OPERATION MANUAL

AC Servo Drive
EDA7000 Series with Interface
Ver 1.0 (Soft. Ver. 7.70 ~)

EDA7000 Series
Servo Drive User Manual
Necessary knowledge before use

Necessary knowledge before use

 Trademark
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany.

Detailed information of EtherCAT can be obtained from the following ETG(EtherCAT Technology

Group)website:

http://www.ethercat.org/

<note>

1. Port Labeling

I
=> EtherCAT IN
N

O
U => EtherCAT OUT
T

Port0 = EtherCAT IN
Port1 = EtherCAT OUT
Port2 = None
Port3 = None
Necessary knowledge before use

A. Check Ampere capacity of the drive

Drive
Capacity 001 002 004 005 010 015 020 030 045 075 110 150
[ED7- ]
[0x2000]
1 2 4 5 10 15 20 30 45 75 110 150
[Drive ID]

B. Check the Encoder ID

Encoder classification INC 17bit ABS 17bit

[0x2001]
Enc-P (9) Enc-R (10)
[Encoder ID]

C. Remove the Auto Tuning while under normal operation [0x201D]

: Make sure to remove auto tuning after setting Gain by using auto tuning

D. Handling the motor

: Do not give any shock to the encoder while connecting coupling/ decelerator to motor axis

E. GND24(CN1-25) and GND(CN1-1) must be connected separately

: When common connection, the Servo drive may malfunction or be damaged

F. handling the Servo motor equipped with a brake

: The Servo motor equipped with a brake must be operated only after the rotator is stopped completely
because the brake is designed only for use while the rotator is stopped. If the brake is used for

stopping rotator, noise or dust will occur to damage the brake.

G. When wiring of low capacity and medium capacity terminal plugs, do not load AC
Power on terminal N and P.
: When the main power is DC, AC power on terminal N and P will cause a damage of the Servo motor

because terminal N accepts (-) voltage and terminal P accepts (+) voltage.

: Do not load AC power through L1, L2 and L3 and DC power through N and P simultaneously

because it may damage the Servo drive. Always select one power only, AC or DC.
 Table of Contents

Necessary knowledge before use

Chapter 1 Identification of Type Name & Handling

1.1 Identification of Type Name .......................................................................... 1-1
1.2 Specification of Servo Drive.......................................................................... 1-2
1.3 Combination Table of Servo Drive and Motor ............................................... 1-3
1.4 How to Install ................................................................................................ 1-4
1.5 Handling........................................................................................................ 1-6

Chapter 2 Wiring & Connections

2.1 Wiring of main circuit and peripherals........................................................... 2-1
2.2 Wiring of main circuit terminal plug ............................................................... 2-5
2.3 Input & output signals of CN1 ................................................................... 2-11
2.4 Wiring and Signals of ENC(CN2)................................................................ 2-16
2.5 Wiring and Signals of COM(CN3) ........................................................ 2-18
2.6 Wring and Signals of LAN Ports ……………………………………………....2-19

Chapter 3 EtherCAT Communication

3.1 Introduction ................................................................................................... 3-1
3.2 EtherCAT Connections ................................................................................. 3-1
3.3 EtherCAT Indicator ....................................................................................... 3-3
3.4 EtherCAT State Machine .............................................................................. 3-5
3.5 Synchronization with Distributed Clock......................................................... 3-6
3.6 EtherCAT(CoE) Device Architecture ............................................................. 3-9
3.7 EtherCAT Addressing Mode ....................................................................... 3-14
Chapter 4 Setting Servo Parameters
4.1 Status Display ............................................................................................... 4-2
4.2 CoE Communication Objects........................................................................ 4-3
4.3 Manufacture Specific Objects ..................................................................... 4-11
4.4 Profile Specific Objects ............................................................................... 4-32
4.5 Alarm Display .............................................................................................. 4-45

Chapter 5 How to use and adjust gain of the Servo

5.1 How to adjust gains of the Servo at Position Mode ...................................... 5-1
5.2 How to adjust gains of the Servo at Velocity Mode ....................................... 5-5
5.3 How to adjust gains of the Servo at Torque Mode ........................................ 5-9
5.4 How to Homing ............................................................................................. 5-9
5.5 How to use the Auto Tuning ........................................................................ 5-10
5.6 Important points of gain adjustment............................................................ 5-13
5.7 Attention when using Absolute Encoder .....................................................5-14

Chapter 6 Troubleshooting & Checking

6.1 Troubleshooting ............................................................................................ 6-1
6.2 Checking ....................................................................................................... 6-4

Chapter 7 Outside Drawings

7.1 Outside Drawings of Servo Drive.................................................................. 7-1

Appendix Ⅰ Noise Countermeasures

Ⅰ.1 Types of Noise .......................................................................................... Ⅰ-1
Ⅰ.2 Noise Countermeasures ........................................................................... Ⅰ-1
Appendix Ⅱ Revision History
Ⅱ.1 Revision History ............................................................................. Ⅱ-1
Appendix Ⅲ Servo Motor Specification
Ⅲ.1 Servo Motor Specification ............................................................. Ⅲ-1
 Chapter 1
Identification of Type Name & Handling

Chapter 1 describes things to be checked before using the purchased Servo Drive and Motor.
Before mounting the product, please identify whether the rated name plate is same as what you
ordered. And the improper handling may cause abnormal operation or reduce the service life of
product sharply subject to circumstantial factors. In the worst case, Servo Drive may be even
broken, so you are requested to use it properly by following the description hereunder.

1.1 Identification of Type Name ................................................................. 1-1

1.2 Specification of Servo Drive................................................................. 1-2

1.3 Combination Table of Servo Drive and Motor ...................................... 1-3

1.4 How to Install ....................................................................................... 1-4

1.5 Handling............................................................................................... 1-6

1. Identification of Type Name & Handling

1.1 Identification of Type Name

1.1.1 Classification of Type Names for Servo Drive

Note: In the case of application for 17-bit Absolute Encoder, an optional battery must
be used.

1.1.2 Classification of Type Names for Servo Motor

Motor Series
AC Servo Motor Shaft-End Type
Symbol Application
High-speed
Symbol Application
CN, CJ Low-torque type
Middle-speed
0 none
KF, KN Standard type
Middle-speed
1 Oil-seal type
TF, TN High-torque type
Low-speed
LF, LN High-torque type Mounted Brake
Rated Output (KW) Symbol Application
Symbol Capacity (KW) Symbol Capacity (KW) Symbol Capacity (KW) 0 none
Encoder Type
Z5 0.05 12 1.2 55 5.5 Mounted brake
Symbol pulse/rev. Type 1 40/60/80Fr : DC24[V]
130/180/220Fr : DC90[V]
01 0.1 13 1.3 75 7.5
Incremental
P 131072 Mounted brake
02 0.2 15 1.5 110 11.0 17 bit 2 130/180/220Fr : DC24[V]

03 0.3 16 1.6 150 15.0 Absolute

R 131072
17 bit
04 0.4 17 1.7
Shaft Type
05 0.45/0.5 20 1.8/2.0
Symbol Application
06 0.55/0.6 22 2.2
A Straight & No Key
07 0.65 30 2.9/3.0
B Straight & Key
08 0.75/0.8 35 3.5
C Taper & Key
09 0.85/0.9 40 4.0

10 1.0 44 4.4

11 1.1 50 5.0

1-1
 1. Identification of Type Name & Handling

1.2 Specification of Servo Drive

Type Name of Servo Drive [ EDA7-] 001 002 004 005 010 015 020 030 045 075 110 150

Input voltage, 3-phase AC200~230V, 50/60Hz ± 5%

3-phase AC200~230V, 50/60Hz ± 5%
Frequency (note 1) Single phase AC230V, 50/60Hz ± 5%
Main
circuit 3-phase AC170 ~ 253V
power Allowable voltage (input voltage range +10/-15%) 3-phase AC170 ~ 253V
variation rate Single phase AC207 ~ 253V (input voltage range +10/-15%)
(input voltage range +10/-10%)
Input voltage,
Control Single phase AC200~230V, 50/60Hz ± 5%
Frequency
circuit
Allowable voltage
power Single phase AC170 ~ 253V(input voltage range +10/-15%)
variation rate
Detector type 17bit serial encoder
Application Output signal type Differential Line Driver output
detection Accuracy of detector Max. 131,072 [pulse] per rotation of Encoder
Power of detector DC 5[V], 0.3 [A] or less
Drive method Single wave PWM control (use of IPM)
Speed control range Internal speed command 1:5000
Frequency response
600 [Hz]
characteristic
Speed Speed command input EtherCAT type
control ± 0.01 % or less (rated load : 0 ~ 100 % )
spec. Speed variation rate ± 0.01 % or less (rated power voltage : ± 10 %)
± 0.1 % or less (temp variation : 25 ± 25 C )

Acc./dec. time Acceleration/deceleration achievable in straight line or S-form ( 0 ~ 100 [sec] )

Position Position input type EtherCAT type

control
spec. Position input format EtherCAT type
Torque command
Torque EtherCAT type
input
control Torque linearity 4 [%] or less
spec.
Limit speed command EtherCAT type
Over current, regenerative overvoltage, overload, motor mis-wiring, Encoder error, over
Protection function
voltage, over speed, gross error etc
Regenerative 250/ 1600 2000
50/50 70/50 500/12.5
Built-in resistance (W/Ω) 25 /15 /15
functions Monitor output Speed, torque ( -5 ~ +5 [V] )
Dynamic brake Built-in
Test function (Jog), Alarm history, clockwise/counterclockwise rotation, encoder signal
Additional functions divider system
Upper controller EtherCAT Master

Option Motor power cable, encoder cable, CN1 connector, CN2 connector, LAN cable
Ambient temp 0 ~ 50 [℃]
Environme Ambient humidity 90[] or less (No condensation allowed)
ntal spec Temp for storage -20 ~ +80 [℃]
Insulation resistance DC 500[V] 10 [M] or more
Weight 1.0 1.0 1.5 1.9 1.9 4.3 4.4 4.5 4.6 15 23 24

Note 1: This indicates input voltage and frequency range which guarantees motor rated output
and rated rotation speed. But it does not guarantee in the case of voltage drop.

1-2
 1. Identification of Type Name & Handling

1.3 Combination Table of Servo Drive and Motor

Motor applicable

Drive
[EDA7- ] CN/CJ KN Series TN Series LN Series KF Series TF Series LF Series
Series
3000/6000 2000/3000 1500/3000 1000/2000 2000/3000 1500/3000 1000/2000
[rpm] [rpm] [rpm] [rpm] [rpm] [rpm] [rpm]

CJZ5
001 CN01 - - - - - -
CJ01

CN02
002 - - - - - -
CJ02

CN03
CN04
KN03
004 CJ04 - LN03 - - LF03
KN05
CN04A
CN05
CN06
KN06
005 CN08 TN05 LN06 - TF05 LF06
KN06A
CN09

KN07 KF08
010 CN10 TN09 LN09 TF09 LF09
KN11 KF10

LN12
015 CN15 KN16 TN13 KF15 TF13 LF12
LN12A
KN22 TN17
020 CN22 LN20 KF22 TF20 LF20
KN22A TN20

CN30
030 KN35 TN30 LN30 KF35 TF30 LF30
CN30A

CN50
045 KN55 TN44 LN40 KF50 TF44 -
CN50A

075 KN70 TN75

TN110
110 (1500/2000
[rpm])

TN150
150 (1500/2000
[rmp])

1-3
1. Identification of Type Name & Handling

1.4 How to Install

1.4.1 Servo Motor

1) Environmental conditions for use

Ambient temp 0 ~ 40 C (no freezing allowed)

Ambient
80 % RH or less (no vapor allowed)
humidity
External
X, Y :19.6 m/s2 (2G )
vibration

2) Cautions in case of combining loadable devices (shock prevention of shaft)

It is important to align a motor shaft to the shaft center of a counterpart machine. If the
shaft center does not match, it may cause vibration and bearing damage. When installing a
coupling, use the rubber hammer to mitigate the impact not to apply too much force to the
shaft and bearing

The difference between max and min values

shall be within 0.03 mm when measuring at 4
points along with circumferential area.

The difference between max and min values

shall be within 0.03 mm when measuring at 4
points along with circumferential area.

3) Mounting of Servo Motor

For output shaft of AC Servo Motor and the accuracy level of mounting, refer to the table
below.

Accuracy
Item Reference diagram
( T.I.R )
Perpendicular angular degree (A)
between mounted surface and output 0.04mm
shaft
Eccentricity (B) of outer dia in Flange
0.04mm
Fitting

Shake (C) of output shaft 0.02mm

♥ T.I.R : Total Indicator Reading

1-4
1. Identification of Type Name & Handling

4) Shock endurance
When applying shock impact to upward/downward direction after placing a motor shaft
horizontally, the shaft must endure the shock requirement of 10G impact acceleration for
two times of impact. But be careful not to apply the impact directly onto its opposite side
as there is a precision detector attached.

5) Vibration resistance
When applying vibration with 3 kinds of different direction (up/down, left/right, front/rear)
after placing a motor shaft horizontally, this must endure vibration acceleration 2.0G.

6) Vibration class
The vibration class of AC Servo Motor is V15 at the rated rotation.

7) Installation direction
- It is available to install the motor horizontally or upper/lower side of shaft.
- Any cable from a motor shall be faced downward.
- When installing it vertically, install the cable trap to prevent any oil and water from
flowing into the motor.

8) Cable disconnection
- Make sure not to cause cables under stress or scratched.
- Provided a motor is used for portable purpose, make sure to use movable cables.

1.4.2 Servo Drive

1) Environmental conditions for use

Ambient temp 0 ~ 50 C (no freezing allowed)

Ambient
90 % RH or less (no vapor allowed)
humidity
♥ Temperature of control board: Keep the average temperature of control board with 40℃
to secure the life of drive and reliability.

2) Installation direction and interval

- Install so that EDA7000 can be seen from the front.
- In case of installing the drive in the enclosed control board, keep more than 10mm

1-5
1. Identification of Type Name & Handling

interval of drive and more than 40mm interval to the up/down direction. Especially, in
case of installing the box wrench in parallel, 100mm interval upward is needed and in
case of installing a fan lamp, keep away from the heat.
- The heating unit such as regenerative resistance shall be installed away from the drive.

3) Prevention from penetration of foreign materials

- In case of assembling the control board, be careful not to be penetrated into a drive by
powdered particles generated during drilling.
- Be careful not to be penetrated into a drive by oil, water or metal particles through gap of
control board or from any fan in the ceiling.
- In case of using the drive in the area with harmful gas or dust, protect the drive with air
fuzzy.

1.5 Handling

1.5.1 Cautions during handling

The improper handling may cause the unexpected accident or breakage. For right use,
please refer to the following :

1) Handling
- Do not apply impact to an encoder which is a motor detector. If you hit the shaft with a
hammer or drop the motor down, it may be broken.
- Do not connect the commercial power (AC220V) directly to the motor. A gross current
deteriorates the magnetic effect of motor. Make sure to combine the assigned Servo
Drive to run.

2) Wire Connection
- Ground terminals of drive and motor shall be connected toward the drive and grounding
shall be done at the shortest distance altogether at once.
- Carry out Class 3 class ground (below 100Ω) in order to prevent from an electric shock or
malfunctions.
- Make sure to match U, V, W, FG terminal of drive and motor. It is not allowed to change
the rotation direction by changing 2 wires like the general-purpose motor (induction motor).
- If commercial power is connected to U, V, W, FG terminal of drive, it could be broken.
For the power of main circuit (L1, L2, L3), apply 3 phase 200Vac voltage and for control
power (L1C, L2C), apply the single phase 200Vac voltage. For the power except 200Vac

1-6
1. Identification of Type Name & Handling

voltage, a transformer should be installed.

- N terminal is used when DC power is applied, so if 200Vac voltage is applied, the drive
may be burnt out.
- Make sure to connect the standard regenerative resistance to P, B terminal of drive

1-7
 Chapter 2
Wiring & Connections

Chapter 2 describes wiring of main circuit, input & output signals connections and connections

with peripherals of the Servo Drive.

2.1 Wiring of main circuit and peripherals……………………………..2-1

2.2 Wiring of main circuit terminal plug………………………………. 2-5

2.3 Input & Output signals of CN1……………………………………… 2-11

2.4 Wiring and Signals of ENC(CN2)……………………………………..2-16

2.5 Wiring and Signals of COM(CN3)…………………………………….2-18

2.6 Wiring and Signals of LAN Ports…………………………………….2-19

2. Wiring & Connections

2.1 Wiring of main circuit and peripherals

2.1 explains wiring of main circuit and peripherals. Keep in mind following warnings or

dangers when wiring.

！ Danger

 Do not open the surface cover during operation either under live electricity, otherwise it may
cause an electric shock.
 Do not operate with the surface cover open, otherwise it may cause an electric shock
because high voltage terminals and a charging part are exposed.
 Do not take the surface cover out even under power-off except wiring or periodical
inspection, otherwise it may cause an electric shock because the inside of the Servo drive is
already charged.
 Start wiring or inspection only after over 10 minutes from power-off and checking its voltage
by a tester etc.
 Connect ground terminals of the Drive and Motor toward the Drive, and ground them at the
shortest distance altogether. Do the 3 class ground(below 100 ) in order to prevent an
electric shock and malfunctions.
 Only authorized experts are allowed to do wiring and inspection
 Do wiring only after installing the main body otherwise it may cause an electric shock or
injury.
 Do not touch any key to operate with wet hands, otherwise it may cause an electric shock or
injury
 Do not damage either put excessive stress on cables. Do not put heavy things on cables
either jam it with other things, otherwise it may cause an electric shock or injury.

！ Warning

 Use standard wires only otherwise the Servo motor may not function
 Do not install any shunt power capacitor, serge absorber or radio noise filter at output of the
Servo drive.
 Connect output terminals (U,V,W,FG) correctly otherwise the motor may malfunction.
 When mounting a DC relay on the output signal control part, pay attention to a direction of
the serge absorbing diode, otherwise the Servo motor may not output signals, or its
protection circuit may not function at emergency. Please refer to instruction manual for diode
directions.

2-1
2. Wiring & Connections

2.1.1 Connection of main circuit and peripherals

Servo drive :
Power Specification : 3 Phase The Servo’s life is affected by
Use 3 phase AC200~230V which the Servo motor surrounding temperature. Keep
AC 200 ~ 230V surrounding temperature average
allows. If the main power is AC 400V, a power
transformer must be used. 50~60Hz 40 but below 50 .
R S T

LAN connector(RJ-45) :
NFB(No Fuse circuit breaker) : A connector to connect the Servo drive to
It automatically cuts the circuit when over current NFB EtherCAT Master modules.
is loaded. Only use it when repair power lines
only.

CN3 :
A connector for serial communication
of the Servo drive. (PC communication,
Digital loader etc)

Noise filter :
It is necessary to cut external noise inflowing
from commercial electricity.
NOISE
FILTER
CN1 :
A connector to connect the Servo
drive to digital I/O.

Magnetic contactor :
It powers On/Off of the Servo motor. Do Magnetic
not try to operate either stop the Servo Contactor
with this contactor otherwise it may
cause a life shortening of the Servo.

CN3
L1
L2
L3
L1C
L2C CN1

Wiring : Built-in(out) ENC(CN2)

Wrong wiring may damage the Servo. Control
signal lines must be apart from main circuit wires
with enough distance, and it is very important that
wiring shouldn’t be affected by any noise.
U V W FG

Grounding :
Terminals of the drive and motor
must be grounded with the 3
class resistance(100 or more)
with the shortest distance in
order to prevent an electric
shock.

Wiring of the motor power:

Terminals U.V.W.FG of the Drive
and Motor must be matched
each.
Motor :
Do not give a shock to the motor
Wiring of the Encoder : shaft either detector by a hammer etc.
Connect the Encoder’s connector.

◆ If the main power is DC voltage, load DC280~325V between “P(+)” and “N(-)”.

◆ Do not load AC power on “P(+)” either on “N(-)”. If the main power is DC, loading AC

power will damage the Servo drive because the terminal N supplies (-) voltage and the

terminal P supplies (+) voltage.

2-2
2. Wiring & Connections

2-3
2. Wiring & Connections

2-4
2. Wiring & Connections

2.2 Wiring of main circuit terminal plug

2.2.1 Wiring of small capacity main circuit terminal plug

[ EDA7001 ~ EDA7004 main circuit terminal plug ]

Application and wiring method of each terminal of model EDA7001 ~EDA7004 are as follows.

1) Terminal L1 and L2 are main power of the power circuit. Terminal L1C and L2C are control

power of the power circuit. Load single phase AC200~230[V] on each terminal.

2) Connect a regenerative resistor between terminals marked P and B

3) Connect terminals of U,V,W to those of U,V,W of the Servo motor respectively.

4) Ground the FG terminal. Connect the ground cable of the servo motor to this terminal.

AC Servo Drive EDA7001/7002 EDA7004

Cable thickness AWG #16(1.25mm2)

Switch GMC-12(13A) or equivalent

Breaker ABS33b(5A) or equivalent

Noise Filter NFZ-4030SG(30A), P3B4030-DA(30A)

External regenerative resistor 50W 50 70W 50

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♥ Noise Filter : Samil EMC, http://www.samilemc.com, OKY (http://www.oky.co.kr),

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2.2.2 Wiring of medium capacity main circuit terminal plug

[ EDA7010 Main circuit terminal plug]

2-5
2. Wiring & Connections

Application and wiring method of each terminal of model EDA7010 are as follows.

1) Load 3 phase AC 200~230[V]on terminal L1. L2 and L3 which are main power of the
power circuit.
2) Load single phase AC200~230[V] on terminal L1C and L2C which are control power of the
power circuit.
3) A built-in type regenerative resistor is connected between terminals marked P and B from
factory.
4) Connect terminals of U,V,W to those of U,V,W of the Servo motor respectively.
5) Ground the FG terminal. Connect the Ground cable of the Servo motor to this terminal.
6) If the main power is DC voltage, load DC280~325V between “P(+)” and “N(-)”
7) Do not load AC power on “P(+)” either on “N(-)”. If the main power is DC, loading AC
power will damage the Servo drive because the terminal N supplies (-) voltage and the
terminal P supplies (+) voltage.

AC Servo Drive EDA7005 EDA7010

Cable thickness AWG #14 (2.0mm2) AWG #12 (3.5mm2)

Switch GMC-40(35A) or equivalent

Breaker ABS33b(5A) or equivalent ABS33b (10A) or equivalent

Noise Filter NFZ-4030SG(30A), P3B4030-DA(30A)

Regenerative resistor Built-in type 70W 50

♥ Switch and Breaker : LS Industrial System (http://www.lsis.biz)

♥ Noise Filter : Samil EMC, http://www.samilemc.com, OKY (http://www.oky.co.kr),

Orinent electronic (http://www.suntronix.com )

※ Wiring of small/medium capacity sockets should be done according to following order.

ⓐ After checking the thickness as shown in 2.2.1, peel off the sheath of cable.

- Keep the length of the cable peeled off less than 8~9mm
- Thicknesses of cable allowed are as follows
Type of cable Thickness allowed

Single line 0.5 ~ 0.8[mm]

Double line AWG28 ~ AWG12

ⓑ After peeling off the sheath of cable, fit a phenol terminal in the cable core part, and press it

2-6
2. Wiring & Connections

by a presser for a safety even though you can use it without a phenol terminal.

Cable
Phenol terminal

Sock

Leve

ⓒ Open an insert hole of the terminal plug using a lever as the above figure.

ⓓ Insert the cable core part into the open hole and leave the lever.

ⓔ Check the connection status of the socket and the cable by pulling the lever slightly.

ⓕ If the cable inclusive the sheath is not inserted completely, it may cause an electric shock.

Thus double check any exposure of the cable core part.

2.2.3 Wiring method of high capacity main circuit terminal plug

L1C L2C U V W

L1 L2 L3 P B

[ EDA7015 ~ EDA7045 Main circuit terminal plug ]

Application and wiring method of each terminal of Model EDA7015 ~ EDA7045 are as follows.

1) Load 3 phase AC200~230V on terminal L1, L2 and L2 which are main power of the power
circuit.
2) Load single phase AC200 ~230V on terminal L1C and L2C which are subsidiary power of

2-7
2. Wiring & Connections

the power circuit.

3) Connect a regenerative resistor between terminals marked P and B.
4) Connect terminals of U,V,W to those of U,V,W of the Servo motor respectively.
5) Ground the FG terminal. Connect the ground cable of the Servo motor to this terminal.

AC Servo Drive EDA7015 EDA7020 EDA7030 EDA7045

Cable thickness AWG #12(3.5mm2) AWG #10 (5.5mm2)

Switch GMC-40(35A) GMC-50(50A) or equivalent

ABS33b ABS33b ABS33b (30A)

Breaker
(10A) (20A) Or equivalent

NFZ-4030SG NFZ-4040SG
Noise Filter
(30A) (40A)

Built-in type 250W 25 250W 25 Parallel 2 PCS

regenerative resistor (Outline drawing A) (Outline drawing A)

♥ Switch and Breaker : LS Industrial System (http://www.lsis.biz)

♥ Noise Filter : Samil EMC, http://www.samilemc.com, OKY (http://www.oky.co.kr),

Orinent electronic (http://www.suntronix.com )

239
220

Length:300
길이:300 M4
60

∮4.3

30

<Outline drawing A>

2-8
2. Wiring & Connections

[EDA7015 ~ EDA7045 Main and Subsidiary circuit terminal plug]

Application and wiring method of each terminal of Model EDA7075 ~ EDA7150 are as follows.
1) Load 3 phase AC200~230V on terminal R, S and T which are main power of the power
circuit. And Internal FAN power connected terminal R and T.
2) Load single phase AC200 ~230V on terminal r and t which are subsidiary power of the
power circuit.
3) Connect a regenerative resistor between terminals marked P and B.
4) Connect terminals of U,V,W to those of U,V,W of the Servo motor respectively.
5) Ground the FG terminal. Connect the ground cable of the Servo motor to this terminal.

AC Servo Drive EDA7075 EDA7110 EDA7150

Cable thickness AWG #8 (8mm2) AWG #6 (14mm2) AWG #4 (22mm2)

GMC-100(100A)
Switch GMC-85(80A) or equivalent
or equivalent

ABS53b (50A) ABS63b (60A) ABS103b (100A)

Breaker
or equivalent or equivalent or equivalent

Noise Filter FT3RE-4060 (60A) FT3RE-4080 (80A)

250W 25Ω 800W 8Ω 1kW 6Ω

Built-in type Parallel 4EA Parallel 2EA Parallel 2EA,
regenerative resistor External type External type External type
(Outline drawing B) (Outline drawing C) (Outline drawing C)

♥ Switch and Breaker : LS Industrial System (http://www.lsis.biz)

♥ Noise Filter : Samil EMC, http://www.samilemc.com, OKY (http://www.oky.co.kr),

Orinent electronic (http://www.suntronix.com )

2-9
2. Wiring & Connections

<Outline drawing B>

<Outline drawing C>

2-10
2. Wiring & Connections

2.3 Input and output signals of CN1

2.3.1 Terminal array of CN1

CN1 is a connector placing on right upper part of front side of the driving gear. This

connector is applied to connect the driving gear to the master control equipment which

commands its functions. Name and pin array of CN1 connector are as following table.

♥ Above table shows initial standard signals set by factory.

◆ Connector for CN1 is optional

- Manufacturer :

3M : Case: 10326-52F0-008, Connector(soldering type) : 101260-3000VE

2-11
2. Wiring & Connections

2.3.2 Wiring of Input and Output of CN1

(Note)1: NF refers Noise Filter which must be used in order to prevent a noise from outside.

(Note)2: Load single phase AC220[V] on terminal L1C and L2C of model EDA7001 ~ 7045.

(Note)3: Regenerative resistor for EDA7005/7010 is a built-in type, and is built inside the Drive.

Regenerative resistor for EDA7001/7002/7004 and above EDA7015 is a standalone type, so

apply it only after checking its capacity allowed.

(Note)4: FG(Frame Ground) must be grounded with the Ground cable of CN1.

2-12
2. Wiring & Connections

2.3.3 Function table of Input signals

입력 접점 신호의 기능은 다음 표와 같습니다.

입력 접점들은 각 접점의 성격에 따라 A 접점과 B 접점이 있으니 확인하고 사용하십시오.
접점 입력에는 직류 +24[V], 1[A] 이상의 외부 전원을 +24[V] 전원 입력 단자(CN1-25)에 연
결하여 사용합니다.
--- 번역해야 함. --

+24VIN (CN1-25)
+24[V]
Servo Drive
INPUT Signal

입력 접점 배선방법(예)

Signal type Name Pin Application and usage

Reserved Reserved 7 Reserved

Reserved Reserved 20 Reserved
Reserved Reserved 8 Reserved
Suddenly drop the motor speed and stops the motor
Emergency Stop driving regardless of any input status of the Servo
E-STOP 21
signal drive when external emergency occurs.
ON/OFF selection is available at P02-26.
CW limit Being used as a low limit signal and a limit signal of
signal/Prohibit CW LIMIT 9 the reverse direction when return to Home.
Reverser Rotation ON/OFF selection is available at P02-31
CCW limit Being used as a high limit signal and a limit signal of
signal/Prohibit CCW LIMIT 22 normal direction when return to Home.
Normal Rotation ON/OFF selection is available at P02-32.
Reserved Reserved 10 Reserved

♥ Function change of Input contact points is not available.

2-13
2. Wiring & Connections

2.3.4 Function table of Output signals

출력 접점은 내부적으로 트랜지스터 스위치를 사용하고 있습니다. 과전압이나 과전류는

파손의 원인이 되므로 주의하여 주십시오. ( 사용 전원 : DC +24[V] ±10% )

전자 브레이크 신호는 모터에 내장된 전자 브레이크 구동을 위한 신호로써 이 출력이 ON

되면 전자 브레이크에 전원을 공급하여 브레이크가 풀리도록 시퀀스를 구성해야 합니다. 그

외의 신호들은 구동 장치 및 모터의 상태를 알리는 출력들입니다. 각각의 기능은 다음 표와

같습니다.

I/O GND24
Servo
인터페이
+ Drive
스용 전원 BRAKE

전자 +
브레이크 + M1 전자브레이크
전용 전원
-
[ I/O 인터페이스용 전원 ≠ 전자 브레이크 전용 전원 ]

출력접점 배선방법(예)

㈜ M1 은 브레이크 구동용 외부 Relay 입니다.

㈜ 전자 브레이크 전원은 인터페이스용 DC 24[V] 전원과 공용으로 사용하지 마십시오.

반드시 전자 브레이크 전용 전원을 사용하십시오.

Signal type Name Pin No. Application and usage

- - 23 No application
An output signal for driving external brake.
Brake driving BRAKE 11 Motor starts to drive with a power loaded on the
brake when Servo is ON.
Position/Torque INPOS/
24 It sets ON when reach commanded position/Torque
reach complete INTRQ
Zero Speed
ZSPD 12 Indicates stop status of the Servo motor
status
Servo Ready RDY 13 Status of No alarm, Power good when Power ON

♥ Function change of Output contact points is not available.

2-14
2. Wiring & Connections

2.3.5 Function table of other signals

Signal type Name Pin No. Application and usage

Input Analog Analog

15 Inputs Analog Commands
Commands COM
Variable value set through DA converter is being
Monitor output within accuracy 0~5[V]. [Monitor selection] 0:
MONIT1 16
output 1 Speed, 1:Command Speed,2: Torque, 3: Command
Torque,4: Pulse,5: Command Pulse

Variable value set through DA converter is being

Monitor output within accuracy 0~5[V]. [Monitor selection] 0:
MONIT2 2
output 2 Speed, 1:Command Speed,2: Torque, 3: Command
Torque,4: Pulse,5: Command Pulse
PAO,NAO 4,17 Outputs encoder signals of the motor received from
Encoder
PBO,NBO 6,5 CN2 by line drive method after dividing it by the
output
PCO,NCO 19,18 division rate set on the division Setup menu.

A Power for external input/output contact. Load

external power +24[VDC]10% 1.0[A] or more(User
+24[V] +24VIN 25 preparation)
Power Input ◆ Recalculate the power capacity according to
number of output contacts when use this as a power
for input/output contacts simultaneously.

+24[V] GND GND24 26 Connect the Ground of +24[VDC]10%, a power for

external input/output contacts(User preparation)

0[V] AGND 1,3 A Power Common Ground terminal of Analog

Command and Monitor output terminals.

Frame
FG 14 Grounds the Ground cable of CN1.
Ground

♥ Function change of Input/output contacts is not available.

2-15
2. Wiring & Connections

2.4 Wiring and Signals of ENC(CN2)

2.4.1 When using 17bit Absolute/Incremental Encoder

ENC(CN2) is a connector placed on right center of front side of the driving gear. This
connector is applied to connect the driving gear to the encoder of the Servo motor. Pin array
viewed from user’s connector is as following Fig.
PIN Signal
(note) Shield signal is connected to 10-Pin and 1 -
not connected to the metal part of the 2 -
connector. 3 -
4 -
5 GND
1 2 6 /SD
3 4 7 -
5 GND 6 /SD 8 SD
7 8 SD 9 VCC
9 VCC 10 Shield 10 Shield

[View from soldering side of user’s connector ] [View from Drive connector]

[ View from Drive encoder cable side ]

PIN Signal PIN Signal PIN Signal

1 SD A - K Batt.+
2 /SD B - L Batt.-
3 Batt.+ C - M -
4 Batt.- D - N FG
CASE : 5 VCC E - P SD
AMP 172161-1 CAP (9 Circuits)
PIN :
6 GND MS 3108A/B20-29S F - R /SD
7 FG MS Connector G GND S -
AMP 170362-1 (female)

Applied model :
8 Shield Applied model :
H VCC T -
Frange 40, 60, 80 9 - Frange 130, 180, 220 J Shield

[ View from Motor encoder cable side ]

Encoder cable shield net

F.G. (7,N)

Shield(8,J) Shield(10)
[ Drive side ]
[ Motor side ]

(note) Motor side F.G.(7, N) and Shield(8, J) pins is connected to the encoder cable Shield net.
Encoder cable Shield net is connected to the drive side of the Shield(10) Pin.
[ F.G./Shield Wiring ]

2-16
2. Wiring & Connections

◆ Connector for ENC(CN2) is optional.

- Manufacturer
3M : Case: 36210-0100FD, Connector(for soldering) : 36310-3200-008
Molex : Case: 54593-1019, Connector(for soldering) : 54599-1019
Wiring of ENC(CN2) and 17bit Absolute Value Encoder of AC Servo motor of FMA series is as
following table.

Connector Pin No. for Connector Pin No. for Encoder

ENC(CN2) Encoder of Motor side of Motor side
Signal name
Pin No.
(□60,80 series) (□130,180 series)
1
2
3
4
5 GND 6 G
6 /SD 2 R
7
8 SD 1 P
9 VCC 5 H
10 F.G. 7/8 J/N

♥ Applicable cable specification: AWG24 x 5 Pair Twist Shield Cable(Max. length 20m)

2-17
2. Wiring & Connections

2.5 Wiring and Signals of COM(CN3)

2.5.1 Array of COM(CN3) terminal

COM(CN3) is a connector placing on middle of front side of the driving gear. This connector is
applied to connect the driving gear to master equipments or peripherals by serial
communication.

◆ Connector for COM(CN3) is optional

-Manufacturer: 2M, code of the case: 10314-52F0-008, Connector(for soldering): 10114-3000VE

2.5.2 Communication cable for RS232C

◆ Solder the shield cable core on a body of the connector 10114-3000VE only, not connect it
to a body of the D-Sub 9Pin connector when assemblying RS232C communication cable.
(When both connectors are soldered, it may cause a communication disorder)

2-18
2. Wiring & Connections

2.6 Wiring and Signals of LAN Ports

2.6.1 Array of LAN Ports

Two standard Ethernet connection RJ-45 modular connectors are provided for the EtherCAT
communication with host decice. Connect IN to the host device and OUT to the next slave
device. Use twisted-pair cables that satisfy at less [Category 5e] to connect the cable.

IN, OUT Port Terninal No. Signal Description

1 TX+ Transmitting signals +
2 TX- Transmitting signals -
3 RX+ Receiving signal +
4 - -
5 - -
6 RX- Receiving signal -
7 - -
8 - -

2.6.2 Wiring diagram

2-19
 Chapter 3
EtherCAT Communication

Chapter 3 describes the technical specifications for the network communication construction

method. Detailed Information of EtherCAT can be obtained from the following ETG(EtherCAT

Technology Group) website:

http://www.ethercat.org

3.1 Introduction............................................................................................ 3-1

3.2 EtherCAT Connections ............................................................................ 3-1

3.3 EtherCAT Indicator ................................................................................. 3-3

3.4 EtherCAT State Machine ......................................................................... 3-5

3.5 Synchronization with Distributed Clock ..................................................... 3-6

3.6 EtherCAT(CoE) Device Architecture ......................................................... 3-9

3.7 EtherCAT Addressing Mode .................................................................. 3-14

3. EtherCAT Communication

3.1 Introduction

The EtherCAT technology overcomes the system limitations of other Ethernet solutions: The

Ethernet packet is no longer received, then interpreted and copied as process data at every

connection. Instead, the Ethernet frame is processed on the fly: the newly developed FMMU

(fieldbus memory management unit) in each slave node reads the data addressed to it, while

the telegram is forwarded to the next device. Similarly, input data is inserted while the telegram

passes through. The telegrams are only delayed by a few nanoseconds.

3.2 EtherCAT connections

The EtherCAT is a basically Ethernet-based fieldbus system. So the master and slave does not

need any special cable for EtherCAT communication.

3.2.1 EtherCAT IN/OUT Port Terminal

Two standard Ethernet connection RJ-45 modular connectors are provided for the
EtherCAT communication with host decice. Connect IN to the host device and OUT to the
next slave device. Use twisted-pair cables that satisfy at less [Category 5e] to connect the
cable.

IN, OUT Port Terninal No. Signal Description

1 TX+ Transmitting signals +
2 TX- Transmitting signals -
3 RX+ Receiving signal +
4 - -
5 - -
6 RX- Receiving signal -
7 - -
8 - -

IN/OUT Port Terminal

3-1
3. EtherCAT Communication

I
=> EtherCAT IN
N

O
U => EtherCAT OUT
T

Port0 = EtherCAT IN
Port1 = EtherCAT OUT
Port2 = None
Port3 = None

IN/OUT Terminal and ESC(EtherCAT Slave Controller) Port

3.2.2 Wiring diagram

IN/OUT Port wiring

3-2
3. EtherCAT Communication

3.3 EtherCAT Indicator

The servo drive has three indicators standardized by EtherCAT specifications. EtherCAT

indicators are important to support visual inspection and troubleshooting of networks. EDA7000

series has Port 0/1 Link/Activity and RUN indicator for EtherCAT.

3.3.1 Indicator position and flash rate

Indicator flash rates

3-3
3. EtherCAT Communication

EtherCAT Status LED

3.3.2 Port 0/1 Link/Activity Indicator

The Link/Activity indicators show the state of the physical link and activity of each port with

on/off/blinking.

The States codes of the Link/Activity Indicator are shown below.

Link Activity Condition Link/Activity Code

Yes No Port open On

Yes Yes Port open Flickering

No (Not applicable) Port closed Off

Link/Activity Indicator

3.3.3 RUN Indicator

The RUN indicator shall show the state of the EtherCAT State Machine with off/blinking/single
flash/on.
Explains the RUN indicator below table.
RUN Indicator states Slave State Description
Off INITIALISATION The device is in state INIT
Blinking PRE-OPERATIONAL The device is in state PRE-OPERSTIONAL
Single Flash SAFE-OPERATIONAL The device is in state SAFE-OPERTIONAL.
On OPERATIONAL The device is in state OPERATIONAL

Run Indicator

3-4
3. EtherCAT Communication

3.4 EtherCAT State Machine

The EtherCAT State Machine (ESM) is responsible for the coordination of master and slave
applications at start up and during operation. State changes are typically initiated by requests of
the master. The states of the EtherCAT State Machine are as follows.

There are four states an EtherCAT slave shall support, plus one optional state:
 Init
 Pre-Operational
 Safe-Operational
 Operational
 Bootstrap(optional)
The State Machine are as follows.

EtherCAT State Machine

3.4 State Machine Service

The EtherCAT State Machine defines required service. Before a state change is confirmed by

the slave all services required for the requested state have to be provided or stopped

respectively. Here is the active service of each state in Table

3-5
3. EtherCAT Communication

State Services
 No mailbox communication is possible.
INIT  No process data communication is possible.
 Master configures DL Address and SyncManager channels for
Mailbox communication.
 Master initializes DC clock synchronization.
INIT TO PREOP  Master requests ‘Pre-Operational’ state.
 Master sets AL Control register.
 Slave checks whether the mailbox was initialized correctly.
 Mailbox communication is possible.
PREOP  No process data communication is possible.
 Master configures SyncManager channels and FMMU channels
for process data.
 Master configures PDO mapping and the sync manager PDO
assignment parameters via SDO.
PREOP TO SAFEOP  Master requests ‘Safe-Operational’ state.
 Slave checks whether the sync manager channels for process
data communication and, if required, the distributed clocks
settings are correct.
 Mailbox communication is possible.
SAFEOP  Process Data communication is possible, but only Inputs are
evaluated – Outputs remain in ‘Safe’ state.
 Master sends valid Outputs.
SAFEOP TO OP  Master requests ‘Operational’ state.
 Mailbox communication is possible.
OP  Process data communication is possible.
 Optional, but recommended if firmware update are
necessary.
 State changes only from and to INIT
 No Process Data communication
BOOT  Mailbox communication on Application Layer, only FoE
protocol available(possibly limited “file” range))
 Special mailbox configuration possible

※EDA7000 don’t support BOOT state and FoE.

State Machine Service

3.5 Synchronization with Distributed Clock

The Distributed Clock is the synchronization mechanism of EtherCAT communication.

DC clock synchronization enable all EtherCAT devices(master and slaves) to share the same

EtherCAT System Time.

The Distributed Clocks(DC) unit of EtherCAT slave controllers supports the following features

3-6
3. EtherCAT Communication

 Clock synchronization between the slaves(and the master)

 Generation of synchronous output signals(SyncSignals)

 Precise time stamping of input events(LatchSignals)

 Generation of synchronous interrupts

 Synchronous Digital Output updates

 Synchronous Digital Input sampling

3.5.1 Communication Timing

The EDA700 servo drive synchronize internal applications to Sync0 event which are generated

reference clock. The following synchronization modes are available in the EtherCAT(CoE)

Network Module for the EDA7000.

The synchronization mode can be changed by Sync Control register(ESC register 0x0980 ~

0x0981) and the differences between the synchronous type mode can be identified by the Sub-

index combination the CoE Object Dictionary 0x1C32 and 0x1C33.

possible frame jitter (~us) due to EtherCAT Master implementation

EtherCAT frame
EtherCAT Frame EtherCAT Frame EtherCAT Frame
(jitter:~us)

DC Sync events
DC Sync event DC Sync event DC Sync event
(jitter:~ns)

Slave Task Slave Task Slave Task Slave Task Slave Task
Free Run
(no synchronization)
Local timer event Local timer event Local timer event Local timer event Local timer event

Slave Task Slave Task Slave Task Synchronous

with SM Event
SM2/3 event SM2/3 event SM2/3 event (jitter : ~us)

Slave Task Slave Task Slave Task Synchronous

with DC SYNC Event
DC Sync event DC Sync event DC Sync event (jitter : ~ns)

Differences between synchronization on the slaves(simplified)

3-7
3. EtherCAT Communication

 Free-Run

The EtherCAT slave application does not synchronize with sync signal.

 DC Mode(Sync0 Event Synchronous Mode)

The EtherCAT slave application synchronize with Sync0 and Sync1 signal.

EDA7000 series can be synchronized to the EtherCAT master with the Sync0 event.

The follow figure is diagram of communication with DC Sync signal.

SM2 Event Sync0 Event SM2 Event Sync0 Event
Frame Frame
1C32:02(Cycle Time)

1C32:05(Min Cycle Time)

Output Valid 1C33:06(Calc+Copy Time)

1C32:06(Calc+Copy Time)
Input Latch
1C32:09(Delay Time)

Local Cycle Synchronous to Sync0 Event

All object and data related to synchronous can be obtained from “Setting Servo Parameters”

chapter. The index of object is 0x1C32 ~ 0x1C33.

3-8
3. EtherCAT Communication

3.6 EtherCAT(CoE) Device Architecture

The following figure shows the EtherCAT(CoE) architecture of the EDA7000 series.

EtherCAT(CoE) Slave Device Architecture

The EtherCAT Slave Device is composed of the EtherCAT communication in the data link layer

and CANopen drive profile(DS402) in the application layer.

3.6.1 Object Dictionary

The Object Dictionary in the application layer includes parameters, application data, and PDO

mapping information between the process data and the application data. The Object Dictionary

of EDA7000 series applied CiA402(DS402) profile. More detail information about Object

Dictionary can be obtained from “Setting Servo Parameters” chapter.

3.6.2 PDO/SDO and CoE Message Type

EDA7000 series servo drive support CoE (CANopen over EtherCAT) with two methods

3-9
3. EtherCAT Communication

provided for accessing the Object Dictionary. The process data object(PDO) is composed of the

object dictionary that is defined by PDO mapping. In the Data Link Layer, the process data

communication is cyclic communication to write and read the PDO and the mailbox

communication(SDO) is acyclic communication to write and read the object dictionary.

EDA7000 series servo drive support two SDO Message types( SDO request, SDO Response)

for accessing the Object Dictionary.

CoE Message Type is shown below.

Type Value EDA7000 support Description

2 ○ SDO Request

CoE Message Type 3 ○ SDO Response

8 - SDO information

CoE Message Type

3.6.3 SyncManager

SyncManagers enable consistent and secure data exchange between the EtherCAT master

and the local application, and they generate interrupts to inform both side of changes.

SyncManager are configured by the EtherCAT master. The communication direction is

configurable, as well as the communication mode( Buffered Mode and Mailbox Mode).

SyncManager use a buffer location in the memory area for exchanging data. Access to this

buffer is controlled by hardware of the SyncManagers.

Sync Manager Assignment Start Address

Sync Manager 0 Receive Mailbox 0x1800
Sync Manager 1 Transmit Mailbox 0x1C00
Sync Manager 2 Receive PDO 0x1100
Sync Manager 3 Transmit PDO 0x1400

Sync Manager Assignment of EDA7000 series

Two (2) communication modes are supported in SM.

3-10
3. EtherCAT Communication

 Buffer Mode
Buffer mode enables access to the communication buffer at any time on both the
EtherCAT master and slave side. The reception side can always Read the latest buffer
written on the transmission side. The transmission side can always update the buffer
value. However, old data will be dropped when the Write buffer is faster than the Read.
Buffer mode is generally used for cyclic process data.

.
SyncManager Buffered Mode

 Mailbox Mode
The Mailbox Mode implements a handshake mechanism for data exchange, so the
data will not be lost in mailbox mode. Each side, EtherCAT master or local application,
will get to the buffer only when the other side has finished its access.
At first, the producer writes to the buffer and the buffer is locked for writing until the
consumer has read it out. Mailbox mode generally used as an application layer
protocols( ex. SDO)

SyncManager Mailbox Mode

3-11
3. EtherCAT Communication

3.6.4 FMMU

Fieldbus Memory Management Units(FMMU) convert logical address into physical address by

the mean of internal address mapping. Thus, FMMUs allow to use logical addressing for data

segments that span several slave devices: one datagram addresses data within several

arbitrarily distributed ESCs. Each FMMU channel maps one continuous logical address to one

continuous physical address space of the slave.

Logical Address Image

Logical Addressing With FMMU(PDO Access)

3-12
3. EtherCAT Communication

3.6.5 PDO Mapping

PDO Mapping of EDA7000 is fixed and readable via SDO. The PDO mapping tables are

allocated to index 1600h for the RxPDO and 1A00h for the TxPDO in the object dictionary.

The following figure shows a PDO mapping of RxPDO/TXPDO

RxPDO Mapping

TxPDO Mapping

3-13
3. EtherCAT Communication

3.7 EtherCAT Addressing Modes

Two addressing modes of EtherCAT devices are supported within one segment: device

addressing and logical addressing. Three device addressing modes are available: auto

increment addressing, configured station address, and broadcast. EtherCAT devices can have

up to two configured station addresses, one is assigned by the master (Configured Station

Address), the other one is stored in the ESI EEPROM and can be changed by the slave

application (Configured Station Alias address). The EEPROM setting for the Configured Station

Alias address is only taken over at the first EEPROM loading after power-on or reset.

Mode Field Data Type Value/Description

Each slave increments Position.
Auto Increment Position WORD
Slave is addressed if Position = 0.
Address
Offset WORD Local register or memory address of the ESC
Slave is addressed if Address matches Configured
Configured Address WORD Station Address or Configured Station Alias (if
Station Address enabled).
Offset WORD Local register or memory address of the ESC
Each slave increments Position (not used for
Position WORD
Broadcast addressing)
Offset WORD Local register or memory address of the ESC
Logical Address (configured by FMMUs) Slave is
Logical Address Address DWORD addressed if FMMU configuration matches
Address.

EtherCAT Addressing Modes

3.7.1 Device Addressing

The device can be addressed via Device Position Address (Auto Increment address), by Node

Address (Configured Station Address/Configured Station Alias), or by a Broadcast.

3-14
3. EtherCAT Communication

3.7.1.1 Position Address / Auto Increment Address:

The datagram holds the position address of the addressed slave as a negative value. Each

slave increments the address. The slave which reads the address equal zero is addressed and

will execute the appropriate command at receive.

Position Addressing should only be used during start up of the EtherCAT system to scan the

fieldbus and later only occasionally to detect newly attached slaves. Using Position addressing

is problematic if loops are closed temporarily due to link problems. Position addresses are

shifted in this case and e.g. a mapping of error register values to devices becomes impossible,

thus the faulty link can not be localized.

3.7.1.2 Node Address / Configured Station Address and Configured Station Alias:

The configured Station Address is assigned by the master during start up and can not be

changed by the EtherCAT slave. The Configured Station Alias address is stored in the ESI

EEPROM and can be changed by the EtherCAT slave. The Configured Station Alias has to be

enabled by the master. The appropriate command action will be executed if Node Address

matches with either Configured Station Address or Configured Station Alias.

Node addressing is typically used for register access to individual and already identified

devices.

3.7.1.3 Broadcast:

Each EtherCAT slave is addressed.

Broadcast addressing is used e.g. for initialization of all slaves and for checking the status of

all slaves if they are expected to be identical.

Each slave device has a 16 bit local address space (address range 0x0000:0x0FFF is

dedicated for EtherCAT registers, address range 0x1000:0xFFFF is used as process memory)

which is addressed via the Offset field of the EtherCAT datagram. The process memory address

3-15
3. EtherCAT Communication

space is used for application communication (e.g. mailbox access).

3.7.2 Logical Addressing

All devices read from and write to the same logical 4 Gbyte address space (32 bit address field

within the EtherCAT datagram). A slave uses a mapping unit (FMMU, Fieldbus Memory

Management Unit) to map data from the logical process data image to its local address space.

During start up the master configures the FMMUs of each slave. The slave knows which parts of

the logical process data image have to be mapped to which local address space using the

configuration information of the FMMUs.

Logical Addressing supports bit wise mapping. Logical Addressing is a powerful mechanism to

reduce the overhead of process data communication, thus it is typically used for accessing

process data.

3-16
 Chapter 4
Setting Servo Parameters

Chapter 4 describes setting of servo parameters fit for individual purposes and applications.
The setting can be implemented by using EtherCAT Master.
Parameters marked with asterisk(*) are allowable for their modification only under the state of
SERVO OFF.

4.1 Status Display .................................................................................... 4-2

4.2 CoE Communication Objects .......................................................... 4-3

4.3 Manufacture Specific Objects ........................................................ 4-11

4.4 Profile Specific Objects .................................................................. 4-32

4.5 Alarm Display................................................................................... 4-45

4. Setting Servo Parameters

Setting for menus is achievable by using EtherCAT Master. Parameters marked with asterisk(*)
can be modified only when in the case of SERVO OFF.
The nomenclature and abbreviation contained in this Manual have the following meanings;

Nomenclature Meaning (English/Korean)

PC Position Controller 위치 제어기
CC Current Controller 전류 제어기
SC Speed Controller 속도 제어기
LMT Limit 제한
ENB Enable 허용
INIT Initialize 초기화
PROG Program 프로그램
CMD Command 지령
ACCEL Acceleration 가속
DECEL Deceleration 감속
SPD Speed 속도
POS Position 위치
COMPEN Compensation 보상
ABS Absolute 절대치
REV Revolution 회전
ADJ Adjustment 조정
MAX Maximum 최대치
TRQ Torque 토크
MULTI Multiple 다회전
NF Notch Filter 노치 필터
COM Communication 통신
TC Time Constant 시정수
FF Feedforward 전향 보상
ERR Error 오차
ELCTR Electric 전기
NUM Numerator 분자
DEN Denominator 분모

4-1
4. Setting Servo Parameters

4.1 Status Display

This section is to set menus that appear in the display screen when Servo Drive turns ON.
The digit represents the EtherCAT node address of Servo Drive.

<In case of Built-in Mount Loader>

2nd Digit 1st Digit

Two Digits :
EtherCAT node number

Dot :
1st dot : Status of Power
2nd dot : EtherCAT state is OP state.

SW1 : Alarm Reset

SW2 : NONE
SW3 : Drive Firmware Information
SW3 SW2 SW1

Drive firmware version information is as follows;

Here, the first digit means capacity of Servo Drive (_ : small capacity, = : medium capacity, ≡ :
large capacity) and the subsequent numbers represent firmware version. (e.g. “＝７．” －＞
“０１” : medium capacity 7.01 version)

4-2
4. Setting Servo Parameters

4.2 CoE Communication Objects

Property Variable
Index 0x1000 Device Type Data Type
Access PDO Initial value
Sub-Index Description UINT32 RO No 0x00020192
0x00 Displays device type for EtherCAT Servo Drive.
For the EtherCAT CiA402 servo device the Device Type in object 0x1000 is set to
0x00020192.

Bit Description Value Description

31:24 Mode Bit - Manufacture Definition
23:16 Type 0x02 Servo Drive
15:8
Device Profile Number 0x0192 DS402d
7:0

Property Variable
Index 0x1001 Error Register Data Type
Access PDO Initial value
UINT8 RO No 0x00
Sub-Index Description
Data range 0x00 ~ 0xFF
0x00 Indicates error state of slave drive.

Bit Description
0 : No Error
0 Generic error
1 : Error
7:1 Reserved 0

Property Variable
Index 0x1018 Identity Object Data Type
Access PDO Initial value
UINT8 RO No 0x02
Sub-Index Description
Data range 0x00 ~ 0x02
0x00
Number of Entry

The object contains general information about the servo drive.

0x01 INT32 RO NO 0x00000625
Description
Data range 0x80000000 ~ 0x7FFFFFFF
Vendor ID

Vender ID registered in ETG.

0x02 INT32 RO NO 0x69686555
Description
Data range 0x80000000 ~ 0x7FFFFFFF
Product code
Product Code of Servo Drive.

4-3
4. Setting Servo Parameters

Property Variable
Index 0x1600 1st receive PDO mapping Data Type
Access PDO Initial value
UINT8 RO No -
Sub-Index Description
Data range 0x00 ~ 0x02
0x00 Number of Entry
Number of RxPDO object.
0x01 Description UINT32 RO NO 0x60400010
1st mapping data
Index Bit Length Comment
0x6040 Controlword 16 Fixed mapping
0x02 Description UINT32 RO NO 0x60600008
nd
2 mapping data
Index Bit Length Comment
0x6060 Mode of Operation 8 Fixed mapping
0x03 Description UINT32 RO NO 0x60710010
3rd mapping data
Index Bit Length Comment
0x6071 Target Torque 16 Fixed mapping
0x04 Description UINT32 RO NO 0x607A0020
4th mapping data
Index Bit Length Comment
0x607A Target Position 32 Fixed mapping
0x05 Description UINT32 RO NO 0x60FF0020
th
5 mapping data
Index Bit Length Comment
0x60FF Target Velocity 32 Fixed mapping
0x06 UINT32 RO NO -
- Description
Data range 0x00000000 ~ 0xFFFFFFFF
n
6th mapping data
- Reserved
n-th mapping data
Object mapped.

4-4
4. Setting Servo Parameters

Property Variable
Index 0x1A00 1st transmit PDO mapping Data Type
Access PDO Initial value
UINT8 RO No -
Sub-Index Description
Data range 0x00 ~ 0x02
0x00
Number of Entry

Number of TxPDO object.

0x01 Description UINT32 RO NO 0x60410010
st
1 mapping data
Index Bit Length Comment
0x6041 Statusword 16 Fixed mapping
0x02 Description UINT32 RO NO 0x60610008
2nd mapping data
Index Bit Length Comment
0x6061 Mode of Operation Display 8 Fixed mapping
0x03 Description UINT32 RO NO 0x60640020
3rd mapping data
Index Bit Length Comment
0x6064 Position Actual Value 32 Fixed mapping
0x04 Description UINT32 RO NO 0x60770010
4th mapping data
Index Bit Length Comment
0x6077 Target Actual Value 16 Fixed mapping
0x05 UINT32 RO NO -
- Description
Data range 0x00000000 ~ 0xFFFFFFFF
n 5th
mapping data
- Reserved
n-th mapping data
Object mapped.

Property Variable
Index 0x1C12 RxPDO Assign (SM2) Data Type
Access PDO Initial value
UINT8 RW No -
Sub-Index Description
Data range 0x00 ~ 0x04
0x00
Number of Entry

Number of object assigned to RxPDO

0x01
Description UINT32 RW NO 0x1600

Assign1

Index of the PDO object assigned to RxPDO.

0x02 UINT32 RW NO -
- Description
Data range 0x0000 ~ 0xFFFF
4
Assign2
- Reserved
Assign4
Index of the PDO object assigned to RxPDO.

4-5
4. Setting Servo Parameters

Property Variable
Index 0x1C13 TxPDO Assign (SM3) Data Type
Access PDO Initial value
UINT8 RW No -
Sub-Index Description
Data range 0x00 ~ 0x04
0x00
Number of Entry

Number of object assigned to TxPDO

0x01
Description UINT32 RW NO 0x1A00

Assign1

Index of the PDO object assigned to TxPDO.

0x02 UINT32 RW NO -
- Description
Data range 0x0000 ~ 0xFFFF
4
Assign2
- Reserved
Assign4
Index of the PDO object assigned to TxPDO.

4-6
4. Setting Servo Parameters

Property Variable
Index 0x1C32 SM2 Output parameter Data Type
Access PDO Initial value
UINT8 RO No 0x02
Sub-Index Description
Data range 0x00 ~ 0x02
0x00
Number of Entry

0x01 UINT16 RW NO 0x0002

Description
Data range 0x0000 ~ 0x0002
Sync Mode
Sets up synchronous mode.

Value Description
0x00 Not Synchronized : Free Run
0x02 DC Sync0 : SYNC0 Event Synchronization

0x02 UINT32 RO NO 0x000C3500

Description
Data range 0x00000000 ~ 0xFFFFFFFF
Cycle Time Unit ns
Sets up communication cycle time between master and slave.

* Free Run mode (Auto detection by slave) : 0.8ms ~ 10.0ms(max. master cycle time)
0x03 UINT32 RO NO 0x000000
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Shift Time Unit ns

Shift time describes the time between the sync event and the output valid or input latch.
0x04 UINT16 RO NO 0x0005
Description
Data range 0x0000 ~ 0xFFFF
Sync Modes Supported

Bit Description Value

Free-Run Mode 0 : Un-supported
Bit[0]
Supported 1 : Free-Run mode supported
0 : Un-supported
Bit[1] Synchronous Supported
1 : SM2 Event sync support
000 : Un-supported
001 : DC Sync0 Event supported
Bit[4:2] DC Type Supported
010 : DC Sync1 Event supported
100 : Synchronization by slave cycle
00 : Un-supported
Bit[6:5] Shift Settings 01 : Shift support to local timer
11 : Shift support to Sync1
Bit[13:7] Reserved Reserved
0 : Un-supported
Bit[14] Dynamic Cycle Times
1 : Dynamic cycle supported
Bit[15] Reserved Reserved

0x05 UINT32 RO NO 0x000C3500

Description
Data range 0x00000000 ~ 0xFFFFFFFF
Minimum Cycle Time Unit ns

4-7
4. Setting Servo Parameters

The minimum cycle time is supported by slave.

0x06 UINT32 RO NO 0x00030D40
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Calc. and Copy Time Unit ns
Time required of slave drive MCU in order to copy process data to local memory from
SyncManager.
0x08 UINT16 RW NO 0x0000
Description
Data range 0x0000 ~ 0xFFFF
Get Cycle Time Unit -

Value Description
0x0000 Measurement of local cycle time stopped
0x0001 Measurement of local cycle time started

If written again, the measured values are reset.

0x09 UINT32 RO NO 0x00007530
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Delay Time Unit ns
It is time during tigger reception of Sync0 or Sync1 event to be effective in order to do
output of the value by the h/w delay time of slave.
0x0A UINT32 RW NO 0x00000000
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Sync0 Time Unit -
Not supported.
0x0B UINT32 RO NO 0
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Cycle Exceeded Counter Unit -
Not supported.
0x0C UINT32 RO NO 0
Description
Data range 0x00000000 ~ 0xFFFFFFFF
SM Event Missed Counter Unit -
Not supported.
0x0D UINT32 RO NO 0
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Shift Too Short Counter Unit -
Not supported.
0x20 UINT16 RO NO 0
Description
Data range 0x0000 ~ 0xFFFF
Sync Error Unit -
TxPDO mapping is possible at the time SyncManager Event missed or shift time too short
counter support.
Value Description
0x0000 Not sync. Error or unsupported Sync error
0x0001 Sync. Error

4-8
4. Setting Servo Parameters

Property Variable
Index 0x1C33 SM3 Input parameter Data Type
Access PDO Initial value
UINT8 RO No 0x02
Sub-Index Description
Data range 0x00 ~ 0x02
0x00
Number of Entry

0x01 UINT16 RW NO 0x0002

Description
Data range 0x0000 ~ 0x0002
Sync Mode
Sets up synchronous mode.

Value Description
0x00 Not Synchronized : Free Run
0x02 DC Sync0 : SYNC0 Event Synchronization

0x02 UINT32 RO NO 0x000C3500

Description
Data range 0x00000000 ~ 0xFFFFFFFF
Cycle Time Unit ns
Sets up communication cycle time between master and slave.

* Free Run mode (Auto detection by slave) : 0.8ms ~ 10.0ms(max. master cycle time)
0x03 UINT32 RO NO 0x000000
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Shift Time Unit ns

Shift time describes the time between the sync event and the output valid or input latch.
0x04 UINT16 RO NO 0x0005
Description
Data range 0x0000 ~ 0xFFFF
Sync Modes Supported

Bit Description Value

Free-Run Mode 0 : Un-supported
Bit[0]
Supported 1 : Free-Run mode supported
0 : Un-supported
Bit[1] Synchronous Supported
1 : SM2 Event sync support
000 : Un-supported
001 : DC Sync0 Event supported
Bit[4:2] DC Type Supported
010 : DC Sync1 Event supported
100 : Synchronization by slave cycle
00 : Un-supported
Bit[6:5] Shift Settings 01 : Shift support to local timer
11 : Shift support to Sync1
Bit[13:7] Reserved Reserved
0 : Un-supported
Bit[14] Dynamic Cycle Times
1 : Dynamic cycle supported
Bit[15] Reserved Reserved

0x05 UINT32 RO NO 0x000C3500

Description
Data range 0x00000000 ~ 0xFFFFFFFF
Minimum Cycle Time Unit ns

4-9
4. Setting Servo Parameters

The minimum cycle time is supported by slave.

0x06 UINT32 RO NO 0x00030D40
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Calc. and Copy Time Unit ns
Time required of slave drive MCU in order to copy process data to local memory from
SyncManager.
0x08 UINT16 RW NO 0x0000
Description
Data range 0x0000 ~ 0xFFFF
Get Cycle Time Unit -

Value Description
0x0000 Measurement of local cycle time stopped
0x0001 Measurement of local cycle time started

If written again, the measured values are reset.

0x09 UINT32 RO NO 0x00007530
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Delay Time Unit ns
It is time during tigger reception of Sync0 or Sync1 event to be effective in order to do
output of the value by the h/w delay time of slave.
0x0A UINT32 RW NO 0x00000000
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Sync0 Time Unit -
Not supported.
0x0B UINT32 RO NO 0
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Cycle Exceeded Counter Unit -
Not supported.
0x0C UINT32 RO NO 0
Description
Data range 0x00000000 ~ 0xFFFFFFFF
SM Event Missed Counter Unit -
Not supported.
0x0D UINT32 RO NO 0
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Shift Too Short Counter Unit -
Not supported.
0x20 UINT16 RO NO 0
Description
Data range 0x0000 ~ 0xFFFF
Sync Error Unit -
TxPDO mapping is possible at the time SyncManager Event missed or shift time too short
counter support.
Value Description
0x0000 Not sync. Error or unsupported Sync error
0x0001 Sync. Error

4-10
4. Setting Servo Parameters

4.3 Manufacture Specific Objects

Property Variable
Index 0x2000* Drive ID Data Type
Access PDO Initial value
UINT8 RW No by Drive type
Sub-Index Description
Data range 0x01 ~ 0x96
0x00 Set value shown at the table depending on Drive capacity.

Drive Type Value Capacity Drive Type Value Capacity

EDA7001 1 0.1KW EDA7020 20 2.0KW
EDA7002 2 0.2KW EDA7030 30 3.0KW
EDA7004 4 0.4KW EDA7045 45 4.5KW
EDA7005 5 0.5KW EDA7075 75 7.5KW
EDA7010 10 1.0KW EDA7110 110 11.0KW
EDA7015 15 1.5KW EDA7150 150 15.0KW

* This object cannot be set in servo-on state.

Property Variable
Index 0x2001* Encoder ID Data Type
Access PDO Initial value
UINT8 RW No 0x09
Sub-Index Description
Data range 0x09 ~ 0x0A
0x00 Set value shown at the table depending on the user system required.

Encoder Type Value External battery attached

Increment 17bit Serial 0x09 NO

Absolute 17bit Serial 0x0A YES

* External battery : Lithium battery 3.6V 2400mh.

* The battery should be connected connector on the outside in the encoder cable.
* This object cannot be set in servo-on state.

Property Variable
Index 0x2002 Pulse Out Rate Data Type
Access PDO Initial value
UINT32 RW No 0x00008000
Sub-Index Description
Data range 0x00000800 ~ 0x00020000
0x00 It sets the pulse out rate of encoder when outputting in Line Drive type by dividing A, B
phase encoder pulse that is feedback from motor.

Function CN2 Pin No. Function CN2 Pin No. Function CN2 Pin No.

PAO 4 PBO 6 PCO 19

NAO 17 NBO 5 NCO 18

4-11
4. Setting Servo Parameters

Property Variable
Index 0x2003 RS232 Communication Set Data Type
Access PDO Initial value
UINT16 RW No 0x0100
Sub-Index Description
Data range 0x0000 ~ 0xFFFF
0x00 It selects communication speed. Align the value to the communication speed of
transmitting station (main station).

MBS .LSB
15 : 8 7:0
Serial ID Baud rate

Value . Baud rate [bps]

0x00 ~ 0x03 9600
RS232 Communication ID 0x04 ~ 0x07 19200
0x01 ~ 0x1F 0x08 ~ 0x0B 38400
0x0C ~ 0x0F 57600

* During EtherCAT communication, RS232 communication is not allowed.

Property Variable
Index 0x2004* Absolute/Object Lock Set Data Type
Access PDO Initial value
UINT16 RW No 0x0000
Sub-Index Description
Data range 0x0000 ~ 0xFFFF
0x00
MBS .LSB
15 : 8 7:0
ABS Origin Parameter Lock
In th case of application of 17bit absolute
encoder, homing of encoder can be performed. When set 0x01, All manufacture objects are
When set 0x01, Encoder Multi-turn data is not changed.
reset.

* This object cannot be set in servo-on state.

Property Variable
Index 0x2010 Mode Change Time Data Type
Access PDO Initial value
UINT32 RW No 0x0000000A
Sub-Index Description Data range 0x00000001 ~ 0x00002710
Unit 0.1 ms
0x00

4-12
4. Setting Servo Parameters

Property Variable
Index 0x2011 Internal CCW Speed Limit Data Type
Access PDO Initial value
UINT32 RW No by Motor type
Sub-Index Description Data range 0x00000000 ~ 0x0000EA60
Unit 0.1 min-1
0x00 The speed limit in the CCW direction of the servo drive.

Property Variable
Index 0x2012 Internal CW Speed Limit Data Type
Access PDO Initial value
UINT32 RW No by Motor type
Sub-Index Description Data range 0x00000000 ~ 0x0000EA60
Unit 0.1 min-1
0x00
The speed limit in the CW direction of the servo drive.

rpm
Command Speed

Actual Speed
Speed limit

time

Property Variable
Index 0x2013 Brake Speed Data Type
Access PDO Initial value
UINT32 RW No 0x000001F4
Sub-Index Description Data range 0x00000000 ~ 0x000003E8
Unit 0.1 min-1
0x00 This object can be set speed when operate of the attached servo motor brake.

Property Variable
Index 0x2014 Brake Time Data Type
Access PDO Initial value
UINT32 RW No 0x00000032
Sub-Index Description Data range 0x00000000 ~ 0x000003E8
Unit 0.1 ms
0x00
This object can be set time when operate of the attached servo motor brake.
Operating conditions brake (0x2013, 0x2014)
- In case of Servo off by alarm occurrence.
Deceleration by free-run or dynamic brake
rpm

Motor speed
Brake speed (0x2013)

ON
SERVO
On/off
OFF

Brake output ON
signal
OFF

Brake time (0x2014)

4-13
4. Setting Servo Parameters

Property Variable
Index 0x2015 Servo Off Delay Time Data Type
Access PDO Initial value
UINT32 RW No 0x0000000A
Sub-Index Description Data range 0x00000000 ~ 0x00000032
Unit 0.1 ms
0x00 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 object to delay turning the servo off that movement
can be protect.

SERVO OFF
ON/OFF
ON

ON
Brake Output
Signal
OFF

OFF
Internal SERVO
ON/OFF
ON

Servo Off Delay Time (0x2015)

4-14
4. Setting Servo Parameters

Property Variable
Index 0x2016 Notch Filter 1 Mode Data Type
Access PDO Initial value
UINT8 RW No 0x00
Sub-Index Description
Data range 0x00 ~ 0x02
0x00 The operation of the notch filter is set to operate the notch filter to reduce the resonance of
the machinery.

Value Operation explanation

0x00 Do not use the notch filter 1.
0x01 Operate the notch filter 1 in the set resonance frequency and resonance bandwidth.
This is the method of reducing the resonance after automatically detecting the
0x02 resonance frequency, it automatically detects the frequency of which the vibration is
generated and reduces the resonance. (Automatically value from 2 -> 1)

Property Variable
Index 0x2017 Notch Filter 1 Frequency Data Type
Access PDO Initial value
UINT32 RW No 0x00000BB8
Sub-Index Description Data range 0x000001F4 ~ 0x00004E20
Unit 0.1 Hz
0x00 This sets the notch filter frequency 1 to reduce the resonance of the machinery.

[dB]

Notch filter Bandwidth [%]

[0x2018, 0x201B]

100 [%]

Notch filter frequency [Hz] [Hz]

[0x2017, 0x201A]

Property Variable
Index 0x2018 Notch Filter 1 Bandwidth Data Type
Access PDO Initial value
UINT32 RW No 0x000003B6
Sub-Index Description Data range 0x00000064 ~ 0x000003E7
Unit 0.1 %
0x00 It shows the certain gain bandwidth where the notch filter 1 operate to reduce the resonance of
machinery.

[dB]

-3

450 500 550 [Hz]

4-15
4. Setting Servo Parameters

Property Variable
Index 0x2019 Notch Filter 2 Mode Data Type
Access PDO Initial value
UINT8 RW No 0x00
Sub-Index Description
Data range 0x00 ~ 0x01
0x00 The operation of the notch filter is set to operate the notch filter to reduce the resonance of
the machinery.

Value Operation explanation

0x00 Do not use the notch filter 2.
0x01 Operate the notch filter 2 in the set resonance frequency and resonance bandwidth.

Property Variable
Index 0x201A Notch Filter 2 Frequency Data Type
Access PDO Initial value
UINT32 RW No 0x00001388
Sub-Index Description Data range 0x000001F4 ~ 0x00004E20
Unit 0.1 Hz
0x00 This sets the notch filter frequency 2 to reduce the resonance of the machinery.

[dB]

Notch filter Bandwidth [%]

[0x2018, 0x201B]

100 [%]

Notch filter frequency [Hz] [Hz]

[0x2017, 0x201A]

Property Variable
Index 0x201B Notch Filter 2 Bandwidth Data Type
Access PDO Initial value
UINT32 RW No 0x000003B6
Sub-Index Description Data range 0x00000064 ~ 0x000003E7
Unit 0.1 %
0x00 It shows the certain gain bandwidth where the notch filter 2 operate to reduce the resonance of
machinery.

[dB]

-3

450 500 550 [Hz]

4-16
4. Setting Servo Parameters

Property Variable
Index 0x201C Torque Filter Time Constant Data Type
Access PDO Initial value
UINT32 RW No by drive type
Sub-Index Description Data range 0x00000000 ~ 0x00002710
Unit 0.1 ms
0x00 Filter time constant for torque command in the servo drive.

Property Variable
Index 0x201D Auto Tuning Data Type
Access PDO Initial value
UINT8 RW No 0x00
Sub-Index Description
Data range 0x00 ~ 0x01
0x00 In Auto Tuning, Position proportional Gain, Speed control loop Gain, Speed integral time
constant and Torque command filter time constant shall be set by setting System
response[0x201E], and the System inertia ratio[0x201F] shall be set by Auto Tuning Mode
which is an automatic control part.

Start

Default value running

No
Load change ?

Yes

Auto tuning [0x201D] = “0x01”

Repeat acceleration/deceleration
running : more than 500rpm

Yes
Running OK ?

No
System response[0x201E]
-> manual input

Yes
Running OK ?

No
Auto tuning [0x201D] = “0x00” Tuning result
System response [0x201E] -> save
manual input

End

4-17
4. Setting Servo Parameters

Property Variable
Index 0x201E System Response Data Type
Access PDO Initial value
UINT8 RW No By drive type
Sub-Index Description
Data range 0x00 ~ 0x13
0x00 The system response setting is to set the response to the target of the machine system.

Position Position Speed Speed Speed Speed

System Torque
Control P Control P Control Control Control Control
Response Filter TC
Gain 1 Gain 2 loop gain 1 TC1 loop gain 2 TC2
[0x201E] [0x201C]
[0x2042] [0x2043] [0x2034] [0x2035] [0x2036] [0x2037]
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

Property Variable
Index 0x201F Inertia Ratio Data Type
Access PDO Initial value
UINT16 RW No 0x0014
Sub-Index Description Data range 0x000A ~ 0x01F4
Unit x 0.1
0x00 This parameter sets the servo motor attached to a mechanical load ratio.

system inertia[0x 201F] ( motor inertia  load inertia )

Load inertia rate 
motor inertia

4-18
4. Setting Servo Parameters

Property Variable
Index 0x2020 Gain Adjust Speed 1 Data Type
Access PDO Initial value
UINT32 RW No 0x00001F40
Sub-Index Description Data range 0x00000064 ~ 0x0000C350
Unit 0.1 mm-1
0x00 When executing the control gain conversion by operation speed of the servo motor, it decides the
speed converted by the control gain.

Property Variable
Index 0x2021 Gain Adjust Speed 2 Data Type
Access PDO Initial value
UINT32 RW No 0x000003E8
Sub-Index Description Data range 0x0000000A ~ 0x00001388
Unit 0.1 mm-1
0x00 When executing the control gain conversion by operation speed of the servo motor, it decides the
speed converted by the control gain.

Property Variable
Index 0x2022 Gain Adjust Torque 1 Data Type
Access PDO Initial value
UINT32 RW No 0x000005DC
Sub-Index Description Data range 0x000001F4 ~ 0x00000BB8
Unit 0.1 % (motor rated torque)
0x00 When executing the control gain conversion by operating torque of the servo motor, it decides the
torque converted by the control gain.

Property Variable
Index 0x2023 Gain Adjust Torque 2 Data Type
Access PDO Initial value
UINT32 RW No 0x000001F4
Sub-Index Description Data range 0x00000000 ~ 0x00000BB8
Unit 0.1 % (motor rated torque)
0x00 When executing the control gain conversion by operating torque of the servo motor, it decides the
torque converted by the control gain.

4-19
4. Setting Servo Parameters

Property Variable
Index 0x2025 Digital Inputs Setting Data Type
Access PDO Initial value
UINT16 RW No 0x0004
Sub-Index Description
Data range 0x0000 ~ 0x0007
0x00 Invert the input signal object.

Bit Function Value Operation explanation

CCW 0 Function enabled when bit input is ON.
0
Limit 1 Function enabled when bit input is OFF.
0 Function enabled when bit input is ON.
CW
1
Limit
1 Function enabled when bit input is OFF.

0 Function enabled when bit input is OFF.

Emergency
2
Stop
1 Function enabled when bit input is ON.

Property Variable
Index 0x2026 Parameter Initialization Data Type
Access PDO Initial value
UINT8 RW No 0x00
Sub-Index Description
Data range 0x00 ~ 0x01
0x00
This object “0x01” to set, all object values are reset.

Property Variable
Index 0x2030 Speed Gain Mode Data Type
Access PDO Initial value
UINT8 RW No 0x01
Sub-Index Description
Data range 0x01 ~ 0x04
0x00 When the servo drive is set to speed control mode, it sets the speed control gain mode.

Value Operation explanation

0x01 Use speed controller gain 1 [0x2034, 0x2035]
0x02 Use speed controller gain 2 [0x2036, 0x2037]
Apply variable gain using gain 1 [0x2034, 0x2035] and gain 2 [0x2036, 0x2037]
0x03
according to set speed [0x2020, 0x2021] for the speed controller gain.
Apply variable gain using gain 1 [0x2034, 0x2035] and gain 2 [0x2036, 0x2037]
0x04
according to set torque (P02-22, P02-23) for the speed controller gain.

4-20
4. Setting Servo Parameters

Property Variable
Index 0x2031 PI-IP Control Ratio Data Type
Access PDO Initial value
UINT32 RW No 0x000003E8
Sub-Index Description Data range 0x00000000 ~ 0x000003E8
Unit 0.1 %
0x00 The type of speed controller to set the mixing ratio.

Value Operation explanation

0x03E8 PI applied to the speed controller.
0x0000 IP applied to the speed controller.

Command + PI + Torque
Motor
speed control control
- -

IP
control
 Encoder
( 0 x 2031 )
 1
100
Actual speed

Command speed
Actual speed : [0x2031] => 0x03E8 (PI)

[rpm] Actual speed : [0x2031] => 0x0032

Actual speed : [0x2031] => 0x0000 (IP)

[sec]

Friction Compensation Property Variable

Index 0x2032 Data Type
Torque Ratio Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x000003E8
Unit 0.1 %
0x00 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.

Command + Speed + Torque

Motor
speed control control
- +
[0x2032]

Friction Encoder
compensation

Actual speed

4-21
4. Setting Servo Parameters

[0x2032] = 0x0000

Command speed

0
Actual speed
[0x2032] = 0x001E

Command speed

0
Actual speed

Load Compensation Property Variable

Index 0x2033 Data Type
Torque Ratio Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x000003E8
Unit 0.1 %
0x00 This sets the external load compensation coefficient to improve the response of the servo motor for
the sudden load change.

Command Torque + Motor

torque control
- +
[0x2033]
Current
Load
sensor
compensation

Actual load

Property Variable
Index 0x2034 Speed Control Loop Gain 1 Data Type
Access PDO Initial value
UINT32 RW No by drive type
Sub-Index Description Data range 0x00000000 ~ 0x00002710
Unit 0.1 Hz
0x00 This parameter sets the acceleration needed to respond to the frequency 1 response.

Speed Control Property Variable

Index 0x2035 Data Type
Time Constant 1 Access PDO Initial value
UINT32 RW No by drive type
Sub-Index Description Data range 0x00000000 ~ 0x000186A0
Unit 0.1 ms
0x00 This parameter is required for the response of the deceleration of the servo motor constant 1 setting.

Property Variable
Index 0x2036 Speed Control Loop Gain 2 Data Type
Access PDO Initial value
UINT32 RW No by drive type
Sub-Index Description Data range 0x00000000 ~ 0x00002710
Unit 0.1 Hz
0x00 This parameter sets the acceleration needed to respond to the frequency 2 response.

4-22
4. Setting Servo Parameters

Speed Control Property Variable

Index 0x2037 Data Type
Time Constant 2 Access PDO Initial value
UINT32 RW No by drive type
Sub-Index Description Data range 0x00000000 ~ 0x000186A0
Unit 0.1 ms
0x00 This parameter is required for the response of the deceleration of the servo motor constant 2 setting.

Speed control loop

Command +   K psc  s  Kisc + Torque

Kt Motor
speed s control
- -

Encoder
(1   )  K psc

Actual speed

K psc  System Ineratia  2π  SC Loop Gain 1[0x2034], SC Loop Gain 2 [0x2036]

1000
K isc  K psc 
SC TC 1[0x2035], SC TC 2 [0x2037]

PI  IP control % [0x2031]
α
100

Property Variable
Index 0x2038* S-Mode Time Constant Data Type
Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x00015F90
Unit 0.1 ms
0x00
Command speed
Speed

[0x2038] = 0x0064

[0x2037] = 0x000A
Increase S-Mode TC [0x2038]

time [sec]

4-23
4. Setting Servo Parameters

Property Variable
Index 0x2039 Zero Velocity Window Data Type
Access PDO Initial value
UINT32 RW No 0x00000064
Sub-Index Description Data range 0x00000000 ~ 0x0000C350
Unit 0.1 mm-1
0x00
Command speed

Speed

Actual speed Zero speed range

time [sec]

ON
Finished zero speed range
OFF
Zero speed output time [sec]

Speed Feedback Property Variable

Index 0x203A* Data Type
Time constant Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x00004E20
Unit 0.1 ms
0x00
Actual speed (motor)

Speed

Machinery speed

Chattering of
Belt or Machinery

* This object cannot be set in servo-on state.

4-24
4. Setting Servo Parameters

Zero Velocity Vibration Property Variable

Index 0x203B Data Type
Control Access PDO Initial value
UINT32 RW No 0x00000001
Sub-Index Description Data range 0x00000000 ~ 0x00002710
Unit 0.1 mm-1
0x00 This parameter sets the speed range for suppress vibration at slow or stop state.

Speed

Motor speed

Zero speed vibration control

[0x203B]

0
time

Property Variable
Index 0x2040 Position Gain Mode Data Type
Access PDO Initial value
UINT8 RW No 0x01
Sub-Index Description
Data range 0x00 ~ 0x04
0x00 When the servo drive is set to position control mode, this parameter sets the position
control gain type.

Set value Operation explanation

1 Use the position loop gain 1. [0x2042]

2 Use the position loop gain 2. [0x2043]

Apply variable gain using gain 1 [0x2042] and gain 2 [0x2043] according
3
to set speed [0x2020, 0x2021] for the position controller gain.

Apply variable gain using gain 1 [0x2042] and gain 2 [0x2043] according
4
to set speed [0x2020, 0x2021] for the position controller gain.

Property Variable
Index 0x2041 Position Feedforward Ratio Data Type
Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x000003E8
Unit 0.1 %
0x00 This parameter sets the Feedforward ratio[%] unit for the position command speed.

R = [ Speed loop gain ]/ [ Position loop gain ] Max_Value [ Feedforward ]

5 70 or below
7 80 or below
10 85 or below
20 90 or below

4-25
4. Setting Servo Parameters

Property Variable
Index 0x2042 Position Control P Gain 1 Data Type
Access PDO Initial value
UINT32 RW No by drive type
Sub-Index Description Data range 0x00000000 ~ 0x00001388
Unit 0.1 Hz
0x00 This sets the Position Control P gain 1 applied by the set value of [0x2040].

Position
command
+
K P_PC
-
KP_PC  Position Control P Gain

Position feedback

Property Variable
Index 0x2043 Position Control P Gain 2 Data Type
Access PDO Initial value
UINT32 RW No by drive type
Sub-Index Description Data range 0x00000000 ~ 0x00001388
Unit 0.1 Hz
0x00 This sets the Position Control P gain 2 applied by the set value of [0x2040].

Position
command
+
K P_PC
-
KP_PC  Position Control P Gain

Position feedback

Property Variable
Index 0x2044 Position PI-P Pulse Error Data Type
Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x000186A0
Unit pulse
0x00 In position control mode, when the error between command pulse and actual movement
pulse exceeds the set value of [0x2044], it converts to P control mode to reduce the
overshoot.

Command speed
Speed

Actual speed

time [sec]
Error
pulse
PI-P Pulse ERR [0x2044]

PI control P control PI control

4-26
4. Setting Servo Parameters

Position Command Time Property Variable

Index 0x2045 Data Type
Constant Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x00004E20
Unit 0.1 ms
0x00 Set the filter TC on the position command pulse input for smoothing operation in the
position control mode.

Command
pulse

Speed
No smoothing running
[0x2045] = 0

time [sec]
Speed
Smoothing running
[0x2045] = set value

time [sec]

Command
pulse

Speed
No smoothing running
[0x2045] = 0

time [sec]
Speed
Smoothing running
[0x2045] = set value

time [sec]

Position Control Property Variable

Index 0x2046 Data Type
Feedforward Time Constant Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x00004E20
Unit 0.1 ms
st
0x00 Enter the 1 filter time constant in [ms] unit of the feed-forward input of the position
command speed. The entered position command is divided and processed through the 1st
filter before being used as the feed-forward input, the time constant 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”.

[Recommand ed setting condition]

P05  11(Feedfor ward TC)  1000  (Max_Value [Feedforward]  [Feedforward]) / 100 / [PC P Gain]

Electronic Gear Property Variable

Index 0x2047* Data Type
Numerator Access PDO Initial value
UINT32 RW No 0x00000001
Sub-Index Description
Data range 0x00000000 ~ 0x000186A0
0x00 This parameter is the value of electronic gear ratio, the numerator and denominator are
expressed as an integer.

* The value of [Electronic Gear NUM/DEN] should be at 0.05 ~ 20.0.

* This object cannot be set in servo-on state.

4-27
4. Setting Servo Parameters

Electronic Gear Property Variable

Index 0x2048* Data Type
Denominator Access PDO Initial value
UINT32 RW No 0x00000001
Sub-Index Description
Data range 0x00000000 ~ 0x000186A0
0x00 This parameter is the value of electronic gear ratio, the numerator and denominator are
expressed as an integer.

* The value of [Electronic Gear NUM/DEN] should be at 0.05 ~ 20.0.

* This object cannot be set in servo-on state.

Position Control Property Variable

Index 0x2049 Data Type
Bias Speed Compensation Access PDO Initial value
INT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0xFFFFFFFF
Unit 0.1 mm-1
0x00 To reduce the position decision time in position control mode, it adds the internal
compensated speed of the servo drive.

Command speed
Speed
Error pulse
Bias SDP COMPEN [0x2049]

Error pulse

Bias Pulse Band [0x204A]

Position Control Property Variable

Index 0x204A Data Type
Bias Pulse Band Access PDO Initial value
UINT16 RW No 0x000A
Sub-Index Description Data range 0x0000 ~ 0x01F4
Unit pulse
0x00 The bias pulse band is the value of bias compensation speed [0x2049], when the error
pulse exceeds the set value of [0x204A]. It adds the internal compensated speed [0x2049].
Command speed
Speed
Error pulse
Bias SDP COMPEN [0x2049]

Error pulse

Bias Pulse Band [0x204A]

4-28
4. Setting Servo Parameters

Position Control Backlash Property Variable

Index 0x204B Data Type
Pulse Compensation Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0xFFFFFFFF
Unit pulse
0x00 The bias pulse band is the value of bias compensation speed [0x2049], when the error
pulse exceeds the set value of [0x204A]. It adds the internal compensated speed [0x2049].

Backlash compensation Pulse [0x204B]

Motor Motor

Torque S Mode Property Variable

Index 0x2050* Data Type
Time Constant Access PDO Initial value
UINT32 RW No 0x00000000
Sub-Index Description Data range 0x00000000 ~ 0x00004E20
Unit 0.1 ms
0x00 If you adjust the S-mode operation time constant under the condition of satisfying the
operation characteristics of the machine system, you can reduce the vibration and impact of
the machinery.

Command torque
Torque

[0x2050] = 0x0064

Increase TRQ S-Mode [0x2050]

[0x2050] = 0x000A

time [sec]

4-29
4. Setting Servo Parameters

0x2070 Monitor 1 Select Property Variable

Index Data Type
0x2074 Monitor 2 Select Access PDO Initial value
UINT8 RW No 0x00
Sub-Index Description
Data range 0x00~ 0xFF
0x00 This sets the parameter to monitor the internal variable of the servo drive in analog output.
When the monitoring scale value is 1, the maximum speed output is +5[V] and maximum
torque (3*Rated torque) is +5[V].

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 ]

0x2071 Monitor 1 ABS Property Variable

Index Data Type
0x2075 Monitor 2 ABS Access PDO Initial value
UINT8 RW No 0x00
Sub-Index Description
Data range 0x00~ 0x01
0x00 This sets the parameter to monitor the internal variable of the servo drive in analog output.
When the monitoring scale value is 1, the maximum speed output is +5[V] and maximum
torque (3*Rated torque) is +5[V].

Set value Operation explanation

Output by distinguishing the sign
+5[V] Max+Offset
0x00
0[V] Offset

-5[V] -Max+Offset

Output in absolute value without distinguishing the sign

+5[V] Max+Offset
0x01 Offset
0[V] NOT USE
-5[V]

0x2072 Monitor 1 Scale Property Variable

Index Data Type
0x2076 Monitor 2 Scale Access PDO Initial value
UINT32 RW No 0x0000000A
Sub-Index Description Data range 0x00000001 ~ 0x00004E20
Unit x 0.1
0x00
Basic Ratio Operation explanation

Actual speed, command speed Maximum speed / 5[V]

Actual torque, command torque 3*Rated torque / 5[V]

Feedback pulse, command pulse 2000 [pulse] / 5[V]

4-30
4. Setting Servo Parameters

0x2073 Monitor 1 Offset Property Variable

Index Data Type
0x2077 Monitor 2 Offset Access PDO Initial value
INT32 RW No 0x0000000A
Sub-Index Description Data range 0x00000000~ 0xFFFFFFFF
Unit mV
0x00
Speed Torque

1.25 * [Max. speed] 1.25 * [3*Rated. torque]

Max
Monitor scale [0x2072, 0x2076] Monitor scale [0x2072, 0x2076]

Monitor Offset [0x2073, 0x2077] Monitor Offset [0x2073, 0x2077]

Offset Max. speed x 3*Rated. Torque x
100 100

4-31
4. Setting Servo Parameters

4.4 Profile Specific Objects

Property Variable
Index 0x603F Error Code Data Type
Access PDO Initial value
UINT16 RO No 0x0000
Sub-Index Description
Data range 0x0000 ~ 0xFFFF
0x00 Displays codes of errors occurred in the servo drive.
Refer to the list of alarm codes.

Error Code Segment

Content Cause
(0x603F) Display No.
Servo drive output terminal(U, V, W) short.
0x5400 01 Over Current
Output over current.
Input over-voltage (280V or above).
0x3210 02 Over Voltage Regenerated resistance burnt.
2
Overload GD .
Mechanical overload.
0x2220 03 Over Load
Motor missed wiring.
0x3220 04 Power Fail Main power blocked when SERVO is ON.
Motor and encoder related set value error.
Motor and encoder missed wiring.
0x7305 05 Line Fail
Encoder defect.
Encoder cable connector contact failure.
Over-gain.
0x8400 06 Over Speed Parameter set value error.
Over gravity load.
Abrupt acceleration/deceleration.
Gain set value error.
0x8611 07 Following Error Missed wring.
Mechanical overload.
Encoder cable connector contact failure.
Output No
0x6320 08 Output (U, V, W) missing.
Connection
Reserved
ABS. Battery
0x7300 11 Battery voltage is 2.8V or below.
Error
ABS. Multi-turn
0x7300 12 Absolute encoder multi turn data transmission error.
Error
Output Error
0x6320 13 Output U, V, W missed wiring (Error Connection).
Connection
Reserved
Emergency
0xFF00 20 Turn external ESTOP contact point input OFF state.
Stop
Port0/1 cable was disconnected or unplugged in OP
0x7510 21 Lost Link state.
Master power supply was shutdown in OP state.
Reserved
Motor Initialize
0x6320 23 Motor parameter automatic setting disable.
Error
Reserved

4-32
4. Setting Servo Parameters

Property Variable
Index 0x6040 Control Word Data Type
Access PDO Initial value
UINT16 RW No 0x0000
Sub-Index Description
Data range 0x0000 ~ 0xFFFF
0x00 Control word indicates the command for controlling the FSA(Finite State Automaton) state
of slave drive.

Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8

Operation
Manufacture specific reserved mode Halt
Specific
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Fault Enable Quick Enable
Operation mode specific Switch On
Reset Operation Stop Voltage

Control Word bit

Command Transition No.
Bit7 Bit3 Bit2 Bit1 Bit0
Shut down 0 x 1 1 0 2,6,8
Switch On 0 0 1 1 1 3
Switch On + Ebable operation 0 1 1 1 1 3+4
Disable voltage 0 x x 0 X 7,9,10,12
Quick Stop 0 x 0 1 X 7,10,11
Disabled operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4,16
Fault reset 0->1 x x x X 15

4-33
4. Setting Servo Parameters

Property Variable
Index 0x6041 Status Word Data Type
Access PDO Initial value
UINT16 RO No 0x0000
Sub-Index Description
Data range 0x0000 ~ 0xFFFF
0x00 Status word provides the status of slave FSA(Finite State Automaton).

Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8

Internal
Reserved Limit Reserved Reserved Reserved
Active
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Switch On Quick Voltage Operation Switched Ready to
Reserved Fault
Disabled Stop Enabled Enable On switch on

Status word Bit

FSA state
Bit6 Bit5 Bit3 Bit2 Bit1 Bit0
Not ready to Switch on 0 x 0 0 0 0
Switch on Disabled 1 x 0 0 0 0
Ready to Switch on 0 1 0 0 0 1
Switch on 0 1 0 0 1 1
Operation enabled 0 1 0 1 1 1
Quick stop active 0 0 0 1 1 1
Fault reaction action 0 x 1 1 1 1
Fault 0 x 1 0 0 0

* Bit5 [Quick Stop] shall be set by the drive if the Quick stop state is not supported or the
Quick stop function is not active.
* Bit11 [Internal limit active] is set if internal limits are exceeded so that the target and set-
point values can’t be reached. (e.q. for CW Limit, CCW Limit etc.)

4-34
4. Setting Servo Parameters

Property Variable
Index 0x605A Quick Stop Option Code Data Type
Access PDO Initial value
UINT16 RW No 0x0006
Sub-Index Description
Data range 0x0000 ~ 0xFFFF
0x00 This object quick stop option code determines what action should be taken if the Quick
stop function is executed.

Set value Data Description

5 Slow down on slow down ramp and stay in Quick stop active. (Reserved)

6 Slow down on quick stop ramp and stay in Quick stop active.

7 Slow down on current limit and stay in Quick stop active. (Reserved)

8 Slow down on voltage limit and stay in Quick stop active. (Reserved)

Disable Operation Option Property Variable

Index 0x605C Data Type
Code Access PDO Initial value
UINT16 RW No by Drive type
Sub-Index Description
Data range 0x0000 ~ 0xFFFF
0x00 Disable operation option code is stop the servo motor abruptly during an emergency stop.
This object [0x605C] sets the stop operation of the servo motor when the servo is turned off
or during an emergency stop.
.
Drive Type Operation range

EDA7001 ~ EDA7010 0~3

EDA7015 ~ EDA7150 0 (fixed)

Set value Data Description

0 Maintain by decelerating the dynamic brake when the servo is off.

Free-run operation at set Zero Velocity Window [0x2039] decelerating the dynamic
1
brake when the servo is off.
2 Maintain free-run operation by decelerating in free-run condition when the servo is off
Maintain dynamic brake at set Zero Velocity Window [0x2039] decelerating in free-run
3
condition when the servo is off.

Servo OFF Servo OFF

rpm rpm
Free-run
Dynamic brake

Dynamic brake state Free-run state

0 0
0x605C = 0 0x605C = 2
Servo OFF Servo OFF
rpm rpm Free-run
Dynamic brake

Free-run Zero Velocity Window Dynamic brake

Zero Velocity Window [0x2039]
[0x2039]
Free-run state Dynamic brake state
0 0
0x605C = 1 0x605C = 3

4-35
4. Setting Servo Parameters

Property Variable
Index 0x605E Fault Reaction Option Code Data Type
Access PDO Initial value
INT16 RW No 0xFFFF(-1)
Sub-Index Description
Data range 0x0000 ~ 0xFFFF
0x00 When alarm is generated with servo drive, the servo drive is switched to the Dynamic
Brake mode [0x605C].

Set value Data Description

-1 Dynamic Brake operation [0x605C]

0 Reserved (Disable drive function, motor is free to rotate)

1 Reserved (Slow down on slow down ramp)

2 Reserved (Slow down on quick stop ramp)

Property Variable
Index 0x6060 Modes of Operation Data Type
Access PDO Initial value
UINT8 RW No 0x00
Sub-Index Description
Data range 0x00 ~ 0xFF
0x00 The master writes to the modes of operation object in order to select the operation mode.
The drive device provides the modes of operation display object [0x6061] indicate the
actual activated operation mode.

Set value Data Description Mark Function supported

0 No mode change - Yes
1 Profile Position mode pp No
2 Velocity mode vl (ex. Inverter) No
3 Profile Velocity mode pv No
4 Torque Profile mode tq No
5 Reserved - -
6 Homing mode hm No
7 Interpolated Position mode ip No
8 Cyclic Sync Position mode csp Yes
9 Cyclic Sync Velocity mode csv Yes
10 Cyclic Sync Torque mode cst Yes
11 ~ 127 Reserved - -

Property Variable
Index 0x6061 Modes of Operation Display Data Type
Access PDO Initial value
UINT8 RO No 0x00
Sub-Index Description
Data range 0x00 ~ 0xFF
0x00
Indicates actual operation mode. Definition is the same as [0x6060].

Property Variable
Index 0x6064 Position Actual Value Data Type
Access PDO Initial value
INT32 RO Yes -
Sub-Index Description Data range 0x80000000 ~ 0x7FFFFFFF
Unit Pulse
0x00
Indicates after offset process or the actual position of motor encoder sensor.

4-36
4. Setting Servo Parameters

Property Variable
Index 0x6065 Following Error Window Data Type
Access PDO Initial value
UINT32 RW Yes 0x000A0000
Sub-Index Description Data range 0x00000000 ~ 0x7FFFFFFF
Unit Pulse
0x00 Permissible position range is set as a position request value relatively to.

Command speed Unusual running

Speed

Actual speed

Error time [sec]

pulse

Following error window

[0x6065]

Following error window

[0x6065]

ON Follow Error
Alarm Occurred
Servo state (SERVO RDY)
OFF
time [sec]

Property Variable
Index 0x6067 Position Window Data Type
Access PDO Initial value
UINT32 RW Yes 0x00000064
Sub-Index Description Data range 0x00000000 ~ 0x7FFFFFFF
Unit Pulse
0x00 Sets up the range permissible as target position attainment. When position actual value of
position encoder data is in position window, means arriving at target position.

Command speed
Speed

Actual speed

time [sec]
Error
pulse
Position Window [0x6067]

ON
Finished in position
OFF
time [sec]
Output : INSPD / INPOS / INTRQ

Property Variable
Index 0x606C Velocity Actual Value Data Type
Access PDO Initial value
INT32 RO Yes -
Sub-Index Description Data range 0x80000000 ~ 0x7FFFFFFF
Unit 0.1 mm-1
0x00
Has actual velocity value calculated from position sensor data.

4-37
4. Setting Servo Parameters

Property Variable
Index 0x606D Velocity Window Data Type
Access PDO Initial value
UINT16 RO Yes 0x0064
Sub-Index Description Data range 0x0000 ~ 0xFFFF
Unit min-1
0x00 Sets the range regarded as velocity matching range.

Command speed
Speed

Velocity Window
Actual speed
[0x606D]

time [sec]

ON
Finished in speed range
OFF
Output : INSPD / INPOS / INTRQ time [sec]

Property Variable
Index 0x6071 Target Torque Data Type
Access PDO Initial value
UINT16 RW Yes 0x0000
Sub-Index Description Data range 0x8000 ~ 0x7FFF
Unit 0.1 % (motor rated torque)
0x00
Torque command value set to torque controls in function torque mode.

Property Variable
Index 0x6077 Torque Actual Value Data Type
Access PDO Initial value
UINT16 RO Yes -
Sub-Index Description Data range 0x8000 ~ 0x7FFF
Unit 0.1 % (motor rated torque)
0x00
Indicates actual torque value of the motor rated torque.

Property Variable
Index 0x607A Target Position Data Type
Access PDO Initial value
INT32 RW Yes 0
Sub-Index Description Data range 0x80000000~ 0x7FFFFFFF
Unit Pulse
0x00 Command position of drive moved by setup of motion control parameters, such as velocity,
acceleration, deceleration and motion profile type. Sets up absolute position command for
every communication cycle.

4-38
4. Setting Servo Parameters

Property Variable
Index 0x607C Home Offset Data Type
Access PDO Initial value
INT32 RW Yes 0
Sub-Index Description Data range 0x80000000 ~ 0x7FFFFFFF
Unit Pulse
0x00 Normalizes homing position detected in homing mode by homing offset value.

Zero Position Home Position

Home Offset

Home offset definition

The configured Home Offset [0x607C] is always used for the calculation of
the Position actual value [0x6064] during Homing Process.

Property Variable
Index 0x607D Software Position Limit Data Type
Access PDO Initial value
UINT8 RO No 0x02
Sub-Index Description
Data range 0x00 ~ 0x02
0x00
Number of Entry

0x01 INT32 RW NO 0
Description
Data range 0x80000000 ~ 0x7FFFFFFF
Minimum Position Limit Unit Pulse

0x02 INT32 RW NO 0
Description
Data range 0x80000000 ~ 0x7FFFFFFF
Maximum Position Limit Unit Pulse

Property Variable
Index 0x607E Polarity Data Type
Access PDO Initial value
UINT8 RO No 0x00
Sub-Index Description
Data range 0x00 ~ 0xFF
0x00 Sets command for input polarity.

Bit Data Description

0~5 Reserved.

6 Velocity Polarity.

7 Position Polarity.

* When command input polarity is standard set value [bit7=0], [bit6=0], rotates to positive
direction (CCW) by command polarity + /to negative direction (CW) by -.
* When command input polarity is standard set value [bit7=1], [bit6=1], rotates to negative
direction (CW) by command polarity + /to positive direction (CCW) by -.

4-39
4. Setting Servo Parameters

Property Variable
Index 0x6083 Profile Acceleration Data Type
Access PDO Initial value
UINT32 RW No 0
Sub-Index Description Data range 0x00000000 ~ 0xFFFFFFFF
Unit 0.1ms
0x00 This object to decide the gradient at the time of motor acceleration during velocity mode.

Rated speed : 2000 [rpm]

Speed [0x6083] = 100[ms]

Command speed : 1000[rpm]

50[ms] time [sec]

Property Variable
Index 0x6084 Profile Deceleration Data Type
Access PDO Initial value
UINT32 RW No 0
Sub-Index Description Data range 0x00000000 ~ 0xFFFFFFFF
Unit 0.1ms
0x00 This object to decide the gradient at the time of motor deceleration during velocity mode.

Rated speed : 2000 [rpm]

Speed [0x6084] = 100[ms]

Command speed : 1000[rpm]

50[ms] time [sec]

4-40
4. Setting Servo Parameters

Property Variable
Index 0x6098 Homing Method Data Type
Access PDO Initial value
UINT8 RW No 0x23
Sub-Index Description
Data range 0x01 ~ 0x23
0x00 This object specifies the homing method.

Set value Data Description

0 No homing operation required.

1 Homing on the negative limit switch and index pulse.

2 Homing on the positive limit switch and index pulse.

7 ~ 14 Homing on the home switch and index pulse.

24 Homing on the home switch.

28 Homing on the home switch.

33, 34 Homing on index pulse.

35 Homing on the current position.

Property Variable
Index 0x6099 Homing Speed Data Type
Access PDO Initial value
UINT8 RO No 0x02
Sub-Index Description
Data range 0x00 ~ 0x02
0x00
Number of Entry

0x01 UINT32 RW NO 0
Description
Data range 0x00000000 ~ 0xFFFFFFFF
-1
Speed during search for switch Unit 0.1 min

Set the motor speed during search for a end position switch on homing process.
0x02 UINT32 RW NO 0
Description
Data range 0x80000000 ~ 0x7FFFFFFF
-1
Speed during search for zero Unit 0.1 min

Assign the motor speed during search for the index pulse (Z Phase) detection.

Property Variable
Index 0x609A Homing Acceleration Data Type
Access PDO Initial value
UINT32 RW No 0
Sub-Index Description Data range 0x00000000 ~ 0xFFFFFFFF
Unit ms
0x00 This object is that define the velocity slope of the acceleration and deceleration and
deceleration ramp on homing process.

4-41
4. Setting Servo Parameters

Property Variable
Index 0x60E0 Positive Torque Limit Value Data Type
Access PDO Initial value
UINT16 RW No 0x0BB8
Sub-Index Description Data range 0x0000 ~ 0x0BB8
Unit 0.1 % (motor rated torque)
0x00 Sets limit value of motor forward direction maximum torque.

Torque
Command torque

Positive torque Actual torque

limit value [0x60E0]

time

Property Variable
Index 0x60E1 Negative Torque Limit Value Data Type
Access PDO Initial value
UINT16 RW No 0x0BB8
Sub-Index Description Data range 0x0000 ~ 0x0BB8
Unit -0.1 % (motor rated torque)
0x00 Sets limit value of motor reverse direction maximum torque.

time

Actual torque
Negative torque
limit value [0x60E1]

Command torque

Torque

Following Error Property Variable

Index 0x60F4 Data Type
Actual Value Access PDO Initial value
INT16 RO No 0
Sub-Index Description Data range 0x80000000 ~ 0x7FFFFFFF
Unit Pulse
0x00
This object shall provide the actual value of the following error.

4-42
4. Setting Servo Parameters

Property Variable
Index 0x60FD Digital Inputs Data Type
Access PDO Initial value
UINT16 RO No -
Sub-Index Description
Data range 0x00000000 ~ 0xFFFFFFFF
0x00 This object shall monitor the status of hardware input signal.

Bit31 Bit30 Bit29 Bit28 Bit27 Bit26 Bit25 Bit24

Reserved

Bit23 Bit22 Bit21 Bit20 Bit19 Bit18 Bit17 Bit16

Reserved SW2 SW1

Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8

Reserved

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

CW CCW
Reserved E-STOP HOME
Limit Limit

(note)E-STOP : Emergency Stop

Property Variable
Index 0x60FE Digital Outputs Data Type
Access PDO Initial value
UINT8 RO No 0x02
Sub-Index Description
Data range 0x00 ~ 0x01
0x00
Number of Entry

0x01 UINT32 RW NO 0
Description
Data range 0x00000000 ~ 0xFFFFFFFF
Physical Outputs
This object shall monitor the status of hardware output signal.

Bit31 Bit30 Bit29 Bit28 Bit27 Bit26 Bit25 Bit24

Reserved

Bit23 Bit22 Bit21 Bit20 Bit19 Bit18 Bit17 Bit16

Reserved

Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8

Reserved

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

In -
Servo Zero
Reserved Position Brake
Ready Speed
Speed

4-43
4. Setting Servo Parameters

Property Variable
Index 0x60FF Target Velocity Data Type
Access PDO Initial value
UINT32 RW Yes -
Sub-Index Description Data range 0x80000000 ~ 0x7FFFFFFF
UNIT 0.1 min-1
0x00 Indicates to set Target velocity.
Velocity command input for csv.

Property Variable
Index 0x6502 Supported Drive Modes Data Type
Access PDO Initial value
UINT32 RO No 0x00000380
Sub-Index Description
Data range 0x00000000 ~ 0xFFFFFFFF
0x00 This object shall provide information on the supported drive modes.

Bit31 Bit30 Bit29 Bit28 Bit27 Bit26 Bit25 Bit24

Reserved

Bit23 Bit22 Bit21 Bit20 Bit19 Bit18 Bit17 Bit16

Reserved

Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8

Reserved cst csv

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

csp ip hm - tq pv vl pp

Mode Description Supported

cst Cycle Synchronous Torque Yes

csv Cycle Synchronous Velocity Yes

csp Cycle Synchronous Position Yes

ip Interpolated Position No

hm Homing Reserved

tq Torque Profile No

pv Velocity Profile No

vl Velocity No

pp Profile Position No

4-44
4. Setting Servo Parameters

4.5 Alarm Display

It displays the current alarm generated. ALS-01 menu is not input parameter by user, but the
menu to display the status of alarm.

Alarm 01 occurred, display status

It is to perform initialization when resetting alarm generated. Make it sure, before resetting, to
verify the cause of alarm and settle down the problem. For more information, please refer to
Causes of Alarm & Countermeasures.
Error Code Segment
Content Cause
(0x603F) Display No.
Servo drive output terminal(U, V, W) short.
0x5400 01 Over Current
Output over current.
Input over-voltage (280V or above).
0x3210 02 Over Voltage Regenerated resistance burnt.
2
Overload GD .
Mechanical overload.
0x2220 03 Over Load
Motor missed wiring.
0x3220 04 Power Fail Main power blocked when SERVO is ON.
Motor and encoder related set value error.
Motor and encoder missed wiring.
0x7305 05 Line Fail
Encoder defect.
Encoder cable connector contact failure.
Over-gain.
0x8400 06 Over Speed Parameter set value error.
Over gravity load.
Abrupt acceleration/deceleration.
Gain set value error.
Following
0x8611 07 Missed wring.
Error
Mechanical overload.
Encoder cable connector contact failure.
Output No
0x6320 08 Output (U, V, W) missing.
Connection
Reserved
ABS. Battery
0x7300 11 Battery voltage is 2.8V or below.
Error
ABS. Multi-
0x7300 12 Absolute encoder multi turn data transmission error.
turn Error
Output Error
0x6320 13 Output U, V, W missed wiring (Error Connection).
Connection
Reserved
Emergency
0xFF00 20 Turn external ESTOP contact point input OFF state.
Stop
Port0/1 cable was disconnected or unplugged in OP state.
0x7510 21 Lost Link
Master power supply was shutdown in OP state.
Reserved
Motor
0x6320 23 Initialize Motor parameter automatic setting disable.
Error

4-45
 Chapter 5
How to use and adjust gain of the Servo

Chapter 5 Explains how to use and adjust gains of the Servo by each control mode

5.1 How to adjust gains of the Servo at Position Mode ......................................... 5-1

5.2 How to adjust gains of the Servo at Velocity Mode .......................................... 5-6

5.3 How to adjust gains of the Servo at Torque Mode ........................................... 5-9

5.4 How to Homing ................................................................................................. 5-9

5.5 How to use the Auto Tuning ........................................................................... 5-10

5.6 mportant points of gain adjustment ................................................................ 5-13

5.7 Attention when using Absolute Encoder. ...................................................... 5-14

5. How to use and adjust gains of the Servo

5.1 How to adjust gains of the Servo at Position Mode

Explains how to use and adjust the Servo for networking. Following Fig shows sequence of
Speed Command creation when control positions.
R everse D irection R otation Lim it
C orrect D irection R otation Lim it (C W LIM ) E m ergency S top
(C C W LIM ) (E S TO P)
(O FF) (O FF) (O F F)
Internal S peed
GND C om m and

[E lectronic gear N U M [0x2047] ]

(O N ) (O N ) (O N )
[E lectronic gear D E N [0x2048] ]

[P osition C ontrol F eedforw ard T im e

C onttan t [0x2046] ]
[Position F eedforw ard
D iff. 1 st filter R atio [0x2041] ]
[P osition C om m and Tim e
100
C onstant [0x2045] ]

P osition P osition C ontrol P +

T arget P osition + E rror +
1 st filte r G ain
[0 x607A ] Internal
- [0x2042, 0x2043]
position
com m and
[P osition w indow
[0x6067] ]
+ P osition A rrival C om plete
E ncoder P osition - (at + > - )
F eedback P osition
coun ter
+ E rror of T racking
[ ] : U ser S etting - (at + > - )
[F ollow ing error w indo w
[0x6065] ]

1) Set Position Gain Mode

Value set from Factory Position

0x2040 Position Gain Mode Unit Setting range
1 Control
1~5

Set Position Control Gain Mode when the Servo Drive is set as Position Control Mode

Value set Operation

1 Use Position Proportional Gain 1 [0x2042]

2 Use Position Proportional Gain 2 [0x2043]
Variable Gain is to be applied by Gain 1 [0x2042] and Gain 2 [0x2043]
3
depends on Gain adjustment Speed [0x2020, 0x2021] of Position Control
Variable Gain is to be applied by Gain 1 [0x2042] and Gain 2 [0x2043]
4
depends on Gain adjustment torque [0x2020, 0x2021]
Select Gain 1 [0x2042] or Gain 2 [0x2043] by External Contact Signal of
5
Position Control Gain
.
2) Set Position Proportional Gain applied by value of [0x2040]
Value set from
Position Proportional Unit Setting range
0x2042 Factory Position Control
Gain1 0.1Hz 0.0 ~ 5000.0
(by drive type)
Value set from
Position Proportional Unit Setting range
0x2043 Factory Position Control
Gain2 0.1Hz 0.0 ~ 5000.0
(by drive type)

5-1
5. How to use and adjust gains of the Servo

Position
Command
K P _ PC
-

Position Feedback
K P _ PC Position
위치비례이득 Proportional Gain

3) If [0x2040] = 3, Following variable Gains applicable by Gain adjustment speed 1 and Gain
adjustment speed 2
Setting range Value set from
Unit
0x2020 Gain ADJ Speed1 1000.0 ~ Factory Speed/Torque/Po
0.1rpm
50000.0 8000.0 sition Control
Value set from
Unit Setting range Speed/Torque/Po
0x2021 Gain ADJ Speed2 Factory
0.1rpm 100.0 ~ 5000.0 sition Control
1000.0
[Transition motions]
Command
Speed speed
Gain Adjust Speed 1
[0x2020]
Actual Gain Adjust Speed 2
speed [0x2021]

Gain
Gain2

Gain1

4) If [0x2040] = 4, Following variable Gains are applicable by Gain adjustment torque 1 and
Gain adjustment torque 2.
Value set from
Unit Setting range Speed/Torque/Po
0x2022 Gain ADJ TRQ1 Factory
0.1% 0.0 ~ 3000.0 sition Control
1500.0
Value set from
Unit Setting range Speed/Torque/Po
0x2023 Gain ADJ TRQ2 Factory
0.1% 0.0 ~ 3000.0 sition Control
500.0

5-2
5. How to use and adjust gains of the Servo

[Transition motions]

C om m and speed
Speed

A c tu a l s p e e d

T o rq u e
In te rn a l
com m and speed
G a in A d ju s t T o rq u e 1 [ 0 x 2 0 2 2 ]

G a in A d ju s t T o rq u e 2 [ 0 x 2 0 2 3 ]
0
- G a in A d ju s t T o rq u e 1
[0x2022]

- G a in A d ju s t T o rq u e 2 [ 0 x 2 0 2 3 ]

G a in
G a in 2

G a in 1

5) Set Feed Forward Ration

Value set from

Unit Setting range
0x2041 Feed forward ratio Factory Position Control
0.1% 0.0 ~ 1000.0
0.0
Enter the Feed Forward Ratio of Position Command Speed by %. If value of this item
becomes big, Position decision time can be reduced but if it’s too big, Position controller may
overshoot or machine may vibrate. If the value is “0”, Position controller can be set at Position
Proportional Control Mode. Refer following Max Value[Feed Forward] depends on R= [Speed
proportional Gain]/[Position proportional Gain]
R= [Speed proportional
Max. Value [Feed forward]
Gain]/[Position proportional Gain]
5 Less 70
7 Less 80
10 Less 85
20 Less 90

FF TC Value set from

Unit Setting range
0x2046 (Feed Forward Time Factory Position Control
0.1ms 0.0 ~ 20000.0
Constant) 0.0

Enter the 1st Filter time constant of Feed Forwarder by [ms] for Position Command speed. The
entered Position Command shall be through before being used as Feed Forward Input after
differential, then you can adjust the time constant of this filter. Use the big value in the field of

5-3
5. How to use and adjust gains of the Servo

application where Position Command is to change suddenly, but use the small value in the field
of application where Position Command is to change slowly. Enter “0” in case no use of the filter.

[Recommended Set Condition]

[0x2046](Feed Forward Time Constant)≤1000 x(Max. Value[Feed Forward]-[Feed Forward])/100/[Position

proportional gain]

6) Set Position Command Pulse Time Constant

POS CMD TC Value set from
Unit Setting range
0x2045 (Position Command Factory Position Control
0.1ms 0.0 ~ 20000.0
Pulse Time Constant) 0.0

Set Filter Time Constant at Position Command Pulse Time Constant for smooth operation at
Position Control Mode. If you want to operate without setting Position Command Filter Time
Constant, then S-Mode operation [0x2038] shall be allowed. Arriving Position decision at
position control mode shall allow a smooth operation.

7) Set Pulse Error quantity of PI-P Mode

PI-P Pulse ERR Value set from
Unit Setting range
0x2044 (Pulse Error of PI-P Factory Position Control
pulse 0 ~ 99999
Mode) 0

If the Command Pulse and Error quantity of the actual moving pulse become bigger than Value
set of [0x2044] , it converts to P Control Mode in order to limit overshoot.

Command speed
Speed

Actual speed

time [sec]
Error
pulse
PI-P Pulse ERR [0x2044]

PI control P control PI control

5-4
5. How to use and adjust gains of the Servo

5.2 How to adjust Gain at Velocity Mode

This explains the gain adjustment method when using speed servo. The following diagram
shows the generation sequence of the speed command in speed control.

P o la rity [0 x 6 0 7E ]

T a rg e t V e lo c ity (0 x0 1 )
-1
[0 x 6 0 F F ] A c c e le ra tio n S - m ode
/d e c e le ra tio n
p ro c e s s
o p e ra tio n
(0 x 0 0 ) P ro file a c c e le ra tio n [0 x 6 0 8 3]
S M o d e T im e C o n s ta n t
P ro file d e c e le ra tio n [0 x 6 0 8 4]
[0 x 2 0 3 8 ]

C C W re v o lu tio n lim it C W re v o lu tio n lim it E m e rg e n c y s to p

(C C W L IM ) (C W L IM ) (E S T O P )
(O F F ) (O F F ) (O F F )
GND In te rn a l s p e e d c o m m a n d

(O N ) (O N ) (O N ) [ ] : S e t v a lu e

1) This sets the speed control mode gain.

Manufactured
Unit Setting range
0x2030 Speed Gain Mode default Speed control
- 1~4
1

When the servo drive set to speed control mode, this sets the speed control gain.

Set value Operation explanation

Use speed controller gain 1 [0x2034, 0x2035].
1
Use speed controller gain 2 [0x2036, 0x2037].
2
Apply variable gain using gain 1 [0x2034. 0x2035] and gain 2 [0x2036,
3 0x2037] according to set speed [0x2020, 0x2021] for the speed controller
gain.
Apply variable gain using gain 1 [0x2034. 0x2035] and gain 2 [0x2036,
4 0x2037] according to set torque [0x2020, 0x2021] for the speed controller
gain.

2) Set the SC loop gain 1 and 2 applied by the set value of [0x2030].

Manufactured
Unit Display range Speed/torque
0x2034 SC Loop Gain1 default
0.1Hz 0.0 ~ 10000.0 control
(by drive type)
Manufactured
Unit Display range Speed/torque
0x2036 SC Loop Gain2 default
0.1Hz 0.0 ~ 10000.0 control
(by drive type)

5-5
5. How to use and adjust gains of the Servo

3) Set SC TC1 and 2 applied by the set value of [0x2030].

Manufactured
Unit Display range Speed/torque
0x2035 SC TC1 default
0.1ms 0.0 ~ 100000.0 control
(by drive type)
Manufactured
Unit Display range Speed/torque
0x2037 SC TC2 default
0.1ms 0.0 ~ 100000.0 control
(by drive type)

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
Unit Display range Speed/Torque/
0x201F Inertia Ratio default
x0.1 10.0~ 500.0 Position control
20.0

System inertia (Motor inertia  Load inertia)

Load inertia 
Motor inertia

5) When 0x0230 = ”3”, the variable gain is applied based on the following gain adjustment
speed 1 and 2.
Manufactured
Unit Display range Speed/Torque/
0x2020 Gain ADJ Speed1 default
0.1rpm 1000.0 ~ 50000.0 Position control
8000.0
Manufactured
Unit Display range Speed/Torque/
0x2021 Gain ADJ Speed2 default
0.1rpm 100.0 ~ 5000.0 Position control
1000.0

5-6
5. How to use and adjust gains of the Servo

6) When 0x2030 = ”4”, the variable gain is applied based on the following gain adjustment
torque 1 and 2.

Manufactured
Unit Display range Speed/Torque/
0x2022 Gain ADJ TRQ1 default
0.1% 0.0 ~ 3000.0 Position control
1500.0
Manufactured
Unit Display range Speed/Torque/
0x2023 Gain ADJ TRQ1 default
0.1% 0.0 ~ 3000.0 Position control
500.0

5-7
5. How to use and adjust gains of the Servo

7) This sets the mixture rate of the PI-IP controller.

Manufactured
Unit Display range
0x2031 PI-IP Control % default Speed control
0.1% 0.0 ~ 1000.0
1000.0

[ 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.
♥ 0x2031 = 1000 : Applied to PI speed controller
0x2031 = 0 : Applied to IP speed controller

5-8
5. How to use and adjust gains of the Servo

5.3 How to adjust Gain at Torque Mode.

Explains how to use and adjust Gain at Torque Mode. Following figure shows the sequence of
Current Command at Torque Mode.

+ Internal Current Command

Target torque [0x6071]
-

Encoder Feedback Velocity +

Detection
-

Velocity Limit
Target velocity [0x60FF]
,
[ ] : User setting

When the master controller send a torque command to the Servo Drive by network, it sets the
time constant of a filter which passes the low range of analog torque. When setting a time
constant of analog torque command filter, you can limit the noise which is set more than a time
constant of a filter. Analog torque command filter may more or less cause a reduction of
response when its value is too big because it moderates the fast torque command.

5.4 How to Homing

Reserved

5-9
5. How to use and adjust gains of the Servo

5.5 How to use Auto Tuning

Auto tuning applicable to EDA7000 series is a function to adjust Speed Control Gain and
Position Control Gain by estimating an inertia of loads on the Servo motor.

5.5.1 Setting of System Responsiveness

Set System responsiveness [0x201E] by manual before using Auto Tuning. Following the
objects shall be changed automatically. When Auto Tuning is “ON”, it tunes aiming at
approaching to the value set by manual.

Position Position Speed Speed Speed

System Speed Torque Filter
Control P Control P Control loop Control loop Control
Response Control TC1 TC
Gain 1 Gain 2 gain 1 gain 2 TC2
[0x201E] [0x2035] [0x201C]
[0x2042] [0x2043] [0x2034] [0x2036] [0x2037]
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
◆ If the system responsiveness is set as high, the responsiveness shall be high with high Gain
of the Servo system. But if it’s too high, noise and vibration may occur in the motor, and in this
case set the value to reasonable low.

5-10
5. How to use and adjust gains of the Servo

5.5.2 Sequence of setting Auto Tuning

Start

Default value running

No
Load change ?

Yes

Auto tuning [0x201D] = “0x01”

Repeat acceleration/deceleration
running : more than 500rpm

Yes
Running OK ?

No
System response[0x201E]
-> manual input

Yes
Running OK ?

No
Auto tuning [0x201D] = “0x00” Tuning result
System response [0x201E] -> save
manual input

End

♥ In Auto Tuning, Position proportional Gain, Speed control loop Gain, Speed integral time
constant and Torque command filter time constant shall be set by setting System
responsiveness [0x201E], and the System inertia ratio [0x201F] shall be set by Auto Tuning
Mode [0x201D] which is an automatic control part.

5-11
5. How to use and adjust gains of the Servo

5.5.3 Attention when Auto Tuning

1) Operate with a speed higher than 500rpm

2) Set acceleration and deceleration of speed time as short as possible by [ms]. If set those
times long, speed deviation is too small to be estimated during algorithm process.

3) Avoid operation when use a belt whose mechanical strength is weak

4) Avoid operation with a system whose load inertia changes suddenly

5) Set the value higher when [0x201E] (System responsiveness) is set too low

6) Not applicable when using Torque control Mode

7) After Auto Tuning is completed, Auto Tuning Mode [0x201D] must be OFF. If not OFF after
completion, Over load or Over current will alarm, and the motor shall roar or malfunction.

5-12
5. How to use and adjust gains of the Servo

5.6 Important points when adjusting Gain

It is important for the servo to operate as commanded immediately after receiving a command
without time delay. For this, following notices should be kept well.

1) Important points at Position control Mode

- Position control proportional Gain shall be increased gradually as long as the motor doesn’t
make unexpected noise or vibration till it reaches Target position. Increase Position control
proportional Gain and its inertia ratio till the value with which doesn’t make unexpected
noise gradually.

- If set the value of Speed integral time constant low, system responsiveness shall be
enhanced. But if it’s too low, the Motor(Machine) could make a vibration, and if it’s too high
then the deviation pulse would stay as it was with no responding.

2) Important points when using Gain 1 and Gain 2 together at Position control Mode
- How to switch Gain by speed
: Switching Gain by contacts is to set a low Gain in Motor Stop range.
But switching Gain by speed is being used with machine tools which requires a high Gain at
low speed and a Low Gain at high speed.

- Switching gain by Torque

: While the Servo motor operates with a high speed, a high Gain set would cause a
Vibration. And, a low gain would cause a speed ripple and bad control while the Servo
operates with a low speed. In these cases, switching by Torque can realize a safe and
good control functions in a whole operation range.

5-13
5. How to use and adjust gains of the Servo

5.7 Attention when using Absolute Encoder

When detecting Absolute Position of machines even the Servo Drive is POWER OFF, Absolute
Servo motor and drive must be used. Absolute Servo system can make a machine system
which operates automatically without additional operation for detection right after electricity is
loaded. The difference between Absolute drive and standard one is whether or not having a
back up battery.

5.6.1 Handling Battery

Battery supplies a power to “Absolute Encoder” to keep memory of position information even
when Power OFF.

1) Recommended battery specification

Battery shall be connected only through the connector exposed in the middle of Encoder
Cable.
Recommended specification : Lithium Dried battery Tekcell SB-AAA0 type, 3.6V 240mAh

2) Battery connection

3) Replacing battery

Absolute Encoder battery alarms when the battery capacity come below 2.7V and the Servo
receives data from Absolute Encoder during POWER ON only. So, when the Servo drive’s
control power is ON and battery’s voltage is lowed, it doesn’t alarm.

♥ Replacing a battery
- Replace a battery while the Servo drive is POWER ON. If replace a battery while the Servo
drive is POWER OFF, Absolute Encoder must be initialized again.
- POWER OFF the Servo drive after replacing the battery
- POWER ON the Servo drive and check its status.

5-14
5. How to use and adjust gains of the Servo

！ Warning

 Wiring for a battery must be installed in one of the Servo drive part or master equipment part.
If two parts are connected together, it may cause a danger by a short circuit.

5.6.2 Initializing Absolute Encoder

1) Initializing of Absolute Encoder is required

- The first operation
- When encoder cable is separated from the Servo
- After replacing the battery
- When Absolute Encoder alarms

2) How to initialize(reset) Absolute Encoder

- 17 bit Serial Absolute Encoder: When Absolute origin, set “0x01” at the parameter
[0x2004] MSB[15:8], then it initializes current position with “0x01 turns to 0x00”
(Multi-Turn Data Reset). When Absolute Encoder alarms, do alarm reset by using
The alarm reset. When Absolute origin, set “0x01” at the parameter
[0x2004] MSB[15:8], then it initializes current position with “0x01 turns to 0x00”

5-15
 Chapter 6
Troubleshooting & Checking

Chapter 6 explains actions against errors and how to check

6.1 Troubleshooting............................................................................................6-1

6.2 Checking.......................................................................................................6-4
6. Troubleshooting & Checking

6.1 Troubleshooting

6.1.1 Servo motor

status Cause Checking method Action

Wrong parameter Check the motor, encoder, Reset parameter(Refer chapter

setting encoder type control 4)
mode etc.
Check rotation status of .
Over load
machines Adjust machines
Measure the motor by a
If the voltage is normal, replace
Motor defect tester with lead terminals
Motor the motor
of the motor
doesn’t
work Check connection parts
Screws loosen Fasten screws
with a driver
.
External wrong Check wiring of the motor
wiring, cable cut and encoder Do wiring again, change the
cable

Encoder defect .Check output wave Replace the encoder(Submit for

repair)
Check contacts of lead
Bad contact Repair the wrong part
terminals of the motor
Motor Check input voltage of the
Low input voltage Change the power
rotation is drive
not stable Remove foreign substances
Over load Check machine status
and lubricate (or grease)
Surrounding Check the surrounding
Change the structure of heat
temperature is too temperature of the
sink
high motor(below 40℃)
Contamination of the Check foreign substances
Clean the motor surface
motor surface on the motor surface
Motor over
heated Check load ratio of the Reduce the load.
drive. Check cycle of
Over load Increase acceleration and
acceleration and
deceleration of speed deceleration time of speed
Check reverse voltage .
Demagnetized
and voltage wave Replace the motor
Check status of screw .
Coupling defect fastening and
concentricity of coupling Adjust the coupling
Unexpecte unexpected noise and
Bearing defect Inform our company
d noise vibration of bearings
occurs Wrong parameter
setting(Motor/encode Refer parameter setting of
Check control parameters
r ID, Inertia ratio, Chapter 4
Gain, Time constant)

6-1
6. Troubleshooting & Checking

6.1.2 Servo drive

When it alarms, the defect signal contacts(Alarm) sets OFF and the motor will stop by the
Dynamic Brake

Error Segment
Code Display Content Cause Sequence of checking & actions
(0x603F) No.
Check output terminal wiring.
Servo drive output Check connection of F.G.
Over
0x5400 01 terminal(U, V, W) short. Restart after alarm reset.
Current
Output over current. Replace the driver if over current
continues.
Input over-voltage (280V Supply input voltage below 230V.
or above). Replace regenerative resistor
Over
0x3210 02 Regenerated resistance Increase acceleration and
Voltage
burnt. deceleration speed time
2
Overload GD . Replace the Servo drive.
Check load status.
Mechanical overload.
0x2220 03 Over Load Check wiring of the motor and
Motor missed wiring.
encoder.
Check main input 3 phase
Main power blocked power(L1.L2.L3), check Charge lamp
0x3220 04 Power Fail
when SERVO is ON. after input main 3 phase power.
Replace the Servo drive.
Motor and encoder
related set value error.
Motor and encoder
Check wiring and values set of motor
0x7305 05 Line Fail missed wiring.
encoder and over load.
Encoder defect.
Encoder cable connector
contact failure.
Over-gain.
Over Parameter set value Remove over gravity load.
0x8400 06
Speed error. Check F.G wiring.
Over gravity load.
Abrupt
acceleration/deceleration.
Gain set value error. Position Gain adjustment.
Following
0x8611 07 Missed wring. Increase value set [0x6065].
Error
Mechanical overload. Check wiring of motor and encoder.
Encoder cable connector
contact failure.
Output No
0x6320 08 Output (U, V, W) missing. Replace the Servo drive.
Connection
Reserved
ABS.
Battery voltage is 2.8V or Replace the battery and check wiring
0x7300 11 Battery
below. of the battery.
Error
Absolute encoder multi
ABS. Multi-
0x7300 12 turn data transmission
turn Error
error.
Output
Output U, V, W missed Check wiring of motor.
0x6320 13 Error
wiring (Error Connection). Replace the Servo drive.
Connection
Reserved
Turn external ESTOP
Emergency Check external DC 24V power.
0xFF00 20 contact point input OFF
Stop Check status of E-STOP contact ON.
state.

6-2
6. Troubleshooting & Checking

Port0/1 cable was

Access again after connecting LAN
disconnected or
cable.
0x7510 21 Lost Link unplugged in OP state.
Check dimension of LAN
Master power supply was
cable(Higher than FTP Cat 5e).
shutdown in OP state.
Reserved
Motor
Motor parameter Check wiring of the encoder and
0x6320 23 Initialize
automatic setting disable. cable.
Error
Reserved

(Note) When AL-21(Lost Link) alarms frequently during operation, attach a Ferrite core on

LAN cable and try to operate again because a nose interference between EtherCAT

Master and the Servo drive would be the cause.

(Note) If Power OFF the Servo or Position control module by force while the Servo is ON,

the Servo may suddenly kicked off, and the same frequent behavior may damage the

drive.

Over load operation

Rated
time
current
Value
(%) Min. Max.
set
Motion time (sec)

100 ∞

120 ∞

150 300 1500 760

200 60 150 107

250 20 40 30

300 6 15 7

Rated current(%)
[Property curve for over loaded servo drive]
(Note) When AL-03(Over Load) occurs frequently, set a proper load of the motor again
referring property curve for over loaded servo motor

6-3
6. Troubleshooting & Checking

6.2 Checking

！ Warning

 Start checking 10 minutes after Power OFF because the charged voltage still remains inside
the condenser which may cause an electric shock or injury.

- Check cable fragments, dust or dirt inside system and clean them all.

- Check crews loosen and fastening of terminal plug

- Check component defects ( Color change by heat, damage, cable cut etc)

When check the conductivity of control circuit, use the high resistance range of the tester, and

do not use Megger either buzzer.

- Check whether cooling fan is in normal operation

- Check any unexpected noise(Bearing of the motor, brake part)

- Check cables (in particular detector cable) for damage or crush etc. While operation, do

periodical check in compliance with conditions.

- Check concentricity of load connection axis and correct it.

6-4
 Chapter 7
Outside Drawings

Chapter 7 exhibits outside drawings of Servo Drive.

7.1 Outside Drawings of Servo Drive ............................................................... 7-1

7. Outside Drawings

7.1 Outside Drawings of Servo Drive

[ Outside Drawing A ]

[Outside Drawing B ]

(note) Unit : mm

7-1
7. Outside Drawings

[Outside Drawing C ]

[Outside Drawing D ]

(note) Unit : mm

7-2
7. Outside Drawings

[Outside Drawing E ]

[Outside Drawing F ]

(note) Unit : mm

7-3
7. Outside Drawings

Product Weight [Kg] Cooling Type Remark

EDA7001 1.0
Drawing A
EDA7002 1.0
Self-cooling
EDA7004 1.5 Drawing B
EDA7005 1.9
Drawing C
EDA7010 1.9
EDA7015 4.3
EDA7020 4.4
Drawing D
EDA7030 4.5 Fan cooling
EDA7045 4.6 (FAN)

EDA7075 15.0 Drawing E

EDA7110 23.0
Drawing F
EDA7150 24.0

7-4
 AppendixⅠ
Noise Countermeasures

Appendix Ⅰdescribes noise countermeasures.

Ⅰ.1 Types of Noise ................................................................................... Ⅰ.1

Ⅰ.2 Noise countermeasures ..................................................................... Ⅰ.1
AppendixⅠ Noise countermeasures

Ⅰ.1 Types of Noise

Types of noise that may be generated are; noise that causes peripheral devices to be
malfunctioned due to high-speed switching elements in servo drive’s power portion and other
electronic parts, and noise being generated from the external sources that causes servo drive to
be malfunctioned. Therefore, keen attention must be paid not to be affected from noise by ways
of proper earthing and wiring.

① Causes of noise radiated from servo drive

- Due to chopping of high-carrier frequency
- Use of electronic parts such as micro processor
- Generation of noise typed as electromagnetic induction and electrostatic induction caused
by inlet/outlet lines of servo drive

② Causes of noise through intrusion from external sources to incur servo drive to be
malfunctioned
- Radiated noise in electrical lines
- Use of electromagnetic contactor, electronic brake or relay
- Use of such devices as electric welder that generate much noise

Ⅰ.2 Noise countermeasures

① Countermeasures against noise radiated from servo drive

Noise that is generated from servo drive is divided into the noise radiated from electric
lines that are connected to inlet/outlet power of drive, and the noise generable by being
induced electromagnetically and electrostatically to peripheral devices that are near to main
circuit lines. Hereunder are countermeasures against such noises;

- In the cases of installation and/or wiring, keep peripheral devices susceptible for noise
impact apart from servo drive to the extent possible.
- Do not make inlet/outlet lines of servo drive and signal lines of peripheral devices aligned
in parallel or wired in a bundle.
- Apply shield lines for inlet/outlet lines of servo drive and signal lines of peripheral devices
or insert them to an individual duct.

② Countermeasures against noise through intrusion from external sources to incur servo drive

Ⅰ-1
AppendixⅠ Noise countermeasures

to be malfunctioned
- Ensure that Surge Killer must be installed to peripheral devices that cause noise to be
generated.
- Ensure that encoder wires and inlet/outlet signal wires must be earthed with metal fittings
of cable internal clamp.
- Make it sure to attach line filter to signal lines.
- In the case of closed loop circuit structured by encoder wires and earthing line of signal
line, flow of leakage current may cause an instrument to be malfunctioned. In this case
such malfunction can be prevented by separating the earthing line.

③ Examples of wiring as noise countermeasures

Taken into consideration the above-mentioned noise countermeasures, the schematic
wiring methods are shown as follows;

Ⅰ-2
AppendixⅠ Noise countermeasures

※ Example of wiring related to earth

grounding)

- Make sure to use the earthing line as thick as 3.5[㎟] or higher.

Ⅰ-3
AppendixⅠ Noise countermeasures

※ An example of wiring for noise filter

NOISE FILTER
NOISE FILTER

BOX BOX

< X > < O >

NOISE FILTER NOISE FILTER

BOX BOX

< X > < O >

[It is not allowed to insert inlet line and outlet line to the same duct or tie them up together.]

NOISE FILTER NOISE FILTER

BOX BOX

< X > < O >

[It is not allowed to insert earthing line of noise filter and outlet line to the same duct or tie them
up together.]

Ⅰ-4
AppendixⅠ Noise countermeasures

※ Example of wiring in the case of using multiple servo drives

Ⅰ-5
 AppendixⅠ Noise countermeasures

※ Recommended Noise Filter

EDA7001 ~
Servo drive EDA7030 EDA7045 EDA7075/7110 EDA7150
EDA7005

NFZ- NFZ- FT3RE- FT3RE-

NOISE P3B4010-DA(10A)
4030SG(30A) 4040SG(40A) 4060(60A) 4080(80A)
FILTER Or equivalent
Or equivalent Or equivalent Or equivalent Or equivalent

♥Recommended manufacturers : Samil Parts ( www.samilemc.com), OKY (http://www.oky.co.kr)

Ⅰ-6
 Appendix Ⅱ

Ⅲ.1 Revision History

Publication
Description of revision Version
date
2012.01 1st vol. issued 1.0
 Appendix Ⅲ
Servo Motor Specification

Appendix Ⅲ describes the specification of servo motor.

Ⅲ.1 Servo Motor Specification ...........................................................................................Ⅲ-1

 Appendix Ⅲ Servo Motor Specification

Ⅲ.1 Servo motor specification

Motor [ FMA - ] CJZ5 CJ01 CJ02 CJ04

Drive [ EDA ] 001 001 002 004

Flange Size ( □ ) 40 60

Rated power (W) 50 100 200 400

Rated current A(rms) 0.81 0.9 1.8 2.65

Peak current A(rms) 2.43 2.7 5.4 7.95

( N·m ) 0.16 0.32 0.64 1.27

Rated torque
( kgf·cm ) 1.62 3.25 6.5 13.0

( N·m ) 0.48 0.95 1.92 3.81

Peak torque
( kgf·cm ) 4.87 9.74 1.95 39.0

Rated rpm ( r/min ) 3000

Max rpm ( r/min ) 5000

2
Rotor inertia ( gf·cm·s ) 0.049 0.081 0.246 0.440
( = GD2/4 ) (kg·m ⅹ10 ) 2 -4
0.048 0.079 0.241 0.431
Effective moment ratio
Below 15 times
(compared with rotor)
Rated power rate ( kW/s ) 5.3 12.8 16.5 36.8

Incremental 17/33 bit 131072[p/rev.]

Detector type
Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 0.42 0.55 1.0 1.73

Torque-speed characteristics

CJZ5 CJ01 CJ02 CJ04

토크(N·m
Torque )
(N·m) 토크(N·m
Torque )
(N·m) 토크(N·m
Torque )
(N·m) 토크(N·m
Torque )
(N·m)
0.5 1.0 2.0 4.0
0.4 0.8 1.6 3.2
단시간운전영역
Short operating range 단시간운전영역
Short operating range 단시간운전영역 단시간운전영역
0.3 0.6 1.2 Short operating range 2.4 Short operating range
0.2 0.4 0.8 1.6
0.1 연속운전영역 0.2 연속운전영역 0.4 0.8
Continuous operating range Continuous operating range 연속운전영역
Continuous operating range
연속운전영역
Continuous operating range

1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min )

Ⅲ-1
 Appendix Ⅲ Servo Motor Specification

Motor [ FMA - ] CN01 CN02 CN03 CN04 CN05 CN04A CN06 CN08 CN10

Drive [ EDA ] 001 002 004 005 010

Flange Size ( □ ) 60 80

Rated power (W) 100 200 300 400 500 400 600 800 1000

Rated current A(rms) 1.25 2.1 2.8 2.85 3.2 2.8 3.5 4.65 5.8

Peak current A(rms) 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

( N·m ) 0.96 1.92 2.88 3.81 4.77 3.81 5.3 6.85 9.53
Peak torque
( kgf·cm ) 9.75 19.5 29.3 39.0 48.7 39.0 54.5 70.2 97.5

Rated rpm ( r/min ) 3000

Max rpm ( r/min ) 6000 5000

2
Rotor inertia ( gf·cm·s ) 0.061 0.095 0.126 0.160 0.204 1.1 1.5 1.77 2.11
( = GD2/4 ) (kg·m ⅹ10 ) 2 -4
0.06 0.093 0.129 0.163 0.208 1.08 1.47 1.74 2.07
Effective moment ratio
Below 30 times Below 20 times
(compared with rotor)
Rated power rate ( kW/s ) 17.0 43.6 73.9 103.5 126.1 15.0 24.8 37.4 49.0

Incremental 17/33 bit 131072[p/rev.]

Detector type
Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 0.85 1.14 1.43 1.73 2.03 2.1 2.55 3.1 3.7

Torque-speed characteristics

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
Short operating range 단시간운전영역
Short operating range 단시간운전영역
Short operating range
0.6 1.2 1.8 2.4 Short
단시간운전영역
operating range 3.0 Short
단시간운전영역
operating range
0.4 0.8 1.2 1.6 2.0
0.2 Continuous operating range 0.4 연속운전영역 0.6 0.8 Continuous
연속운전영역 1.0 Continuous
Continuous operating range 연속운전영역
Continuous operating range operating range 연속운전영역 operating range

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
rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min )

CN04A CN06 CN08 CN10

Torque (N·m) Torque (N·m)
4.0 Torque (N·m)
5.5 Torque (N·m)
10
7.0
3.2 4.4
5.6 8
단시간운전영역 단시간운전영역
2.4 Short operating range 3.3 Short operating range 단시간운전영역
4.2
Short operating range 6 Short
단시간운전영역
operating range
1.6 2.2
2.8 4
0.8 1.1 연속운전영역 2
연속운전영역
Continuous operating range Continuous operating range
1.4 연속운전영역
Continuous operating range 연속운전영역
Continuous operating range

1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000
rpm (r/min ) rpm (r/min )
rpm (r/min ) rpm (r/min )

Ⅲ-2
 Appendix Ⅲ Servo Motor Specification

Motor [ FMA - ] CN09 CN15 CN22 CN30 CN30A CN50A KN03 KN05 KN06 KN07
Drive [ EDA ] 010 015 020 030 045 004 005 010

Flange Size ( □ ) 130 180 80

Rated power (W) 900 1500 2200 3000 3000 5000 300 450 550 650

Rated current A(rms) 4.6 8.8 12.1 17.2 19.2 23.3 2.5 3.1 3.7 4.6

Peak current A(rms) 13.8 26.4 36.3 51.6 57.6 69.9 7.5 9.3 10.7 13.8

( N·m ) 2.86 4.77 7.0 9.54 9.54 15.9 1.43 2.15 2.57 3.04
Rated torque
( kgf·cm ) 29.2 48.7 71.4 97.4 97.4 162.3 14.6 21.9 26.2 31

( N·m ) 8.6 14.3 21 28.6 28.6 47.7 4.29 6.45 7.42 9.12
Peak torque
( kgf·cm ) 87.6 146 214 292 292 486.9 43.8 65.7 72.7 93

Rated rpm ( r/min ) 3000 2000

Max rpm ( r/min ) 5000 4500 3000

2
( gf·cm·s ) 4.12 7.63 11.12 14.63 26.1 43.8 1.1 1.5 1.77 2.11
Rotor inertia 2
( = GD2/4 ) (kg·m
4.04 7.48 10.9 14.34 25.6 42.9 1.08 1.47 1.74 2.07
ⅹ10-4)
Effective moment ratio
Below 10 times Below 20 times
(compared with rotor)
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

Incremental 17/33 bit 131072[p/rev.]

Detector type
Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 2.1 2.55 3.1 3.7

Torque-speed characteristics
CN30
CN09 CN15 CN22 CN30A
Torque (N·m)
Torque (N·m) Torque (N·m) Torque (N·m) 30 Torque (N·m)
10 15 25 30
24
8 12 20 24
단시간운전영역 단시간운전영역
18 Short operating range
6 Short operating range 9 Short operating range 단시간운전영역
15 Short operating range 단시간운전영역
18 Short operating range
12
4 6 10 12
6
2 3 5 연속운전영역 연속운전영역
Continuous operating range 6
Continuous operating range 연속운전영역
Continuous operating range Continuous operating range 연속운전영역
Continuous operating range
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
rpm (r/min )
rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min )

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
단시간운전영역
6 Short operating range 단시간운전영역
3 Short operating range
단시간운전영역
3.9 Short operating range 단시간운전영역
4.5 Short operating range 단시간운전영역
6 Short operating range
4 2 2.6 3.0 4
2 연속운전영역 1 1.3 1.5 2
Continuous operating range 연속운전영역
Continuous operating range 연속운전영역
Continuous operating range 연속운전영역
Continuous operating range 연속운전영역
Continuous operating range

1000 2000 3000 4000 5000 1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min )

Ⅲ-3
 Appendix Ⅲ Servo Motor Specification

Motor [ FMA - ] KN06A KN11 KN16 KN22 KN22A KN35 KN55

Drive [ EDA ] 005 010 015 020 030 045

Flange Size ( □ ) 130 180

Rated power (W) 600 1100 1600 2200 2200 3500 5500
Rated current A(rms) 3.7 6.7 10.2 14.1 15.2 20.2 31.6
Peak current A(rms) 11.1 18.1 30.0 42.3 45.6 60.6 79
( N·m ) 2.86 5.25 7.64 10.5 10.49 16.67 26.18
Rated torque
( kgf·cm ) 29.2 53.6 77.9 107 107 170 267
( N·m ) 8.6 14.2 22.5 31.5 31.3 50.1 65.4
Peak torque
( kgf·cm ) 87.6 145 230 321 321 510 667.5
Rated rpm ( r/min ) 2000
Max rpm ( r/min ) 3000
2
( gf·cm·s ) 4.12 7.63 11.12 14.63 26.1 43.8 67.8
Rotor inertia
( = GD2/4 ) (kg·m2ⅹ10-
4 4.04 7.48 10.9 14.34 25.6 42.9 66.4
)
Effective moment ratio
Below 10 times
(compared with rotor)
Rated power rate ( kW/s ) 20.4 30.6 53.5 76.7 43.0 64.7 103.0

Detector Incremental 17/33 bit 131072[p/rev.]

type Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 26.8

Torque-speed characteristics

KN06A KN11 KN16 KN22

Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)
10 15 25 30
8 12 20 24
단시간운전영역 단시간운전영역
6 Short operating range 9 Short operating range 단시간운전영역
15 Short operating range 18 Short operating range
4 6 10 12
2 연속운전영역 3 5 6 연속운전영역
Continuous operating range Continuous operating range 연속운전영역
Continuous operating range Continuous operating range

1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min )

KN22A KN35 KN55

Torque (N·m) Torque (N·m) Torque (N·m)
30 50 75
24 40 60
18 Short
단시간운전영역
operating range 30 단시간운전영역
Short operating range 45 Short
단시간운전영역
operating range
12 20 30
6 10 15
연속운전영역
Continuous operating range 연속운전영역
Continuous operating range 연속운전영역
Continuous operating range

1000 2000 3000 1000 2000 3000 1000 2000 3000

rpm (r/min ) rpm (r/min ) rpm (r/min )

Ⅲ-4
 Appendix Ⅲ Servo Motor Specification

Motor [ FMA - ] TN05 TN09 TN13 TN17 TN20 TN30 TN44 TN75
Drive [ EDA ] 005 010 015 020 030 045 -

Flange Size ( □ ) 130 180

Rated power (W) 450 850 1300 1700 1800 2900 4400 7500
Rated current A(rms) 3.7 6.9 10.9 14.4 16.4 22.6 33.1 49.6
Peak current A(rms) 11.1 18.1 29.65 39.2 49.2 56.6 94.67 124.1

Rated ( N·m ) 2.87 5.41 8.27 10.8 11.5 18.6 27.9 47.7
torque ( kgf·cm ) 29.3 55.2 84.4 110 117 190 285 486.9
( N·m ) 8.61 14.2 22.5 29.4 34.5 46.6 79.8 119.3
Peak torque
( kgf·cm ) 89.5 145 230 300 351 475 815.1 1217
Rated rpm ( r/min ) 1500
Max rpm ( r/min ) 3000
2
Rotor ( gf·cm·s ) 4.12 7.63 11.12 14.63 26.1 43.8 67.8 126.4
inertia (kg·m2ⅹ10-
( = GD2/4 ) 4 4.04 7.48 10.9 14.34 25.1 42.9 66.4 123.9
)
Effective moment ratio
Below 10 times
(compared with rotor)
Rated power rate ( kW/s ) 20.5 39.1 62.8 81.1 51.5 80.8 117.4 183.8

Detector Incremental 17/33 bit 131072[p/rev.]

type Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 26.8 45.7

Torque-speed characteristics

TN05 TN09 TN13 TN17

Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)
10 15 25 30
8 12 20 24
단시간운전영역 단시간운전영역 단시간운전영역
6 Short operating range 9 Short operating range 단시간운전영역
15 Short operating range 18 Short operating range
4 6 10 12
2 연속운전영역 3 연속운전영역 5 6 연속운전영역
Continuous operating range Continuous operating range 연속운전영역
Continuous operating range

1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min )

TN20 TN30 TN44 TN75

Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)

30 50 75 125
24 40 60 100
단시간운전영역
Short operating range 단시간운전영역 단시간운전영역
18 30 Short operating range 45 Short operating range 75
12 20 30 단시간운전영역
50 Short operating range

6 연속운전영역
Continuous operating range
10 연속운전영역
Continuous operating range
15 연속운전영역
Continuous operating range 25
연속운전영역
Continuous operating range
1000 2000 3000 1000 2000 3000 1000 2000 3000 1000 2000 3000
rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min )

Ⅲ-5
 Appendix Ⅲ Servo Motor Specification

Motor [ FMA - ] LN03 LN06 LN09 LN12 LN12A LN20 LN30 LN40

Drive [ EDA ] 004 005 010 015 015 020 030 045

Flange Size ( □ ) 130 180

Rated power (W) 300 600 900 1200 1200 2000 3000 4000
Rated current A(rms) 2.6 4.8 7.3 9.7 8.9 17.2 24.9 32.2
Peak current A(rms) 7.8 12.0 18.76 29.0 22.2 51.6 62.34 96.6
( N·m ) 2.86 5.72 8.6 11.5 11.5 19.1 28.6 38.2
Rated torque
( kgf·cm ) 29.2 58.4 87.7 117 116.9 194.8 292.2 389.6
( N·m ) 8.6 14.3 22.1 34.4 28.7 57.3 71.6 114.6
Peak torque
( kgf·cm ) 87.6 146 226 351 292.3 584.4 730.5 1168.8
Rated rpm ( r/min ) 1000
Max rpm ( r/min ) 2000
2
Rotor inertia ( gf·cm·s ) 4.12 7.63 11.12 14.63 26.1 43.8 67.8 100.1
( = GD2/4 ) (kg·m ⅹ10 ) 2 -4
4.04 7.48 10.9 14.34 25.6 42.9 66.4 98.1
Effective moment ratio
Below 10 times
(compared with rotor)
Rated power rate ( kW/s ) 20.5 43.3 68.2 91.7 51.4 84.9 123.4 148.6
Incremental 17/33 bit 131072[p/rev.]
Detector type
Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 5.5 7.0 8.5 10.0 12.9 18.2 26.8 36.1

Torque-speed characteristics

LN03 LN06 LN09 LN12

Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)
10 25 40
8 16 20 32
단시간운전영역 12 단시간운전영역
6 Short operating range 단시간운전영역 15 Short operating range 24 단시간운전영역
Short operating range
Short operating range
4 8 10 16
2 연속운전영역 4 연속운전영역 5 8 연속운전영역
Continuous operating range Continuous operating range 연속운전영역
Continuous operating range Continuous operating range

500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
rpm (r/min ) rpm (r/min ) rpm (r/min ) rpm (r/min )

LN12A LN20 LN30 LN40

Torque (N·m) Torque (N·m) Torque (N·m) Torque (N·m)
30
50 75 100
24
단시간운전영역
Short operating range 40 60 80
18 단시간운전영역
Short operating range 단시간운전영역
Short operating range 단시간운전영역
Short operating range
30 45 60
12
20 30 40
6 연속운전영역
Continuous operating range 10 연속운전영역 15 연속운전영역
Continuous operating range
20 Continuous
연속운전영역 operating range
Continuous operating range
500 1000 1500 2000
rpm (r/min ) 500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
rpm (r/min ) rpm (r/min ) rpm (r/min )

Ⅲ-6
 Appendix Ⅲ Servo Motor Specification

Motor [ FMA - ] KF08 KF10 KF15 KF22 KF35 KF50

Drive [ EDA ] 010 015 020 030 045

Flange Size ( □ ) 130 180

Rated power (W) 750 1000 1500 2200 3500 5000

Rated current A(rms) 5.3 6.2 9.2 14.1 20.5 33.8

Peak current A(rms) 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

( N·m ) 10.74 14.31 21.56 31.4 50.0 71.7

Peak torque
( kgf·cm ) 109.5 146.0 220.0 321 510 732

Rated rpm ( r/min ) 2000

Max rpm ( r/min ) 3000

2
Rotor inertia ( gf·cm·s ) 10.5 15.5 25.3 65.3 100.5 159.1
( = GD2/4 ) 2
(kg·m ⅹ10 ) -4
10.3 15.2 24.8 64.0 98.5 156
Effective moment ratio
Below 10 times
(compared with rotor)
Rated power rate ( kW/s ) 12.3 15.0 20.7 17.2 28.2 36.4

Incremental 17/33 bit 131072[p/rev.]

Detector type
Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 8.2 11.6 15.8 17.2 27.4 38.3

Torque-speed characteristics

KF08 KF10 KF15

Torque (N·m) Torque (N·m) Torque (N·m)
15 15 25
12 12 20
단시간운전영역
Short operating range
9 단시간운전영역 9 15 단시간운전영역
Short operating range Short operating range
6 6 10
3 연속운전영역 3 연속운전영역 5 연속운전영역
Continuous operating range Continuous operating range Continuous operating range

1000 2000 3000 1000 2000 3000 1000 2000 3000

rpm (r/min ) rpm (r/min ) rpm (r/min )

KF22 KF35 KF50

Torque (N·m) Torque (N·m) Torque (N·m)
35 50 75
28 40 60
단시간운전영역
21 단시간운전영역
Short operating range 30 Short operating range 45 Short
단시간운전영역
operating range
14 20 30
7 연속운전영역 10 연속운전영역 15 연속운전영역
Continuous operating range Continuous operating range Continuous operating range

1000 2000 3000 1000 2000 3000 1000 2000 3000

rpm (r/min ) rpm (r/min ) rpm (r/min )

Ⅲ-7
 Appendix Ⅲ Servo Motor Specification

Motor [ FMA - ] TF05 TF09 TF13 TF20 TF30 TF44

Drive [ EDA ] 005 010 015 020 030 045

Flange Size ( □ ) 130 180

Rated power (W) 450 850 1300 1800 2900 4400

Rated current A(rms) 4.0 7.0 10.7 14.8 21.7 34.5

Peak current A(rms) 12.0 19.0 31.7 44.4 65.1 95.83

( N·m ) 2.87 5.41 8.27 11.5 18.6 27.9

Rated torque
( kgf·cm ) 29 55 85 117 190 285

( N·m ) 8.61 14.7 24.5 34.4 55.9 77.5

Peak torque
( kgf·cm ) 89.5 150 250 351 570 790

Rated rpm ( r/min ) 1500

Max rpm ( r/min ) 3000

2
Rotor inertia ( gf·cm·s ) 10.5 15.5 25.3 65.3 100.5 159.1
( = GD2/4 ) 2
(kg·m ⅹ10 ) -4
10.3 15.2 24.8 64.0 98.5 156
Effective moment ratio
Below 10 times
(compared with rotor)
Rated power rate ( kW/s ) 7.85 19.1 28.0 20.5 35.2 50.0

Incremental 17/33 bit 131072[p/rev.]

Detector type
Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 8.2 11.6 15.8 17.2 27.4 38.3

Torque-speed characteristics

TF05 TF09 TF13

Torque (N·m) Torque (N·m) Torque (N·m)
10 15 25
8 12 20
단시간운전영역
Short operating range 단시간운전영역
Short operating range
6 Short
단시간운전영역
operating range
9 15
4 6 10
2 연속운전영역 3 연속운전영역
Continuous operating range 5 연속운전영역
Continuous operating range Continuous operating range

1000 2000 3000 1000 2000 3000 1000 2000 3000

rpm (r/min ) rpm (r/min ) rpm (r/min )

TF20 TF30 TF44

Torque (N·m) Torque (N·m) Torque (N·m)
35 60 80
28 48 64
단시간운전영역
Short operating range
21 단시간운전영역 36 48 Short
단시간운전영역
operating range
Short operating range
14 24 32
7 연속운전영역 12 연속운전영역 16 연속운전영역
Continuous operating range Continuous operating range Continuous operating range

1000 2000 3000 1000 2000 3000 1000 2000 3000

rpm (r/min ) rpm (r/min ) rpm (r/min )

Ⅲ-8
 Appendix Ⅲ Servo Motor Specification

Motor [ FMA - ] LF03 LF06 LF09 LF12 LF20 LF30

Drive [ EDA ] 004 005 010 015 020 030

Flange Size ( □ ) 130 180

Rated power (W) 300 600 900 1200 2000 3000

Rated current A(rms) 2.5 4.7 7.2 9.8 16.0 24.3

Peak current A(rms) 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

( N·m ) 8.7 16.5 23.0 34.4 57.3 78.7

Peak torque
( kgf·cm ) 90 169 235 351 585 803

Rated rpm ( r/min ) 1000

Max rpm ( r/min ) 2000

2
Rotor inertia ( gf·cm·s ) 10.5 15.5 25.3 65.3 100.5 159.1
( = GD2/4 ) 2
(kg·m ⅹ10 ) -4
10.3 15.2 24.8 64.0 98.5 156
Effective moment ratio
Below 10 times
(compared with rotor)
Rated power rate ( kW/s ) 7.85 21.3 30.0 20.5 37.0 51.8

Incremental 17/33 bit 131072[p/rev.]

Detector type
Absolute 17/33 bit 131072[p/rev.]

weight ( kg ) 8.2 11.6 15.8 17.2 27.4 38.3

Torque-speed characteristics

LF03 LF06 LF09

Torque (N·m) Torque (N·m) Torque (N·m)
10 20 25
8 16 20
단시간운전영역
6 Short operating range 12 단시간운전영역 15 Short operating range
단시간운전영역
Short operating range
4 8 10
2 연속운전영역 4 연속운전영역 5 연속운전영역
Continuous operating range Continuous operating range Continuous operating range

500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
rpm (r/min ) rpm (r/min ) rpm (r/min )

LF12 LF20 LF30

Torque (N·m) Torque (N·m) Torque (N·m)
40 60 80
32 48 64
단시간운전영역
24 Short operating range 36 Short
단시간운전영역
operating range
48 Short
단시간운전영역
operating range
16 24 32
8 연속운전영역
Continuous operating range
12 연속운전영역 16 연속운전영역
Continuous operating range
Continuous operating range

500 1000 1500 2000 500 1000 1500 2000 500 1000 1500 2000
rpm (r/min ) rpm (r/min ) rpm (r/min )

Ⅲ-9
 Homepage : http://www.higenmotor.com

Head office :
TEL ▶ (82) 2-369-8213~4 FAX ▶ (82) 2-369-8229
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TEL ▶ (82) 51-710-5032~3 FAX ▶ (82) 51-710-5034
Factory :
TEL ▶ (82) 55-600-3333 FAX ▶ (82) 55-600-3317

Customer support :
TEL ▶ (82) 2-369-8215
(82) 55-281-8407

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place without the written permission of HIGEN Motor company.