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Higen FDA7000 Series Operation Manual

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OPERATION MANUAL
AC Servo Drive
FDA7000/FDA7000-H Series
Ver 1.5 (Soft. Ver. 2.40 ~)
FDA7000EX Series
Ver 1.5 (Soft. Ver. 3.29 ~)
FDA7000 Series
Servo Drive User Manual

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Summary of Contents for Higen FDA7000 Series

  • Page 1 OPERATION MANUAL AC Servo Drive FDA7000/FDA7000-H Series Ver 1.5 (Soft. Ver. 2.40 ~) FDA7000EX Series Ver 1.5 (Soft. Ver. 3.29 ~) FDA7000 Series Servo Drive User Manual...
  • Page 2 Essential notes before use A. Checking Motor ID certainly. : Enter the motor ID indicated on the motor name plate to the parameter of “P01-01”. For details on the motor ID, refer to Chapter 3 of this manual. Checking Power of servo drive. : FDA7001 ~ FDA7150 : AC 220V 50/60[Hz]...

  • Page 3: Table Of Contents

    Contents Cont en ts Chapter 1. Model check and handling 1.1. Model check ................. 1-1 1.1.1. Servo drive model classification ..........1-1 1.1.2. Servo motor model classification..........1-1 1.2. Servo drive specification ............1-2 1.2.1. Power specification of AC 220V Series ........1-2 1.2.2.
  • Page 4 Contents 2.2.2. Medium type servo drive ............2-6 2.2.3. Large type servo drive ............2-8 2.3. Connection terminal of AC380V series servo drive ....2-10 2.3.1. Large type servo drive ............2-10 2.3.2. Extra large type servo drive..........2-12 2.4. Power handling .................
  • Page 5 Contents 3.10. Analog monitor function setting[P09-] ........3-45 3.11. Jog operation parameter setting[JOG-] ........3-46 3.12. Alarm display setting[ALS-] ............ 3-49 Chapter 4. Servo using method and Gain adjustment 4.1. Gain adjustment method for speed control mode ....4-1 4.1.1. CN1 wiring diagram for speed control servo ......4-2 4.1.2.
  • Page 6 Contents 6.3. Check................... 6-6 6.4. Part replacement ................ 6-7 6.5. Preservation ................6-8 6.5.1. Servo Motor................6-8 6.5.2. Servo Drive ................6-9 Chapter 7. Connection with host controller 7.1. Example of connection with host controller ......7-1 Chapter 8. External View 8.1.

  • Page 7: Chapter 1. Model Check And Handling

    Chapter 1 Model check and handling Chapter 1 explains the details to check before using the servo drive and motor that you have purchased. Before assembling the product, check whether name plate is as ordered. Mishandling can disable normal operation or can significantly reduce the operating life depending on the situation.

  • Page 8: Model Check

    1. Model check and handling 1.1. Model check 1.1.1. Servo drive model classification F D A 7 AC Servo Drive Symbol TYPE Symbol TYPE Symbol Input Voltage 7000 Series None Standard None Standard None AC 220V BOOK Explosion proof AC 380V AC 440V Symbol Power(W)

  • Page 9: Servo Drive Specification

    1. Model check and handling Servo drive specification 1.2. Power specification of AC 220V Series 1.2.1. 004/ 015/ 020/ 030/ Servo Drive Model[FDA7___] 004B 015B 020B 030B 3 phase AC200~230V, 50/60Hz ±5% Input voltage frequency 3 phase AC200~230V, 50/60Hz ±5% Single phase AC 230V, 50/60Hz ±5% (Note1) Main...

  • Page 10: Common Specifications

    1. Model check and handling 1.2.3. Common specifications. 17/33bit Serial encoder, 11/13bit Absolute encoder, Type Incremental 2000 ~ 6000 [ppr] (15line), 8192 [ppr] (9line) Interface Serial communication, Differential Line Driver Encoder Resolution Maximum of 131072 [pulse] per 1 encoder revolution Input voltage DC 5[V], 0.3 [A] Drive system...

  • Page 11: Combination Table Of Servo Drive And Motor

    1. Model check and handling 1.3. Combination table of servo drive and motor 1.3.1. AC220V series servo drive and motor Servo Motor[FMA__] Servo CN/CJ Drive KN Series TN Series LN Series KF Series TF Series LF Series Series [FDA7_ ] 2000/3000 1500/3000 1000/2000...

  • Page 12: Ac380V Series Servo Drive And Motor

    1. Model check and handling 1.3.2. AC380V series servo drive and motor Servo motor[HMA__] Servo CN/CJ drive KN Series TN Series LN Series Series [FDA7_ ] 2000/3000 1500/3000 1000/2000 3000/5000 [rpm] [rpm] [rpm] [rpm] CN09 KN11 TN09 LN12 CN10 020-H KN16 TN13 LN20...

  • Page 13: Explosion Proof Series Servo Drive And Motor

    1. Model check and handling 1.3.3. Explosion proof series servo drive and motor Servo motor[FMA/HMA] Servo EX/EC drive EK Series ET Series EL Series Series [FDA7- ] 2000/3000 1500/3000 1000/2000 3000/5000 [rpm] [rpm] [rpm] [rpm] 002EX FMAEX02 004EX FMAEK05 /004BEX FMAEC06 005EX FMAEK06...

  • Page 14: Rated Specification Of Servo Motor

    1. Model check and handling 1.4. Rated specification of servo motor 1.4.1. AC220V series servo motor Motor CJZ5 CJ01 CJ02 CJ04 Model Spec. Drive 7001 7001 7002 7004 Flange Size ( □ ) Rated Power ( W ) 0.81 0.90 1.80 2.65 Rated Current...
  • Page 15 1. Model check and handling Motor CN01 CN02 CN03 CN04 CN05 CN04A CN06 CN08 CN10 Model Spec. Drive 7001 7002 7004 7005 7010 Flange Size ( □ ) 1000 Rated Power ( W ) 1.25 2.85 4.65 Rated Current (Arms) Instantaneous Max.
  • Page 16 1. Model check and handling Motor CN09 CN15 CN22 CN30 CN30A CN50A KN03 KN05 KN06 KN07 Model Spec. Drive 7010 7015 7020 7030 7030 7045 7004 7004 7005 7010 Flange Size ( □ ) Rated Power ( W ) 1500 2200 3000 3000...
  • Page 17 1. Model check and handling Motor KN06A KN11 KN16 KN22 KN22A KN35 KN55 KN70 Model Spec. Drive 7005 7010 7015 7020 7020 7030 7045 7075 Flange Size ( □ ) 1100 1600 2200 2200 3500 5500 7000 Rated Power ( W ) 10.2 14.1 15.2...
  • Page 18 1. Model check and handling Motor TN05 TN09 TN13 TN17 TN20 TN30 TN44 TN55 TN75 TN110 TN150 Model Spec. Drive 7005 7010 7015 7020 7020 7030 7045 7045 7075 7110 7150 Flange Size ( □ ) Rated Power ( W ) 1300 1700 1800...
  • Page 19 1. Model check and handling Motor LN03 LN06 LN09 LN12 LN12A LN20 LN30 LN40 LN55 Model Spec. Drive 7004 7005 7010 7010 7020 7030 7045 7075 Flange Size ( □ ) 1200 1200 2000 3000 4000 5500 Rated Power ( W ) 17.2 24.9 32.2...
  • Page 20 1. Model check and handling Motor KF08 KF10 KF15 KF22 KF35 KF50 Model Spec. Drive 7010 7015 7020 7030 7045 Flange Size ( □ ) 1000 1500 2200 3500 5000 Rated Power ( W ) 14.1 20.5 33.8 Rated Current (Arms) Instantaneous Max.
  • Page 21 1. Model check and handling Motor TF05 TF09 TF13 TF20 TF30 TF44 Model Spec. Drive 7005 7010 7015 7020 7030 7045 Flange Size ( □ ) 1300 1800 2900 4400 Rated Power ( W ) 10.7 14.8 21.7 34.5 Rated Current (Arms) Instantaneous Max.
  • Page 22 1. Model check and handling Motor LF03 LF06 LF09 LF12 LF20 LF30 Model Spec. Drive 7004 7005 7010 7010 7020 7030 Flange Size ( □ ) 1200 2000 3000 Rated Power ( W ) 16.0 24.3 Rated Current (Arms) Instantaneous Max. 13.65 19.21 29.32...

  • Page 23: Ac380V Series Servo Motor

    1. Model check and handling 1.4.2. AC380V series servo motor Motor CN09 CN10 CN15 CN22 CN30 CN30A CN50A Model Spec. Drive 7020-H 7030-H 7045-H Flange Size ( □ ) Rated Power ( W ) 1000 1500 2200 3000 3000 5000 Rated Current (Arms) 3.38...
  • Page 24 1. Model check and handling Motor KN11 KN16 KN22 KN22A KN35 KN55 KN70 Model Spec. Drive 7010-H 7015-H 7020-H 7020-H 7030-H 7045-H 7075-H Flange Size ( □ ) 1100 1600 2200 2200 3500 5500 7000 Rated Power ( W ) 7.95 8.14 11.68...
  • Page 25 1. Model check and handling Motor LN12 LN20 LN30 LN40 LN55 LN300 LN370 LN450 Model Spec. Drive 7010-H 7020-H 7030-H 7045-H 7075-H 7300-H 7370-H 7450-H Flange Size ( □ ) 1200 2000 3000 4000 5500 30000 37000 45000 Rated Power ( W ) 6.12 8.42...
  • Page 26 1. Model check and handling Motor TN09 TN20 TN30 TN44 TN55 TN75N TN110 TN150 Model Spec. Drive 7010-H 7020-H 7030-H 7045-H 7045-H 7075-H 7110-H 7150-H Flange Size ( □ ) 1800 2900 4400 5500 7500 11000 15000 Rated Power ( W ) 3.95 14.16 16.8...
  • Page 27 1. Model check and handling Motor TN220 TN300 TN370 TN450 TN550 TN750 Model Spec. Drive 7220-H 7300-H 7370-H 7450-H 7550-H 7750-H Flange Size ( □ ) Rated Power ( W ) 22000 30000 3700 45000 55000 75000 Rated Current (Arms) Instantaneous Max.

  • Page 28: Explosion Proof Series Servo Motor

    1. Model check and handling 1.4.3. AC 220V Explosion proof series servo motor Motor EX02 EC06 EC08 EC22 EC40 EK05 EK06 Model Spec. Drive 7002EX 7005EX 7020EX 7045EX 7005EX Flange Size ( □ ) 2200 4000 Rated Power ( W ) 4.65 12.1 16.55...
  • Page 29 1. Model check and handling Motor EK16 EK30 EL09 ET13 ET20 Model Spec. Drive 7015EX 7030EX 7010EX 7015EX 7020EX Flange Size ( □ ) 1600 3000 1300 1800 Rated Power ( W ) 10.2 20.6 10.9 16.4 Rated Current (Arms) Instantaneous Max.
  • Page 30 1. Model check and handling 1.4.4. AC 380V Explosion proof series servo motor Motor ET13 EK16 EC22 ET20 EK30 EC40 Model Spec. Drive 7015EX 7015EX 7020EX 7020EX 7030EX 7045EX Flange Size ( □ ) 1300 1600 2200 1800 3000 4000 Rated Power ( W ) 5.81...

  • Page 31: Installation

    1. Model check and handling 1.5. Installation 1.5.1. Installation of servo drive 1) Operating environment Ambient temperature 0-50℃ (There should be no freezing) Note) Ambient humidity 90% RH or lower (There should be no vapor) Note) Inside control panel temperature specifications : To ensure maximum operating life and reliability of the drive, maintain the average control panel temperature at 40℃...
  • Page 32 1. Model check and handling connecting It is important to accurately match the motor shaft with the shaft center of the machine. Mismatched shaft center causes vibration, and may cause damage to the bearing. Use a rubber hammer to install couplings to prevent excessive force from being applied to the shaft and bearing.
  • Page 33 1. Model check and handling TF05~TF09 TF13 TF20~TF44 1470 LF03~LF06 LF09 LF12~LF30 1470 4) Accuracy of attachments The accuracies of the shaft and attachments of the AC servo motor are shown on the following table. Accuracy Item Reference Diagram (T.I.R.) Perpendicularity of flange attachment plane and 0.04mm output shaft (A)

  • Page 34: Handling

    1. Model check and handling 8) Direction of installation Motor can be installed horizontally or at the top or bottom of the shaft. Keep the motor cable downward. If the motor is installed vertically, install a cable trap so that oils or water do not flow into the motor.
  • Page 35 1. Model check and handling AC 220 ~ 440[V] 50/60[Hz] 2) Wiring - Connect the grounding terminal of the drive and motor to the drive side and ground all at once to the closest point. Use the class-3 earth (100Ω or below) to prevent electric shock and mis-operation.

  • Page 36: Safety Symbols And Cautions

    Thank you for using HIGEN MOTOR Co.,Ltd. Servo Drive and Servo motor. The contents of the "Symbols and Precautions on Safety" section are for the safe and proper use of FDA7000 Series AC servo drive. Before use, be sure to read the “Safety Symbols and Cautions” carefully before using the product.
  • Page 37 1. Model check and handling A. Electric shock prevention Danger  Do not open the cover of servo drive while energizing and driving. It may cause electric shock.  Do not operate with the cover of servo drive removed. High voltage terminals and charging parts are exposed, which may cause electric shock ...
  • Page 38 1. Model check and handling C. Injury prevention Caution •Do not apply voltage to each terminal except those specified in the user's manual. It may cause bursting or damage. •Make sure there is no error in the terminal connections. It may cause bursting or damage. •Do not touch the servo drive, servo motor, and regenerative resistor because they are hot during powering and shortly after the power is turned off.
  • Page 39 1. Model check and handling <Note 1> 0℃~ +50℃ (Where not to freeze) Operating temperature (In-cabinet temperature specification below + 40 ° C) Operating humidity 90％RH or below (No condensation) Environment Storage temperature -15℃~ +65℃* Indoors Installation conditions (no corrosive gas, flammable gas, oil mitt, dust free place) Elevation / Vibration 1000m or less above sea level / Within X, Y, Z axis 2.0G (2) Wiring...
  • Page 40 1. Model check and handling (4) How to use Caution •Install circuit brakes(NFB) and magnetic contactors (M/C) to power supply R, S, T. When an alarm occurs and an abnormal current flows, shut off the circuit to prevent secondary accidents. •Do not start or stop the servo drive frequently using the magnetic contactor on the power supply side.
  • Page 41 1. Model check and handling (6) Maintenance check. Parts exchange Caution •Electrolytic capacitors have a reduced capacity due to deterioration. It is recommended to replace the electrolytic capacitor every 10 years when using it in a normal environment to prevent secondary accidents caused by malfunctions. Please contact our sales team. •Do not perform a mega test (insulation resistance measurement) on the servo drive.
  • Page 42 1. Model check and handling 1-35...

  • Page 43: Chapter 2. Wiring And Connection

    Chapter Wiring and connection Chapter 2 explains the main circuit wiring, I/O signal connection examples and connection to peripheral devices of the servo drive. Chapter 2. Wiring and connection 2.1. Main circuit and peripheral device connection ......2-2 2.1.1. Connection of AC220V Series ..........2-3 2.1.2.
  • Page 44 2. Wiring and connection 2.6.4. 17bit absolute/incremental encoder ........2-28 2.6.5. 17bit absolute encoder data transmission ......2-29 2.6.6. Wiring of FDA7000EX (Explosion proof) ......2-32 2.7. COM(CN3) wiring and signal explanation ......2-34 2.7.1. COM(CN3) wiring ..............2-34 2.7.2. Wiring of RS232C Common Cable ........2-34 2.7.3.

  • Page 45: Main Circuit And Peripheral Device Connection

    2. Wiring and connection 2.1. Main circuit and peripheral device connection This part explains the peripheral device and main circuit wiring. Keep the following danger and caution details during wiring. Danger  Do not open the surface cover when connecting the power or during operation. It can cause electric shock.

  • Page 46: Connection Of Ac220V Series

    2. Wiring and connection 2.1.1. Connection of AC220V Series Servo drive : The life of the servo is Power specification : Use the power specification affected by the surrounding 3-phase within AC200~230V permitted by the servo 3-Phase temperature. Set the ambient for use.

  • Page 47: Connection Of Ac380V Series

    2. Wiring and connection 2.1.2. Connection of AC380V Series ◆ Use within the power specification allowed by the servo. If the power voltage is higher than the allowable value, be sure to use a power transformer. FDA7000-H0 : AC 380V, FDA7000-H1 : AC 440V ◆...

  • Page 48: Connection Terminal Of Ac220V Series Servo Drive

    2. Wiring and connection 2.2. Connection terminal of AC220V Series servo drive 2.2.1. Small type servo drive [ FDA7001 ~ FDA7002 Terminal ] The usage and wiring method of FDA7001~FDA7002 are as follows. 1) As the main power of the power circuit, connect the R,S and T terminal to 3 phase AC200~230[V].

  • Page 49: Medium Type Servo Drive

    2. Wiring and connection 2.2.2. Medium type servo drive [ FDA7004/7004B ~ FDA7010 Terminal ] The usage and wiring method of FDA7004/7004B~FDA70010 are as follows. 1) As the main power of the power circuit, connect the R,S and T terminal to 3 phase AC200~230[V].
  • Page 50 2. Wiring and connection ※ For the wiring of small/medium capacity socket, execute in the following order. ⓐ After checking the wire thickness indicated in 2.2.1, remove the wire coating. - The coating of the wire to be used should be 8 ~ 9mm or less. - The thickness of the wire permitted by the socket is as follows.

  • Page 51: Large Type Servo Drive

    2. Wiring and connection 2.2.3. Large type servo drive [ FDA7015 ~ FDA7045 Terminal] [ FDA7015B ~ FDA7030B Terminal] (a) Main Circuit Terminal (b) Control Circuit Terminal [ FDA7075 ~ FDA7150 Terminal] The usage and wiring method of FDA7015~7150, FDA7015B~7030B are as follows. 1) As the main power of the power circuit, connect the R,S and T terminal to 3 phase AC200~230[V].
  • Page 52 2. Wiring and connection AC SERVO FDA7015/ FDA7020/ FDA7030/ operating FDA7045 FDA7075 FDA7110 FDA7150 FDA7015B FDA7020B FDA7030B device AWG #12 AWG #10 AWG #8 AWG #6 AWG #4 Wire (3.5mm 2 ) (5.5mm 2 ) (8mm 2 ) (14mm 2 ) (22mm 2 ) thickness Open/close...

  • Page 53: Connection Terminal Of Ac380V Series Servo Drive

    2. Wiring and connection <Drawing C> Order Code : FDA600010S (FDA7110, 1600W/4 Ω) FDA600011S (FDA7150, 2000W/3 Ω) 2.3. Connection terminal of AC380V series servo drive 2.3.1. Large type servo drive [ FDA7020-H ~ FDA7045-H Terminal ] (a) Main Circuit Terminal (b) Control Circuit Terminal [ FDA7075-H ~ FDA7150-H Terminal ] The usage and wiring method of FDA7020-H~FDA7150-H are as follows.
  • Page 54 2. Wiring and connection 2) Connect single-phase AC380~440[V] to the control circuit terminals r and t according to the model's voltage specification. 3) Connect the regenerated resistance between the terminals P and B. 4) At the U, V and W terminal, connect the U, V and W phase of the servo motor. 5) Ground the FG terminal.

  • Page 55: Extra Large Type Servo Drive

    2. Wiring and connection < C> Order Code : FDA600010S (FDA7110, 1600W/4 Ω) Drawing FDA600011S (FDA7150, 2000W/3 Ω) 2.3.2. Extra large type servo drive (a) Main Circuit Terminal (b) Control Circuit Terminal [FDA7220-H Terminal] (a) Main Circuit Terminal (b) Control Circuit Terminal [FDA7300-H ~ FDA7450-H Terminal] 2-12...
  • Page 56 2. Wiring and connection FDA7550-H ~ FDA7750-H Upper Terminal] [FDA7550-H ~ FDA7750-H Bottom Terminal] The usage and wiring method of FDA7220-H ~ FDA7750-H are as follows. 1) As the main power of the power circuit, connect the R,S and T terminal to 3 phase AC380~440[V].
  • Page 57 2. Wiring and connection < C> Order Code : Please contact our sales office. Drawing 2-14...

  • Page 58: Power Handling

    Therefore, be sure to use STOP contact for motor operation and stop, and SVONEN contact for emergency stop. The figure below is an example of wiring of power POWER POWER Surge killer Servo Drive FDA7000 Series : AC 200~230V FDA7000 FDA7000-H Series : AC 380~440V 50/60Hz (Note1) Brake Power...

  • Page 59: Timing Chart Of Power

    2. Wiring and connection In case of FDA7004, connect AC220V to power terminal “r, t” of control circuit according to model. Be sure to check the power specification of the model. (Note3) In case of FDA7004 ~ FDA7010 model, regenerative resistor is installed inside servo drive.
  • Page 60 2. Wiring and connection 2.4.3 Timing chart of alarm The timing of servo drive operation can be checked according to the alarm status. If an alarm has occurred, reset the alarm after turning off the SVONEN input contact and removing the cause of the alarm.

  • Page 61: Cn1 I/O Signal Explanation

    2. Wiring and connection 2.5. CN1 I/O signal explanation 2.5.1. CN1 terminal arrangement CN1 is the connector located on the top right part of the front side of the servo drive. This connector is used for connecting the host controller that commands the operating device and the operation.

  • Page 62: Cn1 I/O Wiring

    2. Wiring and connection 2.5.2. CN1 I/O wiring Servo Drive FDA7000 Series : AC 200~230[V] FDA7000-H Series : AC 380~440[V] FDA7000 50/60Hz (Note1) (Note2) Brake Regenerative Power Input resistance (Note3) (INPUT) *Digital Loader +24V +24V 3.3K ESTOP *PC Loader(RS232C) 3.3K...

  • Page 63: Input Signal Function Table (Manufactured Default)

    2. Wiring and connection (Note3) In case of FDA7004 ~ FDA7010 model, regenerative resistor is installed inside servo drive. In case of For FDA7015-7150 and FDA7020-H~7750-H, the regenerative resistor must be installed externally. In case of FDA7075 ~ 7150, FDA7075-H ~ 7750-H, please contact our sales office because regenerative resistance is sold separately.

  • Page 64: Output Signal Function Table (Manufactured Default)

    2. Wiring and connection In case of external emergency, it overrides all input condition of the servo drive and quickly decelerates the Emergency stop ESTOP motor to free run the motor. You can select the ON/OFF contact point in parameter P02-26.

  • Page 65: Fixed I/O Signal Function Table

    2. Wiring and connection 2.5.5. Fixed I/O signal function table Signal content Name Function and usage explanation F+ input pulse PPFIN Depending on the set value of pulse logic, it receives and F- input pulse PFIN operates according to the specific position command type R+ input pulse PPRIN of negative or positive logic.

  • Page 66: Analog Input/Output Signal

    2. Wiring and connection 2.5.6. Analog input/output signal The analog signal is based on 0 [V] (GND terminal) of the control circuit power supply. Connect the GND terminal of the analog signal and the GND terminal of CN1. The analog speed command input (CN1-27) rotates the motor at the speed determined by the ±...

  • Page 67: Encoder Wiring And Signal Explanation

    2. Wiring and connection FDA7000 1/2W 220 FDA7000 +12V Speed command CN1(INPUT) CN1(INPUT) 속도명령 SPDIN 구동장치 구동장치 SPDIN TWIST PAIR -12V 1/2W 220 [Wiring of analog command] [Wiring of CN1 power] [아날로그 신호 배선] [아날로그 명령의 내부전원 사용법] 2.6. Encoder wiring and signal explanation CN2 is the connector located on the bottom right side of the front cover of the servo drive.

  • Page 68: 15Line Incremental Encoder

    2. Wiring and connection 2.6.1. 15line Incremental encoder Signal name MOTOR(□60,80series) side MOTOR(□130,180series) side PIN No. (Drive) Connector pin No. for encoder. Connector pin No. for encoder. (Drive) Shield Vcc( DC 5V ) 2-25...

  • Page 69: 9Line Incremental Encoder

    2. Wiring and connection 2.6.2. 9line Incremental encoder Signal name MOTOR(□60,80series) side MOTOR(□130,180series) side PIN No. (Drive) Connector pin No. for encoder. Connector pin No. for encoder. (Drive) Vcc( DC 5V ) Shield 2-26...

  • Page 70: 11Bit Absolute Encoder

    2. Wiring and connection 2.6.3. 11bit absolute encoder Signal name MOTOR(□60,80 series) side MOTOR(□130,180 series) side PIN No. (Drive) Connector pin no. for encoder Connector pin no. for encoder. (Drive) BAT+ BAT- F.G. Shield Vcc( DC 5V ) ERST 2-27...

  • Page 71: 17Bit Absolute/Incremental Encoder

    2. Wiring and connection 2.6.4. 17bit absolute/incremental encoder Signal name MOTOR(□60,80 series) side MOTOR(□130,180 series) side PIN No. (Drive) Connector pin no. for Encoder Connector pin no. for encoder (Drive) BAT+ BAT- F.G. Shield Vcc( DC 5V ) 2-28...

  • Page 72: 17Bit Absolute Encoder Data Transmission

    2. Wiring and connection ※ A wiring example of CN2 of motor side (□60,80) and FDA7000(A) when applying the 17bit absolute/incremental encoder AC SERVO DRIVER (FDA7000A) AC SERVO MOTOR HOST CONTROLLER (□60,80) [*1] Serial Data Division => circuit Pulse 1-32 /PA0 Conv.
  • Page 73 2. Wiring and connection Signal name Condition Signal content When turning on the power Serial data and initializing Initial incremental pulse During normal operation after Incremental pulse initialization is complete When turning on the power Initial incremental pulse and initializing During normal operation after Incremental pulse initialization is complete...
  • Page 74 2. Wiring and connection ※ Absolute data is calculated as follows.      : Current position read from encoder : Serial data (multi turns data) : Initial incremental pulse (Generally showed in “-“ value) : Initial incremental pulse read from absolute encoder initialization point (Generally shown in “-“...

  • Page 75: Wiring Of Fda7000Ex (Explosion Proof)

    2. Wiring and connection 2.6.6. Wiring of FDA7000EX (Explosion proof) Explosion-proof servo motor FMAEX series consists of a cable plug type encoder connector on the motor side. □ 70 and 90 series are equipped with 15-wire incremental encoder. □ 150 series are equipped with 17-bit absolute / incremental encoder. Refer to the table below to wire correctly.
  • Page 76 2. Wiring and connection MOTOR(□70,90 Series) MOTOR(□150 Series) Signal Signal PIN No. Encoder Connector PIN No. Encoder Connector PIN No. BATT+ BATT- Shield. Shield. 7, 8 PTC(-) Vcc( DC 5V ) Vcc( DC 5V ) PTC(+) 2-33...

  • Page 77: Com(Cn3) Wiring And Signal Explanation

    2. Wiring and connection 2.7. COM(CN3) wiring and signal explanation 2.7.1. COM(CN3) wiring COM (CN3) is a connector located at the lower left of the front of the FDA7000. This connector is used to make a serial communication between FDA7000 and the host or peripheral. Pin assignments and names of COM (CN3) connectors are as shown below.

  • Page 78: Wiring Of Rs485 Common Cable

    2. Wiring and connection 2.7.3. Wiring of RS485 Common Cable [Upper System] [Servo Drive COM(CN3) Connector] ◆ The servo drive has a built-in terminating resistor (120Ω). ◆ You can connect terminal resistor by shorting Rt (No.19) terminal and P (No.7) terminal.

  • Page 79: Chapter 3. Parameter Setting

    Chapter Parameter setting Chapter 3 explains the individual servo parameter setting according to the usage. The parameter setting can be executed with the internal mount loader and digital loader, and refer to Chapter 5 for details on how to use the internal mount load and digital loader. The parameter NO. with the symbol (＊) marked indicates that the value can only be corrected when the SVONEN input contact point is “OFF”.
  • Page 80 3. Parameter setting The menu setting can be executed with the internal mount loader. Refer to Chapter 5 for details on how to use the internal mount loader. The acronym and meaning used in this manual are as follows. Acronym Meaning Position Controller Current Controller...

  • Page 81: Status Display Parameter[Ste-]

    3. Parameter setting 3.1. Status display parameter[StE-] Manufactured Unit Setting range Speed/Torque/ StE-01 Display Select default 100~ 1330 Position control 1203 When the power of the servo drive is turned on, this sets the menu to display on the display window.
  • Page 82 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ StE-12 CCW TRQ LMT default 0.0 ~ 300.0 Position control Manufactured Unit Setting range Speed/Torque/ StE-13 CW TRQ LMT default -300.0 ~ 0.0 Position control Manufactured Unit Setting range Speed/Torque/ StE-14 Inertia Ratio default 0.0 ~ 50.0 Position control...
  • Page 83 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ StE-18 PROG Version default 0.0 ~ 99.99 Position control This menu displays encoder type, program version and drive capacity. Input Voltage Power Firmware Virsion Sym. Voltage Sym. Power Sym. Power Sym. Virsion AC 110V 100~400W 7.5kW...

  • Page 84: Motor And Operating Device Setting[P01-]

    GEN - 00 ~ 500 Position control By capacity Set the motor ID to use. P01-02 ~ P01-10 (Except P01-07 and P01-08), the motor parameter, masked. Motor ID applicable to FDA7000 series[AC 220V Standard Series] Model Model Model Model Model...
  • Page 85 3. Parameter setting Motor ID applicable to FDA7000-H series[AC 380V Standard Series] Model Model Model Model Model CN70 KN11 LN12 TN09 TN220 CN40 KN16 LN20 TN13 TN300 CN50 KN22 LN30 TN20 TN370 CN10 KN22A LN40 TN30 TN450 CN09 KN35 LN44 TN44 TN550 CN15...
  • Page 86 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P01-07 Rated Speed default 0.0 ~ 9999.0 Position control By motor type Manufactured Unit Setting range Speed/Torque/ P01-08 MAX Speed default 0.0 ~ 9999.0 Position control By motor type Manufactured Unit Setting range Speed/Torque/ P01-09 Rated TRQ...
  • Page 87 3. Parameter setting * Set 17bit serial encoder according to the following conditions. (1) Enter a multiple of 4 within the range of “8192 ~ 131072”. (2) The maximum frequency of the divided pulse that can be output from the servo drive is 1.638Mpps.
  • Page 88 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P01-17* Serial I/O default 0 ~ 2 Position control Set this when using the I/O contact point by communication. Setting value Contents I / O contact using only CN1 connector I / O contact using only communication (RS232C / 485) Use I / O contact by using with CN1 connector communication (RS232C / 485) Use CW/CCWLIM, ESTOP, STOP Contact...
  • Page 89 3. Parameter setting Setting value Contents Extended Mode Bus (HIGEN Standard): Data Field Configuration 4 bytes Standard Modbus: Data Field Configuration 2bytes For more information, please refer to MODBUS MANUAL on our website (http://www.higenmotor.co.kr). Manufactured Unit Setting range Speed/Torque/ P01-23＊...

  • Page 90: General Control Parameter Setting[P02-]

    3. Parameter setting 3.3. General control parameter setting[P02-] Manufactured Unit Setting range Speed/Torque/ P02-01* Control Mode default 0 ~ 5 Position control The conversion of the control mode using parameters cannot be changed while in the servo on state. When control mode is set to complex control mode(P02-01=3~5), control mode can be changed during motor operation according to control mode conversion input contact.
  • Page 91 3. Parameter setting Speed Control Torque Control Speed Control Control Mode Change Input Contact Actual Motor Speed 0 rpm 10 V Analog Torque Command Speed Control Torque Control Speed Control Control Mode Changed Status Output Contact Mode Change Time(P2-02) Manufactured Unit Setting range Speed/Torque/...
  • Page 92 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P02-09 DB Mode default 0 ~ 3 Position control DB mode control is to stop the serve motor abruptly during an emergency stop. The user menu P02-09 sets the stop operation of the servo motor when the servo is turned off or during an emergency stop.
  • Page 93 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P02-13 Notch Filter2 default 0 ~ 1 Position control Set the notch filter 2 to reduce the resonance of the machinery. Set value Operation explanation Do not use the notch filter 2. Operate the notch filter 2 in the set resonance frequency and resonance bandwidth.
  • Page 94 3. Parameter setting P02-16 P02-18 P05-05 P05-06 P03-05 P03-07 P03-06 P03-08 (Command (System (Position (Position (Speed loop (Speed loop (SC TC1) (SC TC2) torque filter response) loop gain 1) loop gain 2) gain 1) gain 2) 200.0 120.0 10.0 120.0 10.0 80.0 10.0...
  • Page 95 3. Parameter setting Command speed Speed P02-20 Actual speed P02-21 Gain Gain2 Gain1 Manufactured Unit Setting range Speed/Torque/ P02-22 Gain ADJ TRQ 1 default 50.0 ~ 300.0 Position control 150.0 Manufactured Unit Setting range Speed/Torque/ P02-23 Gain ADJ TRQ 2 default 0.0 ~ 300.0 Position control...
  • Page 96 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P02-24 Contact Gain TC default 0.0 ~ 10000.0 Position control 100.0 When executing the control gain conversion by the external input contact point, it decides the control gain conversion time. Gain conversion contact point (GAITRS) Gain2...
  • Page 97 3. Parameter setting Use speed ripple compensation function Do not use speed ripple compensation function Manufactured Unit Setting range Speed/Torque/ P02-29* Parameter INIT default ON/OFF Position control Manufactured Servo OFF Delay Unit Setting range Speed/Torque/ P02-30 default time 0.0 ~ 1000.0 Position control 10.0 When using the servo motor to control a vertical movement machine, the structure movable part...
  • Page 98 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P02-34 MULTI Turns Limit default 0~65535 Position control 65535 Multiturn limit setting is a parameter to set the upper limit of multi-turn data from encoder when absolute encoder is used (P01-12 = ENC-R). When the rotation amount exceeds the set value, the encoder rotation amount returns to zero.
  • Page 99 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P02-37 Power Fail Mode default Position control Select whether to output alarm or automatic reset when the power returns to normal when the power fail alarm occurs due to an error in the main circuit power (R, S, T terminals).
  • Page 100 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P02-39＊ Extra DB Control default 0 ~ 2 Position control The signal for controlling the dynamic brake installed outside the servo drive can be output. * To use this function, set DB MODE (P02-09) parameter first, and set Function No. (20) to the desired CN1 pin number using P08 menu.

  • Page 101: Speed Control Parameter Setting[P03-]

    3. Parameter setting 3.4. Speed control parameter setting[P03-] Manufactured Unit Setting range P03-01* Speed Gain Mode default Speed control 1 ~ 5 When the servo drive is set to speed control mode, it sets the speed control gain mode. Set value Operation explanation Use speed controller gain 1 (P03-05, P03-06).
  • Page 102 3. Parameter setting Manufactured Unit Setting range Speed/position P03-08 SC TC 2 default 0.0 ~ 10000.0 control By capacity Manufactured Unit Setting range P03-09 Analog CMD TC default Speed control 0.0 ~ 2000.0 Manufactured Unit Setting range P03-10 ACCEL Time default Speed control 0.0 ~ 90000.0...
  • Page 103 3. Parameter setting Manufactured Unit Setting range default Speed/Torque P03-16* -10[V] RPM -9999.9 ~ 0.0 -Applied motor control rated speed This sets the command speed range of the -10[V] analog voltage when the servo drive is in speed control or torque control mode. Voltage Set speed (P03-16)
  • Page 104 3. Parameter setting Manufactured Unit Setting range P03-20 Clamp Mode default Speed control 0 ~ 2 Clamp mode is only applied in the speed control mode. Clamp mode can be used when stopping the servo motor without dropping the analog command voltage to 0[V]. Once it is clamped, it will return to its clamped location even when it turns by external force.

  • Page 105: Input Contact Point Digital Speed And Torque Setting[P04-]

    3. Parameter setting Manufactured Alarm Reset Delay Unit Setting range Speed/Torque/ P03-25 default Time [ms] 0 ~ 99999 Position control When the servo motor rotates below 10 rpm or in the stall state, it activates the alarm function of overload, over current and over temperature. And the alarm can be cleared only after the set cooling time (P03-25) has elapsed from the alarm occurrence time.

  • Page 106: Position Control Parameter Setting[P05-]

    3. Parameter setting Manufactured Torque 5 Unit Setting range P04-12 default Torque control Digital input torque 5 -300.0 ~ 300.0 75.0 Manufactured Torque 6 Unit Setting range P04-13 default Torque control Digital input torque 6 -300.0 ~ 300.0 100.0 Manufactured Torque 7 Unit Setting range...
  • Page 107 3. Parameter setting Manufactured Unit Setting range P05-02* POS Pulse Type default Position control 0 ~ 5 Set the position command pulse mode. Command pulse row mode [Pulse Remark Logic] In CCW direction In CW direction A phase + B phase CCW pulse CW pulse Direction...
  • Page 108 3. Parameter setting Manufactured Unit Setting range P05-07 PI-P Pulse ERR default Position control pulse 0 ~ 99999 In position control mode, when the error between command pulse and actual movement pulse exceeds the set value of P05-07, it converts to P control mode to reduce the overshoot. Manufactured Unit Setting range...

  • Page 109: Torque Control Parameter Setting[P06-]

    3. Parameter setting Manufactured Unit Setting range P05-21 Bias Pulse Band default Position control pulse 0 ~ 500 The bias pulse band is the value of bias compensation speed (P05-20), when the error pulse exceeds the set value of P05-21. It adds the internal compensated speed (P05-20). Manufactured Unit Setting range...
  • Page 110 3. Parameter setting Torque Torque Set torque reach range Actual torque Time [sec] Set torque reach completion Time [sec] Manufactured Unit Setting range P06-06 Stop TRQ Range default Torque control 0.0 ~ 100.0 10.0 Manufactured Unit Setting range Speed/Torque P06-07 10[V] TRQ default 0 .0~ 300.0...

  • Page 111: Input Contact Point Function Setting[P07-]

    3. Parameter setting 3.8. Input contact point function setting[P07-] Manufactured CN1_18 Unit Setting range Speed/Torque/ P07-01* default Digital INPUT 1 0 ~ 30 Position control In P07-01 menu, you can set the individual pin function (0~20) and set the pin (25~30) by control mode.
  • Page 112 3. Parameter setting You can arrange the input contact point in multiple arrangements so that other pins can have the same function. [ Input contact point function table ] Function Function acronym Function explanation number Do not use applicable input pin SVONEN Servo on/off operation input contact point When the control mode is multiple mode, control mode conversion...
  • Page 113 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P07-13 DIGITAL IN DELAY default 1 ~ 500 Position control You can set the input time of digital input contacts except SVONEN, E-STOP, CWLIM, CCWLIM, STOP. Ex) When inputting with P07-13 = 10, it is recognized only when the digital input contact is kept over 10ms.
  • Page 114 3. Parameter setting ※ Speed control mode internal setting function table (When P7-01 is set to 26 (Speed control mode) Function Parameter Input pin Function acronym Function explanation number P07-01 CN1-18 SVONEN Servo on/off operation input contact point P07-02 CN1-43 STOP Temporary stop input contact point P07-03...
  • Page 115 3. Parameter setting ※ Speed/torque multi control mode internal setting function table (When P7-01 is set to 28 (Speed/torque multi control mode)) Function Parameter Input pin Function acronym Function explanation number P07-01 CN1-18 SVONEN Servo on/off operation input contact point P07-02 CN1-43 STOP...
  • Page 116 3. Parameter setting ※ Position/torque multi control mode internal setting function table (When P7-01 is set to 30 (Position/torque multi control mode)) Function Parameter Input pin Function acronym Function explanation number P07-01 CN1-18 SVONEN Servo on/off operation input contact point P07-02 CN1-43 STOP...

  • Page 117: Output Contact Point Function Setting[P08-]

    3. Parameter setting When using the input contact as a PLC or a photo coupler, connect it with the servo drive as follows. At this time, use an external power supply of +24 [V], 50 [mA] or higher. Controller FDA7000 +24V +24V (CN1_49)
  • Page 118 3. Parameter setting Manufactured CN1_20 Unit Setting range Speed/Torque/ P08-07* default Digital OUTPUT 7 0 ~ 23 Position control Manufactured CN1_45 Unit Setting range Speed/Torque/ P08-08* default Digital OUTPUT 8 0 ~ 23 Position control Manufactured CN1_19 Unit Setting range Speed/Torque/ P08-09* default...
  • Page 119 3. Parameter setting PCWRUN CCW revolution status output NCWRUN CW revolution status output ALARM Alarm generation status output A_CODE0 Alarm code-0 output A_CODE1 Alarm code-1 output A_CODE2 Alarm code-2 output A_CODE3 Alarm code-3 output Warning status output WARNING (OFF when warning occurs and ON when normal operation) <FDA7000/7000-H Series>...
  • Page 120 3. Parameter setting ※ Torque control mode internal setting function table (Output function setting table when P8-01 = 25) Function Parameter Output pin Function acronym Function explanation number P08-01 CN1-23 SVONOFF Servo on/off operation output P08-02 CN1-48 BRAKE Brake operation signal output P08-03 CN1-22 Servo ready status output...
  • Page 121 3. Parameter setting ※ Position control mode internal setting function table (Output function setting table when P8-01 = 27) Output Function contact Output pin Function acronym Function explanation number point P08-01 CN1-23 SVONOFF Servo on/off operation output P08-02 CN1-48 BRAKE Brake operation signal output P08-03 CN1-22...
  • Page 122 3. Parameter setting ※ Speed/position multi control mode internal setting function table (Output function setting table when P8-01 = 29) Function Parameter Output pin Function acronym Function explanation number P08-01 CN1-23 TYPEOUT Control mode conversion output P08-02 CN1-48 BRAKE Brake operation signal output P08-03 CN1-22 Servo ready status output...
  • Page 123 3. Parameter setting [Wiring method of output contact] When output contact of FDA7000 series is combined with contact type device such as relay of external controller, connect as follows. FDA7000 Controller +24V +24V (CN1_49) (CN1_23,48,22,47, 21,46,20,45,19,44) (CN1_24, 25) 24VGND 24VGND When output contact of FDA7000 series is combined with open collector input like PLC of external controller, connect as follows.

  • Page 124: Analog Monitor Function Setting[P09-]

    3. Parameter setting 3.10. Analog monitor function setting[P09-] The internal speed, command speed, torque, command torque, feedback pulse and command pulse of the servo can be monitored externally through analog monitor 1 and monitor 2. The output voltage range is -5 ~ +5[V]. The following are the parameters related to the monitor use. Manufactured Unit Setting range...

  • Page 125: Jog Operation Parameter Setting[Jog-]

    3. Parameter setting Manufactured Unit Setting range Speed/Torque/ P09-04 Monitor Offset 1 default -1000.0 ~ 1000.0 Position control Manufactured Unit Setting range Speed/Torque/ P09-08 Monitor Offset 2 default -1000.0 ~ 1000.0 Position control 3.11. Jog operation parameter setting[JOG-] Manufactured Unit Setting range Speed/Torque/ JOG-01...
  • Page 126 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ JOG-06 Jog Speed 2 default -9999.9 ~ 9999.9 Position control -100.0 Manufactured Unit Setting range e Speed/Torque/ JOG-07 Jog Time2/REV2 default [sec]/[rev] 0.00 ~ 5000.00 Position control 1.00 Manufactured Unit Setting range Speed/Torque/ JOG-08 Jog Speed 3...
  • Page 127 3. Parameter setting (JOG-12) (JOG-04) Speed (JOG-10) (JOG-06) (JOG-08) (JOG-05) (JOG-07) (JOG-09) (JOG-11) (JOG-13) [sec] Servo Time [sec] [ Auto jog mode 1(Speed - time) ] (JOG-04) Speed (JOG-08) (JOG-06) Position [Rev.] (JOG-05) (JOG-07) (JOG-09) Servo Time [sec] [ Auto jog mode 2 (Speed - revolution) ] 3-48...

  • Page 128: Alarm Display Setting[Als-]

    3. Parameter setting 3.12. Alarm display setting[ALS-] Manufactured Unit Setting range Speed/Torque/ ALS-01 Current Alarm default Position control This parameter indicates the current alarm. ALS-01 menu is not the user input parameter but the menu to notify the alarm condition of the servo drive. Alarm Alarm acronym Alarm content...
  • Page 129 3. Parameter setting Manufactured Unit Setting range Speed/Torque/ ALS-02 Alarm Reset default ON/OFF Position control It resets and initializes the occurred alarm. Check and remove the cause of the alarm before resetting the alarm and then reset. This is the parameter that the occurrend alarm history resets and initializes. ALS-03 Alarm History 1 Manufactured...
  • Page 130 3. Parameter setting 3-51...

  • Page 131: Chapter 4. Servo Using Method And Gain Adjustment

    Chapter Servo operating Chapter 4 explains the servo using method and gain adjustment by each control mode. Chapter 4. Servo using method and Gain adjustment 4.1. Gain adjustment method for speed control mode ....4-1 4.1.1. CN1 wiring diagram for speed control servo ......4-2 4.1.2.

  • Page 132: Gain Adjustment Method For Speed Control Mode

    5. Servo operating 4.1. Gain adjustment method for speed control 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.

  • Page 133: Cn1 Wiring Diagram For Speed Control Servo

    5. Servo operating 4.1.1. CN1 wiring diagram for speed control servo Servo Drive Input Voltage FDA7000 Type : AC220V FDA7000-H0 Type : AC380V FDA7000 FDA7000-H1 Type : AC440V 50/60Hz (Note1) Brake (Note2) Input Voltage Terminal Regenerative Resistance (Note3) (INPUT) *PC Loader(RS232C) +24V +24V 3.3K...

  • Page 134: Speed Servo Gain Adjustment

    5. Servo operating FDA7001 ~ 02 type does not have control circuit power r, t terminals. (Note3) The regenerative resistor of FDA7004 ~ FDA7010 is built-in and is mounted inside the drive. The regenerative resistance of FDA7001, 7002, 7004B and FDA7015 ~ 7750 models is a separate type.
  • Page 135 5. Servo operating 3) Set SC TC1 and 2 applied by the set value of P03-01. Manufactured Unit Setting range Speed/torque P03-06 SC TC1 default 0.0 ~ 10000.0 control By capacity Manufactured Unit Setting range Speed/torque P03-08 SC TC2 default 0.0 ~ 10000.0 control By capacity...
  • Page 136 5. Servo operating Command speed Speed P02-20 Actual speed P02-21 P03-07 SC TC Gain P03-06 P03-08 SC loop gain P03-05 6) When P03-01=”4”, the variable gain is applied based on the following gain adjustment torque 1 and 2. Manufactured Unit Setting range Speed/Torque/ P02-22...
  • Page 137 5. Servo operating 7) When P03-01=”5”, the variable gain is applied based on the ON/OFF status of external control gain conversion contact point. At this time, the conversion time of the control gain is decided. Manufactured Unit Setting range Speed/Torque/ P02-24 Contact Gain TC default...

  • Page 138: Gain Adjustment Method For Position Control Mode

    5. Servo operating 4.2. Gain adjustment method for position control mode This explains the position servo control mode and gain adjustment method. The following diagram shows the generating sequence of the speed command for position control.

  • Page 139: Cn1 Wiring Diagram For Position Control Servo

    5. Servo operating 4.2.1. CN1 wiring diagram for position control servo Input Voltage Servo Drive FDA7000 Type : AC220V FDA7000-H0 Type : AC380V FDA7000-H1 Type : AC440V FDA7000 50/60Hz (Note1) (Note2) Brake Regenerative Input Voltage Terminal Resistance (Note3) (INPUT) +24V +24V 3.3K *PC Loader(RS232C)

  • Page 140: Position Servo Gain Adjustment

    5. Servo operating FDA7001 ~ 02 type does not have control circuit power r, t terminals. (Note3) The regenerative resistor of FDA7004 ~ FDA7010 is built-in and is mounted inside the drive. The regenerative resistance of FDA7001, 7002, 7004B and FDA7015 ~ 7750 models is a separate type.
  • Page 141 5. Servo operating Set value Operation explanation Use PC P gain 1 (P05-05). Use PC P gain 2 (P05-06). Apply variable gain using gain 1 (P05-05) and gain 2 (P05-06) according to set speed (P02-20, P02-21) for the position controller gain. Apply variable gain using gain 1 (P05-05) and gain 2 (P05-06) according to set torque (P02-22, P02-23) for the position controller gain.
  • Page 142 5. Servo operating 3) When P05-01=”3”, the variable gain is applied based on the following gain adjustment speed 1 and 2. Manufactured Unit Setting range Speed/Torque/ P02-20 Gain ADJ Speed1 default 100.0 ~ 5000.0 Position control 800.0 Manufactured Unit Setting range Speed/Torque/ P02-21 Gain ADJ Speed2...
  • Page 143 5. Servo operating Command speed Speed Actual speed Internal command speed Torque P02-22 P02-23 -P02-23 -P02-22 P05-06 Gain P05-05 5) When P5-01=”5”, the variable gain is applied based on the ON/OFF status of the external control gain conversion contact point. At this time, the conversion time of the control gain is decided.
  • Page 144 5. Servo operating 6) Feed forward ratio setting Manufactured Unit Setting range P05-04 Feedforward default Position control 0.0 ~ 100.0 Enter the feedforward ratio for the position command speed in [%] unit. When this value increases it can reduce the position decision time but if set to high, it can cause an overshoot or vibration to the machine.
  • Page 145 5. Servo operating 7) Position command pulse TC setting Manufactured Unit Setting range P05-10 POS CMD TC default Position control 0.0 ~ 2000.0 Set the filter TC on the position command pulse input for smoothing operation in the position control mode. If you would like to execute smoothing operation without setting the position command filter TC, set the position decision mode setting of Position control speed mode (P05- 03) to ON.

  • Page 146: Gain Adjustment Method For Torque Control Mode

    5. Servo operating 4.3. Gain adjustment method for torque control mode This explains the torque servo using method and gain adjustment method. The following diagram shows the generation sequence of the current command during torque control. 4-15...

  • Page 147: Cn1 Wiring Diagram For Torque Control Servo

    5. Servo operating 4.3.1. CN1 wiring diagram for torque control servo Servo Drive Input Voltage FDA7000 Type : AC220V FDA7000 FDA7000-H0 Type : AC380V FDA7000-H1 Type : AC440V 50/60Hz (Note1) Bake Input (Note2) Voltage Terminal Regenerative Resistance (Note3) (INPUT) *PC Loader(RS232C) +24V +24V 3.3K...

  • Page 148: Gain Adjustment Of Torque Servo

    5. Servo operating FDA7001 ~ 02 type does not have control circuit power r, t terminals. (Note3) The regenerative resistor of FDA7004 ~ FDA7010 is built-in and is mounted inside the drive. The regenerative resistance of FDA7001, 7002, 7004B and FDA7015 ~ 7750 models is a separate type.

  • Page 149: Auto-Tuning

    P02-06 are applied when the SPDLIM contact point is OFF. 4.4. Auto-tuning For the Auto-tuning applied to FDA7000 series, the servo drive estimates the inertia of the load attached to the servo motor during operation and has the function of adjusting the speed control gain and position control gain.

  • Page 150: Auto-Tuning Setting Sequence

    5. Servo operating ◆ If you set the system response to high, it increases the servo system gain to increase the response. But if the set value is too high, it can cause noise and vibration in the motor. In this case, appropriately lower the set value.

  • Page 151: Precaution During Auto-Tuning

    5. Servo operating 4.4.3. Precaution during Auto-tuning 1) Operate at 500[rpm] or higher speed. 2) Manually set the acceleration/deceleration time setting of speed shortly [ms]. If the acceleration/deceleration time is set too long, the speed deviation during the algorithm processing time is too small to make estimation. 3) Avoid using Auto-tuning when operating weak belt with lower mechanical strength.
  • Page 152 5. Servo operating - Velocity integral time constant(P03-06) is gradually decreased in order to reduce velocity ripple and reduce over / under shoot in most applications. However, if the value of speed integral time constant is set too small, strange sounds and vibrations may occur in the motor (machine).
  • Page 153 5. Servo operating large, the deviation pulse can be maintained without convergence. 4) Important points when using Gain 1 and Gain 2 in the position control mode - Gain switching method by contact : When sound is generated when the motor stops, select the contact to apply high gain in normal operation and select the contact to apply low gain after motor stop.

  • Page 154: Precaution For Absolute Encoder

    5. Servo operating 4.6. Precaution for absolute encoder In the host controller, when detecting the absolute position of the machine even when the power of the servo drive is turned off, you must use an absolute type servo motor and drive. If you connect the power to the absolute type servo system, you can make a machine system that can directly enable auto operation with additional position detection operation without the difference between the absolute type drive and standard type drive is whether there is a back-up battery.
  • Page 155 5. Servo operating - FDA7075 ~ 7150, FDA7020-H ~ FDA7750-H type should be attached to encoder cable using battery case. ♥ Battery Order Code: KBAT70 (Integrated Case) + RED - BLACK 배터리 케이스 Case lock 개/폐 Insert the battery 배터리 배선 connector 케이블...

  • Page 156: Absolute Value Encoder Initialization

    5. Servo operating 4.6.2. Absolute value encoder initialization 1) When the absolute value encoder requires initialization - During first operation - When the encoder cable is separate from the servo drive - After replacing the battery - When the absolute encoder related alarm is generated 2) Absolute value encoder initialization (reset) method - 17bit serial absolute value encoder: When it sets the origin by itself, set the parameter (P01-20) to “ON”...

  • Page 157: Chapter 5. Servo Operating

    Chapter Servo operating Chapter 5 explains the operation of the loader for servo operation to set the servo parameter and display the status. Chapter 5. Servo operating 5.1. Basics of loader ................5-1 5.2. Operation of internal mount loader........... 5-2 5.2.1.

  • Page 158: Basics Of Loader

    5. Servo operating 5.1. Basics of loader When the servo drive is first installed on the control panel, it is essential to check the motor parameters (P01--) before applying the main circuit power and activating SVONEN. It is information about the motor connected to the servo and the correct value must be set for the servo system to operate normally.

  • Page 159: Operation Of Internal Mount Loader

    5. Servo operating 5.2. Operation of internal mount loader 5.2.1. Display flow If the power is correctly supplied, the mount loader display on the front panel of the servo drive a message. The internal mount loader is composed of 7 segment LED and 6 digits. You can set the parameter, display the status, check the sequence and alarm record by the loader.

  • Page 160: Parameter Change

    5. Servo operating and 2 digit value ] Name of higher mode mode mode mode mode mode mode mode mode mode mode mode menu and 2 digit value Refer to each parameter item for the menu number of 3 and 4 digit.

  • Page 161: Alarm Related Processing Part

    5. Servo operating 5.2.3. Alarm related processing part 1) Currently generated alarm display menu ENTER : Indicated generated alarm value ENTER Current Alarm Number Display Alarm/Warning Alarm Code ENTER Current Warning Number Display Next Alarm/Warning Warning Code ENTER Display No Alarm/Warning In case of normal condition ENTER after removing alarm cause...
  • Page 162 5. Servo operating 2) Alarm reset menu UP : ON/OFF change DOWN : ON/OFF change LEFT : Move menu RIGHT : Move menu ENTER : Start and end of parameter change (Current alarm cancel function operation) ENTER ENTER ENTER Return to “OFF”...
  • Page 163 5. Servo operating 3) Alarm record display menu Alarm record display menu saves the latest 10 alarms in each menu in the sequence of ALS- 03 ~ ALS-12. The following diagram is the case assuming that the over-current (01) alarm is generated after the encoder mis-wiring (05) alarm is generated during servo operation.

  • Page 164: Jog Operation

    5. Servo operating 5.2.4. Jog operation 1) Key jog mode setting (JOG-01) UP : Positive direction mode change, increase blinking value DOWN : Negative direction mode change, decrease in blinking value LEFT : Command reverse direction revolution, move blink to left when entering key jog speed (JOG-02) RIGHT : Command positive direction revolution, move blink to left when entering key jog speed (JOG-02)
  • Page 165 5. Servo operating 2) Auto jog mode setting JOG speed 1 setting JOG time 1 setting ENTER, ENTER LEFT, LEFT, UP JOG speed 2 setting RIGHT JOG time 2 setting JOG 3 ~ 7 setting JOG speed 8 setting JOG time 8 setting Auto JOG mode setting...

  • Page 166: I/O Contact Point Function Parameter Setting

    5. Servo operating 5.2.5. I/O contact point function parameter setting 1) Input contact point function setting (P07 mode) ENTER CN1_18 pin is set to “01(SVONEN)” input function ENTER UP, UP ENTER CN1_18 pin is changed to “03(DIR)” input function 2) Output contact point function setting (P08 mode) ENTER ENTER UP, LEFT, UP...
  • Page 167 5. Servo operating 5-10...

  • Page 168: Chapter 6. Troubleshooting And Check

    Chapter Troubleshooting and check Chapter 6 explains the method of action and check for the issues that can occur during servo operation. Chapter 6. Troubleshooting and check 6.1. Troubleshooting ................. 6-1 6.1.1. Servo motor................6-1 6.1.2. Servo drive ................6-2 6.2.

  • Page 169: Troubleshooting

    6. Troubleshooting and check 6.1. Troubleshooting 6.1.1. Servo motor Symptom Cause Inspection Corrective Actions Check the parameter of Parameter Reset parameter. motor, encoder, encoder mis-setting (Refer to Chapter 3) type, control mode etc. Check the revolution Overload Readjust the machine device. condition of the machine.

  • Page 170: Servo Drive

    6. Troubleshooting and check Check the screw condition of the coupling and copper Coupling defect Readjust the coupling. core of the connection part etc. Abnormal Check the bearing noise is vibration and abnormal Bearing problem Contact our company. generated. noise. Parameter mis- setting(Motor/encoder Check the control...
  • Page 171 6. Troubleshooting and check Abrupt acceleration/deceleration, Over-error of Adjust position gain, increase menu gain set value error, Ano-07 position (P05-09) set value, adjust command command pulse over- FOLLOW ERR tracking pulse frequency, check motor and frequency encoder wiring. (300kpps or above), mis- wring, mechanical overload Ano-08 Output(U,V,W)
  • Page 172 6. Troubleshooting and check Servo motor restrained Ano-19 Servo motor restraint, stall status, Stall status state, STALL proper load inspection through Over-load High load operation at OVER LOAD machine inspection stop Servo motor restrained Servo motor is constrained by state, machine check, stall load proper Ano-20 Servo drive output...

  • Page 173: Precautions

    6. Troubleshooting and check 10000 Overload operation Rated time current Min. Max. value 1000 ∞ ∞ 1500 [Servo drive overload characteristics curve] Motor rated current (%) (note1) If Ano-03 (OVER LOAD) happens often, refer servo drive overload characteristic- curve and re-establish suitable load of servo motor. (note2) The overload alarm occurs 25% faster when the motor is in the Stall state.

  • Page 174: Check

    6. Troubleshooting and check - When measuring electric power: Measure the electric current type by the three-wattmeter method. - Other instruments: When using an oscilloscope or digital bolt meta, please use it without touching the ground. Use a meter input current of 1 mA or less. 6.3.

  • Page 175: Part Replacement

    6. Troubleshooting and check 6.4. Part replacement The following parts are subject to deterioration and failure of equipment due to mechanical friction or aging. Therefore, periodical inspection and regular replacement are necessary for preventive preservation. 1) Smoothing Capacitor: Aging characteristics due to ripple current. The life of a capacitor is highly dependent on the ambient temperature and the operating conditions, but 10 years is the standard for continuous operation under normal air-conditioning conditions.

  • Page 176: Preservation

    6. Troubleshooting and check 3) Motor bearing: Replace the motor at rated speed and rated load based on 20,000 to 30,000 hours. Since the bearing of the motor depends on the operating conditions, replace it even if you find abnormal noise or abnormal vibration during inspection. [Standard replacement years of parts] Standard Part Name...

  • Page 177: Servo Drive

    6. Troubleshooting and check 2) When storing outdoors or in a humid place, prevent rain and dust from entering. 3) If the product is to be stored for a long time after use, apply anti-rust agent to the machine's moving surfaces such as shafts to prevent rust. 6.5.2.
  • Page 178 Chapter Connection with host controller Chapter 7 shows the example of connection with representative host controller. Chapter 7. Connection with host controller 7.1. Example of connection with host controller ......7-1...
  • Page 179 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems XGF-PO1A and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27(Position control mode)
  • Page 180 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems XGF-PD1A and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27(Position control mode)
  • Page 181 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems K7F-POPA and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27(Position control mode)
  • Page 182 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems G4F-PP1O and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27 (Position control mode).
  • Page 183 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to LS Industrial Systems G4F-PP1D and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27 (Position control mode).
  • Page 184 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to Mitsubishi AD75 and FDA7000 Series (Note) The above connection is only shown in case of P07-01=27 (Position control mode).
  • Page 185 Also the alarm signal operates alarm detection relay 1Ry to turn on the main circuit power of servo drive. It only has the signals related to Mitsubishi AD72 and FDA7000 Series (Note) The above connection is only shown in case of P07-01=26 (Speed control mode).
  • Page 186 Chapter External view Chapter 8 displays the external view of the servo drive. Explosion-proof servo drives have the same external dimensions as the FDA7000 and FDA7000- H series. Chapter 8. External View 8.1. External view of AC220V model servo drive ......8-1 8.2.
  • Page 187 D FDA7015B view E FDA7020B Forced FDA7030B cooling FDA7075 view F (FAN) FDA7110 12.5 280.5 view G FDA7150 12.5 280.5 * The FDA7000EX / EXD series is the same size as the FDA7000 series. [ External view A ]...
  • Page 188 8. External view [ External view B ] [ External view C ]...
  • Page 189 8. External view [ External view D ] [ External view E ]...
  • Page 190 8. External view [External view F] [External view G ]...
  • Page 191 (FAN) 35.4 External view K FDA7220-H□ 51.7 FDA7300-H□ 52.3 External view L FDA7370-H□ 52.3 FDA7450-H□ 55.0 FDA7550-H□ External view M 55.0 FDA7550-H□ * The FDA7000EX / EXD series is the same size as the FDA7000 series. [External view H ]...
  • Page 192 8. External view [External view I ] [External view J ]...
  • Page 193 8. External view [External view K ] [External view L ]...
  • Page 194 8. External view [External view M ]...
  • Page 195 8. External view...
  • Page 196 Appendix Ⅰ Servo system application Appendix Ⅰ explains the application cases that can be utilized when applying the servo system. Appendix I. Servo system application I.1. Position control application ............2 I.2. Example of other application ............4...
  • Page 197 Appendix Ⅰ. Servo system application I.1. Position control application The electronic gear enable the work-piece movement distance per input reference command pulse from the host controller to be set to any value. One reference command pulse form the host controller, that is the minimum position data unit, is called a command unit. [ Electronic gear ratio setting ] Servo Drive Input...
  • Page 198 Appendix Ⅰ. Servo system application Obtain the load feed rate per load axis rotation in the unit of command. : Command unit = 0.001[mm], ball screw pitch = 5[mm], Load feed per load axis revolution [Command unit] = 5/0.001 = 5000[Command unit] ...
  • Page 199 Appendix Ⅰ. Servo system application I.2. Example of other application A. Rotary table Rotary table Speed pattern Worm gear Servo motor Reduction gear Process Process Process - Prepare the motion program in the host controller. - Enter the operating signal and operate the angle. - After angle operation, position decision completion signal(INPOS) is sent out externally.
  • Page 200 Appendix Ⅱ Noise control Appendix Ⅱ explains the application cases that can be utilized when applying the servo system. Appendix II. Noise control II.1. Wiring Precautions ................ 1 II.2. Wiring for noise control ..............1...
  • Page 201 Appendix Ⅱ. Noise control Wiring Precautions II.1. The FDA7000 servo drive uses high-speed switching in the main circuit. It may receive switching noise from these high-speed switching elements if wiring or grounding around the servo drive is not correct. To protect the servo drive system from the external noise install the noise filter in appropriate place as much as possible.
  • Page 202 Appendix Ⅱ. Noise control ※ Example of wiring connected with ground connection FDA7000 Model : AC 200~230[V] FDA7000-H0 Model : AC 380[V] FDA7000-H1 Model : AC 440[V] Noise Filter1 Servo Drive FDA7000 I/O signal Noise processing Filter2 circuit (ex. PLC) (Ext.
  • Page 203 Appendix Ⅱ. Noise control ※ Example of noise filter wiring NOISE FILTER N O I S E F I L T E R B O X < > < > NOISE FILTER N O I S E F I L T E R B O X <...
  • Page 204 Appendix Ⅱ. Noise control ※ Example of wiring when using multiple units of servo drives. Multiple servos can share a single circuit breaker or noise filter. Always select a NFB or noise filter that has enough capacity for the total power capacity of that system. FDA7000 Model : AC 200~230[V] FDA7000-H0 Model : AC 380[V]...
  • Page 205 Appendix Ⅱ. Noise control ※ Recommended Noise Filter SERVO FDA7004B FDA7004 FDA7005 FDA7010 Drive NOISE NFZ-4030SG(30A) P3B4010-DA(10A) FILTER AC SERVO FDA7015/ FDA7020/ FDA7030/ FDA7045 FDA7075 FDA7110 FDA7150 Drive FDA7015B FDA7020B FDA7030B NOISE NFZ4040 FT3RE-4060 FT3RE-4080 NFZ-4030SG(30A) FILTER SG(40A) (60A) (80A) AC Servo FDA7020-H FDA7030-H...
  • Page 206 Appendix Ⅲ All parameters table Appendix Ⅲ shows the table of all parameters mentioned in the manual. Appendix III. All parameters table III.1. Parameters table ................1 III.1.1. StE- parameters ................ 1 III.1.2. P01- parameters ............... 1 III.1.3. P02- parameters ............... 2 III.1.4.

  • Page 207: Iii.1. Parameters Table

    Appendix Ⅲ. Connection with host controller III.1. Parameters table III.1.1. StE- parameters Default set Parameter Menu explanation Unit Setting range Control type value StE-01 Display select 100 ~ 1330 1203 Speed/Torque/Position StE-02 Command Speed -9999.9 ~ 9999.9 Speed/Position StE-03 Motor Speed -9999.9 ~ 9999.9 Speed/Torque/Position StE-04...

  • Page 208: Iii.1.3. P02- Parameters

    Appendix Ⅲ. Connection with host controller P01-23＊ Single-turn Data Offset 0 ~ 131072 Position P01-24 Memory Type 0 ~ 3 Speed/Torque/Position III.1.3. P02- parameters Control Mode 0 ~ 5 Speed/Torque/Position P02-01 P02-02 Mode Change Time 100.0 ~ 10000.0 500.0 Speed/Torque/Position P02-03 CCW TRQ LMT 0.0 ~ 300.0...

  • Page 209: Iii.1.5. P04- Parameters

    Appendix Ⅲ. Connection with host controller P03-07 SC Loop Gain 2 0.0 ~ 1000.0 By capacity Speed/Position P03-08 SC TC 2 0.0 ~ 10000.0 By capacity Speed/Position P03-09 Analog CMD TC 0.0 ~ 2000.0 Speed P03-10 ACCEL Time 0.0 ~ 90000.0 Speed/Position P03-11 DECEL Time...

  • Page 210: Iii.1.7. P06- Parameters

    Appendix Ⅲ. Connection with host controller P05-17 ELCTR Gear DEN 3 1 ~ 99999 Position P05-18 ELCTR Gear NUM 4 1 ~ 99999 Position ELCTR Gear DEN 4 1 ~ 99999 Position P05-19 P05-20 Bias SPD COMPEN -1000.0 ~ 1000.0 Position P05-21 Bias Pulse Band...

  • Page 211: Iii.1.10. P09- Parameters

    Appendix Ⅲ. Connection with host controller III.1.10. P09- parameters P09-01 Monitor1 0 ~ 5 Speed/Torque/Position P09-02 Monitor ABS 1 ON/OFF Speed/Torque/Position P09-03 Monitor Scale 1 0.1 ~ 2000.0 Speed/Torque/Position P09-04 Monitor Offset 1 -1000.0 ~ 1000.0 Speed/Torque/Position P09-05 Monitor 2 0 ~ 5 Speed/Torque/Position P09-06...
  • Page 212 Appendix Ⅲ All parameters table Appendix IV. Revision history Issue date Revised content Version 2007.07 Issued initial version. 2008.01 correction ( Function correction and contents modification ) 2020.03.02 2 correction(add models and function)
  • Page 213 MEMO _____________________________________________________________________________ _____________________________________________________________________________ _____________________________________________________________________________ _____________________________________________________________________________ _____________________________________________________________________________ _____________________________________________________________________________ _____________________________________________________________________________ _____________________________________________________________________________ _____________________________________________________________________________ _____________________________________________________________________________...
  • Page 214 MANUAL Order NO : 7200SV3015A ※ This book is in copyright. Subject to statutory exception and to the provisions of relevant collective licensing agreements, no reproduction of any part may take place without the written permission of HIGEN Motor company.

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