
6 6 10
3 3 5
Continuous Continuous Continuous
1000 2000 3000 1000 2000 3000 1000 2000 3000
Speed (r/min ) Speed (r/min ) Speed (r/min )
KF22 KF35 KF50

35 50 75
28 40 60
Intermittent 45
21 30 Intermittent
Intermittent
14 20 30
7 10 15
1000 2000 3000 1000 2000 3000 1000 2000 3000

1-13
Model Motor TF05 TF09 TF13 TF20 TF30 TF44

Spec. Drive 7005 7010 7015 7020 7030 7045
Rated Power (W ) 450 850 1300 1800 2900 4400
Instantaneous Max.
Current (Arms)
12.0 19.0 31.7 44.4 65.1 95.83
( N·m ) 2.87 5.41 8.27 11.5 18.5 27.9
Rated Torque
( kgf·cm ) 29 55 85 117 188 285

Max. Torque ( kgf·cm ) 89.5 150 250 351 565 790
2
10.5 15.5 25.3 65.3 100.5 159.1
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 10.3 15.2 24.8 64.0 98.5 156
5 times or below
Encoder
Weight ( kg ) 8.2 11.6 15.8 17.2 27.4 38.3
TF05 TF09 TF13

10 15 25
8 12 20
Intermittent Intermittent
6 9 15
Intermittent
4 6 10
2 3 5
1000 2000 3000 1000 2000 3000 1000 2000 3000
TF20 TF30 TF44

35 60 80
28 48 64
Intermittent
21 Intermittent 36 48 Intermittent
14 24 32
7 12 16
1000 2000 3000 1000 2000 3000 1000 2000 3000
1-14
Model Motor LF03 LF06 LF09 LF12 LF20 LF30

Spec. Drive 7004 7005 7010 7010 7020 7030
Rated Power (W ) 300 600 900 1200 2000 3000
Instantaneous Max.
Current (Arms)
7.5 13.65 19.21 29.32 48.0 67.34
( N·m ) 2.84 5.68 8.62 11.5 19.1 28.4
Rated Torque
( kgf·cm ) 29 58 88 117 195 290

Max. Torque ( kgf·cm ) 90 169 235 351 585 803
2
10.5 15.5 25.3 65.3 100.5 159.1
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 10.3 15.2 24.8 64.0 98.5 156
5 times or below
Encoder
Weight ( kg ) 8.2 11.6 15.8 17.2 27.4 38.3
LF03 LF06 LF09

10 20 25
8 16 20
Intermittent
6 12 Intermittent 15 Intermittent
4 8 10
2 Continuous 4 Continuous 5 Continuous
500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
LF12 LF20 LF30

40 60 80
32 48 64
Intermittent
24 36 Intermittent 48 Intermittent
16 24 32
500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
1-15
1.4.2. AC380V series servo motor
Model Motor CN09 CN10 CN15 CN22 CN30 CN30A CN50A

Spec. Drive 7020-H 7030-H 7045-H
Flange Size ( □ ) 130 80 130 180

Rated Power (W ) 900 1000 1500 2200 3000 3000 5000
Rated Current (Arms) 3.38 2.94 5.0 7.4 10.0 10.0 14
Instantaneous Max.
10.2 8.8 15.0 22.2 30.0 30.0 42.0
Current (Arms)
Rated ( N·m ) 2.86 3.18 4.77 7.0 9.54 9.54 15.9

Torque ( kgf·cm ) 29.2 32.4 48.7 71.4 97.3 97.3 162.2
Instantaneous ( N·m ) 8.6 9.53 14.3 21 28.6 28.6 47.7

Max. Torque ( kgf·cm ) 87.7 97.2 145.9 214.2 291.7 291.7 486.5

2
4.08 2.14 7.65 11.12 14.59 26.1 43.8
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 4.0 2.1 7.5 10.9 14.3 25.6 42.9
10 times or below
Rated Power Rate ( kW/s ) 20.44 48.14 30.33 44.94 63.62 35.54 58.9

Encoder
Weight ( kg ) 5.5 3.7 7.0 8.5 10.0 12.9 18.2
CN09 CN10 CN15 CN22
10 10 15 25
30
8 8 12 20
6 6 Intermittent 9 15 Intermittent
4 4 6 10
2 2 Continuous 3 5
Continuous 6 Continuous 6 Continuous
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
CN30 CN30A CN50A

30 30 10
24 24 8
18 Intermittent 18 Intermittent 6 Intermittent
12 12 4
6 6 2
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
1-16
Model Motor KN11 KN16 KN22 KN22A KN35 KN55 KN70

Spec. Drive 7010-H 7015-H 7020-H 7020-H 7030-H 7045-H 7075-H

Rated Power (W ) 1100 1600 2200 2200 3500 5500 7000
Rated Current (Arms) 3.9 5.8 7.95 8.14 11.68 18.53 23.04
Instantaneous Max.
Current (Arms)
10.5 17.1 23.9 20.3 29.2 46.3 57.6
( N·m ) 5.28 7.64 10.5 10.5 16.7 26.2 33.4
Rated Torque
( kgf·cm ) 53.9 77.9 107.1 107.1 170.3 267.2 340.7
Instantaneous ( N·m ) 14.2 22.5 31.5 26.2 41.7 65.4 83.5

Max. Torque
( kgf·cm ) 144.8 229.5 321.3 267.2 425.3 667.1 851.7
2
7.65 11.12 14.59 26.1 43.8 67.7 100.1
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 7.50 10.90 14.30 25.6 42.9 66.4 98.1
10 times or below
Encoder
Weight ( kg ) 7.0 8.5 10.0 12.9 18.2 26.8 36.1
KN11 KN16 KN22 KN22A

15 25 30 30
12 20 24 24
9 15 Intermittent 18 18 Intermittent
6 10 12 12
3 5 6 6
1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
KN35 KN55 KN70

50 75 100
40 60 80
30 Intermittent 45 Intermittent 60 Intermittent
20 30 40
10 15 20
1000 2000 3000 1000 2000 3000 1000 2000 3000

1-17
Model Motor LN12 LN20 LN30 LN40 LN55 LN300 LN370 LN450
Spec. Drive 7010-H 7020-H 7030-H 7045-H 7075-H 7300-H 7370-H 7450-H
Flange Size ( □ ) 130 180 280

Rated Power (W ) 1200 2000 3000 4000 5500 30000 37000 45000
Rated Current (Arms) 6.12 8.42 14.2 22.3 23.8 75 98.09 112.28
Instantaneous Max.
Current (Arms)
6.12 8.42 14.2 22.3 23.8 162 235 276
( N·m ) 18.3 25.3 42.7 67 64.3 358 441 537
Rated Torque
( kgf·cm ) 11.5 19.1 28.6 42.03 52.5 3651.6 4498.2 5477.4
Instantaneous ( N·m ) 117.3 194.8 291.7 428.71 535.5 752 930 1182
Max. Torque ( kgf·cm ) 34.4 57.3 86 126.09 141.75 7670.4 9486 12056.4
Rated Speed ( r/min ) 1000 1000 1000 1000 1000 800 800 800
Maximum Speed ( r/min ) 2000 2000 2000 2000 2000 1300 1300 1300
2
14.6 43.8 67.7 102.51 126.378 1217.88 1843.14 2238.90
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 14.3 42.9 66.4 100.50 123.9 1194.00 1807.00 2195.00
10 times or below
Standard Incremental 2000~6000 P/rev Absolute/incremental 17/33bit,
Encoder
Option Absolute/incremental 17/33bit, 131072 P/rev 131072 P/rev
Weight ( kg ) 10.0 18.2 26.8 45.7 45.7 196 206 230
LN12 LN20 LN30 LN40

Torque (N·m )
40 50 75 120
32 40 60 90
24 Intermittent 30 45 64
16 20 30 40
8 Continuous 10 15 20 Continuous
500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
Speed (r/min )
Speed (r/min ) peed (r/min ) Speed (r/min )
LN55 LN300 LN370 LN450

150 1000 1000 1500
120 800 800 1200

90 600 Intermittent 600 900
Intermittent
60 400 400 600
30 Continuous 200 200 300

500 1000 1500 2000 1000 1500 2000 500 1000 1500 500 1000 1500
1-18
Model Motor TN09 TN20 TN30 TN44 TN55 TN75N TN110 TN150
Spec. Drive 7010-H 7020-H 7030-H 7045-H 7045-H 7075-H 7110-H 7150-H
Flange Size ( □ ) 130 180 220

Rated Power (W ) 850 1800 2900 4400 5500 7500 11000 15000
Rated Current (Arms) 3.95 8.9 14.16 16.8 20.9 24.47 35.8 38.06
Instantaneous Max.
Current (Arms)
12.8 27.4 41.8 50.4 68 68 89.5 93.24
( N·m ) 5.41 11.5 18.6 28 35 47.8 70 95.4
Rated Torque
( kgf·cm ) 55.2 117.3 189.7 285.60 357 487.56 714 973.08
Instantaneous ( N·m ) 16.23 34.5 54.8 84.0 114.58 133.84 175 224.38
Max. Torque ( kgf·cm ) 165.5 351.9 559.0 856.8 1168.72 1365.17 1785 2288.67
Rated Speed ( r/min ) 1500 1500 1500 1500 1500 1500 1500 1500
Maximum Speed ( r/min ) 3000 3000 3000 3000 3000 3000 2000 2000
Rotator 2
( gf·cm·s ) 7.63 26.1 43.8 67.8 100.062 126.4 201.5 314.5
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 7.48 25.1 42.9 66.4 98.1 124 197.5 308.2
10 times or below
Encoder
Weight ( kg ) 7.0 12.9 18.2 26.8 36.1 45.7 59 84
TN09 TN20 TN30 TN44

Torque (N·m ) 35Torque (N·m )
15 50Torque (N·m ) 75Torque (N·m )
12 24
Intermittent 40 60
Intermittent
9 18 Intermittent Intermittent
30 45
6 12
20 30
3 6 Continuous
Continuous 10 15
1000 2000 3000 1000 2000 3000
1000 2000 3000 1000 2000 3000
Speed (r/min ) Speed (r/min )
TN55 TN75 TN110 TN150

100 125 200 250
80 100 160 200

Intermittent
60 Intermittent 75 Intermittent 120 Intermittent 150
40 50 80 100
20 25 40 50 Continuous
1000 2000 3000 1000 2000 3000 500 1000 1500 2000 500 1000 1500 2000
1-19
Model Motor TN220 TN300 TN370 TN450 TN550 TN750

Spec. Drive 7220-H 7300-H 7370-H 7450-H 7550-H 7750-H

Rated Power (W ) 22000 30000 3700 45000 55000 75000
Rated Current (Arms) 45 62 77 102 119 141
Instantaneous Max.
112.5 155 192.5 280 345 395
Current (Arms)
( N·m ) 140 191 236 286 350 477
Rated Torque
( kgf·cm ) 1428 1948.2 2407.2 2917.2 3570 4865.4
Instantaneous ( N·m ) 350 478 589 715 875 1192

Max. Torque ( kgf·cm ) 3570 4875.6 6007.8 7293 8925 12158.4
Rated Speed ( r/min ) 1500 1500 1500 1500 1500 1500
Maximum Speed ( r/min ) 2000 2000 2000 2000 2000 2000

2
412.8 473.9 620.6 1147.72 1217.88 2238.90
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 404.7 464.6 608.5 1125.22 1194.00 2195.00
10 times or below
Rated Power Rate ( kW/s ) 484.1 784.9 915 726.64 1025.55 1036.16
Standard
Encoder Absolute/incremental 17/33bit, 131072 P/rev
Option
Weight ( kg ) 93 107 117 165 196 230
TN220 TN300 TN370

400 600 600
300
400 Intermittent
Intermittent Intermittent 400
200
200 200
100
500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
TN450 TN550 TN750

1000 1000 1500
800 800
600 600 1000

400 400
500
200 200
500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
1-20
1.4.3. AC 220V Explosion proof series servo motor
Model Motor EX02 EC06 EC08 EC22 EC40 EK05 EK06

Spec. Drive 7002EX 7005EX 7020EX 7045EX 7005EX
Flange Size ( □ ) 60 80 80 130 130 80 80
Rated Power (W ) 200 450 800 2200 4000 450 550
Rated Current (Arms) 1.8 3.1 4.65 12.1 16.55 3.1 3.7
Instantaneous Max.
Current (Arms)
5.4 9.3 12.54 36.3 41.44 9.3 10.7
( N·m ) 0.64 1.91 2.54 7.0 12.7 2.15 2.57
Rated Torque
( kgf·cm ) 6.5 19.5 26.0 71.4 129.54 21.9 26.2
Instantaneous ( N·m ) 1.92 5.3 6.85 21 31.8 6.45 7.42

Max. Torque ( kgf·cm ) 1.95 54.5 70.2 214 324.36 65.7 72.7
Rated Speed ( r/min ) 3000 2000
2
0.246 1.5 1.77 11.12 21.62 1.5 1.77
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 0.241 1.47 1.74 10.9 21.2 1.47 1.74
Allowable load inertia 15 time or
20 times or below 20 times or below 20 times or below
ratio (versus rotor) below
Standard Incremental
Encoder
2000 P/rev
Absolute/incremental 17/33bit, 131072 P/rev
Option
Weight ( kg ) 2.8 4.26 5.5 22 30 4.26 5
EX02 EC06 EC08 EC22

2.0 5.5 7.0 7.0
1.6 4.4 5.6 5.6

Intermittent Intermittent Intermittent Intermittent
1.2 3.3 4.2 4.2
0.8 2.2 2.8 2.8
0.4 1.1 Continuous 1.4 1.4
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
EC40 EK05 EK06

35 6.5 7.5
28 5.2 6.0
21 3.9 4.5
14 2.6 3.0
7 1.3 Continuous 1.5 Continuous

Continuous
1000 2000 3000 4000 5000 1000 2000 3000 1000 2000 3000
1-21
Model Motor EK16 EK30 EL09 ET13 ET20

Spec. Drive 7015EX 7030EX 7010EX 7015EX 7020EX
Flange Size ( □ ) 150 150 130 130 180
Rated Power (W ) 1600 3000 900 1300 1800
Rated Current (Arms) 10.2 20.6 7.3 10.9 16.4
Instantaneous Max.
Current (Arms)
30.0 61.9 18.76 29.65 49.2
( N·m ) 7.64 14.3 8.6 8.27 11.5
Rated Torque
( kgf·cm ) 77.9 145.86 87.7 84.4 117
Instantaneous ( N·m ) 22.5 43 22.1 22.5 34.5

Max. Torque ( kgf·cm ) 230 438.6 226 230 351
Rated Speed ( r/min ) 2000 2000 1000 1500
Maximum Speed ( r/min ) 3000 5000 2000 3000
2
11.12 22.44 11.12 11.12 26.1
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 10.9 22 10.9 10.9 25.1
10 times or below
Rated Power Rate ( kW/s ) 53.5 92.6 68.2 62.8 51.5
Standard
Option
Weight ( kg ) 22 30 22 22 27
EK16 EK30 EL09

2.0 45 25
1.6 36 20
1.2 27 15
0.8 18 10
0.4 Continuous 9 Continuous 5 Continuous
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 500 1000 1500 2000
ET13 ET20
Torque (N·m ) Torque (N·m )
25 30
20 24
Intermittent
15 Intermittent 18
10 12
5 6 Continuous
Continuous
1000 2000 3000 1000 2000 3000

1-22
1.4.4. AC 380V Explosion proof series servo motor
Model Motor ET13 EK16 EC22 ET20 EK30 EC40

Spec. Drive 7015EX 7015EX 7020EX 7020EX 7030EX 7045EX
Flange Size ( □ ) 150
Rated Power (W ) 1300 1600 2200 1800 3000 4000
Rated Current (Arms) 8.4 5.81 7.4 8.9 16 13.6
Instantaneous Max.
25.1 17.1 22.2 26.7 48.1 34.1
Current (Arms)
( N·m ) 8.28 7.64 7 11.5 14.3 12.7
Rated Torque
( kgf·cm ) 84.4 77.9 71.4 117 145.86 129.54
Instantaneous ( N·m ) 22.5 22.5 21 34.5 43 31.8

Max. Torque ( kgf·cm ) 230 230 214 351 438.6 324.4
Rated Speed ( r/min ) 1500 2000 3000 1500 2000 3000
Maximum Speed ( r/min ) 3000 3000 5000 3000 5000 4500
2
11.12 14.63 11.12 26.1 22.4 22.4
Inertia 2 -4
2
( = GD /4 ) (kg·m ⅹ10 ) 10.9 14.34 10.9 25.1 22 22
10 times or below
Rated Power Rate ( kW/s ) 62.8 53.5 45.1 51.5 91.3 76
Standard
Option
Weight ( kg ) 22 22 22 27 30 30
ET13 EK16 EC22
25 25 25
20 20 20
15 15 15
10 10 10
5 Continuous 5 5
1000 2000 3000 1000 2000 3000 2000 4000 6000

ET20 EK30 EC40

35 50 35
27 40 27
20 30 20
12 20 Intermittent 12
6 10 6
1000 2000 3000 2000 4000 6000 2000 4000 6000

1-23
1.5. Installation
1.5.1. Installation of servo drive
1) Operating environment
Ambient temperature 0-50℃ (There should be no freezing) Note)

Ambient humidity 90% RH or lower (There should be no vapor)
Note) Inside control panel temperature specifications : To ensure maximum operating

life and reliability of the drive, maintain the average control panel temperature at
40℃ or lower.
2) Installation direction and intervals

- Install FDA7000 can be seen from the front.
- If the drives are installed in a closed control panel, maintain an interval of more than 10
mm between drives and more than 40 mm between top and bottom. If multiple number of
control panels are installed in parallel, about 100 mm space is required on the upper side.
In case of installing fans, avoid heat.
- Regenerative resistor, heating source, away from the drive.
3) Prevention of ingress of dust

- Exercise caution when drilling control panels to prevent chips produced by drilling from
getting into the drive.
- Take appropriate measures to prevent oils, water and metal powder from getting into the
drive from openings in the control panels and the fan installed on the ceiling.
- If the drive is used in a place with large amount of toxic gases and dust, protect the drive
with an air purge.
1.5.2. Servo motor installation
1) Operating environment
Ambient temperature 0-40℃ (There should be no freezing)
Ambient humidity 80% RH or lower (There should be no vapor)
External vibration X, Y = 19.6 ㎨ (2G)
2) Caution when assembling load system (Prevent impact on shaft)

1-24
It is important to accurately match the motor shaft with the shaft center of the connecting
machine. Mismatched shaft center causes vibration, and may cause damage to the bearing.
Use a rubber hammer to install couplings to prevent excessive force from being applied to the
shaft and bearing.
Check 4 places in turn. The difference between maximum and minimum should be 0.03 or
lower.
3) Load tolerance on shaft

- Use flexible couplings, and maintain the shaft center deviations within the specified
tolerance.
- Use pulleys and sprockets with the allowable load.
-
MOTOR MODEL RADIAL LOAD AXIAL LOAD

REFERENCE DIAGRAM
Series Type N Kgf N kgf
CN01~CN05
196 20 68 7
EX02
CN06~CN08
245 25 98 10
EC06~EC08
CN CN09~CN15 490 50 196 20
CN20~CN30
686 70 343 35
EC22~EC40
CN30A~CN50A 1470 150 490 50
KN03~KN07
245 25 98 10
EK05~EK06
KF08~KN11 490 50 196 20 Radial
KN KF15~KN22 Load
686 70 343 35
EK16
KN22A~KN55
1470 150 490 50
EK30 Axial
Load
TN05~TN09 490 50 196 20
TN13~TN17
686 70 343 35
TN ET12
TN20~TN75
1470 150 490 50
ET20
LN03~LN06 490 50 196 20
LN LN09~LN12 686 70 343 35
LN12A~LN40 1470 150 490 50
KF08~KF10 490 50 196 20
KF KF15 686 70 343 35
KF22~KF50 1470 150 490 50
1-25
TF05~TF09 490 50 196 20

TF TF13 686 70 343 35
TF20~TF44 1470 150 490 50
LF03~LF06 490 50 196 20
LF LF09 686 70 343 35
LF12~LF30 1470 150 490 50
4) Accuracy of attachments
The accuracies of the shaft and attachments of the AC servo motor are shown on the
following table.
Accuracy
Item Reference Diagram
(T.I.R.)
Perpendicularity of flange attachment plane and
0.04mm
output shaft (A)
Eccentricity of flange fitting outer diameter (B) 0.04mm
Vibration of shaft end (C) 0.02mm
(Note) T.I.R : Total Indicator Reading
5) Impact resistance
The AC servo motor withstands two times of impacts with an
acceleration of 10G when up-and-down impacts are applied after
setting the motor shaft horizontally. However, a precision detector
is attached to the end of the shaft on the opposite side of the load,
take caution not to apply impact directly to this end.
6) Vibration resistance
The AC servo motor withstands a vibration
acceleration of 2.0G when vibration is applied in
up and down, left and right, and front and back
directions after setting the motor shaft horizontally.
7) Vibration grade
The vibration grade of the AC servo motor is V15 at the rated rpm.
1-26
8) Direction of installation
- Motor can be installed horizontally or at the top or bottom of the shaft.
- Keep the motor cable downward.
- If the motor is installed vertically, install a cable trap so that oils or water do not flow into
the motor.
-
9) Cable disconnection
- Take caution not to stress or damage to the cables.
- If the motor is used as a mobile motor, use flexible cables.
1.6. Handling
1.6.1. Handling precaution

: Mishandling can lead to unexpected accidents or damage. The key items are listed as
follows. Reference the related details and use the drive correctly.
1) Handling
- Do not apply any pressure to the encoder which is the motor detector.
Hitting the shaft with a hammer or falling can cause damages.
- Do not directly connect commercial power (AC220V) to the motor. Over-current can
reduce the magnetic efficiency of the motor. Always connect to the defined servo drive
for operation.
1-27
R U
S V
T W
AC 220 ~ 440[V]
50/60[Hz]
2) Wiring
- Connect the grounding terminal of the drive and motor to the drive side and ground all at
once to the closest point. Use the class-3 earth (100Ω or below) to prevent electric shock
and mis-operation.
- The U, V, W and FG terminal of the drive and motor must be aligned. Because the 2 lines
are replaced with the commonly used motor, the rotating direction cannot be changed.
- If you connect the commercial power to the U, V, W and FG terminal of the drive, it can be
damaged.
- Connect the 200V level power to the R, S and T terminal and the power besides the 200V
level must be installed with a transformer.
- Always connect the standard regenerated resistance to the P and B terminal of the drive.
3) Operation
- The brake of the motor is intended to hold when the motor is powered off.
If the brake is operated while the motor is rotating, the brake will be broken.
- Install circuit breaker(NFB) and magnetic contactor (M / C) to power supply R, S, T.
When an alarm occurs and an abnormal current flows, cut off the circuit to prevent the
secondary fire.
4) Maintenance
- “High Voltage” remains in the drive for some time after power down.
◆ Carry out wiring work or inspection after the power has been turned off for 10 minutes or
more and the CHARGE lamp is turned off. It may cause electric shock.
- Do not touch the regenerative resistor, servo motor, etc. for a while after the power is
turned off. It may cause burns.
- Mega-testing your drive may damage servo drive.
- The encoder of the motor cannot be removed. Never remove the cover, etc.
1-28
1.7. Safety Symbols and Cautions
Thank you for using HIGEN MOTOR Co.,Ltd. Servo Drive and Servo motor.
The contents of the "Symbols and Precautions on Safety" section are for the safe and proper
use of FDA7000 Series AC servo drive. Before use, be sure to read the “Safety Symbols and
Cautions” carefully before using the product.
“Safety Symbols and Precautions” describes important precautions that must be observed in the
precautions for use, transportation and installation, wiring, commissioning and adjustment,
maintenance checks, usage, and abnormalities. Please keep it where you can see it anytime.
General Precautions
 The user manual may be arbitrarily changed to improve the product, change specifications,
or improve the convenience of use. This change updates the year and month of the user's
manual and is issued as a revision.
 When ordering the instruction manual due to damage or loss, please contact our distributor
or our nearest office listed on the back cover.
 Modification of the product by the customer is beyond the scope of our warranty and we are
not responsible for it.
 Some ratings, specifications, and dimensions may change without notice to improve the
performance of the product.
Safety Symbol
In order to use the product correctly and safely, the grades of safety and cautions are divided
into `` Danger '' and `` Caution '', and they are collectively recorded.
The actual usage of this product and the safety precautions for each method are listed in each
section.
: When a high risk of death or serious injury is expected due to
! Danger
incorrect handling of the product.
: When a low risk of minor injury or property damage is expected due to
! Caution
incorrect handling of the product.
*
1-29
A. Electric shock prevention
! Danger
 Do not open the cover of servo drive while energizing and driving. It may cause electric shock.
 Do not operate with the cover of servo drive removed.
High voltage terminals and charging parts are exposed, which may cause electric shock
 Do not remove the surface cover except wiring and regular inspections immediately after the
power is turned off.
The inside of servo drive is charged and may cause electric shock..
 Wait 10 minutes or more after turning off the power and check the charging lamp is turned off
before wiring and checking.
 Connect the ground terminal of the earth and the motor to the ground terminal of the drive with
the shortest distance.
Connect to Class 3 ground (100 ohm or less) to prevent electric shock and product
malfunction.
 Wiring and inspection should be done by a qualified technician.
 Install the product before wiring. It may cause electric shock or injury.
 Do not touch the servo drive with wet hands. It may cause electric shock or injury.
 Damaged wires can result in electric shock.
Do not place heavy objects on the wires or pull the wires forcibly.
B. Fire Protection
! Caution
 Install the servo motor, servo drive and regenerative resistor on non-flammable materials.
Installation on or near flammable materials may cause fire.
 If the servo drive is broken, immediately turn off the power of the servo drive.
If a large amount of current continues to flow, it may cause a fire.
 If overload and overcurrent occur frequently, be sure to cool the servo motor and servo drive
sufficiently before restarting.
 If an overvoltage alarm occurs frequently, the regenerative resistor may overheat and cause a
fire. If overvoltage alarms occur frequently or do not clear, immediately shut off power.
1-30
C. Injury prevention
! Caution
•Do not apply voltage to each terminal except those specified in the user's manual.
It may cause bursting or damage.
•Make sure there is no error in the terminal connections. It may cause bursting or damage.
•Do not touch the servo drive, servo motor, and regenerative resistor because they are hot
during powering and shortly after the power is turned off. It may cause burns.
D. Various Precautions
Please read the following notes carefully. If handled incorrectly, it may cause unexpected
malfunction, injury or electric shock.
(1) Carrying, installation
! Caution
•Carry it in the correct way, depending on the weight of the product. It may cause injury.
•Do not stack the servo drive above the limit.
•Install the product where it can withstand weight.
•Do not install or operate a servo drive that is damaged or missing parts.
•Do not lift the surface cover when transporting. The product may fall off or malfunction.
•Do not rest your weight on, or place heavy objects on the product.
•Observe the installation direction.
•Do not insert any conductive material such as screws or metal pieces and flammable foreign
materials such as oil into the servo drive.
•Since the servo drive is a precision device, do not drop it or subject it to strong impact.
•Do not strike the encoder, the detector attached to the motor. If you hit the shaft with strong
force or the motor falls to the floor, the encoder may be damaged.
•Use in the environmental conditions of Note 1. If operating in unsatisfactory condition, it may
cause malfunction or failure of servo drive.
1-31
<Note 1>
0℃~ +50℃ (Where not to freeze)

Operating temperature
(In-cabinet temperature specification below + 40 ° C)
Operating humidity 90％RH or below (No condensation)

Environment Storage temperature -15℃~ +65℃*
Indoors
Installation conditions
(no corrosive gas, flammable gas, oil mitt, dust free place)
Elevation / Vibration 1000m or less above sea level / Within X, Y, Z axis 2.0G
(2) Wiring
! Caution
•Use wires that meet the specifications. The servo motor may not work.
•Do not install a phase advance capacitor, surge absorber, or radio noise filter on the servo
drive output side.
•Connect the output side (terminal U, V, W, FG) correctly.
The motor may malfunction.
•When attaching the DC relay for control output signal to the control output signal, pay
attention to the direction of the surge absorption diode. The signal cannot be output due to a
fault, and the protection circuit does not operate during an emergency stop. Refer to the
instruction manual for the diode direction.
(3) Commissioning and Adjustment
! Caution
•Check and adjust each parameter before operation. Unexpected movements may occur
depending on the machine.
1-32
(4) How to use
! Caution
•Install circuit brakes(NFB) and magnetic contactors (M/C) to power supply R, S, T. When an
alarm occurs and an abnormal current flows, shut off the circuit to prevent secondary
accidents.
•Do not start or stop the servo drive frequently using the magnetic contactor on the power
supply side. It may cause the failure of the servo drive.
•Reduce the effects of electromagnetic interference with a noise filter, etc. It may cause the
failure of electronic equipment used near the servo drive.
•Do not use any load other than the servo motor on the servo drive output.
Connecting other electrical equipment to the servo drive output may damage the equipment.
•If the alarm reset is performed while the operation signal is input, the motor will suddenly
rotate, so check that the operation signal is off and then reset the alarm.
•In case of operating the servo drive after long term storage, check and commission.
•When parameter initialization is performed, each parameter is set to the factory default value.
Be sure to set the necessary parameters before operating.
•Do not modify the servo motor and servo drive.
We are not responsible for any problems caused by modifications.
•Install an external emergency stop circuit to stop the operation immediately and to turn off the
power.
(5) Abnormal operation protection
! Caution
•Install a safety device such as an emergency brake so that the mechanical device does not
become dangerous when the servo drive fails.
•Do not disassemble or repair the servo drive or servo motor by yourself.
•Use a servo motor that matches the capacity of the servo drive.
1-33
(6) Maintenance check. Parts exchange
! Caution
•Electrolytic capacitors have a reduced capacity due to deterioration. It is recommended to
replace the electrolytic capacitor every 10 years when using it in a normal environment to
prevent secondary accidents caused by malfunctions. Please contact our sales team.
•Do not perform a mega test (insulation resistance measurement) on the servo drive.
It may cause failure.
(7) Waste disposal
! Caution
•Dispose of as general industrial waste.
(8) Caution
! Caution
•All illustrations in this manual are depicted with the cover removed for safety, or the safety
barrier removed. When operating the product, make sure that the cover and the obstruction
are intact. Please drive accordingly.
1-34
1-35
Chapter 2
Wiring and connection
Chapter 2 explains the main circuit wiring, I/O signal connection examples and connection to
peripheral devices of the servo drive.
Chapter 2. Wiring and connection
2.1. Main circuit and peripheral device connection ........................ 2-2

2.2. Connection terminal of AC220V Series servo drive ................ 2-5
2.2.1. Small type servo drive ............................................................ 2-5
2.2.2. Medium type servo drive ........................................................ 2-6
2.2.3. Large type servo drive............................................................ 2-8
2.3. Connection terminal of AC380V series servo drive ............... 2-10
2.3.1. Large type servo drive.......................................................... 2-10
2.3.2. Extra large type servo drive.................................................. 2-12
2.4. Power handling ......................................................................... 2-15
2.4.1. Wiring ................................................................................... 2-15
2.4.2. Timing chart of power ........................................................... 2-16
2.5. CN1 I/O signal explanation ...................................................... 2-18
2.5.1. CN1 terminal arrangement ................................................... 2-18
2.5.2. CN1 I/O wiring ...................................................................... 2-19
2.5.3. Input signal function table (manufactured default)................ 2-20
2.5.4. Output signal function table (manufactured default) ............. 2-21
2.5.5. Fixed I/O signal function table .............................................. 2-22
2.5.6. Analog input/output signal .................................................... 2-23
2.6. Encoder wiring and signal explanation .................................. 2-24
2.6.1. 15line Incremental encoder .................................................. 2-25
2.6.2. 9line Incremental encoder .................................................... 2-26
2.6.3. 11bit absolute encoder ......................................................... 2-27
2. Wiring and connection
2.6.4. 17bit absolute/incremental encoder ..................................... 2-28

2.6.5. 17bit absolute encoder data transmission ............................ 2-29
2.6.6. Wiring of FDA7000EX (Explosion proof) .............................. 2-32
2.7. COM(CN3) wiring and signal explanation .............................. 2-34
2.7.1. COM(CN3) wiring ................................................................. 2-34
2.7.2. Wiring of RS232C Common Cable....................................... 2-34
2.7.3. Wiring of RS485 Common Cable ......................................... 2-35
2-1
2.1. Main circuit and peripheral device connection
This part explains the peripheral device and main circuit wiring. Keep the following danger and
caution details during wiring.
! Danger
 Do not open the surface cover when connecting the power or during operation. It can cause
electric shock.
 Do not operate the drive when the surface cover is removed.
It can cause electric shock because the high voltage terminal and charge part are exposed.
 Even when the power is turned off, do not remove the surface cover unless it is for wiring or
periodic check.
It can cause electric shock because the inside of the servo drive is charged.
 Execute the wiring work and check more than 10 minutes after the power has been
disconnected and checked of the voltage with tester etc.
 Ground the grounding terminal of the drive and motor both to the drive side and ground at
once in the closest point.
To protect electric shock and mis-operation, use at least class-3 ground (100  max.).
 The wiring work and checking work must be executed by specialized technician.
 The wiring must be done after the main unit is installed. It can cause electric shock or injury.
 Do not operate the key with wet hands. It can cause electric shock or injury.
 Make sure you do not damage the wire, apply excessive stress on the wire, put heavy object
on top of the wire or have the wire pressed again an object. It can cause electric shock or
injury.
! Caution
 Use wiring that complies with the standard. Otherwise, the servo motor may not operate.
 Do not install power condenser, surge absorber or radio noise filter on the output side of the
servo drive.
 Correctly connect the output side (Terminal U,V,W,FG), or the motor can operate abnormally.
 When attaching the DC relay for control output signal on the control output signal part, be
careful of the diode direction for surge absorption. The signal may not be outputted due to
problems and the protection circuit will not operate during emergency stop. For diode
direction, refer to the user manual.
2-2
2.1.1. Connection of AC220V Series
Power specification : Use the power specification Servo drive : The life of the servo is
3-phase within AC200~230V permitted by the servo 3-Phase
affected by the surrounding
for use. For the power voltage of AC400V level, AC200 ~ 230V temperature. Set the ambient
50 ~ 60Hz
always use the power transformer. temperature to below 50° C and at
R S T an average of 40° C.
NFB (No Fuse Circuit Breaker) : It breaks the circuit

when over-current flows and is used for power line NFB
maintenance. CN1 : This is the connector to

connect the servo drive to the higer
device. You can connect to the
higher device including PLC, NC,
Motion controller etc.
Noise filter : You must use this to blocks the

external noise inflowing in the commercial power.
NOISE FILTER
GND
Magnetic contactor : It turns on/off the

servo power. Do not start or stop the Magnetic
servo with this magnetic contactor. It can Contactor
reduce the life of the servo.
R
S
CN1
T
r
t
Wiring : Mis-wiring can damage the servo driver. CN2

The control signal line must be sufficiently away
form the main circuit wiring and it is very important Internal regenerated
not to be affected by the noise. resistor
U V W FG
CN3
It sets various parameters and DC power : When main

displays the operating status. power is DC voltage, supply
DC 280 ~ 325 [V] between
RS232/485 “P[+]” and “N[-]”.
Grounding : To prevent electric

shock, the terminal of motor and
drive must be grounded in type 3
or above grounding to the closest
point.
Motor : Do not apply impact to the
Motor power wiring : The U, V, W
shaft and detector of the motor with a
and F.G. terminal of the drive and
hammer etc.
motor must be aligned.
Encoder wiring : Connect the connector of the

encoder cable.
◆ At the U, V and W terminal, connect the U, V and W phase of the servo motor.
◆ Ground the FG terminal. Connect the grounding wire of the servo motor with this
terminal.
◆ When main supply is DC voltage, supply DC280~325[V] between “P[+]” and “N[-]”.
(FDA7001 ~ FDA7010)
◆ Don’t supply AC power supply between “P[+]” and “N[-]”.
2-3
2.1.2. Connection of AC380V Series
◆ Use within the power specification allowed by the servo. If the power voltage is higher
than the allowable value, be sure to use a power transformer.
FDA7000-H0 : AC 380V, FDA7000-H1 : AC 440V
◆ Use the brake power supply independently. When used with input / output contact input
power, it causes malfunction of contact operation.
◆ To prevent electric shock and suppress noise, ground the motor and drive terminals
with the 3rd or more types of ground at the shortest distance.
2-4
2.2. Connection terminal of AC220V Series servo drive
2.2.1. Small type servo drive
[ FDA7001 ~ FDA7002 Terminal ]
The usage and wiring method of FDA7001~FDA7002 are as follows.

1) As the main power of the power circuit, connect the R,S and T terminal to 3 phase
AC200~230[V]. It is possible to use 2 phase 220V, then the output is lower than rated.
2) Connect the regenerated resistance between the terminals P and B.
3) At the U, V and W terminal, connect the U, V and W phase of the servo motor.
4) Ground the FG terminal. Connect the grounding wire of the servo motor with this
terminal.
5) When main power is DC voltage, supply DC280~325[V] between “P[+]” and “N[-]”.
6) Don’t supply AC power between “P[+]” and “N[-]”.
AC SERVO
FDA7001 FDA7002
Operating device
Wire thickness AWG #16(1.25mm2)
Open/close device GMC-12(13A) level product
Breaker ABS33b(5A) level product
Noise filter P3B4010-DA(10A) level product
External regenerated
50W 50
resistance
♥ Open/close device and Breaker : LS Industrial Systems, http://www.lsis.biz

♥ NOISE FILTER : Woonyoung(http://woonyoung.com), OKY (http://www.oky.co.kr),
ORIENT(http://www.suntronix.com )
2-5
2.2.2. Medium type servo drive
[ FDA7004/7004B ~ FDA7010 Terminal ]
The usage and wiring method of FDA7004/7004B~FDA70010 are as follows.

AC200~230[V].
2) As the auxiliary power of the power circuit, connect the r and t terminal to single phase
AC200 ~ 230[V].
3) Connect the recovery resistance of internal type during shipment between the
terminals P and B.
terminal.
6) When main power is DC voltage, supply DC280~325[V] between “P[+]” and “N[-]”.
7) Don’t supply AC power between “P[+]” and “N[-]”.
AC SERVO
FDA7004B FDA7004 FDA7005 FDA7010
Operating device
AWG #14
Wire thickness AWG #16(1.25mm2) AWG #12 (3.5mm2)
(2.0mm2)
GMC-12(13A) level
Open/close device GMC-40(35A) level product
product
ABS33b (10A)
Breaker ABS33b(5A) level product
level product
NFZ-4030SG
Noise filter P3B4010-DA(10A) level product
(30A)level product
50W 50
Regenerated 70W 50
resistance External
Internal resister
resister
2-6
※ For the wiring of small/medium capacity socket, execute in the following order.
ⓐ After checking the wire thickness indicated in 2.2.1, remove the wire coating.
- The coating of the wire to be used should be 8 ~ 9mm or less.
- The thickness of the wire permitted by the socket is as follows.
Wire type Permitted wire thickness
Single wire 0.5 ~ 0.8[mm]

Twisted wire AWG28 ~ AWG12
ⓑ Even though you can use the wire as is after removing the coating, for safety purposes put a
ferrule end to press with the crimping tool for ferrules insulated.
ⓒ Open the terminal (plug) wire inserting hole with the lever as shown in the following picture.
Wire
Insulated Ferrule
Socket
Lever
ⓓ Insert the core part of the wire to the opening part. Release the lever after inserting the wire.
ⓔ Lightly pull it out to see whether there is any problem in the connected condition of the socket
and the wire.
ⓕ When the coating of the wire is not completely inserted, it can cause electric shock.
Therefore check whether there are any exposed core wires.
2-7
2.2.3. Large type servo drive
r t U V W
R S T P B
[ FDA7015 ~ FDA7045 Terminal]
[ FDA7015B ~ FDA7030B Terminal]
(a) Main Circuit Terminal (b) Control Circuit Terminal

[ FDA7075 ~ FDA7150 Terminal]
The usage and wiring method of FDA7015~7150, FDA7015B~7030B are as follows.

AC200~230[V].
2) As the auxiliary power of the power circuit, connect the r and t terminal to single phase
AC200 ~ 230[V].
terminal.
2-8
AC SERVO
FDA7015/ FDA7020/ FDA7030/
operating FDA7045 FDA7075 FDA7110 FDA7150
FDA7015B FDA7020B FDA7030B
device
Wire AWG #12 AWG #10 AWG #8 AWG #6 AWG #4
thickness (3.5mm2) (5.5mm2) (8mm2) (14mm2) (22mm2)
Open/close
GMC-40(35A) GMC-50(50A) GMC-85(80A) GMC-100(100A)
device
ABS33b ABS33b ABS53b ABS63b
Breaker ABS33b(30A) ABS103b(100A)
(10A) (20A) (50A) (60A)
NFZ4040 FT3RE-4060 FT3RE-4080

Noise filter NFZ-4030SG(30A)
SG(40A) (60A) (80A)
External 250W 25Ω 800W 8Ω

250W 25 parallel 2 units 1kW 6Ω
250W 25 parallel 4 parallel 2
regenerated parallel 2 units
(Drawing A) (Drawing A) units units
resistance (Drawing C)
(Drawing B) (Drawing C)
239
220
Length :300 M4
60
∮4.3
30
<Drawing A>
<Drawing B> Order Code : FDA500010S(1000W/6.25Ω)
2-9
<Drawing C> Order Code : FDA600010S (FDA7110, 1600W/4 Ω)

FDA600011S (FDA7150, 2000W/3 Ω)
2.3. Connection terminal of AC380V series servo drive
2.3.1. Large type servo drive
[ FDA7020-H ~ FDA7045-H Terminal ]

[ FDA7075-H ~ FDA7150-H Terminal ]
The usage and wiring method of FDA7020-H~FDA7150-H are as follows.

AC380~440[V]. Please check the voltage specifications before wiring the power.
2-10
2) Connect single-phase AC380~440[V] to the control circuit terminals r and t according

to the model's voltage specification.
terminal.
AC SERVO
operating FDA7020-H FDA7030-H FDA7045-H FDA7075-H FDA7110-H FDA7150-H
device
Wire AWG #12 2 2 AWG #6 AWG #4
2 AWG #11 (4.2mm ) AWG #8 (8mm ) 2 2
thickness (3.5mm ) (14mm ) (22mm )
Open/close
GMC-12 (13A) GMC-40(35A) MC-40(40A) MC-50(50A)
device
Breaker ABS33b (10A) ABS33b (20A) ABS53b (40A) ABS53b (50A)
Noise filter ET3RE-4030 (30A) ET3RB-4040 ET3RB-4060
External
250W 40 250W 40 parallel 2 units 1.6kW 15Ω 2kW 15Ω
regenerated
(Drawing A) (Drawing A) (Drawing C) (Drawing C)
resistance
239
220
Length :300 M4
60
∮4.3
30
< Drawing A>
< Drawing B> Order Code : FDA500010S(1000W/6.25Ω)
2-11
< Drawing C> Order Code : FDA600010S (FDA7110, 1600W/4 Ω)

FDA600011S (FDA7150, 2000W/3 Ω)
2.3.2. Extra large type servo drive

[FDA7220-H Terminal]

[FDA7300-H ~ FDA7450-H Terminal]
2-12
rt [
FDA7550-H ~ FDA7750-H Upper Terminal]
[FDA7550-H ~ FDA7750-H Bottom Terminal]
The usage and wiring method of FDA7220-H ~ FDA7750-H are as follows.

AC380~440[V]. Please check the voltage specifications before wiring the power.
2) Internal fan power is connected to R and T terminals.
3) Connect single-phase AC380~440[V] to the control circuit terminals r and t according
to the model's voltage specification.
terminal.
AC SERVO
operating FDA7220-H FDA7300-H FDA7370-H FDA7450-H FDA7550-H FDA7750-H
device
Wire AWG #6 AWG #4 AWG #3 AWG #2 AWG #1/0 AWG #2/0
2 2 2 2 2
thickness (14mm ) (22mm ) (27mm ) (34mm ) (53.5mm2) (67.4mm )
Open/close
MC-65a MC-80a MC-100a MC-130a GMC-150 GMC-180
device
ABS63b ABS103b ABS103b ABS203b ABS-203b ABS423b
Breaker
(60A) (75A) (100A) (175A) (175A) (200A)
Noise filter FT3RB-4060 FT3RB-4080 FT3RB-4100 FT3RB-4120 FB3RE-4150 FB3RE-4200
External
3.6kW, 9 Ω 5kW 5Ω 5kW 5Ω 10kW 5Ω
regenerated
(Drawing D) (Drawing D) (Drawing D) (Drawing D)
resistance
2-13
< Drawing C> Order Code : Please contact our sales office.
2-14
2.4. Power handling
2.4.1. Wiring
If you turn the power on and off frequently, the peripheral elements of the main circuit will
deteriorate because a large charging current (charging time 0.3 to 0.5 seconds) flows when the
main power is turned on. Therefore, be sure to use STOP contact for motor operation and stop,
and SVONEN contact for emergency stop.
The figure below is an example of wiring of power
POWER POWER
OFF ON 1MC
1MC 1Ry Surge killer
NFB MC1 Servo Drive

R U U
FDA7000 Series : AC 200~230V
FDA7000-H Series : AC 380~440V NF S FDA7000 V V SM
50/60Hz
T W W
(Note1) FG FG
r
t +
(Note2) Brake Power
Input -
ENC(CN2)
N
P PG
Regenerative
resistance
(Note3) B
COM(CN3)
*PC Loader(RS232C)
*Network communication
1Ry (RS485, RS232C)
ALARM 20
CN1
+
24V Diode (INPUT)
- 24
GND24 25
(Note4)
FG 50
(Note1) A noise filter (NF) must be installed to block noise from the outside and to protect the
servo drive peripherals.
(Note2) In case of FDA7001~7002, it is not necessary to connect power to the power terminals
"r, t" of the control circuit.
In case of FDA7004~7150, connect AC220V to power terminal “r, t” of control circuit.
2-15
In case of FDA7004, connect AC220V to power terminal “r, t” of control circuit

according to model. Be sure to check the power specification of the model.
(Note3) In case of FDA7004 ~ FDA7010 model, regenerative resistor is installed inside servo
drive. In case of For FDA7015-7150 and FDA7020-H~7750-H, the regenerative resistor
must be installed externally. In case of FDA7075 ~ 7150, FDA7075-H ~ 7750-H, please
contact our sales office because regenerative resistance is sold separately.
(Note4) Be sure to ground the ground wire of CN1 cable to FG (Frame Ground) terminal.
2.4.2. Timing chart of power
The timing of servo drive operation can be checked according to the power on / off and
SVONEN input contact status. Check the operation timing when wiring the power and brake.
Main/Control Circuit
Power Input
Power supply stability of

50[ms]
control circuit
550[ms]
Control program
10[ms]
initialization
800[ms]
Main Circuit
Power Good 380[ms]
Servo RDY 30[ms]
SVONEN INPUT
Contact Point
Dynamic Brake
7[ms]
Operation 1.5[ms]
Motor Brake
26[ms] P02-08[ms]
Operating Signal
Motor Power Input 23[ms]

P02-30[ms]
(PWM OUT)
2-16
2.4.3 Timing chart of alarm
The timing of servo drive operation can be checked according to the alarm status. If an alarm has
occurred, reset the alarm after turning off the SVONEN input contact and removing the cause of
the alarm.
Alarm Reset
Signal
Alarm OUTPUT 1.5[ms]

(Normal Close)
Servo RDY
Dynamic Brake 2[ms]

Operation
Motor Brake P02-08[ms] 26[ms]

Operating Signal
Motor Power Input P02-30[ms] 23[ms]

(PWM OUTPUT)
2-17
2.5. CN1 I/O signal explanation
2.5.1. CN1 terminal arrangement
CN1 is the connector located on the top right part of the front side of the servo drive. This
connector is used for connecting the host controller that commands the operating device and
the operation.
The pin arrangement and name of the CN1 connector are as shown in the following picture.
1 GND 26 GND
2 MONIT2 27 SPDIN
3 MONIT1 28 TRQIN
4 OPCRIN 29 OPCFIN
5 PZO 30 /PZO
6 PBO 31 /PBO
7 PAO 32 /PAO
8 GND 33 GND
9 PPRIN 34 GND
10 PFIN 35 +12V
11 PPFIN 36 GND
12 PRIN 37 -12V
13 STOP 38 ALMRST
SPDLIM/
14 39 ESTOP
TLIM CCWLIM/ CWLIM/
15 40
PTQLIM NTQLIM
16 DIR 41 PI/P
SPD2/
17 42 SPD3
GEAR2 SPD1/
18 SVONEN 43
GEAR1
19 A_CODE1 44 A_CODE2
20 ALARM 45 A_CODE0
SPDOUT/
21 RDY 46
INSPD/INP TRQOUT
22 47 ZSPD
OS/INTRQ
23 OPC_ZO 48 BRAKE
24 GND24 49 +24VIN
25 GND24 50 FG
♥ The above table indicates the reference signal of manufactured default. For the function of
partial pin among the signals, the signal allocation can be changed in P07 mode (input
function setting) and P08 mode (output function setting).
◆ The connector for CN1 is optional.
- Manufacturer: 3M, CASE product name: 10350-52F0-008
- Connector (for soldering) : 10150-3000VE
2-18
2.5.2. CN1 I/O wiring
NFB MC1
R Servo Drive
FDA7000 Series : AC 200~230[V]
FDA7000-H Series : AC 380~440[V] NF S U U
S
50/60Hz T FDA7000 V V
M
(Note1) W W
r FG FG
t
(Note2)
Brake +
Regenerative P Power
Input -
resistance CN2
(Note3) B
PG
CN1
(INPUT)
+24V 49 *Digital Loader
+24V + 3.3K CN3
- ESTOP 39 *PC Loader(RS232C)
3.3K
SPD1/GEAR1 43 *Network communication
3.3K
SPD2/GEAR2 17 (RS485, RS232C)
3.3K CN1
SPD3 42
3.3K (OUTPUT)
DIR 16
3.3K
STOP 13 3 MONIT1
3.3K
D/A
SVONEN 18 2 MONIT2
3.3K 8
ALMRST 38 26 GND
3.3K
SPDLIM/TLIM 14
3.3K
PI/P 41
22 INSPD/INPOS
3.3K
CWLIM/ 40
NTQLIM /INTRQ
3.3K
CCWLIM/ 15 48 BRAKE
PTQLIM
21 RDY
(Note5) 47 ZSPD
PPFIN 11
46 SPDOUT/
MPG PFIN 10 TRQOUT
or 20 ALARM
PLC Position controller PPRIN 9
45 A_CODE0
PRIN 12
19 A_CODE1
44 A_CODE2
(Note6) OPCFIN 29 24
25
GND24
+24V + OPCRIN 4
+24V GND 24
25
7 PAO
MPG PFIN 10
or 32 /PAO
PLC Position controller PRIN 12
6 PBO
31 /PBO
5 PZO (Note7)
30 /PZO
SPDIN 27 LPF
GND 1
33
A/D
(Note8)
TRQIN 28 LPF 23 OPC_ZO
34 24 GND24
GND 36 25
(Note4)
FG 50
(Note1) A noise filter (NF) must be installed to block noise from the outside and to protect the
servo drive peripherals.
(Note2) In case of FDA7001~7002, it is not necessary to connect power to the power terminals
"r, t" of the control circuit. In case of FDA7004~7150, connect AC220V to power terminal
“r, t” of control circuit. In case of FDA7004, connect AC220V to power terminal “r, t” of
control circuit according to model. Be sure to check the power specification of the model.
2-19
(Note3) In case of FDA7004 ~ FDA7010 model, regenerative resistor is installed inside servo
drive. In case of For FDA7015-7150 and FDA7020-H~7750-H, the regenerative resistor
must be installed externally. In case of FDA7075 ~ 7150, FDA7075-H ~ 7750-H, please
contact our sales office because regenerative resistance is sold separately.
(Note5) This is the wiring when position command pulse is connected by line drive method.
(Note6) This is the wiring when connecting position command pulse with open collector method.
(Note7) This is the wiring when connecting Z phase pulse with line drive method..
(Note8) This is the wiring method when connecting Z phase pulse with open collector method.
(Note9) GND24 (CN1-24, 25) and GND (CN1-1, 8, 26, 33, 34, 36) must be connected
separately. If two grounds are connected in common, the servo drive may malfunction or
break down.
2.5.3. Input signal function table (manufactured default)
Pin
Signal content Term Function and usage explanation
No.
It decides whether the servo motor can be operated or
Servo drive Enable SVONEN 18
not. (ON: Enable OFF: not Enable)
Speed selection 1/
SPD1/
Electronic gear 43
GEAR1/
selection 1/
- Internal command speed selection by 3 signal (SPD1,
SPD2, SPD3) combination Speed control
Speed selection 2/
SPD2/
Electronic gear 17
GEAR2/
selection 2/
- Electronic gear ratio selection by 2 signal (GEAR1,
GEAR2) combination Position control
Speed selection 3 SPD3 42
Selects the Speed/Position/Torque input direction.

Direction selection DIR 16 (OFF: Positive direction selected ON: Negative direction
selected)
Limit signal input on CCW (Speed control)/
CCW limit / CCWLIM/
15 Positive torque generation prohibited (Torque control)
Positive torque limit PTQLIM
(ON: Cancel OFF: Prohibited)
Limit signal input on CW (Speed control)/
CW limit / CWLIM/
40 Negative torque generation prohibited (Torque control)
Negative torque limit NTQLIM
(ON: Cancel OFF: Prohibited)
Speed limit use input contact point (Torque control)/

Speed limit / SPDLIM/T Selects whether to use torque limit (Analog torque input
14
Torque limit LIM and digital torque input can be used according to the
combination of TRQ1, TRQ2 and TRQ3 Speed control.)
Alarm reset ALMRST 38 This cancels the alarm condition.
2-20
In case of external emergency, it overrides all input

condition of the servo drive and quickly decelerates the
Emergency stop ESTOP 39 motor to free run the motor.
You can select the ON/OFF contact point in parameter
P02-26.
It selects the type of speed controller.

PI/P control PI/P 41
(OFF:PI control ON:P control)
It starts or stops the motor operation.

You can select the ON/OFF contact point in parameter
Stop/Start STOP 13 P02-25.
※ When setting P02-25 to “OFF”
(Close: Stop Open: Start)
♥ For details on the input contact point function change, refer to the P07 mode of Chapter 3.
2.5.4. Output signal function table (manufactured default)
Pin
Signal content Name Function and usage explanation
number
You can directly set the input contact point function
- - 23
from P7-01. (Manufactured default : Not use)
This is the output signal to operate the external
Brake brake.
BRAKE 48
operation When on, the brake power is supplied to enable
motor operation.
No alarm, power good condition when the power is
Servo ready RDY 21
on.
Speed/Position
INSPD/INP It goes on when it reaches the commanded
/Torque reach 22
OS/INTRQ Speed/Position/Torque.
completion
When used for speed control mode, it indicates the
Speed/torque SPDOUT/ condition of the torque the servo motor is limiting.
46
limiting TRQOUT When used for torque control mode, it indicates the
condition of the speed the servo motor is limiting.
Zero speed This indicates the stopped condition of the servo
ZSPD 47
condition motor.
Alarm When the alarm is detected, it goes off. During

ALARM 20
condition normal operation, it goes on.
Alarm 0 CODE A_CODE0 45 It outputs alarm CODE0.
♥ For details on the output contact point function change, refer to the P08 mode of Chapter 3.
2-21
2.5.5. Fixed I/O signal function table
Pin
Signal content Name Function and usage explanation
no.
F+ input pulse PPFIN 11 Depending on the set value of pulse logic, it receives and
F- input pulse PFIN 10 operates according to the specific position command type
R+ input pulse PPRIN 9 of negative or positive logic. Refer to Chapter 3 for details
R- input pulse PRIN 12 of the pulse type.
Analog speed When operating in speed mode, enter the analog speed
command command.
SPDIN 27
Analog speed When operating in torque mode, enter the analog speed
limit limit.
Analog torque When operating in torque mode, enter the analog torque
command command.
TRQIN 28
Analog torque
When operating in speed mode, enter the torque limit.
limit
Designated variable value is outputted in 0~5[V] range
through the DA converter.
Monitor output 1 MONIT1 3
[Monitor selection] 0: Speed, 1: Speed command, 2: Torque,
3: Torque command, 4: Pulse, 5: Command pulse
Designated variable value is outputted in 0~5[V] range
through the DA converter.
Monitor output 2 MONIT2 2
[Monitor selection] 0: Speed, 1: Speed command, 2: Torque,
3: Torque command, 4: Pulse, 5: Command pulse
PAO,/PAO 7,32 After dividing the motor encoder signal from CN2 as much
Encoder output PBO,/PBO 6,31 as the division rate set in the division setting menu, it
PZO,/PZO 5,30 outputs in line drive method.
As the external I/O contact point power, enter
+24[VDC]10% 1.0[A] or above for the external power.
+24[V] (User preparation)
+24VIN 49
Power input ◆ When using the I/O contact point power simultaneously,
recalculate the power capacity according to the output
contact points.
24 Connect the ground of power+24[VDC]10% for external
+24[V] GND GND24
25 I/O contact point. (User preparation)
1,8 Common power ground terminal of speed, command,
0[V] GND 26,33 torque limit command, speed, torque monitor output,
34,36 encoder output terminal.
When using the absolute encoder, connect the battery from

Battery + BAT+ 29
the host controller. Do not connect the drive side and both
Battery - BAT- 4
sides of the host controller.
+12[V] output +12 35 When simply outputting speed command and torque limit,
-12[V] output -12 37 use the 12[V] power.
FRAME
FG 50 Ground the cable ground wire of CN1.
GROUND
♥ Function of fixed I/O contact point cannot be changed.
2-22
2.5.6. Analog input/output signal
The analog signal is based on 0 [V] (GND terminal) of the control circuit power supply. Connect
the GND terminal of the analog signal and the GND terminal of CN1. The analog speed
command input (CN1-27) rotates the motor at the speed determined by the ± Analog 10 [V]
Speed(P03-15, 16) menu. When +10 [V] is input, it rotates at the speed set in P03-15 in the
forward direction (CCW), and when -10 [V] is input, it rotates at the speed set in P03-16 in the
reverse direction (CW). The analog torque limit input (CN1-28) is activated when the analog
torque limit function (CN1-14) input contact turns on.
The analog torque limit value can be set in analog 10 [V] torque (P06-07). The torque limit
command input uses the absolute value of the voltage, so it is the same as the operation at 10
[V] even at -10 [V]. When wiring analog signals, twist the GND and signal lines using twisted pair
wires to minimize the influence of noise. The functions of each analog signal are shown in the
table below.
PIN SPDIN ( CN1-27 ) TRQIN ( CN1-28 ) MONIT1 ( CN1-3 ) MONIT2 (CN1- 2 )
Speed command*1 Torque command*1,*3

Monitor out 1 Monitor out 2
Function Speed limit*2 Torque limit*2
-5 ~ +5 [V] Output -5 ~ +5 [V] Output
-10 ~ 10[V] Input -10 ~ 10[V] Input
*1 : Speed control mode, *2 : Torque control mode, *3 : Position control mode
In order to apply speed command, speed limit, torque limit and torque command with variable
resistor, ± 12 [V] power is supplied through CN1 connector. The output capacity of this power
supply is 30 [mA] maximum. Do not exceed the maximum output capacity. The pin assignments
of the power supply are shown in the table below.
PIN + 12 V ( CN1-35 ) - 12 V ( CN1-37 ) GND (CN1-1,8,26,33,34,36)

Function + 12 [ V ] - 12 [ V ] 0[V]
2-23
FDA7000 1/2W 220 +12V FDA7000

Speed command
속도명령 SPDIN CN1(INPUT)
구동장치 CN1(INPUT)
구동장치
SPDIN
2K
TWIST GND 104 GND
PAIR -12V
1/2W 220
[Wiring
[아날로그 of analog
신호command]
배선] [Wiring
[아날로그 명령의 of CN1 power] 사용법]
내부전원
2.6. Encoder wiring and signal explanation
CN2 is the connector located on the bottom right side of the front cover of the servo drive. This
connector is used for connecting the servo drive and the encoder of the servo motor. The PIN
arrangement shown from the connector in the user’s point of view is as follows. The encoder
signals may differ depending on the type of encoder.
◆ Connector for CN2 is optional.

- Manufacturer : 3M, CASE product name : 10320-52F0-008,
- Connector (For soldering) : 10120-3000VE
◆ Cable specification : AWG24 X 9Pair TWIST, SHIELD CABLE(Maximum length 20m)
: AWG22 X 9Pair TWIST, SHIELD CABLE(Maximum length 30m)
2-24
2.6.1. 15line Incremental encoder
CN2
Signal name MOTOR(□60,80series) side MOTOR(□130,180series) side
PIN No.
(Drive) Connector pin No. for encoder. Connector pin No. for encoder.
(Drive)
1 PW 11 P
2 /PW 12 R
3 PV 9 M
4 /PV 10 N
5 PU 7 K
6 /PU 8 L
7
8
9 GND 14 G
10
11 /PZ 6 F
12 Shield 15 J
13 /PB 4 D
14 PZ 5 E
15 /PA 2 B
16 PB 3 C
17
18 PA 1 A
19 Vcc( DC 5V ) 13 H
20
2-25
2.6.2. 9line Incremental encoder
CN2
Signal name MOTOR(□60,80series) side MOTOR(□130,180series) side
PIN No.
(Drive) Connector pin No. for encoder. Connector pin No. for encoder.
(Drive)
1
2
3
4
5
6
7
8
9 GND 8 G
10 Vcc( DC 5V ) 7 H
11 /PZ 6 F
12 Shield 9 J
13 /PB 4 D
14 PZ 5 E
15 /PA 2 B
16 PB 3 C
17
18 PA 1 A
19
20
2-26
2.6.3. 11bit absolute encoder
CN2
Signal name MOTOR(□60,80 series) side MOTOR(□130,180 series) side
PIN No.
(Drive) Connector pin no. for encoder Connector pin no. for encoder.
(Drive)
1 RX 11 P
2 /RX 12 R
3
4
5
6
7 BAT+ 9 K
8 BAT- 10 L
9 GND 14 G
10
11 /PZ 6 F
F.G. 8 N
12
Shield 15 J
13 /PB 4 D
14 PZ 5 E
15 /PA 2 B
16 PB 3 C
17
18 PA 1 A
19 Vcc( DC 5V ) 13 H
20 ERST 7 M
2-27
2.6.4. 17bit absolute/incremental encoder
ENC
Signal name MOTOR(□60,80 series) side MOTOR(□130,180 series) side
PIN No.
(Drive) Connector pin no. for Encoder Connector pin no. for encoder
(Drive)
1 SD 1 P
2 /SD 2 R
3
4
5
6
7 BAT+ 3 K
8 BAT- 4 L
9 GND 6 G
10
11
F.G. 7 N
12
Shield 8 J
13
14
15
16
17
18
19 Vcc( DC 5V ) 5 H
20
2-28
※ A wiring example of CN2 of motor side (□60,80) and FDA7000(A) when applying the 17bit
absolute/incremental encoder
AC SERVO MOTOR AC SERVO DRIVER (FDA7000A)

(□60,80) CN2 CN1 HOST CONTROLLER
Serial [*1]
Data
=>
Division 1-7 PA0
circuit
Pulse
1-32 /PA0 P
Conv.
Output LINE DRIVER 1-6 PB0

[*1] T.I SN75174 P
1-31 /PB0
[*2]
1-5 PZ0
1-30 /PZ0 P
1 2-1 SD Used LINE RECEIVER
T.I SN75175
2 P 2-2 /SD
3 2-7 BAT+ +
EN 4 P 2-8 BAT- -
5 2-19 Vcc(5V) 1-29
6 P 2-9 GND(0V) 1-4
1-1
1-8
1-33
1-34
7 2-12 FG 0V
8 1-50
P [*1] indicates the TWIST PAIR Line.

[*2] T.I : TEXAS INSTRUMENT Inc.
◆ Applied cable specification: AWG24 x 9Pair TWIST, SHIELD CABLE (Maximum length 20m)
◆ You do not need to connect the incremental 17bit encoder no. 7 (BT+) and no. 8 (BT-)
terminals,
2.6.5. 17bit absolute encoder data transmission

The output signal of absolute encoder is the incremental division output PAO, /PAO, PBO,
PBO, PZO, /PZO
SERVO DRIVE
SD
Division PAO
EN /SD
Serial Data
circuit PBO
(P01-14)
->
Pulse Conv.
PZO
2-29
Signal name Condition Signal content

When turning on the power Serial data
and initializing Initial incremental pulse
PAO
During normal operation after
Incremental pulse
initialization is complete
When turning on the power
Initial incremental pulse
and initializing
PBO
During normal operation after
Incremental pulse
initialization is complete
PZO Always Origin pulse
① PAO serial data specification
Data transmission method Asynchronous

Baud Rate 9600[bps]
Start bit 1 bit
Stop bit 1 bit
Parity Excellent
Character Code ASCII Code 7 bit
Data Format 8 Character
♥ Outputted revolution in line 5.
② Absolute data content
ⓐ Serial data : This indicates where the motor axis is positioned after several revolutions
from the reference position (Absolute encoder initialized value).
ⓑ Initial incremental indication : It outputs the pulse in the same speed as the revolution as
about 1250 rpm (17 bit serial encoder application and P01-14=16384(4096[pulse]) from
the origin position to current motor position of the motor axis.
Reference position
Current position
(Absolute initialization)
-1 0 +1 +2 +3
Coordinate
-1 0 +1 +2
M value
M R EI
EC
ES EM
2-30
※ Absolute data E M is calculated as follows.
EC  M  R  EI
E M  E C  ES
EC : Current position read from encoder
M : Serial data (multi turns data)
EI : Initial incremental pulse (Generally showed in “-“ value)
ES : Initial incremental pulse read from absolute encoder initialization point
(Generally shown in “-“ value and this value is stored and used in the host controller.)
EM : Current position necessary from customer system
R : Pulse for 1 encoder revolution (Value with division ratio [P01-14] applied)
③ Absolute data transmission sequence
ⓐ Maintain the ABS_REQ signal to “H” Level.

ⓑ After 50ms, it switches to standby condition to receive the serial data. The up/down
counter for incremental pulse count is cleared to “0”.
ⓒ It receives the serial data 8 byte.
ⓓ After receiving the initial serial data and about 400ms past, it operates as general
incremental encoder.
ABS_REQ signal
Revolution serial data Initial incremental pulse
PAO Negative Incremental pulse
A phase A phase
Incremental
PBO Negative pulse
Incremental pulse
B phase B phase
90ms Type
60ms Min.
50ms 260ms Max. about 15ms 8~9ms 400ms Max.
2-31
2.6.6. Wiring of FDA7000EX (Explosion proof)
Explosion-proof servo motor FMAEX series consists of a cable plug type encoder
connector on the motor side. □ 70 and 90 series are equipped with 15-wire incremental
encoder. □ 150 series are equipped with 17-bit absolute / incremental encoder. Refer to
the table below to wire correctly. Please contact the Servo Sales Team for further details.
TYPE MOTOR side Drive side
15line Incremental Encoder
17bit Serial Encoder
Wiring of shield and FG
Encoder Cable
Mech(shield)
Connect pin 15 (J) of the motor and pin 12 of the drive

through the Shield(Mesh) of encoder cable.
♥ In case of incremental 17bit encoder, there is no need to connect the 7th (BT +) and 8th (BT-)
terminals.
♥ For battery connection of absolute 17-bit encoder, refer to "4.6.1 Battery Handling".
2-32
ENC MOTOR(□70,90 Series) MOTOR(□150 Series)

Signal Signal
PIN No. Encoder Connector PIN No. Encoder Connector PIN No.
1 PW 11 SD 1
2 /PW 12 /SD 2
3 PV 9
4 /PV 10
5 PU 7
6 /PU 8
7 BATT+ 3
8 BATT- 4
9 GND 14 GND 6
10
11 /PZ 6
12 Shield. 15 Shield. 7, 8
13 /PB 4
14 PZ 5
15 /PA 2
16 PB 3
17 PTC(-) 17
18 PA 1
19 Vcc( DC 5V ) 13 Vcc( DC 5V ) 5
20 PTC(+) 16
2-33
2.7. COM(CN3) wiring and signal explanation
2.7.1. COM(CN3) wiring
COM (CN3) is a connector located at the lower left of the front of the FDA7000. This connector
is used to make a serial communication between FDA7000 and the host or peripheral.
Pin assignments and names of COM (CN3) connectors are as shown below.
1 - 11 -
2 - 12 -
3 -12V 13 -
4 +12V 14 -
5 +5V 15 +5V
6 GND 16 NC
7 PXD-485 17 GND
8 NXD-485 18 NC
9 TXD-232 19 Rt: Rt
10 RXD-232 20
20 +5V
[ User Connector side ]

◆ The connector for COM (CN3) is optional.
- Manufacturer: 3M, CASE Part Name: 10320-52F0-008,
Connector (for soldering): 10120-3000VE
2.7.2. Wiring of RS232C Common Cable
Connector Body(FG)
Cable : AWG24, UL2919-AMESB 3C(LS Cable)
[PC Serial Port] [Servo Drive COM(CN3) Connector]

◆ When wiring the RS232C communication cable, solder the cable's shield only to the body of
the 10120-3000VE connector and do not connect to the body of the D-SUB 9Pin connector.
(If both connectors are soldered, it may cause communication failure.)
2-34
2.7.3. Wiring of RS485 Common Cable
[Upper System] [Servo Drive COM(CN3) Connector]
◆ The servo drive has a built-in terminating resistor (120Ω).

◆ You can connect terminal resistor by shorting Rt (No.19) terminal and P (No.7)
terminal.
◆ When connecting several servo drives, be sure to connect the terminating resistor
only to the last servo drive.
2-35
Chapter 3
Parameter setting
Chapter 3 explains the individual servo parameter setting according to the usage. The parameter
setting can be executed with the internal mount loader and digital loader, and refer to Chapter 5
for details on how to use the internal mount load and digital loader. The parameter NO. with the
symbol (＊) marked indicates that the value can only be corrected when the SVONEN input
contact point is “OFF”.
Chapter 3. Parameter setting
3.1. Status display parameter[StE-].................................................. 3-2

3.2. Motor and operating device setting[P01-] ................................ 3-5
3.3. General control parameter setting[P02-] ................................ 3-11
3.4. Speed control parameter setting[P03-] ................................... 3-22
3.5. Input contact point digital speed and torque setting[P04-] .. 3-26
3.6. Position control parameter setting[P05-] ............................... 3-27
3.7. Torque control parameter setting[P06-].................................. 3-30
3.8. Input contact point function setting[P07-].............................. 3-32
3.9. Output contact point function setting[P08-]........................... 3-38
3.10. Analog monitor function setting[P09-] ................................... 3-45
3.11. Jog operation parameter setting[JOG-].................................. 3-46
3.12. Alarm display setting[ALS-] .................................................... 3-49
3. Parameter setting
The menu setting can be executed with the internal mount loader. Refer to Chapter 5 for details
on how to use the internal mount loader.
The acronym and meaning used in this manual are as follows.
Acronym Meaning
PC Position Controller
CC Current Controller
SC Speed Controller
LMT Limit
ENB Enable
INIT Initialize
PROG Program
CMD Command
ACCEL Acceleration
DECEL Deceleration
SPD Speed
POS Position
COMPEN Compensation
ABS Absolute
REV Revolution
ADJ Adjustment
MAX Maximum
TRQ Torque
MULTI Multiple
NF Notch Filter
COM Communication
TC Time Constant
FF Feedforward
ERR Error
ELCTR Electric
NUM Numerator
DEN Denominator
3-1
3.1. Status display parameter[StE-]
Manufactured
Unit Setting range Speed/Torque/
StE-01 Display Select default
- 100~ 1330 Position control
1203
When the power of the servo drive is turned on, this sets the menu to display on the display
window. The first and second space indicates the upper menu number of each menu, and third
and fourth space indicates the lower menu number. For example, if it is set as StE-01 = 1203, the
“12” means the StE menu and “03 refers to the StE-03.
[ First and second space value ]

Upper
menu P01 P02 P03 P04 P05 P06 P07 P08 P09 JOG ALS StE
name
1st and 2nd
01 02 03 04 05 06 07 08 09 10 11 12
value
Refer to each parameter for the third and fourth menu number.
Manufactured
Unit Setting range Speed/position
StE-02 Command Speed
rpm -9999.9 ~ 9999.9
default
control
-
Manufactured
StE-03 Motor Speed
rpm -9999.9 ~ 9999.9
default
Position control
-
Manufactured
StE-04 CCW Speed Limit default
rpm 0.0 ~ 9999.9 Position control
-
Manufactured
StE-05 CW Speed Limit
rpm -9999.9 ~ 0.0
default
Position control
-
Manufactured
Unit Setting range
StE-06 Command Pulse default Position control
pulse -99999 ~ 99999
-
Manufactured
Unit Setting range
StE-07 Feedback Pulse default Position control
pulse -99999 ~ 99999
-
Manufactured
Unit Setting range
StE-08 Error Pulse default Position control
pulse -99999 ~ 99999
-
Manufactured
StE-09 Command Torque default
% -300.0 ~ 300.0 Position control
-
Manufactured
StE-10 Load Rate
% -300.0 ~ 300.0
default
Position control
-
Manufactured
StE-11 Max Load Rate
% -300.0 ~ 300.0
default
Position control
-
3-2
Manufactured
StE-12 CCW TRQ LMT default
% 0.0 ~ 300.0 Position control
-
Manufactured
StE-13 CW TRQ LMT
% -300.0 ~ 0.0
default
Position control
-
Manufactured
StE-14 Inertia Ratio default
- 0.0 ~ 50.0 Position control
2.0
Manufactured
StE-15 MULTI Turns default
rev -32768~32768 Position control
-
Manufactured
StE-16 Single Turn default
- 0~131071 Position control
-
Manufactured
StE-17 I/O Status default
- 0 ~ 999999 Position control
-
<For internal mount loader >

CN1-13 CN1-14 CN1-15 CN1-16 CN1-17 CN1-18
CN1-38 CN1-39 CN1-40 CN1-41 CN1-42 CN1-43
Input contact PIN

allocation part
Output contact PIN

allocation part
CN1-19 CN1-20 CN1-21 CN1-22 CN1-23

CN1-44 CN1-45 CN1-46 CN1-47 CN1-48
The PIN allocation based on the manufactured default is as follows.

CN1 PIN No. (input) 18 43 17 42 16 41
SPD1/ SPD2/
Function SVONEN
GEAR1 GEAR2
SPD3 DIR PI/P
CN1 PIN No. (input) 15 40 14 39 13 38

CCWLIM/ CWLIM/ SPDLIM/TLI ALM
Function PTQLIM NTQLIM M
E-STOP STOP
RST
CN1 PIN No. (Output) 23 48 22 47 21

INSPD/INPOS/
Function - BRAKE
INTRQ
ZSPD RDY
CN1 PIN No. (Output) 46 20 45 19 44

SPDOUT
Function /TRQOUT
ALARM A_CODE0 A_CODE1 A_CODE2
3-3
Manufactured
StE-18 PROG Version default
- 0.0 ~ 99.99 Position control
-
This menu displays encoder type, program version and drive capacity.
Input Voltage Power Firmware Virsion
Sym. Voltage Sym. Power Sym. Power Sym. Virsion
L1 AC 110V 100~400W h 7.5kW 2.00~2.99 Standard
S AC 220V 500W~1kW E 11kW 3.00~9.99 Spectial Order
H0 AC 380V 1.5~4.5kW F 15kW
H1 AC 440V
Unit Setting range Manufactured Speed/Torque/

StE-19 Single Turns DEG
DEG 0.000 ~ 359.999 default Position control
When using a 17bit serial encoder, the position unit for one revolution is displayed as dgree.

StE-20 Warning Status
- 0 ~ 1023 default Position control
Combination of current warnings on the servo drive is displayed in hexadecimal.

(E.g. 0000 = no alerts currently occurring, 0005 = 1, 3 alerts)
The bit allocation of the warning content is shown below.
Bit-9 Bit-0
No. 10 9 8 7 6 5 4 3 2 1
Reser Reser Reser Reser Reser Reser Reser Reser Reser Low-
Warning
-ved -ved -ved -ved -ved -ved -ved -ved -ved Battery
Manufactured
StE-21 CYCLE TIME
ms 0 ~ 99999.9
default
Position control
0.0
Enter the time for calculating the StE-22 [Cycle Average Load Factor].

StE-22 CYCLE LOAD RATE
% -300.0 ~ 300.0 default Position control
The average load rate for the time set by StE-22 [Cycle Time] is displayed.
3-4

StE-23 DC LINK VOLTAGE
Vdc 0.0 ~ 999.9 default Position control
It displays the DC voltage charged inside the servo drive when the 3-phase main circuit power
supply R, S, T is turned on.
* Allowable Voltage Fluctuation Rate
AC 220V ► DC 240.4V ~ 357.7V
AC 380V ► DC 483.6V ~ 617.9V
AC 440V ► DC 560.0V ~ 780.5V
3.2. Motor and operating device setting[P01-]
Manufactured
P01-01* Motor ID default
- GEN - 00 ~ 500 Position control
By capacity
Set the motor ID to use. P01-02 ~ P01-10 (Except P01-07 and P01-08), the motor parameter,
masked.
Motor ID applicable to FDA7000 series[AC 220V Standard Series]
ID Model ID Model ID Model ID Model ID Model
00 Manual 20 TF05 40 LF03 60 KN03 80 LN03

01 21 TF09 41 LF06 61 KN05 81 LN06
02 22 TF13 42 LF09 62 KN06 82 LN09
03 23 TF20 43 LF12 63 KN07 83 LN12
04 24 TF30 44 LF20 64 KN06A 84 LN12A
05 CJZ5 25 TF44 45 LF30 65 KN11 85 LN20
06 CJ01 26 46 66 KN16 86 LN30
07 27 47 67 KN22 87 LN40
08 CJ02 28 48 CN40 68 KN22A 88 TN110
09 CJ04 29 49 CN50 69 KN35 89 TN150
10 30 KF08 50 CN04A 70 TN05 90
11 CN01 31 KF10 51 CN06 71 TN09 91
12 CN02 32 KF15 52 CN08 72 TN13 92 LN55
13 CN03 33 KF22 53 CN10 73 TN17 93
14 CN04 34 KF35 54 CN09 74 TN20 94
15 CN05 35 KF50 55 CN15 75 TN30 95
16 36 56 CN22 76 TN44 96
17 37 57 CN30 77 97
18 38 58 CN30A 78 TN55 98 KN70
19 39 59 CN50A 79 KN55 99 TN75N
3-5
Motor ID applicable to FDA7000-H series[AC 380V Standard Series]
147 CN70 165 KN11 183 LN12 171 TN09 293 TN220
148 CN40 166 KN16 185 LN20 172 TN13 294 TN300
149 CN50 167 KN22 186 LN30 174 TN20 295 TN370
153 CN10 168 KN22A 187 LN40 175 TN30 301 TN450
154 CN09 169 KN35 191 LN44 176 TN44 302 TN550
155 CN15 179 KN55 192 LN55 178 TN55 203 TN750
156 CN22 198 KN70 311 LN300 399 TN75N
157 CN30 392 KN150 312 LN370 188 TN110
158 CN30A 393 KN200 313 LN450 189 TN150
159 CN50A
Motor ID applicable to FDA7000EX[AC 220V Explosion proof Series]
103 EC06 106 EL09 109 EC22 112 EK30

101 EX02 104 EK06 107 ET13 113 EC40
102 EK05 105 EC08 108 EK16 111 ET20
* Explosion-proof models other than FDA7002EX are equipped with motor ID auto loading
function, so there is no need to set motor ID separately.
Motor ID applicable to FDA7000EX-H[AC 380V Explosion proof Series]
ID 형 명 ID 형 명 ID 형 명 ID 형 명 ID 형 명
114 ET13 118 ET20 121 EC22 124 127

115 EK16 119 EK30 122 125 128
120 EC40 123 126 129
Manufactured
P01-02 Inertia 2 default
gfcms 0.01 ~ 999.99
By motor type
Position control
Manufactured
P01-03 TRQ Constant
kgfcm/A 0.1 ~ 999.99
default
Position control
By motor type
Manufactured
P01-04 Phase Inductance
mH 0.001 ~ 99.999
default
Position control
By motor type
Manufactured
P01-05 Phase Resistance default
Ω 0.01 ~ 99.999 Position control
By motor type
Manufactured
P01-06 Rated Current
A(rms) 0.01 ~ 999.99
default
Position control
By motor type
3-6
Manufactured
P01-07 Rated Speed default
By motor type
Manufactured
P01-08 MAX Speed
rpm 0.0 ~ 9999.0
default
Position control
By motor type
Manufactured
P01-09 Rated TRQ default
kgfcm 0.0 ~ 9999.0 Position control
By motor type
Manufactured
P01-10 Pole Number default
Pole 2 ~ 98 Position control
By motor type
Manufactured
P01-11* Drive ID default
By drive type
Enter the setting value in the following table depending on the servo drive capacity.
Drive capacity 004/ 015/ 020/ 030/

001 002 005 010 045 075 ~ 750
[ FDA7- ] 004B 015B 020B 030B
P01-11
1 2 4 5 10 15 20 30 45 Unchanged
[Drive ID]
Manufactured
P01-12* Encoder ID default
- Enc - 0 ~ R Position control
Enc - A
ABS INC ABS

Encoder Manual INC INC INC INC INC INC
11/ 17/ 17/
ID setting 2000 2500 3000 5000 6000 2048
13bit 33bit 33bit
P01-12 Enc-0 Enc-A Enc-b Enc-C Enc-d Enc-E Enc-F Enc-G Enc-P Enc-R
Manufactured
P01-13* Encoder Pulse
ppr 1 ~ 32768
default
Position control
2000
Encoder
Enc-0 Enc-A Enc-b Enc-C Enc-d Enc-E Enc-F Enc-G Enc-P Enc-R
ID
Manual
P01-13 setting
2000 2500 3000 5000 6000 2048 2048 32768 32768
Manufactured
P01-14 Pulse Out Rate default
pulse 1 ~ 131072 Position control
By model
Pulse input from the encoder of the motor can be output to the outside as the set division
pulse.
* The number of divided output pulses cannot exceed the encoder pulse number.
3-7
* Set 17bit serial encoder according to the following conditions.

(1) Enter a multiple of 4 within the range of “8192 ~ 131072”.
(2) The maximum frequency of the divided pulse that can be output from the servo drive is
1.638Mpps. (Mpps = Mega Pulse Per Second)
(3) The maximum speed available according to the number of divided output pulses is as
shown in the following formula.
Maximum Speed = (39312 * 104) / (P01-14 setting value)
However, the smaller of the calculated value and the maximum speed of the motor
becomes the maximum speed.
P01-14 setting value Maximum Speed (RPM)
131072 3000
78624 5000
Manufactured
P01-15* COM Baud Rate default
0
Select the communication speed. Set the communication speed of the transmitting side (main
unit).
P01-15 RS232 RS485 P01-15 RS232 RS485

00 9600 9600 08 38400 9600
01 9600 19200 09 38400 19200
02 9600 38400 10 38400 38400
03 9600 57600 11 38400 57600
04 19200 9600 12 57600 9600
05 19200 19200 13 57600 19200
06 19200 38400 14 57600 38400
07 19200 57600 15 57600 57600
Manufactured
P01-16* Serial Select
- 0~2
default
Position control
0
This feature is only used for Special Order products.
3-8
Manufactured
P01-17* Serial I/O default
0
Set this when using the I/O contact point by communication.
Setting value Contents
0 I / O contact using only CN1 connector
1 I / O contact using only communication (RS232C / 485)
Use I / O contact by using with CN1 connector communication

(RS232C / 485)
Use CW/CCWLIM, ESTOP, STOP Contact
CN1
2 Point
communication Use all I / O contacts except CW /
(RS232C/RS485) CCWLIM, ESTOP, STOP
Manufactured
P01-18* Serial ID default
1
Manufactured
P01-19 Parameter Lock
- ON/OFF
default
Position control
OFF
Manufactured
P01-20* Absolute Origin
- ON/OFF
default
Position control
OFF
* When applying the 2048 or 17 bit absolute encoder, you can execute the encoder origin
point. If you enter “ON” for the parameter, it will change to “OFF” and reset the Multi-turn
data.
Manufactured
P01-21＊ ABS Protocol
- 1~3
default
Position control
3
When using 17-bit absolute encoder, set the absolute data transfer protocol using the port of
the divided output pulse.
* For more information, refer to "2.6.5 17bit absolute encoder data transmission".
Manufactured
P01-22＊ Modbus Protocol
- 0~1
default
Position control
0
Set the serial communication protocol.
3-9
Setting value Contents

Extended Mode Bus (HIGEN Standard): Data Field
0
Configuration 4 bytes
1 Standard Modbus: Data Field Configuration 2bytes
For more information, please refer to MODBUS MANUAL on our website

(http://www.higenmotor.co.kr).
Manufactured
P01-23＊ Single turn offset
- 0 ~ 131072
default
Position control
0
When P01-20 [Absolute origin] is ON, the current single-turn data is automatically saved in this
parameter and initialized with StE-16 [Single-turn data] = 0.
Manufactured
P01-24 Parameter RAM Save
- 0~3
default
Position control
0
You can change the storage area of specific parameters. Parameters stored in the RAM area
are returned to their initial values when the power is turned on again. If you frequently set
parameters using Modbus communication, they can be used to protect ROM life.
* FDA7000 Servo Drive Internal ROM Write Life: 100,000 Times
Value Function
0 Save all parameters to ROM
1 Save digital input speed / torque (P04-01 ~ P04-14) setting to RAM
2 Save Electronic gear ratio (P05-12~P05-19)) setting to RAM
Save digital input speed / torque (P04-01 ~ P04-14) and Electronic gear ratio (P05-
3
12~P05-19)) setting to RAM
3-10
3.3. General control parameter setting[P02-]
Manufactured
P02-01* Control Mode default
1
The conversion of the control mode using parameters cannot be changed while in the servo on
state. When control mode is set to complex control mode(P02-01=3~5), control mode can be
changed during motor operation according to control mode conversion input contact.
Type contact point

Set value condition
Applied control mode
0 - Torque control mode
1 - Speed control mode
2 - Position control mode
ON Speed control mode

3
OFF Torque control mode
ON Speed control mode

4
OFF Position control mode
ON Position control mode

5
OFF Torque control mode
Manufactured
P02-02 Mode Change Time default
ms 100.0 ~ 10000.0 Position control
500.0
When the servo drive is set to the compound control mode and the control mode conversion
input contact is on, the servo motor is decelerated within the set control mode conversion time
and the control mode is changed in the zero speed area. When control mode conversion is
completed, the control mode conversion status output contact turns ON.
3-11
Speed Control Torque Control Speed Control
ON
Control Mode Change
Input Contact
OFF
Actual Motor
Speed
0 rpm
10 V
Analog Torque
Command
0V
Speed Control Torque Control Speed Control
Control Mode ON
Changed Status
Output Contact OFF
Mode Change Time(P2-02)
Manufactured
P02-03 CCW TRQ LMT default
300.0
Manufactured
P02-04 CW TRQ LMT
% -300.0 ~ 0.0
default
Position control
-300.0
Manufactured
Unit Setting range default Speed/Torque/
P02-05 CCW Speed Limit
rpm 0.0 ~ 6000.0 Maximum value of Position control
applied motor
Manufactured
Unit Setting range default Speed/Torque/
P02-06 CW Speed Limit
rpm -6000.0 ~ 0.0 -Maximum value of Position control
applied motor
Manufactured
P02-07 Brake Speed
rpm 0.0 ~ 9999.9
default
Position control
50.0
Manufactured
P02-08 Brake Time
ms 0.0 ~ 10000.0
default
Position control
50.0
♥ Operating conditions brake (P02-07, P02-08)
1) In case of SERVO OFF by ALARM occurrence.
2) In case that SERVO OFF that do not use STOP contact point of CN1 connector.
Which of the operating speed (P02-07) and operating time (P02-08) of the user menu is
satisfied, the brake will operate.
* Brake action that use STOP in SERVO ON state refers P02-30 of user menu.
3-12
Manufactured
P02-09 DB Mode default
2
DB mode control is to stop the serve motor abruptly during an emergency stop. The user menu
P02-09 sets the stop operation of the servo motor when the servo is turned off or during an
emergency stop. (Caution !) However, this function is not available in Large type drive.
Set value Operation explanation
0 Maintain by decelerating the dynamic brake when the servo is off.

Free-run operation at set zero speed (P03-14) decelerating the dynamic
1
brake when the servo is off.
Maintain free-run operation by decelerating in free-run condition when the
2
servo is off
Maintain dynamic brake at set zero speed (P03-14) decelerating in free-run
3
condition when the servo is off
Manufactured
P02-10 Notch Filter 1 default
0
The operation of the notch filter is set to operate the notch filter to reduce the resonance of the
machinery.
0 Do not use the notch filter 1.

Operate the notch filter 1 in the set resonance frequency and resonance
1
bandwidth.
This is the method of reducing the resonance after automatically detecting
the resonance frequency, it automatically detects the frequency of which
2
the vibration is generated and reduces the resonance (Automatically
switches from mode 2  1).
Manufactured
P02-11 NF Frequency 1
Hz 50.0 ~ 2000.0
default
Position control
300.0
This sets the notch filter frequency 1 to reduce the resonance of the machinery.
Manufactured
P02-12 NF Bandwidth 1
% 10.0 ~ 99.9
default
Position control
95.0
It shows the certain gain bandwidth where the notch filter 1 operate to reduce the resonance of
machinery.
3-13
Manufactured
P02-13 Notch Filter2 default
0
Set the notch filter 2 to reduce the resonance of the machinery.
0 Do not use the notch filter 2.

Operate the notch filter 2 in the set resonance frequency and resonance
1
bandwidth.
Manufactured
P02-14 NF Frequency 2
Hz 50.0 ~ 2000.0
default
Position control
500.0
This sets the notch filter frequency 2 to reduce the resonance of the machinery.
Manufactured
P02-15 NF Bandwidth 2 default
95.0
Manufactured
P02-16 TRQ Filter TC
ms 0.0 ~ 1000.0
default
Position control
By capacity
Set the filter time constant for the torque command inside the servo drive. If vibration occurs in
the machine due to noise, etc., the vibration may be suppressed by adjusting the filter time
constant. If the time constant of the torque command filter is too large, the response of the
servo system will be reduced. The smaller the value, the more responsive control is, but the
effect of vibration suppression is less. Set the appropriate time constant according to the
machine condition.
* Manufactured default : FDA7001 ~ FDA7004 : 0.9
FDA7005 ~ FDA7010 : 1.3
FDA7015 ~ FDA7750 : 2.0
Manufactured
P02-17 Auto Tuning
- 0~1
default
Position control
0
Set the mode to auto-tuning the system's inertia ratio.
* Refer to page 4-19 for how to use.
Manufactured
P02-18 System Response
- 1 ~ 19
default
Position control
By capacity
The system response setting is to set the response to the target of the machine system.
3-14
P02-16
P02-18 P05-05 P05-06 P03-05 P03-07
P03-06 P03-08 (Command
(System (Position (Position (Speed loop (Speed loop
(SC TC1) (SC TC2) torque filter
response) loop gain 1) loop gain 2) gain 1) gain 2)
TC)
1 2.0 5.0 2.0 200.0 5.0 120.0 4.5
2 5.0 10.0 5.0 120.0 10.0 80.0 3.5
3 10.0 15.0 10.0 80.0 15.0 60.0 3.0
4 15.0 20.0 15.0 60.0 20.0 45.0 2.5
5 20.0 25.0 20.0 45.0 25.0 40.0 2.0
6 25.0 30.0 25.0 40.0 30.0 30.0 1.5
7 30.0 35.0 30.0 30.0 35.0 25.0 1.3
8 35.0 45.0 35.0 25.0 45.0 18.0 1.2
9 45.0 55.0 45.0 18.0 55.0 17.0 0.9
10 55.0 70.0 55.0 17.0 70.0 13.0 0.8
11 70.0 85.0 70.0 13.0 85.0 11.0 0.6
12 85.0 105.0 85.0 11.0 105.0 10.0 0.5
13 105.0 130.0 105.0 10.0 130.0 8.0 0.4
14 130.0 160.0 130.0 8.0 160.0 6.0 0.25
15 160.0 200.0 160.0 6.0 200.0 5.4 0.2
16 200.0 240.0 200.0 5.4 240.0 5.0 0.15
17 240.0 300.0 240.0 5.0 300.0 3.5 0.1
18 300.0 350.0 300.0 3.5 350.0 3.2 0.0
19 350.0 360.0 350.0 3.2 360.0 3.1 0.0
Manufactured
P02-19 Inertia Ratio
- 1.0 ~ 50.0
default
Position control
2.0
System Inertia ( Motor Inertia  Load inertia )

Inertia Ratio 
Motor Inertia
Manufactured
P02-20 Gain ADJ Speed 1
rpm 100.0 ~ 5000.0
default
Position control
800.0
Manufactured
P02-21 Gain ADJ Speed 2
rpm 10.0 ~ 500.0
default
Position control
100.0
When executing the control gain conversion by operation speed of the servo motor, it decides
the speed converted by the control gain.
3-15
Speed Command speed
P02-20
Actual speed
P02-21
Gain
Gain2
Gain1
Manufactured
P02-22 Gain ADJ TRQ 1 default
150.0
Manufactured
P02-23 Gain ADJ TRQ 2 default
50.0
When executing the control gain conversion by operating torque of the servo motor, it decides
the torque converted by the control gain.
Speed Command speed
Actual speed
Torque
Internal
command speed P02-22
P02-23
0
-P02-23
-P02-22
Gain
Gain2
Gain1
3-16
Manufactured
P02-24 Contact Gain TC default
100.0
When executing the control gain conversion by the external input contact point, it decides the
control gain conversion time.
Gain conversion
OFF ON OFF
contact point
(GAITRS)
Gain2
Applied gain Gain1 Gain1

P02-24 = 100 [ms]
Manufactured
P02-25 Temporary Stop default
- ON / OFF Position control
OFF
As the stop function, it sets the operation type of the set input contact point. Depending on the
menu value, the stop operation is converted.
Manufactured
P02-26 Emergency Stop default
OFF
As the emergency stop, it sets the operation of the set input contact point. Depending on the
menu value, the emergency stop operation is converted.
Manufactured
P02-27 Direction Select default
OFF
As the direction function, it sets the operation of the set input contact point. Depending on the
menu value, the direction select is converted.
Manufactured
P02-28 Ripple COMPEN
- ON / OFF
default
Position control
OFF
In case of speed ripple during operation, this function can reduce the speed ripple. You can
select from the following set values.
3-17
ON Use speed ripple compensation function
OFF Do not use speed ripple compensation function
Manufactured
P02-29* Parameter INIT
- ON/OFF
default
Position control
OFF
Manufactured
Servo OFF Delay Unit Setting range Speed/Torque/
P02-30 time ms 0.0 ~ 1000.0
default
Position control
10.0
When using the servo motor to control a vertical movement machine, the structure movable part
may be moved toward the downward depanding on brake timing due to the gravity or external
force. By using this parameter to delay turning the servo off that movement can be protect.
Manufactured
P02-31 CW Limit
- ON / OFF
default
Position control
OFF
As the CW Limit function, it sets the operation type of the set input contact point. Depending on
the menu value, the CW Limit operation is converted.
Manufactured
P02-32 CCW Limit
- ON / OFF
default
Position control
OFF
As the CCW Limit function, it sets the operation type of the set input contact point. Depending on
the menu value, the CCW Limit operation is converted.
Manufactured
P02-33 Servo ON/OFF
- ON / OFF
default
Position control
OFF
As the Servo ON/OFF function, it sets the operation type of the set input contact point.
Depending on the menu value, the Servo ON/OFF operation is converted.
(note) After this parameter alteration selects motor ID (P01-01), drive ID (P01-11), Encoder
ID (P01-12), use. If execute SERVO ON when parameter does not conform, there is
damage danger servo motor and drive.
3-18
Manufactured
P02-34 MULTI Turns Limit default
rev 0~65535 Position control
65535
Multiturn limit setting is a parameter to set the upper limit of multi-turn data from
encoder when absolute encoder is used (P01-12 = ENC-R). When the rotation amount
exceeds the set value, the encoder rotation amount returns to zero. The range of multi-
turn data differs from the factory settings and other settings.
Manufactured default(=65535) Setting Value(=65535)

P02-34 Setting value
+32767
CCW CW CCW CW
Multi 0 Multi
Turn Turn
0
-32767 Rotation Rotation
Other than the factory setting (≠ 65535) When the motor rotates in the reverse direction
from the multi-rotation data 0, the multi-turn data changes to the setting value of P02-
34. When the multi-turn data rotates in the forward direction at the setting value of P02-
34, the multi-turn data changes to zero. For P02-34, set the value of (Multiple desired
rotation-1).
* Changing the multiturn limit is not necessary except for special applications. This
parameter is related to the host controller, so special care should be taken.
Manufactured
P02-35 ABS BATT DETEC default
0
When using absolute encoder, the battery voltage drop (3.1 ± 0.1 [V] or less) can be
selected as alarm or warning.
Manufactured
P02-36 LOW BATT FILTER
ms 10~10000
default
Position control
100
This parameter sets the filter time constant for abnormal alarm occurrence due to noise
signal or cable mounting condition when using absolute encoder. The larger the value is
selected, the less sensitive the battery alarm is caused by the noisy signal.
3-19
Manufactured
P02-37 Power Fail Mode default
0
Select whether to output alarm or automatic reset when the power returns to normal
when the power fail alarm occurs due to an error in the main circuit power (R, S, T
terminals).
Alarm Current Alarm Auto Alarm

Value Display
OUTPUT(CN1) Alarm number Reset History
0 Output Marked Marked Impossible Impossible
1 No Output Marked Marked Possible Possible
* If you set P02-37 = 1, you can check the alarm status by reading the current alarm
number through serial communication.
Manufactured
Reverse Rotation Unit Setting range Speed/Torque/
P02-38 default
Mode - ON/OFF Position control
OFF
In case of using 17bit serial encoder, the direction of motor rotation and encoder division
output can be reversed.
* When using reverse mode, direction selection parameter (P02-27) is ignored.
Direction
Forward rotation Reverse rotation
Value
CCW Rotation CW Rotation

OFF B phase lead division A phase lead
output division output
CW Rotation CCW Rotation

ON B phase lead division A phase lead
output division output
3-20
Manufactured
P02-39＊ Extra DB Control
- 0~2
default
Position control
OFF
The signal for controlling the dynamic brake installed outside the servo drive can be output.
* To use this function, set DB MODE (P02-09) parameter first, and set Function No. (20)
to the desired CN1 pin number using P08 menu.
* This function only applies to Special Order products that can connect external DB.
Value Function
0 Do not use external DB control
1 External DB Control Signal Output (Normal Open Type)
2 External DB Control Signal Output (Normal Close Type)
Manufactured
P02-40＊ ENC CNT ERR TC
ms 0 ~ 10000
default
Position control
5
When a 17-bit serial encoder is used, the count error detection time of the encoder can be set.
* If P02-40 = 0, the count error alarm function is disabled.
[When using FDA7000EX( Explosion-Proof ) Series]

Manufactured
P02-40 Motor OVER TEMP default
OFF
Some explosion-proof motor models have a built-in temperature sensor (PTC), and an alarm
(Ano-22) is output when the motor overheats. If you do not use the over temperature alarm
with this sensor, you can disable the alarm function by setting P02-40 = ON.
If P02-40 = ON, the temperature sensor signal of the motor is not connected to the drive,
an alarm (AL-22) will occur.
OFF Enable motor over temperature alarm
ON Disable the motor over temperature alarm function
[When using FDA7002EX( Explosion-Proof )]

Manufactured
P02-41 Motor OVR TEMP TC default
ms 100 ~ 9000 Position control
100
You can set the overheat alarm detection time of the motor with a built-in temperature sensor.
3-21
3.4. Speed control parameter setting[P03-]
Manufactured
Unit Setting range
P03-01* Speed Gain Mode default Speed control
- 1~5
1
When the servo drive is set to speed control mode, it sets the speed control gain mode.
1 Use speed controller gain 1 (P03-05, P03-06).

Apply variable gain using gain 1 (P03-05, P03-06) and gain 2 (P03-07,
3 P03-08) according to set speed (P02-20, P02-21) for the speed controller
gain.
4 P03-08) according to set torque (P02-22, P02-23) for the speed controller
gain.
Select gain 1 (P03-05, P03-06) or gain 2 (P03-07, P03-08) by the external
5
contact point signal for the speed controller gain.
Manufactured
P03-02 PI-IP Control % default
% 0.0 ~ 100.0 control
100.0
Manufactured
P03-03 Friction COMPEN default
% 0.0 ~ 100.0 control
0.0
When the servo motor is attached on the machinery with severe friction with ball screw etc., this
sets the friction compensation coefficient to reduce the dead zone that occurs during conversion
of turning direction.
Manufactured
P03-04 Load COMPEN default
% 0.0 ~ 100.0 control
0.0
This sets the external load compensation coefficient to improve the response of the servo motor
for the sudden load change.
Manufactured
P03-05 SC Loop Gain 1 default
Hz 0.0 ~ 1000.0 control
By capacity
Manufactured
P03-06 SC TC 1
ms 0.0 ~ 10000.0
default
control
By capacity
Manufactured
P03-07 SC Loop Gain 2
Hz 0.0 ~ 1000.0
default
control
By capacity
3-22
Manufactured
P03-08 SC TC 2 default
ms 0.0 ~ 10000.0 control
By capacity
Manufactured
Unit Setting range
P03-09 Analog CMD TC
ms 0.0 ~ 2000.0
default Speed control
0.0
Manufactured
Unit Setting range
P03-10 ACCEL Time default Speed control
ms 0.0 ~ 90000.0
0.0
Manufactured
Unit Setting range
P03-11 DECEL Time default Speed control
ms 0.0 ~ 90000.0
0.0
Manufactured
Unit Setting range
P03-12* S-Mode TC default Speed control
ms 0.0 ~ 9000.0
0.0
Manufactured
Unit Setting range
P03-13 In Speed Range
rpm 0.0 ~ 9999.9
10.0
Manufactured
Unit Setting range
P03-14 Zero Speed Range default Speed control
rpm 0.0 ~ 9999.9
10.0
Manufactured
Unit Setting range default Speed/Torque
P03-15* + 10[V] RPM
rpm 0.0 ~ 9999.9 Applied motor control
rated speed
This sets the command speed range of the +10[V] analog voltage when the servo drive is in
speed control or torque control mode.
Set speed
(P03-15)
Voltage
3-23
Manufactured
Unit Setting range default Speed/Torque
P03-16* -10[V] RPM
rpm -9999.9 ~ 0.0 -Applied motor control
rated speed
This sets the command speed range of the -10[V] analog voltage when the servo drive is in
speed control or torque control mode.
Voltage
Set speed
(P03-16)
Manufactured
Unit Setting range Speed/Torque
P03-17 Auto Offset default
- ON / OFF control
OFF
It automatically adjusts the offset voltage of the servo drive for the analog 0 [V] input of the host
controller. At first, servo off and then supply the zero speed voltage to the speed input pin of CN1
connector. And then set P03-17 on and adjust the offset voltage automatically so that it can
detect the connected voltage to zero speed. When the offset voltage adjustment is complete, the
P03-17 is automatically turned off and the offset voltage is automatically updated to the
parameter of P03-18.
Manufactured
P03-18 Manual Offset default
mV -1000.0 ~ 1000.0 control
0.0
Manufactured
Unit Setting range
P03-19* Override ENB default Speed control
- ON / OFF
OFF
The override mode operation is set to ON when minute speed is adjusted when the user is
combining the speed command with the speed by digital contact point or analog speed command.
3-24
Manufactured
Unit Setting range
P03-20 Clamp Mode default Speed control
- 0~2
0
Clamp mode is only applied in the speed control mode. Clamp mode can be used when
stopping the servo motor without dropping the analog command voltage to 0[V]. Once it is
clamped, it will return to its clamped location even when it turns by external force.
Clamp mode:0 Clamp mode:1 Clamp mode:2
Speed Speed Speed

command command command
Command Command Command

voltage voltage voltage
Clamp voltage Clamp voltage
Manufactured
Unit Setting range
P03-21 Clamp Voltage default Speed control
mV -1000.0 ~ 1000.0
0.0
Manufactured
Unit Setting range
P03-22* F/Back TC
ms 0.0 ~ 2000.0
0.0
Manufactured
P03-23 Zero SPD VIB REJ
rpm 0.0 ~ 1000.0
default
control
0.1
Manufactured
P03-24* Feedforward TRQ
- 0~2
default
control
0
When torque command operation mode is set to “2”, the feedforward TRQ can be used. The
feedforward TRQ input enables fast decision making during speed control. But if the feed forward
input is too high, it can cause an overshoot or undershoot. Apply appropriately.
The function by analog torque command is operated by input contact point

0
(SPDLIM/TLIM).
The analog torque command continually operates in torque limit value irrelevant
1
from the contact point input.
The analog torque command operates as feedforward torque item. (Precision

2
control)
3-25
Manufactured
Alarm Reset Delay Unit Setting range Speed/Torque/
P03-25 default
Time [ms] 0 ~ 99999 Position control
0
When the servo motor rotates below 10 rpm or in the stall state, it activates the alarm function
of overload, over current and over temperature. And the alarm can be cleared only after the set
cooling time (P03-25) has elapsed from the alarm occurrence time.
If you enter P03-25 = 0 [ms], the alarm function for the stall status is deactivated.
* Alarm code: Overload Ano-19, Overcurrent Ano-20, Overtemperature Ano-21
* If the corresponding alarm occurs, check the restraint state of the servomotor by
checking the machine.
3.5. Input contact point digital speed and torque setting[P04-]
Manufactured
Speed 1 Unit Setting range Speed/Torque
P04-01 default
Digital input speed 1 rpm -9999.9 ~ 9999.9 control
10.0
Manufactured
P04-02 Digital input speed 2 rpm -9999.9 ~ 9999.9
default
control
100.0
Manufactured
P04-03 default
200.0
Manufactured
default
control
500.0
Manufactured
default
control
1000.0
Manufactured
default
control
2000.0
Manufactured
P04-07 default
3000.0
Manufactured
Torque 1 Unit Setting range
P04-08 default Torque control
Digital input torque 1 % -300.0 ~ 300.0
0.0
Manufactured
P04-09 Digital input torque 2 % -300.0 ~ 300.0
default Torque control
2.0
Manufactured
20.0
Manufactured
50.0
3-26
Manufactured
75.0
Manufactured
100.0
Manufactured
120.0
3.6. Position control parameter setting[P05-]
Manufactured
Unit Setting range
P05-01* POS Gain Mode default Position control
- 1~5
1
When the servo drive is set to position control mode, this parameter sets the position control
gain type.
1 Use the position loop gain 1. (P05-05).
2 Use the position loop gain 2. (P05-06).
Apply variable gain using gain 1 (P05-05) and gain 2 (P05-06) according to
3
set speed (P02-20, P02-21) for the position controller gain.
4
Select gain 1 (P05-05) or gain 2 (P05-06) according to external contact point

5
signal of the position controller gain.
3-27
Manufactured
Unit Setting range
P05-02* POS Pulse Type default Position control
- 0~5
1
Set the position command pulse mode.
[Pulse Command pulse row mode

Remark
Logic] In CCW direction In CW direction
N
e PF A phase
g 0
PR + B phase
a
t
I
v PF CCW pulse
e 1
PR CW pulse
L
o
PF Direction
g
2
I PR L H + Pulse
c
P
o PF
3 A phase
s
PR + B phase
I
t
I
v PF CCW pulse
e 4
PR CW pulse
L
o
PF
g 5 Direction
I PR H L + Pulse
c
Manufactured
Position control Unit Setting range Position/speed
P05-03 default
Speed Mode - ON / OFF control
OFF
If the servo drive is set to position control mode, set P05-03 on to apply the acceleration/
deceleration (P03-10, P03-11) and S shape mode operation (P03-12) setted in user menu P03.
Manufactured
Unit Setting range
P05-04 Feedforward
% 0.0 ~ 100.0
default Position control
0.0
Manufactured
Unit Setting range
P05-05 PC P Gain 1 default Position control
Hz 0.0 ~ 500.0
By capacity
Manufactured
Unit Setting range
P05-06 PC P Gain 2
Hz 0.0 ~ 500.0
By capacity
3-28
Manufactured
Unit Setting range
P05-07 PI-P Pulse ERR default Position control
pulse 0 ~ 99999
0
In position control mode, when the error between command pulse and actual movement pulse
exceeds the set value of P05-07, it converts to P control mode to reduce the overshoot.
Manufactured
Unit Setting range
P05-08 In Position default Position control
pulse 0 ~ 99999
100
Manufactured
Unit Setting range
P05-09 Follow ERR
pulse 0 ~ 99999
30000
Manufactured
Unit Setting range
P05-10 POS CMD TC
ms 0.0 ~ 2000.0
0.0
Manufactured
Unit Setting range
P05-11 FF TC default Position control
ms 0.0 ~ 2000.0
0.0
Manufactured
Unit Setting range
P05-12* ELCTR Gear NUM 1 default Position control
- 1 ~ 99999
1
Manufactured
Unit Setting range
P05-13* ELCTR Gear DEN 1 default Position control
- 1 ~ 99999
1
Manufactured
Unit Setting range
P05-14* ELCTR Gear NUM 2
- 1 ~ 99999
1
Manufactured
Unit Setting range
- 1 ~ 99999
2
Manufactured
Unit Setting range
P05-16* ELCTR Gear NUM 3 default Position control
- 1 ~ 99999
1
Manufactured
Unit Setting range
- 1 ~ 99999
4
Manufactured
Unit Setting range
P05-18* ELCTR Gear NUM 4
- 1 ~ 99999
1
Manufactured
Unit Setting range
P05-19* ELCTR Gear DEN 4
- 1 ~ 99999
8
Manufactured
Unit Setting range
P05-20 Bias SPD COMPEN
rpm -1000.0 ~ 1000.0
0.0
To reduce the position decision time in position control mode, it adds the internal compensated
speed of the servo drive.
3-29
Manufactured
Unit Setting range
P05-21 Bias Pulse Band default Position control
pulse 0 ~ 500
10
The bias pulse band is the value of bias compensation speed (P05-20), when the error pulse
exceeds the set value of P05-21. It adds the internal compensated speed (P05-20).
Manufactured
Unit Setting range
P05-22 Backlash Pulse default Position control
pulse 0 ~ 99999
0
Manufactured
POSITION ERROR Unit Setting range
P05-23 CLEAR - ON/OFF
OFF
It is used when the position deviation is not cleared even in the servo off state in the position
control mode. If P05-23 is set to ON, the motor rotor will move to the initial position of the rotor
when the servo is turned off to clear the position deviation when the servo is turned on even if the
position deviation caused by the motor rotor movement occurs in the servo off state. It's possible.
3.7. Torque control parameter setting[P06-]
Manufactured
Unit Setting range
P06-01* Analog TRQ TC
ms 0.0 ~ 2000.0
0.0
When the host controller commands the torque of the servo drive in analog voltage, this sets the
low band pass filter TC of the analog torque command.
Manufactured
Unit Setting range
P06-02 TRQ ACCEL Time default Torque control
ms 0.0 ~ 9000.0
0.0
Manufactured
Unit Setting range
P06-03 TRQ DECEL Time
ms 0.0 ~ 9000.0
0.0
User sets the acceleration/deceleration time of the torque command in the torque control mode
of the servo drive.
Manufactured
Unit Setting range
P06-04* TRQ S-Mode default Torque control
ms 0.0 ~ 2000.0
0.0
If you adjust the S-mode operation time constant under the condition of satisfying the operattion
characteristics of the machine system, you can reduce the vibration and impact of the machinery.
Manufactured
Unit Setting range
P06-05 In TRQ Range
% 0.0 ~ 100.0
10.0
3-30
Torque
Torque
Set torque
Actual torque reach range
Time [sec]
ON
Set torque
reach completion
OFF
Time [sec]
Manufactured
Unit Setting range
P06-06 Stop TRQ Range default Torque control
% 0.0 ~ 100.0
10.0
Manufactured
P06-07 10[V] TRQ
% 0 .0~ 300.0
default
control
100.0
This sets the command torque range applicable to the 10 [V] analog voltage in speed or torque
control mode of the servo drive.
Manufactured
P06-08 Auto Offset default
- ON / OFF control
OFF
It automatically adjusts the offset voltage of the servo drive for analog 0[V] input of the host
controller.
Manufactured
P06-09 Manual Offset default
mV -1000.0 ~ 1000.0 control
0.0
3-31
3.8. Input contact point function setting[P07-]
Manufactured
CN1_18 Unit Setting range Speed/Torque/
P07-01* default
Digital INPUT 1 - 0 ~ 30 Position control
1
In P07-01 menu, you can set the individual pin function (0~20) and set the pin (25~30) by
control mode. But in P07-02~P07-12 menu, you can only set the individual pin function setting
(0~20). To set the pin by control mode, enter the value of “25~30” in the P07-01 menu so that the
menu of P07-01 ~ P07-12 is automatically reset with the applicable mode pin setting. For more
details, please refer to the “[CN function table]” in the next page.
* After "25 ~ 30" input to P07-01 menu, P07-01 menu changes as "1" after 1 ~ 2 second.
Manufactured
P07-02* Digital INPUT 2 - 0 ~ 20
default
Position control
9
Manufactured
P07-03* default
10
Manufactured
P07-04* default
11
Manufactured
default
Position control
3
Manufactured
P07-06* default
4
Manufactured
P07-07* default
13
Manufactured
default
Position control
14
Manufactured
default
Position control
12
Manufactured
P07-10* Digital INPUT 10 - 0 ~ 20
default
Position control
16
Manufactured
P07-11* default
15
Manufactured
P07-12* Digital INPUT 12 - 0 ~ 20
default
Position control
19
This sets the input contact point function to control the operation of the servo drive from the host
controller. When you set the function applicable for each input contact point, the servo drive
executes the set functions. Connect to the pin allocated as the input contact point of the CN1
connector and you can set and use the desired function from the menu.
3-32
You can arrange the input contact point in multiple arrangements so that other pins can have the
same function.
[ Input contact point function table ]
Function
Function acronym Function explanation
number
0 - Do not use applicable input pin
1 SVONEN Servo on/off operation input contact point
2 TYPE When the control mode is multiple mode, control mode conversion
input contact point
3 DIR Torque/speed/location direction conversion input contact point
4 PI/P P-PI control mode conversion input contact point
5 GAITRS Control gain conversion input contact point
6 TRQ1 Digital torque input contact point 1

Digital speed input contact point 1
9 SPD1/GEAR1
/ electronic gear ratio conversion input contact point 1
Digital speed input contact point 2
10 SPD2/GEAR2
/ electronic gear ratio conversion input contact point 2
11 SPD3 Digital speed input contact point 3
Speed limit use input contact point (Torque control)/
12 SPDLIM/TLIM
Torque limit use input contact point (Speed, Position control)
CCW revolution limit input contact point(Speed, Position control)/
13 CCWLIM/PTQLIM
CCW torque generation limit input contact point(Torque control)
CW revolution limit input contact point(Speed, Position control)/
14 CWLIM/NTQLIM
CW torque generation limit input contact point (Torque control)
15 STOP Temporary stop input contact point
16 ESTOP Emergency stop input contact point
17 PLSINH Position command pulse input limit input contact point
18 PLSCLR Position command pulse clear input contact point
19 ALMRST Alarm reset input contact point
20 ABSREQ Initial data request signal for absolute encoder

Use torque control mode internal setting function
25 SETUP1
(Can only be entered in P07-01 menu)
Use speed control mode internal setting function
26 SETUP2
Use position control mode internal setting function
27 SETUP3
Use speed/torque multi control mode internal setting function
28 SETUP4
Use speed/position multi control mode internal setting function
29 SETUP5
Use position/torque multi control mode internal setting function
30 SETUP6
3-33
Manufactured
P07-13 DIGITAL IN DELAY default
1
You can set the input time of digital input contacts except SVONEN, E-STOP, CWLIM,
CCWLIM, STOP.
Ex) When inputting with P07-13 = 10, it is recognized only when the digital input contact is kept
over 10ms.
Manufactured
P07-14 SAFETY IN DELAY default
1
Input time of safety related input contacts such as SVONEN, E-STOP, CWLIM, CCWLIM,
STOP can be set.
Ex) When inputting P07-14 = 10, it is recognized only when the safety switch input contact is
kept for 10 ms or more.
※ Torque control mode internal setting function table

(When P7-01 is set to 25 (Torque control mode)
Function
Parameter Input pin Function acronym Function explanation
number
P07-01 CN1-18 1 SVONEN Servo on/off operation input contact point
P07-02 CN1-43 15 STOP Temporary stop input contact point
P07-03 CN1-17 16 ESTOP Emergency stop input contact point
P07-04 CN1-42 19 ALMRST Alarm reset input contact point
P07-05 CN1-16 6 TRQ1 Digital torque input contact point 1
P07-06 CN1-41 7 TRQ2 Digital torque input contact point 2
P07-07 CN1-15 9 SPD1/GEAR1 Digital speed input contact point 1
P07-09 CN1-14 3 DIR Torque direction conversion input contact point
P07-10 CN1-39 13 CCWLIM/PTQLIM CCW torque generation limit input contact point
P07-11 CN1-13 14 CWLIM/NTQLIM CW torque generation limit input contact point
P07-12 CN1-38 12 SPDLIM/TLIM Speed limit use input contact point
GND24V CN1-24,25 - - 24V common input
EXT24V CN1-49 - - 24V external input
3-34
※ Speed control mode internal setting function table

(When P7-01 is set to 26 (Speed control mode)
Function
number
P07-05 CN1-16 4 PI/P P-PI control mode conversion input contact point
P07-08 CN1-40 11 SPD3 Digital speed input contact point 3
P07-09 CN1-14 3 DIR Speed direction conversion input contact point
P07-10 CN1-39 13 CCWLIM/PTQLIM CCW revolution limit input contact point
P07-11 CN1-13 14 CWLIM/NTQLIM CW revolution limit input contact point
P07-12 CN1-38 12 SPDLIM/TLIM Torque limit use input contact point
※ Position control mode internal setting function table

(When P7-01 is set to 27 (Position control mode)
Function
number
Electronic gear ratio conversion
P07-05 CN1-16 9 SPD1/GEAR1
input contact point 1
Electronic gear ratio conversion
P07-06 CN1-41 10 SPD2/GEAR2
input contact point 2
Position command pulse direction conversion
P07-08 CN1-40 3 DIR
input contact point
P07-09 CN1-14 18 PLSCLR Position command pulse clear input contact point
Position command pulse input limit input
P07-10 CN1-39 17 PLSINH
contact point
3-35
※ Speed/torque multi control mode internal setting function table

(When P7-01 is set to 28 (Speed/torque multi control mode))
Function
number
P07-05 CN1-16 6 TRQ1 Digital torque input contact point1
When the control mode is set to multi mode,
P07-08 CN1-40 2 TYPE
control mode conversion input contact point
Torque/speed direction conversion input
P07-09 CN1-14 3 DIR
contact point
CCW revolution limit input contact point
P07-10 CN1-39 13 CCWLIM/PTQLIM (Speed control) / CCW torque generation limit
input contact point(Torque control)
CW revolution limit input contact point
P07-11 CN1-13 14 CWLIM/NTQLIM (Speed control) / CW torque generation limit
Speed limit use input contact point (Torque control)
P07-12 CN1-38 12 SPDLIM/TLIM /Torque limit use input contact point
(Speed/position control)
※ Speed/position multi control mode internal setting function table

(When P7-01 is set to 29 (Speed/position multi control mode))
Function
number
Digital speed input contact point1/ electronic
P07-06 CN1-41 9 SPD1/GEAR1
gear ratio conversion input contact point1
Digital speed input contact point2/ electronic
P07-07 CN1-15 10 SPD2/GEAR2
gear ratio conversion input contact point2
P07-08 CN1-40 2 TYPE
Speed/position direction conversion input
P07-09 CN1-14 3 DIR
contact point
3-36
※ Position/torque multi control mode internal setting function table

(When P7-01 is set to 30 (Position/torque multi control mode))
Function
number
P07-05 CN1-16 9 SPD1/GEAR1 electronic gear ratio conversion input contact point 1
P07-06 CN1-41 10 SPD2/GEAR2 electronic gear ratio conversion input contact point 2
Torque limit use input contact point(Position control)
P07-07 CN1-15 12 SPDLIM/TLIM
/Speed limit use input contact point (Torque control)
P07-08 CN1-40 2 TYPE
P07-10 CN1-39 6 TRQ1 Digital torque input contact point1
CCW revolution limit input contact point
P07-11 CN1-13 13 CCWLIM/PTQLIM (Position control)/ CCW torque generation limit
input contact point (Torque control)
CW revolution limit input contact point
P07-12 CN1-38 14 CWLIM/NTQLIM (Position control)/ CW torque generation limit
[Wiring method of input contact]
In case of using contact input such as relay or switch, connect with servo drive as follows.
At this time, use an external power supply of +24 [V], 50 [mA] or higher.
Controller FDA7000
+24V +24V
(CN1_49)
(CN1_18,43,17,42,16,
41,15,40,14,39,13,38) 3.3 
(CN1_24, 25)
24VGND 24VGND
3-37
When using the input contact as a PLC or a photo coupler, connect it with the servo drive as
follows. At this time, use an external power supply of +24 [V], 50 [mA] or higher.
Controller FDA7000
+24V +24V
(CN1_49)
(CN1_18,43,17,42,16,
41,15,40,14,39,13,38) 3.3 
(CN1_24, 25)
24VGND
24VGND
3.9. Output contact point function setting[P08-]
Manufactured
P08-01* default
Digital OUTPUT 1 - 25~30 Position control
0
In the P08-01 menu, you can set the individual pin function (0~18) or set the pin (25~30) by
control mode, But in P08-02~P08-10 menu, you can only set the individual pin function (0~18).
Enter the “25~30” value in the P08-01 menu to use the pin setting by control mode, and the
menu of P08-01 ~ P08-10 will automatically be reset with the pin setting of the applicable mode.
For more details, please refer to the “[Output contact point function table]” in the next page.
Manufactured
P08-02* Digital OUTPUT 2 - 0~23
default
Position control
3
Manufactured
P08-03* default
Digital OUTPUT 3 - 0 ~ 23 Position control
6
In case of FDA7000 model, manufactured default P08-03 = 21 (STOP status).
Manufactured
P08-04* Digital OUTPUT 4 - 0 ~ 23
default
Position control
5
Manufactured
default
Position control
7
Manufactured
P08-06* default
9
3-38
Manufactured
P08-07* default
14
Manufactured
default
Position control
15
Manufactured
P08-09* default
16
Manufactured
P08-10* default
17
This sets the output contact point function to check the operation of the servo drive by the host
controller. When you set the function applicable for each output contact point, the servo drive
outputs the signal according to the set function. Connect to the output contact point of the CN1
connector to use the desired function set from the menu. If you duplicate the output contact point
function setting, you can have the same output signal from different pins.
[ Output contact point function table ]
Function
Function acronym Function explanation
number
0 - Do not use output function
1 SVONOFF Servo on/off operation output
2 TYPEOUT Control mode conversion output
3 BRAKE Brake operation signal output
4 ZTRQ Zero torque reach output
5 ZSPD Zero speed reach output

Set speed reach completion output/ Set position reach completion
6 INSPD/INPOS/INTRQ
output/ Set torque reach completion output
7 RDY Servo ready status output
8 PPIOUT P-PI control mode status output

Speed limit status output (Torque control)/
9 SPDOUT / TRQOUT
Torque limit status output (Speed, Position control)
CCW revolution speed limit status output (Torque control)/
10 PCWOUT / PTQOUT
CCW torque limit status output (Speed, Position control)
CW revolution speed limit status output (Torque control)/
11 NCWOUT / NTQOUT
CW torque limit status output (Speed, Position control)
3-39
12 PCWRUN CCW revolution status output

13 NCWRUN CW revolution status output
14 ALARM Alarm generation status output
15 A_CODE0 Alarm code-0 output
Warning status output
19 WARNING
(OFF when warning occurs and ON when normal operation)
<FDA7000/7000-H Series>
External DB Control Signal Output
20 EXT DB
(P02-09 DB mode setting, P02-39 output type selection)
Output status of STOP input
21 START/STOP
* This function applies only to the FDA7000EX model.
< FDA7000EXD>
Output status of STOP input
20 START/STOP
* This function applies only to the FDA7000EX model.
External DB Control Signal Output
23 EXT DB
(P02-09 DB mode setting, P02-39 output type selection)
Use torque control mode internal setting function

25 SETUP1
Use speed control mode internal setting function
26 SETUP2
Use position control mode internal setting function
27 SETUP3
Use speed/torque multi control mode internal setting function
28 SETUP4
Use speed/position multi control mode internal setting function
29 SETUP5
Use position/torque multi control mode internal setting function
30 SETUP6
3-40
※ Torque control mode internal setting function table

(Output function setting table when P8-01 = 25)
Function
Parameter Output pin Function acronym Function explanation
number
P08-01 CN1-23 1 SVONOFF Servo on/off operation output
P08-02 CN1-48 3 BRAKE Brake operation signal output
P08-03 CN1-22 7 RDY Servo ready status output
INSPD/INPOS
P08-04 CN1-47 6 Set torque reach completion output
/INTRQ
SPDOUT /
P08-05 CN1-21 9 Speed limit status output (Torque control)
TRQOUT
P08-06 CN1-46 14 ALARM Alarm generation status output
PCWOUT/ CCW revolution speed limit status output
P08-07 CN1-20 10
PTQOUT (Torque control)
NCWOUT / CW revolution speed limit status output
P08-08 CN1-45 11
NTQOUT (Torque control)
P08-09 CN1-19 4 ZTRQ Zero torque reach output
P08-10 CN1-44 0 - Do not use output function
※ Speed control mode internal setting function table

Function
number
INSPD/INPOS
P08-04 CN1-47 6 Set speed reach completion output
/INTRQ
SPDOUT /
P08-05 CN1-21 9 Torque limit status output (Speed control)
TRQOUT
PCWOUT /
P08-07 CN1-20 10 CCW torque limit status output (Speed control)
PTQOUT
NCWOUT /
P08-08 CN1-45 11 CW torque limit status output (Speed control)
NTQOUT
P08-09 CN1-19 5 ZSPD Zero speed reach output
P08-10 CN1-44 8 PPIOUT P-PI control mode status output
3-41
※ Position control mode internal setting function table

Output
Function
contact Output pin Function acronym Function explanation
number
point
INSPD/INPOS
P08-04 CN1-47 6 Set position reach completion output
/INTRQ
SPDOUT /
P08-05 CN1-21 9 Torque limit status output (Position control)
TRQOUT
PCWOUT /
PTQOUT
NCWOUT /
NTQOUT
P08-09 CN1-19 0 - Do not use the output function
※ Speed/torque multi control mode internal setting function table

Function
number
P08-01 CN1-23 2 TYPEOUT Control mode conversion output
INSPD/INPOS
/INTRQ
SPDOUT /
TRQOUT
PCWOUT /
PTQOUT
NCWOUT /
NTQOUT
3-42
※ Speed/position multi control mode internal setting function table

Function
number
INSPD/INPOS
/INTRQ
SPDOUT /
TRQOUT
PCWOUT /
PTQOUT
NCWOUT /
NTQOUT
※ Position/torque multi control mode internal setting function table

Function
number
INSPD/INPOS
/INTRQ
SPDOUT /
TRQOUT
PCWOUT /
PTQOUT
NCWOUT /
NTQOUT
3-43
[Wiring method of output contact]
When output contact of FDA7000 series is combined with contact type device such as relay of
external controller, connect as follows.
FDA7000 Controller
+24V +24V
(CN1_49)
(CN1_23,48,22,47,
21,46,20,45,19,44)
(CN1_24, 25)
24VGND 24VGND
When output contact of FDA7000 series is combined with open collector input like PLC of
external controller, connect as follows.
FDA7000 Controller
+24V +24V
(CN1_49)
(CN1_23,48,22,47,
21,46,20,45,19,44)
(CN1_24, 25)
24VGND 24VGND
3-44
3.10. Analog monitor function setting[P09-]
The internal speed, command speed, torque, command torque, feedback pulse and command
pulse of the servo can be monitored externally through analog monitor 1 and monitor 2. The
output voltage range is -5 ~ +5[V]. The following are the parameters related to the monitor use.
Manufactured
P09-01 Monitor 1 default
0
Manufactured
P09-05 Monitor 2
- 0~5
default
Position control
1
This sets the parameter to monitor the internal variable of the servo drive in analog output.
Set value 0 1 2 3 4 5
Actual Command Actual Command Feedback Command
Monitoring
speed speed torque torque pulse pulse
variable
[ rpm ] [ rpm ] [%] [%] [ pulse ] [ pulse ]
When the monitoring scale value is 1, the maximum speed output is +5[V] and Instantaneous
Max. Torque is +5[V].
Manufactured
P09-02 Monitor ABS 1 default
OFF
Manufactured
P09-06 Monitor ABS 2
- ON / OFF
default
Position control
OFF
OFF : Output by distinguishing the sign
ON : Output in absolute value without distinguishing the sign
Manufactured
P09-03 Monitor Scale 1
- 0.1 ~ 2000.0
default
Position control
1.0
Manufactured
P09-07 Monitor Scale 2
- 0.1 ~ 2000.0
default
Position control
1.0
[ Basic ratio ]
Actual speed, command speed : Maximum speed / 5[V]
Actual torque, command torque : Instantaneous Max. Torque / 5[V]
Feedback pulse, command pulse : 20000[pulse] / 5[V]
3-45
Manufactured
P09-04 Monitor Offset 1 default
mV -1000.0 ~ 1000.0 Position control
0.0
Manufactured
P09-08 Monitor Offset 2
mV -1000.0 ~ 1000.0
default
Position control
0.0
3.11. Jog operation parameter setting[JOG-]
Manufactured
JOG-01 Key Jog Mode
- ON / OFF
default
Position control
OFF
This sets the key jog operation mode by left and right key. If you set JOG-01 to ON, it switches
to the jog mode without external command to turn on the servo. At this time, press the left or right
button to turn in the CCW direction or CW direction at the speed set in JOG-02.
Manufactured
JOG-02 Key Jog Speed
rpm -9999.9 ~ 9999.9
default
Position control
100.0
This sets the operation speed of the key jog mode.
Manufactured
JOG-03 Auto Jog Mode
- 0~2
default
Position control
0
This sets auto jog mode operation. Auto jog mode supports 8-step repeated pattern operation
and the patterns support the No. 1 Auto jog mode that sets the revolution speed [rpm] and
revolution time [sec] and No. 2 Auto jog mode that supports the revolution speed [rpm] and
revolution [rev].
0 Do not use auto jog mode

1 Revolution speed-Use revolution time auto jog mode
2 Revolution speed –Use revolution auto jog mode
Manufactured
JOG-04 Jog Speed 1 default
rpm -9999.9 ~ 9999.9 Position control
100.0
Manufactured
JOG-05 Jog Time1/REV1 default
[sec]/[rev] 0.00 ~ 5000.00 Position control
1.00
3-46
Manufactured
-100.0
Manufactured
Unit Setting range e Speed/Torque/
JOG-07 Jog Time2/REV2
[sec]/[rev] 0.00 ~ 5000.00
default
Position control
1.00
Manufactured
200.0
Manufactured
1.00
Manufactured
-200.0
Manufactured
1.00
Manufactured
JOG-12 Jog Speed 5
rpm -9999.9 ~ 9999.9
default
Position control
400.0
Manufactured
1.00
Manufactured
-400.0
Manufactured
[sec]/[rev] 0.00 ~ 5000.00
default
Position control
1.00
Manufactured
JOG-16 Jog Speed 7
rpm -9999.9 ~ 9999.9
default
Position control
800.0
Manufactured
[sec]/[rev] 0.00 ~ 5000.00
default
Position control
1.00
Manufactured
JOG-18 Jog Speed 8
rpm -9999.9 ~ 9999.9
default
Position control
-800.0
Manufactured
[sec]/[rev] 0.00 ~ 5000.00
default
Position control
1.00
3-47
(JOG-12)
(JOG-04)
Speed (JOG-10)
(JOG-06)
(JOG-08)
(JOG-05) (JOG-07) (JOG-09) (JOG-11) (JOG-13)

[sec]
ON
Servo
ON
OFF
Time [sec]
[ Auto jog mode 1(Speed - time) ]
(JOG-04)
Speed (JOG-08)
(JOG-06)
Position
0
(JOG-05) (JOG-07) (JOG-09) [Rev.]
ON
Servo
ON
OFF
Time [sec]
[ Auto jog mode 2 (Speed - revolution) ]
3-48
3.12. Alarm display setting[ALS-]
Manufactured
ALS-01 Current Alarm default
- - Position control
nor
This parameter indicates the current alarm. ALS-01 menu is not the user input parameter but
the menu to notify the alarm condition of the servo drive.
Alarm
Alarm acronym Alarm content A_CODE0 A_CODE1 A_CODE2 A_CODE3
number
- Normal Normal condition 0 0 0 0
00 EMER STOP Emergency stop alarm 1 0 0 0
01 OVER CURNT Servo over-current alarm 0 1 0 0
02 OVER VOLT Servo over-voltage alarm 1 1 0 0
03 OVER LOAD Overload alarm 0 0 1 0
04 POWER FAIL Servo insufficient voltage alarm 1 0 1 0
05 LINE FAIL Encoder missed operation alarm 0 1 1 0
06 OVER SPEED Over-speed alarm 1 1 1 0
07 FOLLOW ERR Location following error alarm 0 0 0 1
08 OUTPUT NC Output NC alarm 1 0 0 1
09 PPR ERROR Encoder pulse rate setting alarm 0 1 0 1
10 ABS DATA Absolute encoder data error alarm 1 1 0 1
11 ABS BATT Absolute encoder battery low alarm 0 0 1 1
Absolute encoder multi turns data
12 ABS MDER 1 0 1 1
transmission error alarm
13 OUTPUT EC Output mis-wiring alarm 0 1 1 1
ABS Absolute Encoder Battery Low Voltage
14 1 1 1 1
LOW BATT Alarm
15 ERASE FAIL Flash rom Erase failed alarm 0 0 0 0
16 WRITE FAIL Flash rom Write failed alarm 0 0 0 1
PARAMETER
17 Flash ROM initialization failure alarm 0 0 1 0
INIT ERR
18 OVER TEMP Over temperature alarm 0 0 1 1
19 STALL O.L: Stall Over load alarm 0 1 0 0
20 STALL O.C Stall Over Current alarm 0 1 0 1
21 STALL O.T Stall Over temperature alarm 0 1 1 0
27 ENC CNT ERR 17bit serial encoder count error alarm 0 1 1 0
[Additional Alarm for FDA7000EX Series ]

22 OVER HEAT Explosion-proof motor overheat alarm 1 0 1 1
23 MOTOR ID ERR Motor ID read failed 1 0 1 1
3-49
Manufactured
ALS-02 Alarm Reset default
- ON/OFF Position control
OFF
It resets and initializes the occurred alarm. Check and remove the cause of the alarm before
resetting the alarm and then reset.
This is the parameter that the occurrend alarm history resets and initializes.
ALS-03 Alarm History 1 Manufactured

Unit Indicated range Speed/Torque/
~ ~
- 0 ~ 32
default
Position control
ALS-12 Alarm History 10 0
This is the menu that stores and shows the alarm history. The user cannot set this arbitrarily.
Manufactured
ALS-13 History Reset default
- ON/OFF Position control
OFF
It resets and initializes the occurred alarm history.
3-50
3-51
Chapter 5
Servo operating
Chapter 4 explains the servo using method and gain adjustment by each control mode.
Chapter 4. Servo using method and Gain adjustment
4.1. Gain adjustment method for speed control mode ................... 4-1
4.1.1. CN1 wiring diagram for speed control servo .......................... 4-2
4.1.2. Speed servo gain adjustment ................................................. 4-3
4.2. Gain adjustment method for position control mode ............... 4-7
4.2.1. CN1 wiring diagram for position control servo ........................ 4-8
4.2.2. Position servo gain adjustment .............................................. 4-9
4.3. Gain adjustment method for torque control mode ................ 4-15
4.3.1. CN1 wiring diagram for torque control servo ........................ 4-16
4.3.2. Gain adjustment of torque servo .......................................... 4-17
4.4. Auto-tuning ............................................................................... 4-18
4.4.1. System response setting ...................................................... 4-18
4.4.2. Auto-tuning setting sequence ............................................... 4-19
4.4.3. Precaution during Auto-tuning .............................................. 4-20
4.5. Important Points of Gain Adjustment ..................................... 4-20
4.6. Precaution for absolute encoder ............................................ 4-23
4.6.1. Battery handling ................................................................... 4-23
4.6.2. Absolute value encoder initialization .................................... 4-25
5. Servo operating
[Offset voltage setting [Offset voltage

(P03-18)] auto adjustment(P03-17)] Speed command selection
(SPD1,SPD2,SPD3)
[Digital input speed1(P04-01)]
(ON,OFF,OFF)
[Digital input speed2(P04-02)]
(OFF,ON,OFF)
[Digital input speed3(P04-03)] Stop command Revolution direction
(ON,ON,OFF)
[Digital input speed4(P04-04)] (STOP) (DIR)
(OFF,OFF,ON)
[Digital input speed5(P04-05)] (ON) (ON)
(ON,OFF,ON) GND -1
Acceleration / S - mode
[Digital input speed6(P04-06)] deceleration
(OFF,ON,ON) + operation
process
1 [Digital input speed7(P04-07)]
(ON,ON,ON) (OFF) (OFF)
1000 + [Acceleration time (P03-10)] [S - moed operation TC
[Deceleration time (P03-11)] (P03-12)]
4-1
[+10V Speed (P03-15)]
+
10
(SPDIN) + Clamp
Mode (OFF,OFF,OFF)
[-10V Speed (P03-16)]
[Clamp mode setting(P03-20)] 10 Override mode
[Clamp voltage setting(P03-21)] [Override mode operation (P03-19)]
CCW revolution limit CW revolution limit Emergency stop
[1]
(CCWLIM) (CWLIM) (ESTOP)
(OFF) (OFF) (OFF) Internal
( ) : Contact point input GND
GND speed command
4.1. Gain adjustment method for speed control mode
[ ] : Set value [0]
Note) Override operation stop when

shows the generation sequence of the speed command in speed control.
(ON) (ON) (ON)

(SPD1,SPD2,SPD3)=(OFF,OFF,OFF)
This explains the gain adjustment method when using speed servo. The following diagram
5. Servo operating
4.1.1. CN1 wiring diagram for speed control servo
Input Voltage
NFB MC1 Servo Drive
FDA7000 Type : AC220V R U U
FDA7000-H0 Type : AC380V
FDA7000-H1 Type : AC440V
NF S FDA7000 V V SM
50/60Hz T W W
(Note1) FG FG
r
t Brake +
(Note2) Input Voltage
Terminal -
Regenerative P CN2
Resistance
PG
(Note3) B
CN1
(INPUT) CN3 *PC Loader(RS232C)
+24V + +24V 49
3.3K
- 39 *Network communication
ESTOP
3.3K
(RS485, RS232C)
SPD1/GEAR1 43
3.3K
SPD2/GEAR2 17
3.3K
CN1
SPD3 42 (OUTPUT)
3.3K
DIR 16 3 MONIT1
3.3K D/A
STOP 13 2 MONIT2
3.3K
SVONEN 18 8 GND
3.3K
26
ALMRST 38
3.3K
SPDLIM/TLIM 14
3.3K
PI/P 41 22 INSPD/INPOS
/INTRQ
3.3K
CWLIM/ 40 48 BRAKE
NTQLIM
3.3K
CCWLIM/ 15 21 RDY
PTQLIM
47 ZSPD
46 SPDOUT/
TRQOUT
20 ALARM
45 A_CODE0
19 A_CODE1
44 A_CODE2
24 GND24
SPDIN 27 LPF 25
GND 1
33
A/D
7 PAO
TRQIN 28 LPF
32 /PAO
GND 34
36 6 PBO
31 /PBO
5 PZO (Note5)
30 /PZO
(Note4) (Note6)
FG 50 23 OPC_ZO
24 GND24
25
♥ The above input and output contact points are shown when setting the speed control mode contact point.
(P07-01,P08-01=26).
(Note1) Be sure to use Noise Filter (NF) to prevent noise from entering the outside.
(Note2) Supply power to the r and t terminals as shown below.
FDA7004-H1 ~ FDA7150-H0 : AC 220V
FDA7020-H0 ~ FDA7750-H0 : AC 380V
FDA7020-H1 ~ FDA7750-H1 : AC 440V
4-2
5. Servo operating
FDA7001 ~ 02 type does not have control circuit power r, t terminals.

(Note3) The regenerative resistor of FDA7004 ~ FDA7010 is built-in and is mounted inside
the drive. The regenerative resistance of FDA7001, 7002, 7004B and FDA7015 ~
7750 models is a separate type. Please apply after confirming the capacity.
Please contact our sales team for regenerative resistance of models FDA7075 ~
7750.
(Note5) Apply the Z phase pulse when outputting by line drive method.
(Note6) Apply the Z phase pulse when outputting by open collector method.
(Note7) Be sure to connect GND24 (CN1-24, 25) and GND (CN1-1, 8, 26, 33, 34, 36)
separately.
In case of common connection, malfunction or damage of servo drive may occur.
4.1.2. Speed servo gain adjustment
1) This sets the speed control mode gain.
Manufactured
Unit Setting range
P03-01 Speed Gain Mode default Speed control
- 1~5
1
When the servo drive set to speed control mode, this sets the speed control gain.

3 P03-08) according to set speed (P02-20, P02-21) for the speed controller
gain.
4 P03-08) according to set torque (P02-22, P02-23) for the speed controller
gain.
Select gain 1 (P03-05, P03-06) or gain 2 (P03-07, P03-08) by the external
5
contact point signal for the speed controller gain.
2) Set the SC loop gain 1 and 2 applied by the set value of P03-01.
Manufactured
Unit Setting range Speed/torque
P03-05 SC Loop Gain1
Hz 0.0 ~ 1000.0
default
control
By capacity
Manufactured
P03-07 SC Loop Gain2 default
Hz 0.0 ~ 1000.0 control
By capacity
4-3
5. Servo operating
3) Set SC TC1 and 2 applied by the set value of P03-01.
Manufactured
P03-06 SC TC1 default
ms 0.0 ~ 10000.0 control
By capacity
Manufactured
P03-08 SC TC2
ms 0.0 ~ 10000.0
default
control
By capacity
Command
speed + 1
K P_SC  (1  )
TI_SC  S
-
Feedback speed
K P_SC  SC Loop Gain

TI_SC  SC TC
4) This sets the inertia ratio.
Manufactured
P02-19 Inertia Ratio
- 1.0~ 50.0
default
Position control
2.0
System inertia(Motor inertia Load inertia)

Load inertia 
Motor inertia
5) When P03-01=”3”, the variable gain is applied based on the following gain adjustment speed 1
and 2.
Manufactured
P02-20 Gain ADJ Speed1 default
800.0
Manufactured
100.0
4-4
5. Servo operating
Command speed
Speed
P02-20
Actual speed
P02-21
Gain SC TC P03-07
P03-06
SC loop gain P03-08

P03-05
6) When P03-01=”4”, the variable gain is applied based on the following gain adjustment torque 1
and 2.
Manufactured
P02-22 Gain ADJ TRQ1 default
150.0
Manufactured
P02-23 Gain ADJ TRQ1
% 0.0 ~ 300.0
default
Position control
50.0
Command speed
Speed
Actual speed
Torque Internal command speed

P02-22
P02-23
0
-P02-23
-P02-22
SC loop gain
P03-07
Gain
P03-06
SC TC
P03-08
P03-05
4-5
5. Servo operating
7) When P03-01=”5”, the variable gain is applied based on the ON/OFF status of external control
gain conversion contact point. At this time, the conversion time of the control gain is decided.
Manufactured
100.0
Increasing the contact gain TC in P02-24 has an effect of smoothing conversion of control gain.
Gain conversion
contact point OFF ON OFF
(GcsIos)
P03-07
P03-06 SC TC
Applied
gain P03-05 P03-08 SC loop gain
P02-24 = 100 [ms]
8) This sets the mixture rate of the PI-IP controller.
Manufactured
Unit Setting range
P03-02 PI-IP Control % default Speed control
% 0.0 ~ 100.0
100.0
[ Characteristics of individual controller ]

a) PI speed controller
: It has excellent acceleration/deceleration and good responsiveness characteristics but can
cause large overshoot.
b) IP speed controller
: It has lower acceleration/deceleration and responsiveness characteristics compared to the
PI speed controller, but it can suppress the overshoot to reduce the vibration.
You can adjust the controller set ratio with the desired performance by considering the
responsiveness and overshoot.
♥ P03-02 = 100 : Applied to PI speed controller
P03-02 = 0 : Applied to IP speed controller
4-6
5. Servo operating
CCW revolution limit CW revolution limit Emergency stop

(CCWLIM) (CWLIM) (ESTOP)
Electronic gear
[ELCTR Gear1 NUM (P05-12)] (GEAR1,GEAR2) (OFF) (OFF) (OFF) Internal
[ELCRT Gear1 DEN (P05-13)] GND speed command
(OFF,OFF)
[ELCRT Gear2 NUM (P05-14)] (ON) (ON)
(ON)
[ELCRT Gear2 DEN (P05-15)]
(ON,OFF)
[ELCTR Gear3 NUM (P05-16)]
[ELCRT Gear3 DEN (P05-17)]
(OFF,ON)
[ELCTR Gear4 NUM (P05-18)]
[ELCRT Gear4 DEN (P05-19)] [Feed forward TC
(ON,ON) (P05-11)]
Differentiation
1st [Feed forward (P05-04)]
[Command pulse TC filter
Pulse type selection 100
4-7
(P05-10)]
[Pulse type (P05-02)]
(PPFIN)(PFIN) Position
F pulse +
Pulse 1st + error PC P gain +
(PPRIN)(PRIN) counter filter Internal (P05-05, P05-06)
R pulse -
position
command
(CLR)
Clear when ON
[In position (P05-08)]
Encoder Position Position + In position completed
counter - (in case of + > -)
4.2. Gain adjustment method for position control mode
( ) : Contact point input + Following error

- (in case of + > -)
[ ] : Set value [Follow error pulse (P05-09)]
diagram shows the generating sequence of the speed command for position control.
This explains the position servo control mode and gain adjustment method. The following
5. Servo operating
4.2.1. CN1 wiring diagram for position control servo
NFB MC1
Input Voltage
FDA7000 Type : AC220V R Servo Drive
FDA7000-H0 Type : AC380V U U
FDA7000-H1 Type : AC440V NF S
50/60Hz T FDA7000 V V SM
(Note1) W W
r FG FG
t
(Note2)
Brake +
Regenerative P Input Voltage
Terminal -
Resistance CN2
(Note3) B
PG
CN1
(INPUT)
+24V + +24V 49 CN3
3.3K *PC Loader(RS232C)
- ESTOP 17
3.3K *Network communication
SPD1/GEAR1 16 (RS485, RS232C)
3.3K
SPD2/GEAR2 41
3.3K
PLSCLR 14 CN1
3.3K
DIR 40 (OUTPUT)
3.3K
STOP 43 3 MONIT1
3.3K
D/A
SVONEN 18 2 MONIT2
3.3K 8 GND
ALMRST 42 26
3.3K
SPDLIM/TLIM 15
3.3K
PLSINH 39
47 INSPD/INPOS
3.3K
CWLIM/ 38
NTQLIM /INTRQ
3.3K
CCWLIM/ 13 48 BRAKE
PTQLIM
22 RDY
(Note5) 20 PCWOUT/
PPFIN 11 PTQOUT
21 SPDOUT/
MPG or PFIN 10 TRQOUT
PLC 46 ALARM
Position controller PPRIN 9
45 NCWOUT/
PRIN 12 NTQOUT
19
44
(Note6) OPCFIN 29 24
25 GND24
OPCRIN 4
+24V +
GND24 24
25
7 PAO
MPG or PFIN 10
PLC 32 /PAO
Position controller PRIN 12
6 PBO
31 /PBO
5 PZO (Note7)
30 /PZO
TRQIN 28 LPF A/D
GND 34
36
(Note8)
23 OPC_ZO
24 GND24
25
(Note4)
FG 50
♥The above input and output contact points are shown when setting the position control mode contact point. (P07-
01,P08-01=27).
(Note1) Be sure to use Noise Filter (NF) to prevent noise from entering the outside.
FDA7004-H1 ~ FDA7150-H0 : AC 220V
FDA7020-H0 ~ FDA7750-H0 : AC 380V
FDA7020-H1 ~ FDA7750-H1 : AC 440V
4-8
5. Servo operating

7750.
(Note5) Apply position command pulse when outputting by line drive method.
(Note6) Apply position command pulse when outputting by open collector method.
separately.
4.2.2. Position servo gain adjustment
[Feed forward TC (P05-11)]
Differentiation
[Feedforward (P05-04)]
1st filter
[Position command pulse TC 100
(P05-10)]
Internal
Position position Position + Speed
command 1st filter command + error [PC P Gain [POS Gain mode + command
(P05-05, P05-06)] (P05-01)]
-
Position
(Note) In this control mode, Error pulse should be cleared according to the servo condition.
Before the stop function release, the error pulse is cleared by PLSCLR action.
1) This sets the position control gain mode.
Manufactured
Unit Setting range
P05-01 POS Gain Mode default Position control
- 1~5
1
When the servo drive set to position control mode, this sets the position control gain mode.
4-9
5. Servo operating
1 Use PC P gain 1 (P05-05).
2 Use PC P gain 2 (P05-06).
3
4
set torque (P02-22, P02-23) for the position controller gain.
Select gain 1 (P05-05) or gain 2 (P05-06) by the external contact point
5
signal for the position controller gain.
2) This sets the PC P gain applied by the set value of P05-01
Manufactured
Unit Setting range
P05-05 PC P Gain1
Hz 0.0 ~ 500.0
By capacity
Manufactured
Unit Setting range
P05-06 PC P Gain2
Hz 0.0 ~ 500.0
By capacity
Position
command
+
K P_PC
-
Position feedback
K P_PC  PC P Gain
4-10
5. Servo operating
3) When P05-01=”3”, the variable gain is applied based on the following gain adjustment speed
1 and 2.
Manufactured
800.0
Manufactured
P02-21 Gain ADJ Speed2
rpm 10.0 ~ 500.0
default
Position control
100.0
Command speed
Speed
P02-20
Actual speed
P02-21
Gain P05-06
P05-05
4) When P05-01=”4”, the variable gain is applied based on the following gain adjustment torque1
and 2.
Manufactured
P02-22 Gain ADJ TRQ1 default
150.0
Manufactured
P02-23 Gain ADJ TRQ2
% 0.0 ~ 300.0
default
Position control
50.0
4-11
5. Servo operating
Command speed
Speed
Actual speed
Torque Internal command speed

P02-22
P02-23
0
-P02-23
-P02-22
Gain P05-06
P05-05
5) When P5-01=”5”, the variable gain is applied based on the ON/OFF status of the external
control gain conversion contact point. At this time, the conversion time of the control gain is
decided.
Manufactured
100.0
If you want to execute smooth gain conversion, set the Contact Gain TC to long. Enter the
Contact Gain TC in (ms) unit.
Gain conversion
OFF ON OFF
contact point
(GcsIos)
P05-06
Applied gain P05-05 P05-05

P02-24 = 100 [ms]
4-12
5. Servo operating
6) Feed forward ratio setting
Manufactured
Unit Setting range
P05-04 Feedforward default Position control
% 0.0 ~ 100.0
0.0
Enter the feedforward ratio for the position command speed in [%] unit. When this value
increases it can reduce the position decision time but if set to high, it can cause an overshoot or
vibration to the machine. If this value is set “0”, the position controller becomes simple position
loop control mode.
Refer to the Max_Value [Feedforward] according to the following R=[Speed loop gain]/[Position
loop gain].
R = [ Speed loop gain ]

Max_Value [ Feedforward ]
/ [ Position loop gain ]
5 70 or below
7 80 or below
10 85 or below
20 90 or below
Manufactured
Unit Setting range
P05-11 FF TC
ms 0.0 ~ 2000.0
0.0
Enter the 1st filter TC in [ms] unit of the feedforward input of the position command speed. The
entered position command is divided and processed through the 1st filter before being used as
the feedforward input, the TC of this filter can be adjusted. In the applied field where the position
command changes abruptly, set this value high and in applied field where the position command
changes smoothly, set this value low. If you do not want to use this filter, input “0”.
[ Recommended setting condition ]

P05  11(Feedforward TC)  1000  (Max_Value[Feedforwa rd]  [Feedforwa rd]) / 100 / [PC P Gain]
4-13
5. Servo operating
7) Position command pulse TC setting
Manufactured
Unit Setting range
P05-10 POS CMD TC default Position control
ms 0.0 ~ 2000.0
0.0
Set the filter TC on the position command pulse input for smoothing operation in the position
control mode. If you would like to execute smoothing operation without setting the position
command filter TC, set the position decision mode setting of Position control speed mode (P05-
03) to ON. It permits the acceleration/deceleration (P03-10, P03-11) and S mode operation (P03-
12) set in user menu P03 of speed command. The smoothing operation is advantageous when
reaching position decision in position control mode.
8) This sets the PI-P mode pulse error.
Manufactured
Unit Setting range
P05-07 PI-P Pulse ERR default Position control
pulse 0 ~ 99999
0
If the error between command pulse and actual movement pulse exceeds the set value of P05-
07, it switches to P control mode to suppress overshoot.
Command speed
Speed
Actual speed
Time [sec]
Error
pulse
(P5-07)
PI control P control PI control
4-14
[Offset voltage auto adjustment (P06-08)]
[Offset voltage setting (P06-09)]
1
5. Servo operating
1000
Speed limit
(TRQIN) + + Acceleration/
[10V Torque (P06-07)] Rated 1st 0
deceleration Internal current
1000 * torque filter process command
Speed limit
[Torque command TC [Acceleration time (P06-02)] operation
(P06-01)] 1
[Deceleration time (P06-03)]
[Offset voltage auto adjustment (P03-17)] Encoder Speed +

[Offset voltage setting (P03-18)] detection
-
Speed limit selection
(SPD1,SPD2)
1
4-15
1000 [Digital input speed1 (P04-01)]
(ON,OFF)
Analog + [Digital input speed2 (P04-02)] SPDLIM

(OFF,ON)
speed limit + (ON)
[Digital input speed3 (P04-03)]
(ON,ON)
[+10V Speed (P03-15)]

(OFF)
10
4.3. Gain adjustment method for torque control mode
(OFF,OFF)
[-10V Speed (P03-16)]

10 ( ) : Contact point input
[ ] : Set value
[CCW speed limit (P02-05)]

[CW speed limit (P02-06)]
diagram shows the generation sequence of the current command during torque control.
This explains the torque servo using method and gain adjustment method. The following
5. Servo operating
4.3.1. CN1 wiring diagram for torque control servo
NFB MC1 Servo Drive

Input Voltage U U
R
FDA7000 Type : AC220V
FDA7000-H0 Type : AC380V NF S FDA7000 V V SM
FDA7000-H1 Type : AC440V T W W
50/60Hz FG FG
(Note1)
r
Bake
t Input +
(Note2) Voltage
Terminal -
Regenerative P CN2
Resistance
PG
(Note3) B
CN1
(INPUT) CN3 *PC Loader(RS232C)
+24V + +24V 49
3.3K
- 17 *Network communication
ESTOP
3.3K
(RS485, RS232C)
TRQ1 16
3.3K
TRQ2 41
3.3K
CN1
SPD1/ 15
GEAR1
3.3K
(OUTPUT)
SPD2/ 40 3 MONIT1
GEAR2 D/A
3.3K
43 2 MONIT2
3.3K
SVONEN 18 8 GND
3.3K
26
ALMRST 42
3.3K
SPDLIM/TLIM 38
3.3K
DIR 14 47 INSPD/INPOS
/INTRQ
3.3K
CWLIM/ 13 48 BRAKE
NTQLIM
3.3K
CCWLIM/ 39 22 RDY
PTQLIM
19 ZTRQ
21 SPDOUT/
TRQOUT
46 ALARM
20 PCWOUT/
PTQOUT
45 NCWOUT/
NTQOUT
44
SPDIN 27 LPF 24 GND24
25
GND 1
33
A/D
7 PAO
TRQIN 28 LPF
32 /PAO
GND 34
36 6 PBO
31 /PBO
5 PZO (Note5)
30 /PZO
(Note6)
23 OPC_ZO
(Note4)
FG 50 24 GND24
25
♥The above input and output contact points are shown when setting the torque control mode contact point. (P07 -01,P08-
01=25).
(Note1) Be sure to use Noise Filter (NF) to prevent noise from entering the outside.㈜2 :
FDA7004-H1 ~ FDA7150-H0 : AC 220V
FDA7020-H0 ~ FDA7750-H0 : AC 380V
FDA7020-H1 ~ FDA7750-H1 : AC 440V
4-16
5. Servo operating

7750.
separately.
4.3.2. Gain adjustment of torque servo
Manufactured
Unit Setting range
P06-01* Analog TRQ TC default Torque control
ms 0.0 ~ 2000.0
0.0
If you suspect that machine vibration is being caused by the servo system, try to adjust the
Analog TRQ TC. It can reduce the vibration. The lower the value, the better control response will
be, but if set too high, it may reduce the responsiveness.
Input terminal voltage

Torque (Analog torque command)
command
Torque command with filter TC
Time [sec]
Speed
Time [sec]
4-17
5. Servo operating
♥ For the speed limit of torque servo, 4 speed limit values are applied according to the contact
point of SPD1 and SPD2 when the SPDLIM contact point is ON and the speed limit of P02-05
and P02-06 are applied when the SPDLIM contact point is OFF.
4.4. Auto-tuning
For the Auto-tuning applied to FDA7000 series, the servo drive estimates the inertia of the load
attached to the servo motor during operation and has the function of adjusting the speed control
gain and position control gain.
4.4.1. System response setting
The system response is set (P02-18) manually before using Auto-tuning. The following P05-05,
P05-06, P03-05, P03-06, P03-07, P03-08 and P02-16 automatically changes and when the Auto-
tuning function is set to “ON”, the tuning operation is executed with the target of manually set
value.
P02-18 P03-05 P03-07 P02-16

P05-05 P05-06
(System (Speed P03-06 (Speed P03-08 (Command
(Position (Position
response control loop (SC TC 1) control loop (SC TC 2) torque filter
loop gain 1) loop gain 2)
setting) gain 1) gain 2) TC)
1 2.0 5.0 2.0 200.0 5.0 120.0 4.5
2 5.0 10.0 5.0 120.0 10.0 80.0 3.5
3 10.0 15.0 10.0 80.0 15.0 60.0 3.0
4 15.0 20.0 15.0 60.0 20.0 45.0 2.5
5 20.0 25.0 20.0 45.0 25.0 40.0 2.0
6 25.0 30.0 25.0 40.0 30.0 30.0 1.5
7 30.0 35.0 30.0 30.0 35.0 25.0 1.3
8 35.0 45.0 35.0 25.0 45.0 18.0 1.2
9 45.0 55.0 45.0 18.0 55.0 17.0 0.9
10 55.0 70.0 55.0 17.0 70.0 13.0 0.8
11 70.0 85.0 70.0 13.0 85.0 11.0 0.6
12 85.0 105.0 85.0 11.0 105.0 10.0 0.5
13 105.0 130.0 105.0 10.0 130.0 8.0 0.4
14 130.0 160.0 130.0 8.0 160.0 6.0 0.25
15 160.0 200.0 160.0 6.0 200.0 5.4 0.2
16 200.0 240.0 200.0 5.4 240.0 5.0 0.15
17 240.0 300.0 240.0 5.0 300.0 3.5 0.1
18 300.0 350.0 300.0 3.5 350.0 3.2 0.0
19 350.0 360.0 350.0 3.2 360.0 3.1 0.0
4-18
5. Servo operating
◆ If you set the system response to high, it increases the servo system gain to increase the
response. But if the set value is too high, it can cause noise and vibration in the motor. In this
case, appropriately lower the set value.
4.4.2. Auto-tuning setting sequence
START
Test operation with basic setting
No Does load inertia

change ?
Yes
Turn ON on-line tuning mode

(P02-17)
Repeated acceleration/deceleration
operation (*) (500rmp or above)
Yes
Operation
OK ?
No
Manually adjust system response
(P02-18)
Yes
Operation
OK ?
No
Turn OFF autotuning mode Save tuning result
Manually adjust load inertia (P02-19) (P02-19)
END
♥ Auto-tuning is set by system response setting (P02-18) manual part, by position loop gain,
speed control loop gain, SC TC and torque command filter and the system inertia ratio
(P02-19) is set by the Auto-tuning mode (P02-17).
4-19
5. Servo operating
4.4.3. Precaution during Auto-tuning
1) Operate at 500[rpm] or higher speed.
2) Manually set the acceleration/deceleration time setting of speed shortly [ms]. If the
acceleration/deceleration time is set too long, the speed deviation during the algorithm
processing time is too small to make estimation.
3) Avoid using Auto-tuning when operating weak belt with lower mechanical strength.
4) Avoid using Auto-tuning for system with load inertia abruptly changing.
5) When the P02-18 (System response setting) is too low, increase the value.
6) It does not apply when using the torque control mode.
4.5. Important Points of Gain Adjustment
From the drive's command, the motor needs to run as soon as possible with no time delay.
Please familiarize yourself with the following important points for this operation.
1) Important points when in speed control mode
- Speed control proportional gain(P03-05) gradually increases the motor (machine) to a

value that does not generate strange sounds and vibrations. Also, since the speed control
proportional gain value and inertia ratio are proportional to each other, if the noise or
vibration occurs in the motor (machine), reducing the inertia ratio or speed control
proportional gain reduces the strange sound and vibration in the motor (machine).
- Like the speed control proportional gain, the inertia ratio(P02-19) gradually increases to the
value where strange sounds and vibrations do not occur in the motor (machine). In addition,
since the inertia ratio and the speed control proportional gain are proportional, if the noise
or vibration occurs in the motor (machine), reducing the speed control proportional gain or
inertia ratio reduces the strange sound and vibration in the motor (machine).
4-20
5. Servo operating
- Velocity integral time constant(P03-06) is gradually decreased in order to reduce velocity

ripple and reduce over / under shoot in most applications. However, if the value of speed
integral time constant is set too small, strange sounds and vibrations may occur in the
motor (machine). In addition, if the load is very large (more than 8 times), set the speed
integral time constant to a large value and reduce the speed control proportional gain value.
2) Important points when using Gain 1 and Gain 2 in speed control mode
- Gain switching method by contact

: When sound is generated when the motor is stopped, the contact can be selected to apply
high gain during normal operation and the contact can be selected to apply low gain after
motor stop. In this case, using P03-22 (Stop speed vibration suppression) produces a
similar effect.
- Gain switching method by speed

: The gain switching method by contact is aimed at setting low gain in the motor stop area,
while the speed gain switching method requires high-precision machining which requires
high gain at low speed and low gain at high speed. This can be used for machines.
- Gain switching method by torque

: If the gain is set high when the servo motor is operated with high torque, it may cause
vibration. In addition, when the servo motor is operated at low torque, the low gain causes
poor speed ripple and control performance. In this case, by using the gain switching
method for torque, stable and excellent control performance can be realized in the whole
operating area.
3) Important points when in position control mode
- Position control proportional gain gradually increases to the value that undershoot does not
occur when abnormal sound, vibration and target position are reached in the motor
(machine). In addition, increase the speed control proportional gain value and inertia ratio
to a value where noise does not occur from the motor (machine).
- Responsiveness is improved by decreasing the value of the speed integral time constant.
However, if it is made too small, it can cause vibration in the motor (machine), and if it is too
4-21
5. Servo operating
large, the deviation pulse can be maintained without convergence.
4) Important points when using Gain 1 and Gain 2 in the position control mode
- Gain switching method by contact

: When sound is generated when the motor stops, select the contact to apply high gain in
normal operation and select the contact to apply low gain after motor stop.
- Gain switching method by speed

: The gain switching method by contact is aimed at setting low gain in the motor stop area,
while the speed gain switching method requires high-precision machining which requires
high gain at low speed and low gain at high speed. This can be used for machines.
- Gain switching method by torque

: If the gain is set high when the servo motor is operated with high torque, it may cause
vibration. In addition, when the servo motor is operated at low torque, the low gain causes
the speed ripple and control performance to deteriorate. In this case, by using the gain
switching method for torque, stable and excellent control performance can be realized in
the whole operating area.
4-22
5. Servo operating
4.6. Precaution for absolute encoder
In the host controller, when detecting the absolute position of the machine even when the power
of the servo drive is turned off, you must use an absolute type servo motor and drive. If you
connect the power to the absolute type servo system, you can make a machine system that can
directly enable auto operation with additional position detection operation without the difference
between the absolute type drive and standard type drive is whether there is a back-up battery.
4.6.1. Battery handling
The battery supplies the back-up power to store the position information of the “Absolute
encoder” even when the drive power is turned off.
1) Recommended battery specification
Connecting the battery to the host controller Connecting the battery to the servo drive
1. Connector attached type

Lithium battery Tekcell SB-AA0 type
2. Main unit: Lithium battery Tekcell SB-AA0
3.6V 2400mAh
type 3.6V 2400mAh
(Connect to CN5 of servo drive)
2) Battery connection
- FDA7001~7045, FDA7004B~7030B, FDA7002EX~7045EX
: Attached to the inside of the servo drive
<a> : Open the cover and insert the battery unit in the arrow direction.
<b> : Connect the connector to CN5.
4-23
5. Servo operating
- FDA7075 ~ 7150, FDA7020-H ~ FDA7750-H type should be attached to encoder cable

using battery case.
♥ Battery Order Code: KBAT70 (Integrated Case)
+ RED
- BLACK
배터리
Case 케이스
lock
개/폐 Insert the
배터리 배선battery
케이블 connector
삽입
Insert 엔코더 배선
the encoder
케이블 cable
삽입
커넥터 Connect
연결 the
battery connector
(극성 주의)
(Be careful of polarity)
3) Battery replacement
The encoder battery alarm is generated when the battery voltage drops under 2.7 V. The alarm
is generated by receiving the data from the absolute encoder when the power is connected to the
servo drive. If the servo drive control power is ON and the battery voltage is dropped, the alarm
will not be generated.
♥ Battery replacement method
- Replace the battery when the control power of the servo drive is ON. If you replace the
battery when the servo drive control power is OFF, the absolute encoder must be initialized.
- After replacing the battery, turn the control power of the servo drive OFF.
- Check the condition after turning the control power of the servo drive ON.
！ Caution
 Wire the battery to the one of the servo drive side or the host controller side. It is dangerous
when you connect to both sides because it can create a short circuit.
4-24
5. Servo operating
4.6.2. Absolute value encoder initialization
1) When the absolute value encoder requires initialization

- During first operation
- When the encoder cable is separate from the servo drive
- After replacing the battery
- When the absolute encoder related alarm is generated
2) Absolute value encoder initialization (reset) method
- 17bit serial absolute value encoder: When it sets the origin by itself, set the parameter
(P01-20) to “ON” and it will change to “ON =>OFF” to initialize the current position. (Multi-
Turn data reset). When the absolute value related alarm is generated, execute alarm reset
by using alarm reset contact point (ALMRST).
- When it sets the origin by itself, set the parameter (P01-20) to “ON” and it will change to
“ON =>OFF” to initialize the current position. Or connect the power to encoder terminal
ERST (CN2-20) and Vcc terminal (CN2-19) for more than 4 seconds.
4-25
Chapter 5
Servo operating
Chapter 5 explains the operation of the loader for servo operation to set the servo parameter
and display the status.
Chapter 5. Servo operating
5.1. Basics of loader.......................................................................... 5-1

5.2. Operation of internal mount loader........................................... 5-2
5.2.1. Display flow ............................................................................ 5-2
5.2.2. Parameter change.................................................................. 5-3
5.2.3. Alarm related processing part ................................................ 5-4
5.2.4. Jog operation ......................................................................... 5-7
5.2.5. I/O contact point function parameter setting ........................... 5-9
5. Servo operating
5.1. Basics of loader

When the servo drive is first installed on the control panel, it is essential to check the motor
parameters (P01--) before applying the main circuit power and activating SVONEN. It is
information about the motor connected to the servo and the correct value must be set for the
servo system to operate normally. Next, monitor the group that displays the motor status (StE--)
and make sure that various commands and limits are set correctly. And if it is the first time
operation, verify the stability to some extent through autotuning, test operation (Jog, Auto Jog).
Auto tuning operation is available online, but it is not necessary to use it when the gain of stable
control system is secured off line.
DISPLAY part
CN5 (Battery connection )
UP Key
LED1_Green
(Mode change , parameter value increase )
(Charging )
ENTER Key
LED1_Red (Parameter value change , confirmation )
(Alarm condition )
RIGHT Key
(Move to right for parameter change and menu )
DOWN Key
(Mode change , parameter value decrease )
LEFT Key
(Move to left for parameter change and menu )
[ Overview diagram of FDA7001~FDA7010 internal mount loader]
UP DOWN LEFT RIGHT ENTER
[ Overview diagram of FDA7075~7150, FDA7020-H~7750-H internal mount loader ]
5-1
5. Servo operating
5.2. Operation of internal mount loader
5.2.1. Display flow
If the power is correctly supplied, the mount loader display on the front panel of the servo drive
a message. The internal mount loader is composed of 7 segment LED and 6 digits. You can set
the parameter, display the status, check the sequence and alarm record by the loader. The key
function of the loader is composed of X-Y coordination system which have vertical axis (Up and
Down button) and horizontal axis (Right and Left button). The following diagram shows an
overview aspect for loader menu.
LEFT KEY
UP KEY RIGHT KEY
Status Display
Motor and operating

device parameter
General control
parameter
Speed control
parameter
Internal speed/torque
setting
Position control
parameter
Torque control
parameter
Input contact point

setting
Output contact point

setting
Monitoring setting
JOG operation
Alarm
DOWN KEY
♥ When the power is initially connected, the displayed screen differs depending on the
coordinate (StE-01) parameter. For example, if StE -01 = 1203, 12 refers to the StE menu
and 03 to the StE -03.
5-2
5. Servo operating
[ 1st and 2nd digit value ]

Name of
P01 P02 P03 P04 P05 P06 P07 P08 P09 JOG ALS StE
higher
mode mode mode mode mode mode mode mode mode mode mode mode
menu
st nd
1 and 2
01 02 03 04 05 06 07 08 09 10 11 12
digit value
rd th
Refer to each parameter item for the menu number of 3 and 4 digit.
5.2.2. Parameter change
1) Parameter change
UP : Positive direction mode change, increase in blinking value
DOWN : Negative direction mode change, decrease in blinking value
LEFT : Move blinking value to left
RIGHT : Move blinking value to right
ENTER : Display parameter value, start and end of parameter change
※ Enter motor ID (00  11) ※ Enter digital input speed 1 (-200  +200)
ENTER ENTER ENTER ENTER
UP LEFT, LEFT, LEFT
LEFT UP
"+" is blinking
UP ENTER
ENTER
◆ When changing the parameter “-“ sign indicates the blinking value but “+” sign does not
indicate anything.
5-3
5. Servo operating
5.2.3. Alarm related processing part
1) Currently generated alarm display menu

ENTER : Indicated generated alarm value
ENTER
Current
Alarm Number
Display
1st Alarm/Warning
Alarm Code
ENTER
Current
Warning Number
Display
Next Alarm/Warning
Warning Code
ENTER
Display
No Alarm/Warning
In case of normal condition

ENTER after removing alarm cause
and resetting
Currently generated alarm display menu shows the currently generated alarms. Even though it
is free to move to the next menu, the alarm cannot be reset and the motor cannot be operated.
5-4
5. Servo operating
2) Alarm reset menu

UP : ON/OFF change
DOWN : ON/OFF change
LEFT : Move menu
RIGHT : Move menu
ENTER : Start and end of parameter change (Current alarm cancel function operation)
ENTER
ENTER
UP
ENTER
Return to
“OFF” after
resetting
As the function to reset the alarm generated in the current system, the alarm reset menu is the
same function as external input reset.
5-5
5. Servo operating
3) Alarm record display menu
Alarm record display menu saves the latest 10 alarms in each menu in the sequence of ALS-
03 ~ ALS-12. The following diagram is the case assuming that the over-current (01) alarm is
generated after the encoder mis-wiring (05) alarm is generated during servo operation.
Emergency stop alarm (emc_stop) is not saved in the alarm record and each alarm record
menu value is “00” for normal operation.
Alarm
record 1
ENTER
Over-current
alarm
RIGHT
Alarm
record 2
ENTER
Encoder
mis-wiring
RIGHT
Alarm
record 1
ENTER
It indicates
normal condition
5-6
5. Servo operating
5.2.4. Jog operation
1) Key jog mode setting (JOG-01)
UP : Positive direction mode change, increase blinking value

DOWN : Negative direction mode change, decrease in blinking value
LEFT : Command reverse direction revolution, move blink to left when entering key jog speed
(JOG-02)
RIGHT : Command positive direction revolution, move blink to left when entering key jog
speed (JOG-02)
ENTER : Indicates parameter value, start and end of parameter change
Key JOG speed setting Key JOG operation
ENTER, ENTER ENTER, ENTER
LEFT, LEFT UP
UP ENTER
Key JOG operation ON
ENTER LEFT
Key JOG speed
reverse direction
operation
LEFT RIGHT
Key JOG speed

positive operation
ENTER
Key JOG operation OFF
5-7
5. Servo operating
2) Auto jog mode setting
JOG speed 1
setting
JOG time 1
setting
ENTER, ENTER
LEFT, LEFT, UP
JOG speed 2
setting RIGHT
JOG time 2
setting
JOG 3 ~ 7
setting
JOG speed 8
setting
JOG time 8
setting
Auto JOG
mode setting
ENTER, ENTER
UP
ENTER
Revolution speed-time
Execute auto JOG mode
st
Auto jog mode supports 8-steps repeated pattern operations, and the 1 auto jog mode that
sets the revolution speed [rpm] and revolution time [sec] and 2nd auto jog mode that sets the
revolution time [rpm] and revolutions [rev] are supported.
JOG-03
Operation explanation
Set value
0 Do not use auto jog mode
1 Use auto jog mode for revolution speed – revolution time
2 Use auto jog mode for revolution speed – revolutions
5-8
5. Servo operating
5.2.5. I/O contact point function parameter setting
1) Input contact point function setting (P07 mode)
ENTER
CN1_18 pin is set to

“01(SVONEN)” input function
ENTER
UP, UP
ENTER
CN1_18 pin is changed to

“03(DIR)” input function
2) Output contact point function setting (P08 mode)
ENTER
ENTER
UP, LEFT, UP
Set to SETUP 5
(Speed/torque multi control
mode output fuction)
ENTER

“02(TYPEOUT)” input function
RIGHT
ENTER

“03(BRAKE)” input function
5-9
5. Servo operating
5-10
Chapter 6
Troubleshooting and check
Chapter 6 explains the method of action and check for the issues that can occur during servo
operation.
Chapter 6. Troubleshooting and check
6.1. Troubleshooting ......................................................................... 6-1

6.1.1. Servo motor............................................................................ 6-1
6.1.2. Servo drive ............................................................................. 6-2
6.2. Precautions ................................................................................. 6-5
6.3. Check........................................................................................... 6-6
6.4. Part replacement ........................................................................ 6-7
6.5. Preservation ................................................................................ 6-8
6.5.1. Servo Motor............................................................................ 6-8
6.5.2. Servo Drive ............................................................................ 6-9
6. Troubleshooting and check
6.1. Troubleshooting
6.1.1. Servo motor
Symptom Cause Inspection Corrective Actions
Parameter Check the parameter of Reset parameter.

motor, encoder, encoder
mis-setting type, control mode etc. (Refer to Chapter 3)
Check the revolution

Overload Readjust the machine device.
condition of the machine.
Measure the motor lead For normal voltage, replace the

Motor Motor defect
terminal with a tester. motor.
does not
start. Check the connection part
Loose screw Tighten loose parts.
with drive.
External mis-wiring Check motor and encoder Rework on the wiring.

Cable disconnection wiring. Replace the cable.
Check the output wave Replace the encoder.

Encoder defect
shape. (Request for repair)
Wiring connection Check the connection of

Correct the wiring.
defectiveness the motor lead terminal.
Motor Check the drive input
revolution Low input voltage Correct the power.
voltage.
is unstable
Remove any particle on the
Check the machine
Overload revolution part and supply
condition.
lubricant (or grease)
Check the surrounding
High ambient temperature of the motor Reduce ambient temperature to
temperature installation part. 40 ℃ max.
(40℃ or below)
Check whether there are
Contamination on
any alien particles on the Clean dust and oil dirt.
Motor is motor surface
motor surface.
over-
heated. Check the load rate of the
drive. Check the Reduce load. Increase
Overload
acceleration/deceleration acceleration/deceleration time.
frequency.
Check the comparator
Low magnetic power
voltage and voltage wave Replace the motor.
of magnet
shape.
6-1
Check the screw condition

of the coupling and copper
Coupling defect Readjust the coupling.
core of the connection
part etc.
Abnormal Check the bearing
noise is Bearing problem vibration and abnormal Contact our company.
generated. noise.
Parameter mis-
setting(Motor/encoder Check the control Refer to parameter setting
ID, inertia ratio, gain, parameter. method in chapter 3.
TC)
6.1.2. Servo drive
When an alarm occurs in servo drive and error signal output contact point (ALARM) goes OFF
and the motor is stopped by dynamic brake.
Display Content Cause Corrective Actions
Normal
nor
condition
Check external DC 24V power.
Ano-00 Emergency Turn external ESTOP
Check ESTOP contact point ON
EMER STOP stop contact point input OFF.
status
Servo drive output terminal Check output terminal wiring, re-
Ano-01
Over-current (U, V, W) short circuit, operate after resetting, replace drive
OVER CURNT
output over-current when O.C continues
Input over-voltage Use input voltage of 230V or below
Ano-02 AC link over- (280V or above) Replace brake resistance, increase
OVER VOLT voltage Regenerated resistance acceleration/deceleration time,
burnt, Overload GD2 replace servo drive
Ano-03 Mechanical overload Check load condition, check motor
Overload
OVER LOAD Motor mis-wiring and encoder wiring
Ano-04 Main power Main power blocked when Check 3 phase main power (R, S, T)
POWER FAIL issue SERVO is ON input condition
Motor and encoder related
Mis-wiring of set value error, motor and
Ano-05 Check motor, encoder, wiring and
motor and encoder mis-wiring,
LINE FAIL set value, remove overload
encoder encoder defect,
mechanical overload
Over-gain, parameter set Adjust gain
Ano-06
Over-speed value error, Check parameter (P03-15, P03-16)
OVER SPEED
over gravity load Remove over gravity load
6-2
Abrupt
acceleration/deceleration,
Over-error of Adjust position gain, increase menu
gain set value error,
Ano-07 position (P05-09) set value, adjust command
command pulse over-
FOLLOW ERR tracking pulse frequency, check motor and
frequency
encoder wiring.
(300kpps or above), mis-
wring, mechanical overload
Ano-08 Output(U,V,W) Check motor wiring, replace servo
Output (U, V, W) missing
Output NC missing drive
Encoder pulse
Ano-09 Accurately set the encoder ID
rate setting Encoder ID setting error
PPR ERROR (P01-12)
error
Absolute value
Ano-10 encoder data Absolute value encoder Re-transmit the absolute value
ABS DATA transmission data transmission error encoder data after resetting.
error
Ano-11 Battery voltage is 2.8V or
Battery Alarm Replace battery (3.6V)
ABS BATT below
ABS encoder
Ano-12 multi turn data ABS encoder multi turn Re-transmit the absolute value
ABS MDER transmission data transmission error encoder data after resetting.
error
Ano-13 Output U,V,W Output U, V, W mis-wiring Check motor wiring, replace servo
Output EC Mis-wiring (Error Connection) drive
Ano-14 Battery voltage is lowered

Battery LOW
ABS below 3.1V Battery (3.6V) replacement
Voltage Alarm
LOW BATT (When P02-35 = 1)
After checking power system noise,

Ano-15 Parameter
Flash-ROM erase fail reset.
FLASH ERR Erase Error
Replace drive if it still occurs
Ano-16 Parameter
Flash-ROM write fail
FLASH ERR Write Error
After checking power system noise,
reset.
Replace drive if it still occurs
Ano-17 Parameter
Parameter initialization fail
FLASH ERR Init. Error
High load long time driving,

Check motor proper load, check
Temperature rise in the
Ano-18 Over cooling in electric cabinet, replace
cabinet,
OVER TEMP. Temperature temperature sensor and cable,
Temperature sensor failure
check machine
and cable removal
6-3
Servo motor restrained

Ano-19 Servo motor restraint, stall status,
Stall status state,
STALL proper load inspection through
Over-load High load operation at
OVER LOAD machine inspection
stop
Servo motor is constrained by
state,
machine check, stall load proper
Ano-20 Servo drive output
Stall status load check, output terminal wiring
STALL terminal (U, V, W) short
Over-current check, restart after alarm reset,
OVER CURNT. circuit,
Over-Current continue drive
DB fault, output over-
replacement
current
Servo motor restraint, stall status
Ano-21 state
Stall status proper load check, servo motor fan
STALL Servo motor fan failure
Over-load check, temperature sensor and
OVER TEMP. Temperature sensor failure
cable check through machine check
and cable removal
Ano-27 17bit serial Poor encoder cable signal Encoder cable signal line and FG
ENC CNT encoder count connection, bad FG wiring, wiring check, encoder cable
ERR error Encoder failure replacement, encoder replacement
Wan.01 Battery LOW Battery voltage is lowered

ABS Voltage below 3.1V Battery (3.6V) replacement
LOW BATT Warning (When P02-35 = 0)
Trial of entry of parameter

that cannot be changed Change the set value after servo is
Set value input
Err - 01 when servo is ON, OFF, cancel parameter lock setting
error
change in parameter menu (P01-19) .
locking condition
Err - 02 Set value error Parameter setting error Input value within set range.
[When using the FDA7000EX Series]

After cooling the explosion-proof
Explosion Explosion-proof motor
motor, check the PTC connection.
Ano-22 proof motor overheating state,
Explosion-proof motor if alarm
OVER HEAT Overheat Motor temperature
occurs continuously at room
alarm detection signal wiring
temperature
Servo motor Encoder cable error,
Encoder Cable Check
Ano-23 parameter Incremental Type
Servo motor encoder type check
ID FAIL Reading Servo motor, encoder
Encoder exchange
failure failure
6-4
Operating time (sec)
10000
Overload operation
Rated time
current
(%) Set
Min. Max.
1000 value
100 ∞
120 ∞
100
150 300 1500 760
200 60 150 107
250 20 40 30
10
300 6 15 7
[Servo drive overload characteristics curve]
100 150 200 250 300

Motor rated current (%)
(note1) If Ano-03 (OVER LOAD) happens often, refer servo drive overload characteristic-
curve and re-establish suitable load of servo motor.
(note2) The overload alarm occurs 25% faster when the motor is in the Stall state.
6.2. Precautions
- When measuring motor voltage: The voltage output from the servo amplifier to the motor is
PWM controlled, so the waveform of pulse phase is output. Since the indicated value can
vary greatly depending on the type of instrument, be sure to use a rectified voltmeter for
accurate measurements.
- When measuring the motor current: The pulse waveform is smoothed to a certain sine wave
by the reactance of the motor, so connect the moving iron type ammeter directly.
6-5
- When measuring electric power: Measure the electric current type by the three-wattmeter
method.
- Other instruments: When using an oscilloscope or digital bolt meta, please use it without
touching the ground. Use a meter input current of 1 mA or less.
6.3. Check
Caution
 When checking the unit, always turn off the power and wait for more than 10 minutes to
pass before checking the unit because charged voltage can remain in DC Link capacitor to
cause an accident.
- Check any pieces of wire, dust, particles accumulated inside and clean appropriately.
- Check whether the screw of the terminal is loose and check whether they are tightened.
- Check if there are problems of parts (discoloration, damage, disconnection).
For the connection test of the control circuit, use the high resistance range on the tester, and
do not use a megger or buzzer.
- Check whether the cooling fan is operating normally.
- Check if there are any abnormal sounds (motor bearing, brake part).
- Check whether there are any damages or cracks to the cables (Especially detector cable).
Especially during operation, execute periodical checks according to the using condition during
operation.
- Check and correct any misalignment of center of load connecting axis.
6-6
6.4. Part replacement
The following parts are subject to deterioration and failure of equipment due to mechanical
friction or aging. Therefore, periodical inspection and regular replacement are necessary for
preventive preservation.
1) Smoothing Capacitor: Aging characteristics due to ripple current. The life of a capacitor is
highly dependent on the ambient temperature and the operating conditions, but 10 years is
the standard for continuous operation under normal air-conditioning conditions. Aging of
capacitors proceeds rapidly over a period of time, so the inspection period should be checked
at least once a year (less than half a year when it is close to life).
As an external judgment standard of inspection matter
a. Condition of the case: side, bottom extension of the case
b. Condition of the lid: prominent expansion, extreme cracking, cracking
c. Explosion-proof condition: Significant extension of the sides, working
d. In addition, the service life is judged when the rated capacity of the capacitor regularly falls
below 85%, such as appearance, sheathing, cracking, discoloration, and leaking water.
2) Relays: Poor contact occurs due to contact wear caused by switching current. As it depends
on the power supply capacity, the life cycle is based on 100,000 cumulative switching times
(switching life).
6-7
3) Motor bearing: Replace the motor at rated speed and rated load based on 20,000 to 30,000
hours. Since the bearing of the motor depends on the operating conditions, replace it even if
you find abnormal noise or abnormal vibration during inspection.
[Standard replacement years of parts]

Standard
Part Name replacement replacement method, others
years
Replacement with new boards
Smoothing condenser 7 ~ 8 years
(decision after inspection)
Relays - decision after inspection
Fuse 10 years Replacement with new boards
Motor bearing - decision after inspection

Aluminum Electrolytic Capacitors on Replacement with new boards
5 years
Printed Boards (decision after inspection)
6.5. Preservation
6.5.1. Servo Motor
If you do not use it right away, please keep the following things in mind.
1) Keep in a clean and dry place.
Storage temperature Storage humidity
-15 ℃ ~ +70℃ 90 % RH or below
(Caution!) No condensation or freezing
6-8
2) When storing outdoors or in a humid place, prevent rain and dust from entering.
3) If the product is to be stored for a long time after use, apply anti-rust agent to the machine's
moving surfaces such as shafts to prevent rust.
6.5.2. Servo Drive
It is not recommended to store it for a long time without using it.
1) Keep in a clean and dry place.
Storage temperature Storage humidity
-15 ℃ ~ +65℃ 90 % RH or below
(Caution!) No condensation or freezing
The storage temperature is for a short time, such as in
transportation.
2) It is an open structure, so be careful not to catch dust.
6-9
Chapter 7
Connection with host controller
Chapter 7 shows the example of connection with representative host controller.
Chapter 7. Connection with host controller
7.1. Example of connection with host controller ............................. 7-1

7. Connection with host controller
7.1. Example of connection with host controller
Connect with LS Industrial System XGT-Series position decision unit XGF-PO1A

 This is an example of position control mode servo system operation.
SERVO MOTOR
FDA7000
R U
AC S V M
200 ~ 230V T W
50/60 Hz
FG
r
t
+ +24V PG
XGT-PLC
+24V -
GND24
XGF-PO1A
CN2
DR/INP 33
CN1
DR/INP COM 34
49 +24V
+24VIN
EMG 8 18
SVONEN
13
10 CCWLIM/PTQLIM
COM 38
+ CN1 CWLIM/NTQLIM
17 GND24
+5V - 37 5 ESTOP
HOME +5V PZO
38 30
HOME COM /PZO
DOG 28
OV+ 25 20 ALARM
1 1Ry
5V MPG A+
Manual OV- 26
2 MPG A-
PULSE A
STOP 27
3
B MPG B+
DC 5V 29
4 VTP
0V MPG B- 24, 25
32 GND24
COM
11
PPFIN
1/2W,1.5K
FP+ 21 10 PFIN
22 9
FP- PPRIN
1/2W,1.5K
23 12
RP+ PRIN
RP- 24
24V 39
40
P COM
(Note) After connecting the power, it takes about 1-2 seconds until the alarm signal leads
to normal operation. Consider this when designing the power connection sequence.
Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit
power of servo drive.
It only has the signals related to LS Industrial Systems XGF-PO1A and FDA7000 Series
(Note) The above connection is only shown in case of P07-01=27(Position control mode)
7-1
Connect with LS Industrial System XGT-Series position decision unit XGF-PD1A

SERVO MOTOR
FDA7000
R U
AC S V M
200 ~ 230V T W
50/60 Hz
FG
r
t
+24V PG
+
XGT-PLC
+24V -
GND24
XGF-PD1A
CN2
DR/INP 33
CN1
DR/INP COM 34
49 +24V
+24VIN
EMG 8 18
SVONEN
13
10 CCWLIM/PTQLIM
COM 38
+ CN1 CWLIM/NTQLIM
17 GND24
+5V - 37 5 ESTOP
HOME +5V PZO
38 30
HOME COM /PZO
DOG 28
25 20
1 OV+ 1Ry ALARM
5V MPG A+
Manual OV- 26
2 MPG A-
PULSE A
STOP 27
3
DC 5V B MPG B+
29
4 VTP
0V MPG B- 24, 25
32 GND24
COM
FP+ 21 11
PPFIN
22 10
FP- PFIN
23 9
RP+ PPRIN
24 12
RP- PRIN
24V 39
40
P COM
It only has the signals related to LS Industrial Systems XGF-PD1A and FDA7000 Series
7-2
Connect with LS Industrial System MASTER-K position decision unit K7F-POPA

SERVO MOTOR
FDA7000
R U
AC S V M
200 ~ 230V T W
50/60 Hz
FG
r
t
+ +24V PG
MASTER-K
+24V - GND24
K7F-POPA
CN2
1, 4, 5, 21
+24V
CN1
10
GND24V
49 +24V
+24VIN
Emergency 19 18
Stop SVONEN
13
22 CCWLIM/PTQLIM
DOG
CN1 38
CWLIM/NTQLIM
17 GND24
25 5 ESTOP
ZL PZO
15 30 /PZO
ZCOM
9 20
MPGA 1Ry ALARM
Manual 8
PULSE MPGA-C
16
MPGB
DC 5~12V
7
MPGB-C
24, 25
GND24
4, 5 1/2W,1.5K 11
24 COM PPFIN
2 10
FP PFIN
9
PPRIN
1/2W,1.5K
11 12 PRIN
RP
5 14
CLEAR PLSCLR
23
It only has the signals related to LS Industrial Systems K7F-POPA and FDA7000 Series
7-3
Connection with LS Industrial Systems GLOFA-PLC position decision unit G4F-PP1O

SERVO MOTOR
FDA7000
R U
AC S V M
200 ~ 230V T W
50/60 Hz
FG
r
t
+ +24V PG
GLOFA-PLC
+24V -
GND24
G4F-PP1O
CN2
33
DRVIN
CN1
10, 32, 34
GND24V
49 +24V
+24VIN
8 18
EMG SVONEN
13
28 CCWLIM/PTQLIM
DOG
CN1 38
CWLIM/NTQLIM
17 GND24
37 5 ESTOP
HOME +5V PZO
38 30
HOME COM /PZO
25 20
OV+ 1Ry ALARM
OV- 26
1
5V MPG A+
Manual 27
2 STOP
PULSE A MPG A-
29
3 VTP
B MPG B+
DC 5V 24, 25
0V 4 GND24
MPG B-
11
PPFIN
1/2W,1.5K
21 10
FP+ PFIN
22 9
FP- PPRIN
1/2W,1.5K
23 12
RP+ PRIN
24
RP-
It only has the signals related to LS Industrial Systems G4F-PP1O and FDA7000 Series
(Note) The above connection is only shown in case of P07-01=27 (Position control mode).
7-4
Connection with LS Industrial Systems GLOFA-PLC position decision unit G4F-PP1D.

SERVO MOTOR
FDA7000
R U
AC S V M
200 ~ 230V T W
50/60 Hz
FG
r
t
+ +24V PG
GLOFA-PLC +24V -
GND24
G4F-PP1D
CN2
DRVIN 33
CN1
10, 32, 34
GND24V
+24VIN 49 +24V
8 18
EMG SVONEN
13
28 CCWLIM/PTQLIM
DOG
CN1 38
CWLIM/NTQLIM
17 GND24
37 5 ESTOP
HOME +5V PZO
38 30
HOME COM /PZO
25 20
OV+ 1Ry ALARM
26
1 OV-
A+ MPG A+
Manual 27
2 STOP
PULSE A- MPG A-
29
3 VTP
B+ MPG B+
DC 5V 24, 25
4 GND24
B- MPG B-
21 10
FP+ PPFIN
22 11
FP- PFIN
23 12 PPRIN
RP+
24 9
RP- PRIN
It only has the signals related to LS Industrial Systems G4F-PP1D and FDA7000 Series
7-5
Connection with Mitsubishi Electric position decision unit AD75

SERVO MOTOR
FDA7000
R U
AC S V M
200 ~ 230V T W
50/60 Hz
FG
r
t
+ +24V PG
MITSUBISHI +24V -
GND24
AD75
CN2
26
COM
CN1
1Ry
7
READY
49
+24VIN +24V
14 18
STOP SVONEN
13
11 CCWLIM/PTQLIM
DOG
CN1 38
CWLIM/NTQLIM
5 17
24 PZO ESTOP GND24
PGO 25 30
/PZO
1Ry
20 ALARM
24, 25
GND24
3 11
PPFIN
PULSE 21 10
PFIN
4 9
PPRIN
SIGN 22 12
PRIN
5 14
CLEAR PLSCLR
23
CLEAR COM
It only has the signals related to Mitsubishi AD75 and FDA7000 Series
7-6
Connection with Electric position decision unit AD72

 This is an example of speed control mode servo system operation.
SERVO MOTOR
FDA7000
R U
AC S V M
200 ~ 230V T W
50/60 Hz
FG
r
t
+ +24V PG
MITSUBISHI +24V -
GND24
AD72
CN2
1
STOP 2
CONT CN1
3 CN1
DOG
49 +24V
SERVO 18 39
SV-ON 1 SVONEN CCWLIM/PTQLIM
2 13
CWLIM/NTQLIM
3 20 17 GND24
1Ry ALARM ESTOP
1Ry
4 24, 25 GND24V
READY
Analog Velocity 5 27 SPDIN

CMD 6 1, 33
GND
4 7 PAO
ENC0
PULSE A 5 32 /PAO
7 6 PBO
PULSE B 8 31 /PBO
10 5 PZO
PULSE C 11 30 /PZO
3, 6, 9 8 GND
0V
It only has the signals related to Mitsubishi AD72 and FDA7000 Series
(Note) The above connection is only shown in case of P07-01=26 (Speed control mode).
7-7
Chapter 8
External view
Chapter 8 displays the external view of the servo drive.

Explosion-proof servo drives have the same external dimensions as the FDA7000 and FDA7000-
H series.
Chapter 8. External View

8. External view
8.1. External view of AC220V model servo drive
Weight Cooling
Model A B C D E F G Remarks
[Kg] method
FDA7001 149 4.5 160 140 60 5.0 - 1.0 view A

FDA7002 149 4.5 160 140 60 5.0 - 1.0 Self cooling
FDA7004 150 3.0 160 170 90 6.0 70 1.5
FDA7005 150 3.0 160 170 90 6.0 70 1.9 view B
FDA7010 150 3.0 160 170 90 6.0 70 1.9
FDA7015 239 5.5 251 225 132 5.2 119 4.3
FDA7020 239 5.5 251 225 132 5.2 119 4.4
view C
FDA7030 239 5.5 251 225 132 5.2 119 4.5
FDA7045 239 5.5 251 225 132 5.2 119 4.6
FDA7004B 149 4.0 160 170 60 5.5 - 1.2 Self cooling view D
FDA7015B 240 5.0 250 200 110 5.5 100 4.2 view E
FDA7020B 240 5.0 250 200 110 5.5 100 4.3
FDA7030B 240 5.0 250 200 110 5.5 100 4.4 Forced
cooling
FDA7075 334 8.0 350 236 240 7.0 180 15 (FAN) view F
FDA7110 434 12.5 450 280.5 260 7.0 200 23
view G
FDA7150 434 12.5 450 280.5 260 7.0 200 24
* The FDA7000EX / EXD series is the same size as the FDA7000 series.
[ External view A ]
8-1
8. External view
[ External view B ]
CN1
CN3 CN2
[ External view C ]
8-2
8. External view
[ External view D ]
[ External view E ]
8-3
8. External view
[External view F]
[External view G ]
8-4
8. External view
8.2. External view of AC380V model servo drive
Servo Drive Weight [Kg] Cooling External view

FDA7020-H□ 6.0
FDA7030-H□ 6.2 External view H
FDA7045-H□ 6.4
FDA7075-H□ 15 External view I
FDA7110-H□ 23
External view J
FDA7150-H□ 24 Forced cooling
FDA7220-H□ 35.4 (FAN) External view K
FDA7300-H□ 51.7
FDA7370-H□ 52.3 External view L
FDA7450-H□ 52.3
FDA7550-H□ 55.0
External view M
FDA7550-H□ 55.0
* The FDA7000EX / EXD series is the same size as the FDA7000 series.
[External view H ]
8-5
8. External view
[External view I ]
[External view J ]
8-6
8. External view
[External view K ]
[External view L ]
8-7
8. External view
[External view M ]
8-8
8. External view
8-9
Appendix Ⅰ
Servo system application
Appendix Ⅰ explains the application cases that can be utilized when applying the servo system.
Appendix I. Servo system application
I.1. Position control application ......................................................... 2

I.2. Example of other application ....................................................... 4
I.1. Position control application
The electronic gear enable the work-piece movement distance per input reference command
pulse from the host controller to be set to any value. One reference command pulse form the
host controller, that is the minimum position data unit, is called a command unit.
[ Electronic gear ratio setting ]
Input Servo Drive

command pulse Servo Motor
NUM
SM
DEN
Electronic gear
NUM Number of motor encoder pulse  4

Electronic gear ratio( )  Reduction ratio
DEN Command unit
♥ Reduction ratio is load shaft revolution over motor shaft revolution

♥ The command unit shows the minimum command unit of the position data to move the load.
♥ Encoder pulse rate
Encoder type Number of motor encoder pulse (ppr)

Incremental
2000 ~ 6000
encoder
Absolute 11bit 2048
Serial 17bit 32768
※ Setting method of electronic gear
Check the mechanical specification including reduction ratio, ball screw pitch etc.
Deceleration ratio
Pitch (P)
Determine the minimum unit(command unit) of the position data while feeds load per pulse.
: When moving the table by 0.001[mm] for 1[Pulse], the command unit is 0.001[mm].
Ⅰ-2
Obtain the load feed rate per load axis rotation in the unit of command.
: Command unit = 0.001[mm], ball screw pitch = 5[mm],
Load feed per load axis revolution [Command unit] = 5/0.001 = 5000[Command unit]
b
Get electronic gear ration in case of reduction ratio  
a
NUM Number of motor encoder pulse  4

Electronic gear ratio( )  Reduction ratio
DEN Command unit
The result of calculating the electronic gear ratio must be between 0.05~20.
Set the applicable parameter.
[ Position completion range setting ]
In position control mode, the positioning completed signal in output when the difference
between the number of command pulse output by the host controller and the movement distance
of the servo motor in less than value set in user menu P08.
Command speed
Speed
Actual speed
Time [sec]
Error
pulse
In position
completion range
ON
In position completion
OFF
Time [sec]
Ⅰ-3
I.2. Example of other application
A. Rotary table
Rotary table
Speed pattern
Worm gear
Servo motor
Reduction gear
Process Process Process
- Prepare the motion program in the host controller.

- Enter the operating signal and operate the angle.
- After angle operation, position decision completion signal(INPOS) is sent out externally.
B. Roll feeder
Pressor
Feed roll
Conveyor
Servo motor Induction motor

moter
Deceleration pattern
Press Press
- Set the feed to the work.

- Operate the position according to the feed start signal input from the press.
- By using the position decision completion signal, execute the press work.
( The position decision completion signal and feed start signal can be interlocked on the sequence.)
Ⅰ-4
Appendix Ⅱ
Noise control
Appendix Ⅱ explains the application cases that can be utilized when applying the servo system.
Appendix II. Noise control
II.1. Wiring Precautions ........................................................................ 1

II.2. Wiring for noise control ................................................................ 1
II.1. Wiring Precautions
The FDA7000 servo drive uses high-speed switching in the main circuit. It may receive
switching noise from these high-speed switching elements if wiring or grounding around the
servo drive is not correct. To protect the servo drive system from the external noise install the
noise filter in appropriate place as much as possible. To ensure safe and suitable operation, keep
the following precautions.
① For wiring for reference inputs and encoders, use the specified cables.
- Use the cables as short as possible.
② For ground wire, as thick a cable as possible.
- At least class - 3 ground (100Ω max.) is recommended.
- Ground to one point common only.
③ Do not bend or apply tension to cables.
④ Use a noise filter to prevent noise interference. FDA7000 is designed as an industrial device,
it provides no mechanism to prevent noise interference.
⑤ To prevent malfunction due to the noise, take the following actions.
- Location the input reference device and noise filter as close to the servo drive as
possible.
- Install s surge protector in the relay, solenoid and electromagnetic contactor coils.
- The distance between a power line and s signal line must be at least 30 cm.
- Do not put the power line and signal line in the same duct or bundle then together.
- Do not share the power supply with an electric welding machine or electrical discharge
machine. When the servo drive in placed near a high frequency generator, install a noise
filter and isolation transformer on the input side of the power supply line.
II.2. Wiring for noise control
Always connect servo motor FG terminal to the drive frame ground terminal. If the servo motor
is grounded via the machine, a switching noise current from the drive power unit through servo
motor stray capacitance. The above grounding in required to prevent the adverse effects of the
switching noise.
Ⅱ-1
※ Example of wiring connected with ground connection
FDA7000 Model : AC 200~230[V]

FDA7000-H0 Model : AC 380[V]
Noise
Filter1
MC Servo Drive
R FDA7000 U
S V M
T W
FG
FG
r
C
t N PG
2
CN1
Noise I/O signal

Filter2 processing
circuit
(ex. PLC)
(Ext. GND)
(Ext. GND)
Ground Plate
(Earth GND) Class-3 ground (100Ω max.)
- Use the thick wire with a thickness at least 3.5[㎟] for ground to the casing.
- Remove noise by attaching Spark Killer to MC (Magnetic Contactor).
Ⅱ-2
※ Example of noise filter wiring
NOISE FILTER
NOISE FILTER
BOX BOX
< X > < O >
NOISE FILTER NOISE FILTER
BOX BOX
< X > < O >

[ Do not put the input and output line in the same duct or bundle them together. ]
NOISE FILTER NOISE FILTER
BOX BOX
< X > < O >

[ Do not accommodate the noise filter ground line, output lines and other signal lines in the same
duct or bundle them together. ]
Ⅱ-3
※ Example of wiring when using multiple units of servo drives.

Multiple servos can share a single circuit breaker or noise filter. Always select a NFB or noise
filter that has enough capacity for the total power capacity of that system.
FDA7000 Model : AC 200~230[V]
NFB
Main power
ON
Main power
OFF
MC
Noise
Filter MC 1RY 2RY 3RY
Surge Killer
MC Servo Drive1
R FDA7000 U
S V M
T W
FG
FG
r
C
t N PG
1Ry 2
49
C
24V N
Diode 1
24,25
Servo Drive2
R FDA7000 U
S V M
T W
FG
FG
r
C
t N PG
2Ry
2
49
C
24V N
Diode 1
24,25
Servo Drive3
R FDA7000 U
S V M
T W
FG
FG
r
C
t N PG
3Ry 2
49
C
24V N
Diode 1
24,25
Ⅱ-4
※ Recommended Noise Filter
AC
SERVO FDA7004B FDA7004 FDA7005 FDA7010
Drive
NOISE
P3B4010-DA(10A) NFZ-4030SG(30A)
FILTER
AC SERVO FDA7015/ FDA7020/ FDA7030/

FDA7045 FDA7075 FDA7110 FDA7150
Drive FDA7015B FDA7020B FDA7030B
NOISE NFZ4040 FT3RE-4060 FT3RE-4080

NFZ-4030SG(30A)
FILTER SG(40A) (60A) (80A)
AC Servo
FDA7020-H FDA7030-H FDA7045-H FDA7075-H FDA7110-H FDA7150-H
Drive
Noise Filter ET3RE-4030 (30A) ET3RB-4040 ET3RB-4060
AC Servo
FDA7220-H FDA7300-H FDA7370-H FDA7450-H FDA7550-H FDA7750-H
Drive
Noise Filter FT3RB-4060 FT3RB-4080 FT3RB-4100 FT3RB-4120 FB3RE-4150 FB3RE-4200
◆ Noise Filter : OKY (http://www.oky.co.kr), ORIENT (http://www.suntronix.com)
Ⅱ-5
Appendix Ⅲ
All parameters table
Appendix Ⅲ shows the table of all parameters mentioned in the manual.
Appendix III. All parameters table
III.1. Parameters table............................................................................ 1

III.1.1. StE- parameters ........................................................................ 1
III.1.2. P01- parameters ....................................................................... 1
III.1.3. P02- parameters ....................................................................... 2
III.1.4. P03- parameters ....................................................................... 2
III.1.5. P04- parameters ....................................................................... 3
III.1.6. P05- parameters ....................................................................... 3
III.1.7. P06- parameters ....................................................................... 4
III.1.8. P07- parameters ....................................................................... 4
III.1.9. P08- parameters ....................................................................... 4
III.1.10. P09- parameters ....................................................................... 5
III.1.11. JOG- parameters ...................................................................... 5
III.1.12. ALS- parameters ....................................................................... 5
Appendix Ⅲ. Connection with host controller
III.1. Parameters table
III.1.1. StE- parameters

Parameter Default set
Menu explanation Unit Setting range Control type
No. value
StE-01 Display select - 100 ~ 1330 1203 Speed/Torque/Position
StE-02 Command Speed rpm -9999.9 ~ 9999.9 - Speed/Position
StE-03 Motor Speed rpm -9999.9 ~ 9999.9 - Speed/Torque/Position
StE-04 CCW Speed Limit rpm 0.0 ~ 9999.9 - Speed/Torque/Position
StE-05 CW Speed Limit rpm -9999.9 ~ 0.0 - Speed/Torque/Position
StE-06 Command Pulse pulse -99999 ~ 99999 - Position
StE-07 Feedback Pulse pulse -99999 ~ 99999 - Position
StE-08 Error Pulse pulse -99999 ~ 99999 - Position
StE-09 Command Torque % -300.0 ~ 300.0 - Speed/Torque/Position
StE-10 Load Rate % -300.0 ~ 300.0 - Speed/Torque/Position
StE-11 Max Load Rate % -300.0 ~ 300.0 - Speed/Torque/Position
StE-12 CCW TRQ LMT % 0.0 ~ 300.0 - Speed/Torque/Position
StE-13 CW TRQ LMT % -300.0 ~ 0.0 - Speed/Torque/Position
StE-14 Inertia Ratio - 0.0 ~ 50.0 2.0 Speed/Torque/Position
StE-15 MULTI Turns rev 0 ~ 999999 - Speed/Torque/Position
StE-16 Single Turn - 0 ~ 999999 - Speed/Torque/Position
StE-17 I/O Status - 0 ~ 999999 - Speed/Torque/Position
StE-18 PROG Version - 0.0 ~ 99.99 - Speed/Torque/Position
StE-19 Degree per 1 rotation deg 0.000 ~ 359.999 - Speed/Torque/Position
StE-20 Current warning - 0 ~ 1023 - Speed/Torque/Position
StE-21 Average load rate time ms 0.0 ~ 99999.9 0.0 Speed/Torque/Position
StE-22 Average load rate % -999.9 ~ 999.9 - Speed/Torque/Position
StE-23 DC LINK voltage V 0.0 ~ 999.9 - Speed/Torque/Position
III.1.2. P01- parameters

P01-01* Motor ID - GEN - 00 ~ 99 By capacity Speed/Torque/Position
P01-02 Inertia gfcms2 0.01 ~ 999.99 By motor type Speed/Torque/Position
P01-03 TRQ Constant Kgfcm/A 0.1 ~ 999.99 By motor type Speed/Torque/Position
P01-04 Phase Inductance mH 0.001 ~ 99.999 By motor type Speed/Torque/Position
P01-05 Phase Resistance Ω 0.01 ~ 99.999 By motor type Speed/Torque/Position
P01-06 Rated Current A(rms) 0.01 ~ 999.99 By motor type Speed/Torque/Position
P01-07 Rated Speed rpm 0.0 ~ 9999.0 By motor type Speed/Torque/Position
P01-08 MAX Speed rpm 0.0 ~ 9999.0 By motor type Speed/Torque/Position
P01-09 Rated TRQ kgfcm 0.0 ~ 9999.0 By motor type Speed/Torque/Position
P01-10 Pole Number Pole 2 ~ 98 By motor type Speed/Torque/Position
P01-11* Drive ID - 0 ~ 45 By drive type Speed/Torque/Position
P01-12* Encoder ID - Enc-0 ~ R Enc-A Speed/Torque/Position
P01-13* Encoder Pulse ppr 1 ~ 32768 2000 Speed/Torque/Position
P01-14 Pulse Out Rate ppr 1 ~ 131072 2000 Speed/Torque/Position
P01-15* COM Baud Rate - 0 ~ 15 0 Speed/Torque/Position
P01-16* Serial Select - 0~2 0 Speed/Torque/Position
P01-17* Serial I/O - 0~2 0 Speed/Torque/Position
P01-18* Serial ID - 1 ~ 31 1 Speed/Torque/Position
P01-19 Parameter Lock - ON/OFF OFF Speed/Torque/Position
P01-20* Absolute Origin - ON/OFF OFF Speed/Torque/Position
P01-21＊ ABS Protocol - 1~3 3 Speed/Torque/Position
P01-22＊ Modbus Protocol - 0~1 0 Speed/Torque/Position
Ⅲ-1
P01-23＊ Single-turn Data Offset - 0 ~ 131072 0 Position

P01-24 Memory Type - 0~3 0 Speed/Torque/Position

P02-01* Control Mode - 0~5 1 Speed/Torque/Position
P02-02 Mode Change Time ms 100.0 ~ 10000.0 500.0 Speed/Torque/Position
P02-03 CCW TRQ LMT % 0.0 ~ 300.0 300.0 Speed/Torque/Position
P02-04 CW TRQ LMT % -300.0 ~ 0.0 -300.0 Speed/Torque/Position
P02-05 CCW Speed Limit rpm 0.0 ~ 6000 Max. motor speed Speed/Torque/Position
P02-06 CW Speed Limit rpm -6000.0 ~ 0.0 Max. motor speed Speed/Torque/Position
P02-07 Brake Speed rpm 0.0 ~ 9999.9 50.0 Speed/Torque/Position
P02-08 Brake Time ms 0.0 ~ 10000.0 50.0 Speed/Torque/Position
P02-09 DB Mode - 0~3 2 Speed/Torque/Position
P02-10 Notch Filter 1 - 0~2 0 Speed/Torque/Position
P02-11 NF Frequency 1 Hz 50.0 ~ 2000.0 300.0 Speed/Torque/Position
P02-12 NF Bandwidth 1 % 10.0 ~ 99.9 95.0 Speed/Torque/Position
P02-13 Notch Filter 2 - 0~1 0 Speed/Torque/Position
P02-14 NF Frequency 2 Hz 50.0 ~ 2000.0 500.0 Speed/Torque/Position
P02-15 NF Bandwidth 2 % 10.0 ~ 99.9 95.0 Speed/Torque/Position
P02-16 TRQ Filter TC ms 0.0 ~ 1000.0 By capacity Speed/Torque/Position
P02-17 Auto Tuning - 0~1 0 Speed/Torque/Position
P02-18 System Response - 1 ~ 19 By capacity Speed/Torque/Position
P02-19 Inertia Ratio - 1.0 ~ 50.0 2.0 Speed/Torque/Position
P02-20 Gain ADJ Speed 1 rpm 100.0 ~ 5000.0 800.0 Speed/Torque/Position
P02-21 Gain ADJ Speed 2 rpm 10.0 ~ 500.0 100.0 Speed/Torque/Position
P02-22 Gain ADJ TRQ 1 % 50.0 ~ 300.0 150.0 Speed/Torque/Position
P02-23 Gain ADJ TRQ 2 % 0.0 ~ 300.0 50.0 Speed/Torque/Position
P02-24 Contact Gain TC ms 0.0 ~ 10000.0 100.0 Speed/Torque/Position
P02-25 Temporary Stop - ON/OFF OFF Speed/Torque/Position
P02-26 Emergency Stop - ON/OFF OFF Speed/Torque/Position
P02-27 Direction Select - ON/OFF OFF Speed/Torque/Position
P02-28 Ripple COMPEN - ON/OFF OFF Speed/Torque/Position
P02-29* Parameter INIT - ON/OFF OFF Speed/Torque/Position
P02-30 Servo OFF delay time ms 0.0 ~ 1000.0 10.0 Speed/Torque/Position
P02-31 CW Limit - ON/OFF OFF Speed/Torque/Position
P02-32 CCW Limit - ON/OFF OFF Speed/Torque/Position
P02-33 Servo ON/OFF - ON/OFF OFF Speed/Torque/Position
P02-34 Multi-turn Limit rev 0~65535 65535 Speed/Torque/Position
P02-35 Battery Alarm/Warning Set - 0~1 0 Speed/Torque/Position
P02-36 Battery Alarm Filter ms 0~10000 100 Speed/Torque/Position
P02-37 Power Fail Mode - 0~1 0 Speed/Torque/Position
P02-38 Reverse Rotation Mode - ON/OFF OFF Speed/Torque/Position
P02-39 External DB Control - 0~2 0 Speed/Torque/Position
[When using the FDA7000-EX series]
P02-40 Motor OVER TEMP set - ON/OFF OFF Speed/Torque/Position

P03-01* Speed Gain mode - 1~5 1 Speed
P03-02 PI-IP control % % 0.0 ~ 100.0 100.0 Speed/Position
P03-03 Friction COMPEN % 0.0 ~ 100.0 0.0 Speed/Position
P03-04 Load COMPEN % 0.0 ~ 100.0 0.0 Speed/Position
P03-05 SC Loop Gain 1 Hz 0.0 ~ 1000.0 By capacity Speed/Position
P03-06 SC TC 1 ms 0.0 ~ 10000.0 By capacity Speed/Position
Ⅲ-2
P03-07 SC Loop Gain 2 Hz 0.0 ~ 1000.0 By capacity Speed/Position

P03-08 SC TC 2 ms 0.0 ~ 10000.0 By capacity Speed/Position
P03-09 Analog CMD TC ms 0.0 ~ 2000.0 0.0 Speed
P03-10 ACCEL Time ms 0.0 ~ 90000.0 0.0 Speed/Position
P03-11 DECEL Time ms 0.0 ~ 90000.0 0.0 Speed/Position
P03-12* S-Mode TC ms 0.0 ~ 9000.0 0.0 Speed/Position
P03-13 In Speed Range - 0.0 ~ 9999.9 10.0 Speed
P03-14 Zero Speed Range Hz 0.0 ~ 9999.9 10.0 Speed
P03-15* + 10[V] RPM rpm 0.0 ~ 9999.9 Max. motor speed Speed/Torque
P03-16* -10[V] RPM rpm -9999.9 ~ 0.0 Max. motor speed Speed/Torque
P03-17 Auto Offset - ON/OFF OFF Speed/Torque
P03-18 Manual Offset ms -1000.0 ~ 1000.0 0.0 Speed/Torque
P03-19* Override ENB - ON/OFF OFF Speed
P03-20 Clamp Mode - 0~2 0 Speed
P03-21 Clamp Voltage mV -1000.0 ~ 1000.0 0.0 Speed
P03-22* F/Back TC ms 0.0 ~ 2000.0 0.0 Speed
P03-23 Zero SPD VIB REJ rpm 0.0 ~ 1000.0 0.1 Speed/Position
P03-24* Feedforward TRQ - 0~2 0 Speed/Position
P03-25 Alarm Reset Delay Time Ms 0 ~ 99999 0 Speed/Torque/Position

P04-01 Digital input speed 1 rpm -9999.9 ~ 9999.9 10.0 Speed/Torque
P04-08 Digital input torque 1 % -300.0 ~ 300.0 0.0 Torque

P05-01* POS Gain Mode - 1~5 1 Position
P05-02* POS Pulse Type - 0~5 1 Position
P05-03 Speed Mode - ON/OFF OFF Position/Speed
P05-04 Feedforward % 0.0 ~ 100.0 0.0 Position
P05-05 PC P Gain1 Hz 0.0 ~ 500.0 By capacity Position
P05-06 PC P Gain2 Hz 0.0 ~ 500.0 By capacity Position
P05-07 PI-P Pulse ERR pulse 0 ~ 99999 0 Position
P05-08 In Position pulse 0 ~ 99999 100 Position
P05-09 Follow ERR pulse 0 ~ 99999 30000 Position
P05-10 POS CMD TC ms 0.0 ~ 2000.0 0.0 Position
P05-11 FF TC ms 0.0 ~ 2000.0 0.0 Position
P05-12* ELCTR Gear NUM 1 - 1 ~ 99999 1 Position
P05-13* ELCTR Gear DEN 1 - 1 ~ 99999 1 Position
Ⅲ-3

P05-20 Bias SPD COMPEN rpm -1000.0 ~ 1000.0 0.0 Position
P05-21 Bias Pulse Band pulse 0 ~ 500 10 Position
P05-22 Backlash Pulse pulse 0 ~ 99999 0 Position
P05-23 Position Error Clear - ON/OFF OFF Position

P06-01* Analog TRQ TC ms 0.0 ~ 2000.0 0.0 Torque
P06-02 TRQ ACCEL Time ms 0.0 ~ 9000.0 0.0 Torque
P06-03 TRQ DECEL Time ms 0.0 ~ 9000.0 0.0 Torque
P06-04* TRQ S-Mode ms 0.0 ~ 2000.0 0.0 Torque
P06-05 In TRQ Range % 0.0 ~ 100.0 10.0 Torque
P06-06 Stop TRQ Range % 0.0 ~ 100.0 10.0 Torque
P06-07 10[V] TRQ % 0 .0~ 300.0 100.0 Speed/Torque
P06-08 Auto Offset - ON/OFF OFF Speed/Torque
P06-09 Manual Offset mV -1000.0 ~ 1000.0 0.0 Speed/Torque

P07-01* Digital INPUT 1 - 0 ~ 30 1 Speed/Torque/Position
P07-13 Digital Input time ms 1 ~ 500 1 Speed/Torque/Position
P07-14 Safe Input time ms 1 ~ 500 1 Speed/Torque/Position

P08-01* Digital OUTPUT 1 - 0 ~ 30 0 Speed/Torque/Position
Ⅲ-4

P09-01 Monitor1 - 0~5 0 Speed/Torque/Position
P09-02 Monitor ABS 1 - ON/OFF OFF Speed/Torque/Position
P09-03 Monitor Scale 1 - 0.1 ~ 2000.0 1.0 Speed/Torque/Position
P09-04 Monitor Offset 1 mV -1000.0 ~ 1000.0 0.0 Speed/Torque/Position
P09-05 Monitor 2 - 0~5 1 Speed/Torque/Position
P09-06 Monitor ABS 2 - ON/OFF OFF Speed/Torque/Position
P09-07 Monitor Scale 2 - 0.1 ~ 2000.0 1.0 Speed/Torque/Position
P09-08 Monitor Offset 2 mV -1000.0 ~ 1000.0 0.0 Speed/Torque/Position
III.1.11. JOG- parameters

JOG-01 Key Jog Mode - ON/OFF OFF Speed/Torque/Position
JOG-02 Key Jog Speed rpm -9999.9 ~ 9999.9 100.0 Speed/Torque/Position
JOG-03 Auto Jog Mode - 0~2 0 Speed/Torque/Position
JOG-04 Jog Speed 1 rpm -9999.9 ~ 9999.9 100.0 Speed/Torque/Position
JOG-05 Jog Time1/REV1 [sec]/[rev] 0.00 ~ 5000.00 1.00 Speed/Torque/Position
JOG-06 Jog Speed 2 rpm -9999.9 ~ 9999.9 -100.0 Speed/Torque/Position
III.1.12. ALS- parameters

ALS-01 Current Alarm - - nor Speed/Torque/Position
ALS-02 Alarm Reset - ON/OFF OFF Speed/Torque/Position
ALS-03 Alarm History 1 - 0 ~ 32 0 Speed/Torque/Position
ALS-13 History Reset - ON/OFF OFF Speed/Torque/Position
♥ The parameter with the (＊) symbol cannot be changed when the SVONEN input contact point is “ON”.
Ⅲ-5
Appendix Ⅲ
All parameters table
Appendix IV. Revision history
Issue date Revised content Version
2007.07 Issued initial version. 1.3
2008.01 1st correction ( Function correction and contents modification ) 1.4
2020.03.02 2nd correction(add models and function) 1.5

MEMO
_____________________________________________________________________________
_____________________________________________________________________________
_____________________________________________________________________________
_____________________________________________________________________________
_____________________________________________________________________________
_____________________________________________________________________________
_____________________________________________________________________________
_____________________________________________________________________________
_____________________________________________________________________________
_____________________________________________________________________________
Homepage : http://www.higenmotor.com
Head office :
TEL ▶ (82) 70-7708-8045 ~ 8048 FAX ▶ (82) 2-369-8229
Branch office :
TEL ▶ (82) 70-7708-8028 FAX ▶ (82) 51-710-5034
Factory :
TEL ▶ (82) 70-7710-3311 FAX ▶ (82) 55-600-3317
MANUAL Order NO : 7200SV3015A
※ This book is in copyright. Subject to statutory exception and to the provisions

of relevant collective licensing agreements, no reproduction of any part may take
place without the written permission of HIGEN Motor company.

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OPERATION MANUAL

Chapter 1. Model check and handling

Chapter 2. Wiring and connection

2.2.2. Medium type servo drive ........................................................ 2-6

Chapter 3. Parameter setting

3.10. Analog monitor function setting[P09-] ................................... 3-45

Chapter 4. Servo using method and Gain adjustment

Chapter 5. Servo operating

Chapter 6. Troubleshooting and check

6.3. Check........................................................................................... 6-6

Chapter 7. Connection with host controller

Chapter 8. External View

Appendix Ⅰ. Servo system application

Appendix Ⅱ. Noise control

Appendix Ⅲ. All parameters table

Appendix Ⅳ. Revision history

Chapter 1. Model check and handling

1.1. Model check ................................................................................. 1-1

1.1. Model check

1.1.1. Servo drive model classification

004/004B 400 020/020B 2000 110 11000 370 37000

005 500 030/030B 3000 150 15000 450 45000

1.1.2. Servo motor model classification

Symbol pulse Type (Note2)

01 100 12 1200 50 5000 A 2000

30 3000 300 30000 K 2048 Incremental

1.2. Servo drive specification

004/ 015/ 020/ 030/

1.2.2. Power specification of AC 380V Series

H0 : 3 phase AC 380V 50/60Hz +10%/-15%

1.2.3. Common specifications.

17/33bit Serial encoder, 11/13bit Absolute encoder,

Interface Serial communication, Differential Line Driver

Input voltage DC 5[V], 0.3 [A]

Drive system Sine wave PWM control ( using by IPM )

Frequency response 600 [Hz]

Analog torque Command : DC -10 ~ +10 [V]

Internal Monitor output Command/current position, speed, torque ( -5 ~ +5 [V] )

Operating temperature 0 ~ 50 [℃]

Environ- Operating humidity 90[] or below (no condensation)

Insulation Resistance DC 500[V] 10 [M] or more

1.3. Combination table of servo drive and motor

1.3.1. AC220V series servo drive and motor

CN09 KN07 KF08

1.3.2. AC380V series servo drive and motor

030-H CN30 KN35 TN30 LN30

150-H KN150 TN150

220-H KN200 TN220

300-H TN300 LN300

370-H TN370 LN370

450-H TN450 LN450

1.3.3. Explosion proof series servo drive and motor

1.4. Rated specification of servo motor

1.4.1. AC220V series servo motor

Model Motor CJZ5 CJ01 CJ02 CJ04

Instantaneous ( N·m ) 0.48 0.95 1.92 3.81

CJZ5 CJ01 CJ02 CJ04

CN01 CN02 CN03 CN04 CN05

0.8 1.6 2.4 3.2 4.0

0.2 0.4 0.6 0.8 1.0